A new endoscopic surgery platform

Abstract

The application discloses a novel endoscopic surgery platform, which comprises a surgery bed and a plurality of surgery mechanical arms arranged in a matrix on both sides of the surgery bed. A positioning mechanism is arranged at the bottom of the surgery bed, and the surgery mechanical arms can be accommodated in the bottom of the surgery bed through the positioning mechanism. The positioning mechanism comprises a plurality of transverse moving pairs arranged at the bottom of the surgery bed and used for moving along the length direction of the surgery bed, and a plurality of longitudinal moving pairs connected with the output ends of the transverse moving pairs and used for moving along the width direction of the surgery bed, and the longitudinal moving pairs, the transverse moving pairs and the surgery mechanical arms are connected one by one in sequence. The novel endoscopic surgery platform adopts the above structure, and the combination of the surgery mechanical arms and the surgery bed can facilitate the quick accommodation of each surgery mechanical arm, so that the surgery platform is suitable for multiple scene surgery modes.

Description

Technical Field

[0001] This invention relates to the field of medical equipment technology for thoracoabdominal laparoscopic surgery, and in particular to a novel laparoscopic surgical platform. Background Technology

[0002] Minimally invasive surgery has many advantages over traditional open surgery, including reduced pain, shorter hospital stays, faster recovery, less trauma, fewer complications, and less fatigue for doctors, which has led to its widespread use.

[0003] To further reduce surgeon fatigue and improve surgical precision, existing technologies have combined robotics with minimally invasive surgery. However, existing robots used in assisting minimally invasive surgery have the following drawbacks:

[0004] 1. Regarding the combination of robotic arms: Because thoracoscopic / laparoscopic surgical robots need to hold various surgical instruments and endoscopes to perform surgery, they are generally designed with four robotic arms. Three of these arms hold surgical instruments such as surgical forceps, scissors, and needle holders to perform surgical operations such as traction, tissue dissection, and needle suturing. The remaining arm holds the endoscope, providing visual guidance to the lesion area during the operation. Currently, based on different combinations of multiple robotic arms, the robotic arms of minimally invasive surgical robots are mainly divided into integrated and separate types. In integrated robotic arms, all arms are fixed to a base. A representative product using integrated robotic arms is the da Vinci Surgical System from the United States. This robot has a compact robotic arm structure, occupies little space, and the relative positions of the arms are fixed. However, interference between the arms is prone to occur, increasing the difficulty of preoperative positioning. In a split-type surgical robot, each robotic arm is mounted on a different base, and the robotic arms are independent of each other. The robotic arms of the Senhance robot in Canada and the Huaque-II robot in China adopt a split-type structure. The robotic arms of the split-type surgical robot are independent of each other, and the preoperative positioning is flexible and it is easy to select the appropriate insertion position and angle of the surgical instruments. However, it occupies a large space in the operating room and it is difficult to determine the relative positional relationship between the robotic arms.

[0005] In summary, based on the above-mentioned combination of robotic arms, current laparoscopic surgical robots have limited application scenarios and fixed operating modes. They are only suitable for master-slave operation modes (i.e., the doctor sits in front of the console and operates the main hand of the surgical robot to control the surgical instruments held by the robotic arms to perform surgical operations, such as the doctor sitting in front of the main console of the da Vinci robotic system to perform surgical operations). They cannot meet the needs of doctors for human-machine collaborative operation and surgical operation habits. In addition, the time required to set up the surgical incision and adjust multiple robotic arms before surgery is long, which does not meet the requirements of specialized surgery.

[0006] 2. Telecentric mechanisms: such as Figure 1As shown, in minimally invasive surgery, to prevent surgical instruments and endoscopes from scratching or pulling the surgical incision during the procedure, the instruments and endoscopes are required to perform "fixed-point" movements around the incision (i.e., two swings around the tangent of the incision, translation along the instrument's own axis, and rotation around the instrument's own axis). The mechanism that achieves this "fixed-point" movement is called a telecentric mechanism, and this "fixed point" is generally referred to as the telecentric point. In a minimally invasive surgical robot system, the telecentric mechanism is located at the end of the robotic arm and is used to hold the surgical instruments or endoscope. The stiffness, precision, stability, and flexibility of the telecentric mechanism directly affect the working performance of the surgical instruments and endoscopes during the procedure. Therefore, the telecentric mechanism is one of the key technologies in the design and development of minimally invasive surgical robots.

[0007] Currently, telecentric mechanisms employ parallelogram mechanisms, spherical mechanisms, triangular mechanisms, parallel mechanisms, and circular arc track mechanisms to achieve "fixed-point" motion. Among them, for example... Figure 2 As shown, although the parallelogram mechanism has fewer joints, its low rigidity due to the use of multiple steel strips necessitates specialized equipment for assembly, resulting in high subsequent assembly and maintenance costs; for example... Figure 3 As shown, spherical mechanisms have fewer joints and links, resulting in a compact structure, but they suffer from poor stiffness and stability; for example... Figure 4 As shown, the triangular mechanism has a simple structure and high rigidity, but its joint coupling is obvious and it is prone to interference problems; for example... Figure 5 As shown, parallel mechanisms have high stiffness and compact structure, but they have disadvantages such as strong motion coupling, high machining accuracy requirements and small workspace, which makes it difficult to solve the forward and inverse kinematics of the robot system. Circular arc track mechanisms have only two joints and simple structure, but their disadvantages are large size and difficult drive design.

[0008] In summary, most existing telecentric mechanisms suffer from problems such as large size, easy collision and interference between robotic arms, and small effective movement space. Furthermore, when not in use, they are difficult to retract under the operating table, occupying a large space and affecting the independent use of the operating table. Summary of the Invention

[0009] To address the aforementioned issues, this invention provides a novel laparoscopic surgical platform that differs from existing fully master-slave minimally invasive laparoscopic surgical robots. The platform can be configured with different numbers of robotic arms depending on the specific surgical scenario: a single robotic arm can be used to hold the endoscope as a scope-holding robot; 2-3 robotic arms can be used as assistant robots; and 4 robotic arms can be used as a fully master-slave surgical robot.

[0010] To achieve the above objectives, the present invention provides a novel laparoscopic surgical platform, comprising an operating table and multiple surgical robotic arms, wherein the multiple surgical robotic arms are arranged in a matrix and positioned on both sides of the operating table. A positioning mechanism is provided at the bottom of the operating table, through which the surgical robotic arms are housed at the bottom of the operating table;

[0011] The positioning mechanism includes multiple transverse sliding pairs located at the bottom of the operating table corresponding to multiple surgical robotic arms and used for moving along the length of the operating table, and multiple longitudinal sliding pairs connected to the output ends of the multiple transverse sliding pairs and used for moving along the width of the operating table. The longitudinal sliding pairs, transverse sliding pairs, and surgical robotic arms are connected in sequence one to one.

[0012] Preferably, the operating table includes, from top to bottom, an operating table surface, a support frame, a base, and casters;

[0013] The lateral movement pair includes a lateral slide rail fixed to the bottom of the operating table, a positioning iron bar arranged parallel to the lateral slide rail, and a lateral movement platform. One side of the lateral movement platform is slidably connected to the lateral slide rail via a slider, and the side of the lateral movement platform facing the lateral slide rail is also attracted and positioned by an electromagnet to the positioning iron bar.

[0014] Preferably, the longitudinal moving pair includes a longitudinal slide rail fixed to the other side of the transverse moving platform, a longitudinal moving platform on one side slidably connected to the longitudinal slide rail via a slider, and a guide rail clamp for positioning the longitudinal moving platform on the longitudinal slide rail, with the other side of the longitudinal moving platform connected to the surgical robotic arm.

[0015] Preferably, a long magnetic ruler is fixed at the bottom of the operating table and at a position parallel to the transverse slide rail; a short magnetic ruler is also fixed at the bottom of the transverse moving platform and at a position parallel to the longitudinal slide rail.

[0016] The horizontal and vertical moving platforms are respectively equipped with reading heads adapted to the long and short magnetic scales.

[0017] Preferably, the surgical robotic arm includes a rotating storage mechanism, a lifting mechanism, and a telecentric mechanism connected sequentially to the longitudinal moving platform. The telecentric mechanism is a composite structure composed of an axial rotation unit, a yaw unit, and a translational insertion unit.

[0018] Preferably, the rotating storage mechanism includes a storage joint module connected to a longitudinal moving platform via a vertical mounting column, and the output end of the storage joint module is connected to one end of a horizontal connecting column.

[0019] Preferably, the lifting mechanism includes a lifting column connected to the other end of a T-shaped connecting column and a horizontal connecting column, a lifting housing slidably connected vertically to the lifting column, and a driving assembly for driving the lifting housing to slide along the lifting column.

[0020] The drive assembly includes a worm gear reducer motor fixed inside the lifting housing via a lifting connecting plate, a transmission gear connected to the output end of the worm gear reducer motor, and a vertical rack meshing with the transmission gear. The vertical rack is fixed to the inner wall of the lifting column.

[0021] The inner wall of the lifting column is also fixed with a vertical guide rail, and a vertical guide slider is fixed on the lifting connecting plate at the position corresponding to the vertical guide rail. The vertical guide slider is slidably connected to the vertical guide rail.

[0022] Preferably, the axial rotation unit of the telecentric mechanism includes an axial rotation joint module fixedly connected to the lifting housing, and the output end of the axial rotation joint module is connected to the swing unit via a transverse rotating shaft.

[0023] Preferably, the yaw unit of the telecentric mechanism includes an arc-shaped mounting plate, an arc-shaped slide rail fixed to one side of the arc-shaped mounting plate, multiple guide wheels rotatably disposed on the other side of the arc-shaped mounting plate, as well as a driving wheel and a driven wheel, wherein the multiple guide wheels, the driving wheel and the driven wheel form an arc with the same curvature as the arc-shaped slide rail.

[0024] The drive wheel is concentrically connected to the first transmission bevel gear, the first transmission bevel gear meshes with the second transmission bevel gear, and the second transmission bevel gear is connected to the output shaft of the yaw motor fixed on the transverse rotating shaft;

[0025] The driving wheel, multiple guide wheels and driven wheels are connected by steel wire rope transmission. The steel wire rope is connected to the translation probe unit through an arc hole opened on the arc-shaped mounting plate. The translation probe unit is also slidably connected to the arc-shaped slide rail.

[0026] Preferably, the telecentric mechanism's translational insertion unit includes a translational insertion motor, a lead screw, and a ball nut connected in sequence. The ball nut is connected to a surgical instrument mounting plate, on which surgical instruments are mounted.

[0027] Both sides of the surgical instrument mounting plate are slidably connected to linear slide rails via sliders. The linear slide rails on both sides are fixedly connected to the inside of the protective cover. The inside of the protective cover is rotatably connected to both ends of the lead screw. The outside of the protective cover is slidably connected to the arc-shaped slide rail via sliders. The outside of the protective cover is also slidably connected to the arc-shaped mounting plate via wedges. The wedges are fixedly connected to one end of the double-ended screw. The other end of the double-ended screw passes through the arc-shaped hole and is fixedly connected to the steel wire rope.

[0028] The present invention has the following beneficial effects:

[0029] 1. In view of the problems that traditional integrated robotic arms are prone to interference, which is not conducive to the preoperative planning of robotic arm positioning, and the problems that split robotic arms occupy a lot of space, which is not conducive to their use in small and medium-sized operating rooms, and the relative positions between multiple robotic arms are difficult to determine, the novel laparoscopic surgical platform disclosed in this invention integrates surgical robotic arms and operating table into one unit and arranges them in pairs along the left and right sides of the operating table. Each robotic arm can move independently, and the preoperative positioning is flexible and not prone to interference with other robotic arms.

[0030] 2. The bottoms of multiple robotic arms are all mounted on slide rails at the bottom of the operating table. Their relative positions are fixed, and they can all be stored under the operating table, saving space and making them convenient for use in small and medium-sized operating rooms.

[0031] 3. The multiple robotic arms have the same structure, and the surgical tools (surgical instruments and endoscopes) held at the end of the robotic arms are highly interchangeable. The number of robotic arms in use can be set according to the surgical needs: using a single robotic arm to hold the endoscope as a scope-holding robot, using 2-3 robotic arms as an assistant robot, and using 4 robotic arms as a surgical robot in a fully master-slave surgical mode.

[0032] The advantages of the multi-arm structure of the novel laparoscopic surgical platform are as follows: First, it allows for the setting of a human-machine collaborative operation mode, enabling surgeons to collaborate with the surgical robot at the operating table. This preserves the surgeon's long-accumulated hand operation experience in traditional minimally invasive surgery while fully leveraging the strengths of both the surgeon and the robot for routine surgical procedures. Second, compared to the current master-slave operation mode in robot-assisted minimally invasive surgery, the multi-scenario human-machine collaborative operation mode disclosed in this invention significantly reduces preoperative incision setup time and robotic arm posture adjustment time, thus reducing the total surgical time and improving surgical outcomes. Third, this multi-scenario human-machine collaborative operation mode better meets the needs of specialized surgeries, allowing surgeons to flexibly configure the robot-machine collaboration mode according to the specific surgical requirements.

[0033] 4. Addressing the issues of large size, easy collision and interference between robotic arms, and limited effective motion space inherent in most current thoracoscopic / laparoscopic surgical robots, this invention innovatively designs a composite telecentric mechanism consisting of an axial rotary joint (for swinging around the tangent of the incision) and an arc-shaped slide rail (for guiding swinging in the other direction around the tangent of the incision). This telecentric mechanism effectively solves the problem of difficult drive design for arc-shaped track-type telecentric mechanisms by adopting a modular design scheme for the drive layer and transmission layer. Furthermore, this telecentric mechanism has a planar structure, which better solves the problem of easy collision and interference between robotic arms, effectively improving the motion space of the robotic arms, resulting in a more compact structure, smaller size, and lighter weight.

[0034] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0035] Figure 1 A schematic diagram of the operation of an existing telecentric mechanism;

[0036] Figure 2 This is a schematic diagram of an existing parallelogram mechanism.

[0037] Figure 3 This is a schematic diagram of an existing spherical mechanism.

[0038] Figure 4 This is a schematic diagram of an existing triangular mechanism.

[0039] Figure 5 This is a schematic diagram of an existing parallel mechanism structure;

[0040] Figure 6 This is a schematic diagram of the overall structure of a novel laparoscopic surgical platform according to the present invention;

[0041] Figure 7 This is a schematic diagram illustrating the storage process of a novel laparoscopic surgical platform according to the present invention;

[0042] Figure 8 This is a schematic diagram of the positioning mechanism of a novel laparoscopic surgical platform according to the present invention;

[0043] Figure 9 This is a schematic diagram of the lateral movement platform structure of a novel laparoscopic surgical platform according to the present invention;

[0044] Figure 10 This is a schematic diagram of the longitudinal moving platform structure of a novel laparoscopic surgical platform according to the present invention;

[0045] Figure 11 This is a schematic diagram of the lifting mechanism of a novel laparoscopic surgical platform according to the present invention;

[0046] Figure 12 This is an internal view of the tilting unit of a novel laparoscopic surgical platform according to the present invention;

[0047] Figure 13 This is a rear view of the tilting unit of a novel laparoscopic surgical platform according to the present invention;

[0048] Figure 14 This is a schematic diagram of the translation probe unit of a novel laparoscopic surgical platform according to the present invention.

[0049] The components include: 1. Operating table; 11. Operating table surface; 12. Support frame; 13. Base; 14. Casters; 2. Surgical robotic arm; 21. Translational probe unit; 211. Translational probe motor; 212. Lead screw; 213. Surgical instrument mounting plate; 214. Linear slide rail; 215. Protective cover; 22. Oscillating unit; 221. Oscillating motor; 222. Second transmission bevel gear; 223. First transmission bevel gear; 224. Arc-shaped slide rail; 225. Arc-shaped mounting plate; 226. Driving wheel; 227. Guide wheel; 228. Driven wheel; 23. Axial return... 24. Rotating unit; 25. Rotating storage mechanism; 26. Lifting mechanism; 27. Lifting connecting plate; 28. Transmission gear; 29. ​​Worm gear reducer motor; 20. Vertical rack; 20. Lifting column; 20. T-shaped connecting column; 31. Positioning mechanism; 32. Lateral sliding pair; 33. Positioning iron bar; 34. Lateral slide rail; 35. Lateral moving platform; 36. Electromagnet; 37. Longitudinal sliding pair; 38. Longitudinal moving platform; 39. Longitudinal slide rail; 30. Guide rail clamp; 31. Long magnetic scale; 32. Reading head; 33. Short magnetic scale. Detailed Implementation

[0050] The present invention will be further described below with reference to the accompanying drawings. It should be noted that this embodiment is based on the present technical solution and provides detailed implementation methods and specific operation processes, but the protection scope of the present invention is not limited to this embodiment.

[0051] A novel laparoscopic surgical platform includes an operating table 1 and multiple surgical robotic arms 2. The multiple surgical robotic arms 2 are arranged in a matrix and placed on both sides of the operating table 1. A positioning mechanism 3 is provided at the bottom of the operating table 1, and the surgical robotic arms 2 are stored at the bottom of the operating table 1 through the positioning mechanism 3.

[0052] The surgical robotic arms 2 are arranged in a rectangular array on both sides of the operating table 1. Each surgical robotic arm can move independently, and the preoperative positioning is flexible and not easy to interfere with other robotic arms. In this embodiment, four surgical robotic arms are provided, and the four surgical robotic arms are distributed in pairs on both sides of the operating table 1. The telecentric mechanism at the top of the surgical robotic arm 2 can move around the incision on the body surface to adjust the position of the two types of end effectors, namely surgical instruments or endoscopes, so that the end effectors can reach the operating area inside the body to perform surgical operations.

[0053] The positioning mechanism 3 includes multiple transverse sliding pairs 31, which are positioned at the bottom of the operating table 1 and are used to move along the length of the operating table 1, and multiple longitudinal sliding pairs 32, which are connected to the output ends of the multiple transverse sliding pairs 31 and are used to move along the width of the operating table 1. The longitudinal sliding pairs 32, transverse sliding pairs 31, and surgical robotic arms are connected in sequence and are mainly used to adjust the position of the end of the robotic arm before surgery so that the distal point is aligned with the surgical incision.

[0054] Preferably, the operating table 1 includes an operating table surface 11, a support frame 12, a base 13, and casters 14 arranged sequentially from top to bottom. The operating table surface 11 is made of aluminum alloy plate and is used to provide a platform for surgical operations and to place the patient. The support frame 12 is constructed of high-strength heavy-duty profiles and is used to support the operating table 1 panel, four surgical robotic arms, and the patient's load. The top of the support frame 12 is connected to the operating table surface 1 through two corner brackets and profile screw holes, and the support frame 12 is connected to the operating table 1 base 13 1 through eight corner brackets below.

[0055] The transverse moving pair 31 includes a transverse slide rail 312 fixed to the bottom of the operating table 11, a positioning iron bar 311 arranged parallel to the transverse slide rail 312, and a transverse moving platform 313. One side of the transverse moving platform 313 is slidably connected to the transverse slide rail 312 via a slider. The side of the transverse moving platform 313 facing the transverse slide rail 312 is also attracted and positioned by an electromagnet 314 to the positioning iron bar 311. This enables the electromagnet 314 to generate an electromagnetic attraction with the positioning iron bar 311 when it is energized, locking the transverse moving platform 313 and preventing it from moving along the transverse slide rail 312, thus achieving the positioning purpose.

[0056] Preferably, the longitudinal moving pair 32 includes a longitudinal slide rail 322 fixed to the other side of the transverse moving platform 313, a longitudinal moving platform 321 slidably connected to the longitudinal slide rail 322 on one side via a slider, and a guide rail clamp 323 for positioning the longitudinal moving platform 321 on the longitudinal slide rail 322. The other side of the longitudinal moving platform 321 is connected to the surgical robotic arm. This allows the position of the longitudinal moving platform 321 to be locked by turning the handle on the guide rail clamp 323 after the position of the surgical robotic arm along the width direction of the operating table 1 has been adjusted and determined, and by turning the handle on the guide rail clamp 323, the braking element on the guide rail clamp 323 firmly clamps the two sides of the longitudinal slider.

[0057] Preferably, a long magnetic scale 33 is fixed at the bottom of the operating table 11 and at a position parallel to the transverse slide rail 312; a short magnetic scale is fixed at the bottom of the longitudinal moving platform 321 and at a position parallel to the longitudinal slide rail 322; reading heads 34 adapted to the long magnetic scale 33 and the short magnetic scale 35 are respectively provided on the transverse moving platform 313 and the longitudinal moving platform 321. In this embodiment, the long magnetic scale 33 and the short magnetic scale 35 are arranged directly above the corresponding reading heads 34, and the long magnetic scale 33 and the short magnetic scale 35 are in close contact with the corresponding reading heads 34. When the reading head 34 is powered on, the movement of the transverse moving platform 313 and the longitudinal moving platform 321 can be recorded by the long magnetic scale 33 and the short magnetic scale 35 respectively.

[0058] The operating table 1 is also equipped with headboards at both ends of the bottom of the table surface to prevent the lateral moving platform 313 from dislodging from the lateral slide rail 312.

[0059] Preferably, the surgical robotic arm 2 includes a rotating storage mechanism 24, a lifting mechanism 25, and an axial rotation unit 23, a yaw unit 22, and a translational insertion unit 21, which are sequentially connected to the longitudinal moving platform 321.

[0060] The rotating storage mechanism 24 includes a storage joint module connected to the longitudinal moving platform 321 via a vertical mounting column. The output end of the storage joint module is connected to one end of the horizontal connecting column, which allows the surgical robotic arm to be adjusted from the working posture (vertical) to the storage posture (horizontal). In conjunction with the two horizontal translation joints of the positioning mechanism 3, the storage operation of the surgical robotic arm can be completed.

[0061] Preferably, the lifting mechanism 25 includes a lifting column 255 connected to the other end of a horizontal connecting column via a T-shaped connecting column 256, a lifting housing vertically slidably connected to the lifting column 255, and a drive assembly for driving the lifting housing to slide along the lifting column 255. The drive assembly includes a worm gear reducer motor 253 fixed inside the lifting housing via a lifting connecting plate 251, a transmission gear 252 connected to the output end of the worm gear reducer motor 253, and a vertical rack 254 meshing with the transmission gear 252. The vertical rack 254 is fixed to the inner wall of the lifting column 255. A vertical guide rail is also fixed to the inner wall of the lifting column 255. A vertical guide slider is fixed on the lifting connecting plate 251 at a position corresponding to the vertical guide rail. The vertical guide slider is slidably connected to the vertical guide rail, so that after the motor shaft of the worm gear reducer motor 253 is reversed by the worm gear reducer, the output shaft of the worm gear reducer is connected to the transmission gear 252. The transmission gear 252 and the rack mesh, and under the action of the gear and rack, the lifting movement of the lifting housing is realized. Furthermore, since a worm gear reducer motor 253 is used, which includes a worm gear reducer, the power can only be output from the motor end by utilizing the worm wheel and worm self-locking, ensuring that the lifting mechanism 25 will not fall due to the load above.

[0062] In this embodiment, light-blocking plates are installed at both the upper and lower ends of the vertical guide slide rail. Together with the photoelectric switch on the slider, they limit the stroke of the vertical linear movement and are used to detect the starting point position of the stroke of the lifting mechanism 25.

[0063] Because the characteristics of the human abdomen are different, the height of the surgical incision will also be different depending on the preoperative plan. Therefore, it is necessary to set up a lifting mechanism 25 to adjust the height of the end of the surgical robotic arm before surgery, so that the distal point of the distal mechanism on the surgical robotic arm 2 is at the same height as the surgical incision.

[0064] Preferably, the axial rotation unit 23 includes an axial rotation joint module fixedly connected to the lifting housing, and the output end of the axial rotation joint module is connected to the swing unit 22 via a transverse rotating shaft.

[0065] Preferably, the yaw unit 22 includes an arc-shaped mounting plate 225, an arc-shaped slide rail 224 fixed to one side of the arc-shaped mounting plate 225, a plurality of guide wheels 227 rotatably disposed on the other side of the arc-shaped mounting plate 225, a driving wheel 226, and a driven wheel 228. The plurality of guide wheels 227, the driving wheel 226, and the driven wheel 228 form an arc with the same curvature as the arc-shaped slide rail 224. The driving wheel 226 is concentrically connected to the first transmission bevel gear 223, the first transmission bevel gear 223 meshes with the second transmission bevel gear 222, and the second transmission bevel gear 222 is connected to the output shaft of the yaw motor 221 fixed on the transverse rotating shaft. The driving wheel 226 and the plurality of guide wheels 227 is connected to the driven wheel 228 via a steel wire rope. The steel wire rope is connected to the translation probe unit 21 through an arc-shaped hole on the arc-shaped mounting plate 225. The translation probe unit 21 is also slidably connected to the arc-shaped slide rail 224. In this embodiment, the driving wheel 226, the driven wheel 228, and the guide wheel 227 are all grooved round wheels. Since the diameter of the grooved round wheel is small, but the yaw motion angle is large and the stroke of the arc motion is long, in order to achieve the purpose of long stroke, the driving wheel 226 and the driven wheel 228 are both wound with steel wire rope in multiple turns. After the steel wire rope is wound in multiple turns, it is fixed in the stepped hole opened on the driving wheel 226 or the driven wheel 228.

[0066] The transmission principle of the wire rope is as follows: the yaw motor 221 drives the drive wheel 226 to rotate sequentially through the second bevel gear and the first bevel gear. During the rotation of the drive wheel 226, the wire rope wound on it is loosened or tightened. At the same time, it cooperates with the driven wheel 228 located at the other end of the wire rope (if the wire rope on the drive wheel 226 is continuously loosened, the wire rope on the driven wheel 228 is continuously wound, and vice versa), which can drive the wire rope to move in an arc along the guide wheel 227. During its movement, it drives the translation probe unit 21 to move in an arc, thereby completing the closed-loop transmission. The load is driven by the wire rope to transmit motion. The wire rope has a small mass, which is beneficial to reduce the overall mass of the telecentric mechanism and facilitates the arrangement of guides.

[0067] Preferably, the translational insertion unit 21 includes a translational insertion motor 211, a lead screw 212, and a ball nut connected in sequence. The ball nut is connected to a surgical instrument mounting plate 213, on which surgical instruments, such as surgical instruments or endoscopes, are mounted. The surgical instruments or endoscopes are inserted into the thoracic / abdominal cavity through a puncture hole at the surgical incision. The principle of linear motion is as follows: In the transmission mechanism composed of the ball nut and the lead screw, driven by the translational insertion motor 211, the lead screw 212 rotates around its own axis, while the rotation of the ball nut is locked, so that the ball nut can only move linearly along the axis of the lead screw 212. This drives the surgical instrument mounting plate 213 to move linearly along the linear slide rail 214, thereby driving the surgical instruments mounted on the surgical instrument mounting plate 213 to perform translational insertion motion along the axis of their operating rods.

[0068] Both sides of the surgical instrument mounting plate 213 are slidably connected to the linear slide rail 214 via sliders. The linear slide rails 214 on both sides are fixedly connected to the inner sides of the protective cover 215. The inner middle of the protective cover 215 is rotatably connected to both ends of the lead screw 212. The outer side of the protective cover 215 is slidably connected to the arc-shaped slide rail 224 via sliders. The outer side of the protective cover 215 is also slidably connected to the arc-shaped mounting plate 225 via wedges. The wedges are fixedly connected to one end of the double-ended screw. The other end of the double-ended screw passes through the arc-shaped hole and is fixedly connected to the wire rope.

[0069] Working process: First, the surgical robotic arm is changed from the retracted state to the working state. Then, according to the position and height of the patient's thoracic and abdominal cavities on the operating table 11, the lifting mechanism 25, the lateral moving pair 31, and the longitudinal moving pair 32 are adjusted until the surgical instruments at the end of the surgical robotic arm are aligned with the wound position. The worm gear reducer motor 253 is turned off. At the same time, the longitudinal moving pair 32 and the lateral moving pair 31 are locked by the electromagnet 314 and the guide rail clamp 323, respectively. Then, according to the needs of the operation, the axial rotation unit 23, the yaw unit 22, and the translation probe unit 21 are controlled to drive the surgical instruments at the end of the surgical robotic arm to perform the corresponding actions and assist the operation.

[0070] The storage process is as follows: First, the surgical instruments held on the surgical robotic arm 2 are removed, and the locking states of the horizontal movement platform 313 and the vertical movement platform 321 are released. Then, the surgical robotic arm 2 is pushed horizontally, causing it to move along the horizontal slide rail 312 towards the head of the operating table 1 under the action of the horizontal movement platform 313. Next, the rotating storage module is controlled to rotate, causing the surgical robotic arm 2 to rotate from a vertical position towards the head of the table to a horizontal position. Finally, the surgical robotic arm 2 is pushed inward (i.e., pushed towards the center; this can be done by first pushing the surgical robotic arm 2 horizontally, causing it to move inward under the action of the horizontal movement platform 313, and then pushing it vertically), completing the storage operation. The reverse operation can change the surgical robotic arm 2 from the storage state to the working state.

[0071] Therefore, the present invention adopts a novel laparoscopic surgical platform with retractable surgical robotic arms. By integrating the surgical robotic arms with the operating table, each surgical robotic arm can be easily and quickly stored, making it suitable for surgical modes in multiple scenarios.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A novel endoscopic surgery platform, comprising a surgery bed and a plurality of surgery mechanical arms arranged in a matrix on both sides of the surgery bed, characterized in that: The bottom of the operating bed is provided with a positioning mechanism, and the operating mechanical arm is accommodated in the bottom of the operating bed through the positioning mechanism; The positioning mechanism comprises a plurality of transverse moving sub-assemblies arranged at the bottom of the operating bed and used for moving along the length direction of the operating bed, and a plurality of longitudinal moving sub-assemblies respectively connected with the output ends of the transverse moving sub-assemblies and used for moving along the width direction of the operating bed, the longitudinal moving sub-assemblies, the transverse moving sub-assemblies and the operating mechanical arm are sequentially and one-to-one correspondingly connected; The operating bed comprises, from top to bottom, an operating table top, a support frame, a base and a moving trolley; The transverse moving sub-assembly comprises a transverse sliding rail fixed to the bottom end of the operating table top, a positioning iron strip arranged in parallel with the transverse sliding rail and a transverse moving platform, one side of the transverse moving platform is slidably connected with the transverse sliding rail through a sliding block, and the side of the transverse moving platform facing the transverse sliding rail is further connected with the positioning iron strip through an electromagnet for adsorption positioning. The longitudinal moving sub-assembly comprises a longitudinal sliding rail fixed to the other side of the transverse moving platform, a longitudinal moving platform slidably connected with the longitudinal sliding rail through a sliding block and a guide rail clamp used for positioning the longitudinal moving platform on the longitudinal sliding rail, and the other side of the longitudinal moving platform is connected with the operating mechanical arm. The operating mechanical arm comprises, sequentially connected with the longitudinal moving platform, a rotary accommodation mechanism, a lifting mechanism and a telecentric mechanism, and the telecentric mechanism is a composite structure composed of an axial rotation unit, a yawing unit and a translational insertion unit. The rotary accommodation mechanism comprises an accommodation joint module connected with the longitudinal moving platform through a vertical mounting column, and the output end of the accommodation joint module is connected with one end of a horizontal connecting column, so that the operating mechanical arm can be adjusted from a working posture to a storage posture, and the accommodation operation of the operating mechanical arm can be completed in cooperation with two horizontal translational joints of the positioning mechanism.

2. A novel platform for laparoscopic surgery as claimed in claim 1, wherein: A long magnetic scale is fixed to the bottom end of the operating table top and in parallel with the transverse sliding rail, and a short magnetic scale is further fixed to the bottom end of the transverse moving platform and in parallel with the longitudinal sliding rail. A reading head adapted to the long magnetic scale and the short magnetic scale is arranged on the transverse moving platform and the longitudinal moving platform respectively.

3. A novel platform for laparoscopic surgery as claimed in claim 2, wherein: The lifting mechanism comprises a lifting column connected with the other end of the horizontal connecting column through a T-shaped connecting column, a lifting shell vertically slidably connected with the lifting column and a driving assembly used for driving the lifting shell to slide along the lifting column. The driving assembly comprises a worm reduction motor fixed to the inside of the lifting shell through a lifting connecting plate, a transmission gear connected with the output end of the worm reduction motor and a vertical rack engaged with the transmission gear, and the vertical rack is fixed to the inner wall of the lifting column. A vertical guide sliding rail is further fixed to the inner wall of the lifting column, and a vertical guide sliding block is fixed to the lifting connecting plate and at a position corresponding to the vertical guide sliding rail, and the vertical guide sliding block is slidably connected with the vertical guide sliding rail.

4. A novel platform for laparoscopic surgery as claimed in claim 3, wherein: The axial rotation unit of the telecentric mechanism comprises an axial rotation joint module fixedly connected with the lifting shell, and the output end of the axial rotation joint module is connected with the yawing unit through a transverse rotating shaft.

5. A novel platform for laparoscopic surgery as claimed in claim 4, wherein: The yawing unit of the telecentric mechanism comprises an arc-shaped mounting plate, an arc-shaped sliding rail fixed to one side of the arc-shaped mounting plate, a plurality of guide wheels rotatably arranged on the other side of the arc-shaped mounting plate and a driving wheel and a driven wheel, and an arc shape with the same curvature as the arc-shaped sliding rail is formed between the plurality of guide wheels, the driving wheel and the driven wheel. The driving wheel is connected concentrically with the first transmission bevel gear, the first transmission bevel gear is engaged with the second transmission bevel gear, and the second transmission bevel gear is connected with the output shaft of the yaw motor fixed on the transverse rotating shaft; The driving wheel, the plurality of guide wheels and the driven wheel are connected through a steel wire rope, the steel wire rope is connected with the translation probe unit through an arc-shaped hole formed on the arc-shaped mounting plate, and the translation probe unit is also connected with the arc-shaped slide rail in a sliding manner.

6. A novel platform for laparoscopic surgery as claimed in claim 5, wherein: The translation probe unit of the telecentric mechanism comprises a translation probe motor, a screw rod and a ball nut connected in sequence, the ball nut is connected with a surgical instrument mounting plate, and the surgical instrument mounting plate is provided with a surgical instrument; The two sides of the surgical instrument mounting plate are connected with the linear slide rails in a sliding manner through sliding blocks, the two linear slide rails are fixedly connected with the two sides of the inner part of the protective cover respectively, the middle part of the inner part of the protective cover is rotatably connected with the two ends of the screw rod, the outer part of the protective cover is connected with the arc-shaped slide rail in a sliding manner through a sliding block, the outer part of the protective cover is also connected with the arc-shaped mounting plate in a sliding manner through a wedge block, the wedge block is fixedly connected with one end of a double-headed screw rod, and the other end of the double-headed screw rod is fixedly connected with the steel wire rope after penetrating through the arc-shaped hole.

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