Surgical device

Abstract

The present disclosure provides a surgical device, comprising: a surgical table; a horizontal adjusting assembly, comprising: a sliding member slidably mounted on the surgical table and extending from a lower portion of the surgical table to an upper portion of the surgical table; and a rotating seat rotatably mounted on the sliding member; a vertical adjusting assembly telescopically mounted on a side of the rotating seat opposite to the sliding member; a rotating adjusting assembly rotatably mounted on a side of the vertical adjusting assembly opposite to the horizontal adjusting assembly; and a surgical arm rotatably mounted on a side of the rotating adjusting assembly opposite to the vertical adjusting assembly; wherein, in the case that the rotating seat rotates relative to the sliding member, the rotating seat drives the surgical arm, the vertical adjusting assembly and the rotating adjusting assembly to rotate from the lower portion of the surgical table to the upper portion of the surgical table or from the upper portion of the surgical table to the lower portion of the surgical table.

Description

Technical Field

[0001] At least one embodiment of this disclosure relates to the field of medical devices, and more particularly to a foldable surgical device. Background Technology

[0002] The surgical arm used for surgical operations is an important component of a surgical robot system, which can be used to carry surgical instruments or endoscopes to complete surgical tasks.

[0003] Emergency medical care often requires working in extremely harsh environments, increasing the need for frequent relocation of surgical robot systems. Surgical robot systems come in three configurations: trolley-type, split-type, and bedside-type. Among these, bedside-type robots, which are directly attached to the operating table, have advantages such as small footprint and lightweight structure, making them the most promising in terms of transport.

[0004] However, current bedside robotic arms require a large volume of space in the vertical direction, which is not conducive to operation and transportation in narrow transport vehicles, and their portability still needs to be improved. Summary of the Invention

[0005] To address the existing technical problems, this disclosure provides a surgical device with a foldable surgical arm that can be housed under the operating table, facilitating the transfer and transportation of the surgical device.

[0006] Embodiments of this disclosure provide a surgical device, including: an operating table; a horizontal adjustment assembly including: a slider slidably mounted on the operating table and extending from the lower part of the operating table to the upper part of the operating table; a rotating seat rotatably mounted on the slider; a vertical adjustment assembly telescopically mounted on the side of the rotating seat opposite to the slider; a rotation adjustment assembly rotatably mounted on the side of the vertical adjustment assembly opposite to the horizontal adjustment assembly; and a surgical arm rotatably mounted on the side of the rotation adjustment assembly opposite to the vertical adjustment assembly; wherein, when the rotating seat rotates relative to the slider, the rotating seat drives the surgical arm, the vertical adjustment assembly, and the rotation adjustment assembly to rotate from the lower part of the operating table to the upper part of the operating table or from the upper part of the operating table to the lower part of the operating table.

[0007] In some illustrative embodiments, the device further includes: a guide frame mounted on the operating table; a guide rod mounted on the guide frame and extending in a direction parallel to the operating table; and a slider slidably mounted on the operating table based on the guide rod to slide back and forth linearly along the operating table.

[0008] In some illustrative embodiments, the rotation adjustment assembly includes: a first link rotatably mounted on the side of the vertical adjustment assembly opposite to the horizontal adjustment assembly; a second link rotatably connected to the side of the first link opposite to the vertical adjustment assembly, and the surgical arm rotatably connected to the side of the second link opposite to the first link; wherein the length of the first link is greater than the length of the second link, and the surgical arm is allowed to be accommodated within the first link when the second link rotates to overlap with the first link.

[0009] In some illustrative embodiments, the sliding element includes: a mounting bracket including a first mounting plate and a second mounting plate, the first mounting plate being slidably mounted on the operating table, the first mounting plate and the second mounting plate being connected in an L-shape, the second mounting plate extending from the lower part of the operating table to the upper part of the operating table; and a sliding body, cylindrical in shape, coaxially connected to the second mounting plate.

[0010] In some illustrative embodiments, the horizontal adjustment assembly further includes: a first bearing housing, installed within a first receiving space formed by the rotating seat; a first bearing, sleeved on the first bearing housing, and forming a second receiving space with the sliding body; wherein the rotating seat rotates relative to the sliding member based on the cooperation of the first bearing and the first bearing housing.

[0011] In some illustrative embodiments, the rotating seat has an arc-shaped sliding groove, the sliding member has a protrusion corresponding to the sliding groove, and the rotating seat limits the angle of rotation of the rotating seat based on the length of the sliding groove.

[0012] In some illustrative embodiments, the leveling assembly further includes: a first brake, installed within the second receiving space, rotating under the drive of the first bearing seat, wherein the first brake prevents the rotating seat from rotating relative to the sliding member when the protrusion slides to the end of the sliding groove.

[0013] In some illustrative embodiments, the leveling assembly further includes a speed reducer disposed between the first brake and the first bearing housing, the speed reducer being configured to increase the rotational speed of the first brake driven by the first bearing housing, thereby reducing the locking force of the first brake when preventing the rotating seat from rotating relative to the sliding member; preferably, the leveling assembly further includes a torsion spring sleeved on the speed reducer and connected to the sliding member and the rotating seat based on the speed reducer, so as to provide a driving force to the rotating seat when the rotating seat rotates relative to the sliding member.

[0014] In some illustrative embodiments, the rotation adjustment assembly further includes: two first connecting portions configured to rotatably connect the vertical adjustment assembly to the first link and to the second link, respectively; and a second connecting portion configured to connect the second link to the surgical arm, wherein the second connecting portion includes: a motor mounted within the second link; a first bevel gear connected to the output end of the motor to rotate under the drive of the motor; and a second bevel gear meshing with the first bevel gear, the output end of the second bevel gear being rotatably connected to the surgical arm, and the axial direction of the second bevel gear coinciding with the rotation axis of the surgical arm.

[0015] In some illustrative embodiments, the vertical adjustment assembly extends and retracts via a lead screw in a direction perpendicular to the rotating base.

[0016] According to embodiments of this disclosure, the horizontal position of the surgical arm can be adjusted by providing a slidable horizontal adjustment component; the vertical position of the surgical arm can be adjusted by providing a retractable vertical adjustment component; the position of the surgical arm in a horizontal plane parallel to the operating table can be adjusted by providing a rotatable rotation adjustment component; and by providing a rotating seat rotatably mounted on the sliding member, when the rotating seat rotates relative to the sliding member, the surgical arm, the vertical adjustment component, and the rotation adjustment component can be rotated from the upper part of the operating table to the lower part of the operating table, thereby allowing the surgical arm to be housed in the lower part of the operating table, reducing the height of the surgical device and facilitating its transfer and transportation. Attached Figure Description

[0017] Figure 1 A perspective view of a surgical apparatus according to an embodiment of the present disclosure is shown schematically;

[0018] Figure 2 A schematic cross-sectional view of a horizontal adjustment assembly according to an embodiment of the present disclosure is shown;

[0019] Figure 3 An exploded view of a horizontal adjustment assembly according to an embodiment of the present disclosure is shown schematically;

[0020] Figure 4 A perspective view of a slider according to an embodiment of the present disclosure is shown schematically;

[0021] Figure 5 A perspective view of a rotating seat according to an embodiment of the present disclosure is shown schematically;

[0022] Figure 6 An exploded view schematically illustrating a rotation adjustment assembly according to an embodiment of the present disclosure;

[0023] Figure 7A partial cross-sectional view of a rotation adjustment assembly according to an embodiment of the present disclosure is shown schematically;

[0024] Figure 8 A partial perspective view is schematically shown after the surgical arm according to an embodiment of the present disclosure is received into the first link;

[0025] Figure 9 A partial perspective view of the surgical device according to an embodiment of the present disclosure after folding is schematically shown;

[0026] Figure 10 A perspective view schematically illustrating the deployed state of a surgical arm according to an embodiment of the present disclosure; and

[0027] Figure 11 A perspective view of a folded surgical arm according to an embodiment of the present disclosure is shown schematically.

[0028] Figure Labels

[0029] 1: Operating table;

[0030] 2: Horizontal adjustment component;

[0031] 21: Sliding component;

[0032] 211: Mounting bracket;

[0033] 2111: First mounting plate;

[0034] 2112: Second mounting plate;

[0035] 212: Sliding main body;

[0036] 213: Protrusion;

[0037] 22: Rotating seat;

[0038] 221: First containment space;

[0039] 222: Sliding groove;

[0040] 23: First bearing housing;

[0041] 24: First bearing;

[0042] 25: Second storage space;

[0043] 26: First brake application;

[0044] 27: Speed ​​reducer;

[0045] 28: Torsion spring;

[0046] 3: Vertical adjustment component;

[0047] 31: Vertical shell;

[0048] 32: Lead screw;

[0049] 33: Splined shaft;

[0050] 34: Spline mother;

[0051] 35: Third brake;

[0052] 4: Rotation adjustment assembly;

[0053] 41: First link;

[0054] 42: Second link;

[0055] 43: First connecting part;

[0056] 431: Second brake;

[0057] 432: Brake shaft;

[0058] 433: Second bearing;

[0059] 44: Second connecting part;

[0060] 441: Electric motor;

[0061] 442: First bevel gear;

[0062] 443: Second bevel gear;

[0063] 5: Surgical arm;

[0064] 6: Guide frame;

[0065] 7: Guide rod. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0067] The present disclosure describes structural embodiments and methods. It should be understood that this is not intended to limit the present disclosure to the specific embodiments disclosed, and the present disclosure can be implemented using other features, elements, methods, and embodiments. Similar elements in different embodiments are typically designated with similar numbers.

[0068] In the description of this disclosure, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this disclosure and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this disclosure; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0069] In the description of this disclosure, it should be understood that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this disclosure.

[0070] Figure 1 A perspective view of a surgical apparatus according to an embodiment of the present disclosure is shown schematically. Figure 2 A cross-sectional view of a horizontal adjustment assembly according to an embodiment of the present disclosure is shown schematically. Figure 3 An exploded view of a leveling component according to an embodiment of the present disclosure is shown schematically.

[0071] like Figures 1 to 3 As shown, this disclosure provides a surgical device. The surgical device includes an operating table 1, a horizontal adjustment component 2, a vertical adjustment component 3, a rotation adjustment component 4, and a surgical arm 5. The surgical procedure can be performed on the operating table 1. During the surgical operation, the horizontal adjustment component 2, the vertical adjustment component 3, and the rotation adjustment component 4 can support the surgical arm 5 on the upper part of the operating table 1. The surgical end of the surgical arm 5 can be connected to surgical instruments or an endoscope to assist in completing the surgical operation. Before the surgical operation, the surgical arm 5 can be aligned with a fixed point O by adjusting the horizontal adjustment component 2, the vertical adjustment component 3, and the rotation adjustment component 4. During the surgical operation, the surgical arm 5 can move around the fixed point O by rotating its various arms to perform surgical operations on the surgical surface.

[0072] Furthermore, the horizontal adjustment assembly 2 includes a slider 21 and a rotating base 22. The slider 21 is slidably mounted on the operating table 1 and extends from the lower part of the operating table 1 to the upper part of the operating table 1. The rotating base 22 is rotatably mounted on the slider 21.

[0073] The vertical adjustment component 3 is telescopically mounted on the side of the rotating base 22 opposite to the sliding member 21. During surgical operations, the rotating base 22 is in a position parallel to the operating table 1 and supports the vertical adjustment component 3. By adjusting the telescopic length of the vertical adjustment component 3, the height of the surgical arm 5 can be adjusted, that is, the vertical position of the surgical arm 5 can be adjusted.

[0074] The rotation adjustment assembly 4 is rotatably mounted on the side of the vertical adjustment assembly 3 opposite to the horizontal adjustment assembly 2. The position of the surgical arm 5 in a horizontal plane parallel to the operating table 1 can be adjusted by adjusting the rotation adjustment assembly 4.

[0075] The surgical arm 5 is rotatably mounted on the side of the rotation adjustment assembly 4 opposite to the vertical adjustment assembly 3. The surgical end of the surgical arm 5 can be connected to surgical instruments or an endoscope to assist in surgical procedures. By adjusting the rotation of each arm in the surgical arm 5, the movement of the surgical end of the surgical arm 5 around the fixed point O can be controlled to perform surgical operations on the surgical surface.

[0076] Furthermore, when the rotating base 22 rotates relative to the sliding member 21, the rotating base 22 drives the surgical arm 5, the vertical adjustment assembly 3, and the rotation adjustment assembly 4 to rotate from the lower part of the operating table 1 to the upper part of the operating table 1, or from the upper part of the operating table 1 to the lower part of the operating table 1. When preparing for a surgical operation, the surgical arm 5 can be rotated from the lower part of the operating table 1 to the upper part of the operating table 1. After the surgical operation is completed, the surgical arm 5 can be rotated from the upper part of the operating table 1 to the lower part of the operating table 1 to house the surgical arm, reducing the height of the surgical device and facilitating its transfer and transportation.

[0077] According to the embodiments of this disclosure, the horizontal position of the surgical arm 5 can be adjusted by providing a sliding horizontal adjustment component 2; the vertical position of the surgical arm 5 can be adjusted by providing a telescopic vertical adjustment component 3; the position of the surgical arm 5 in a horizontal plane parallel to the operating table 1 can be adjusted by providing a rotatable rotation adjustment component 4; and by providing a rotating seat 22 rotatably mounted on a sliding member 21, when the rotating seat 22 rotates relative to the sliding member 21, the surgical arm 5, the vertical adjustment component 3, and the rotation adjustment component 4 can be rotated from the upper part of the operating table 1 to the lower part of the operating table 1, thereby allowing the surgical arm 5 to be housed in the lower part of the operating table 1, reducing the height of the surgical device and facilitating the transfer and transportation of the surgical device.

[0078] like Figure 1 and Figure 3 As shown, in some illustrative embodiments, the surgical apparatus further includes a guide frame 6 and a guide rod 7. The guide frame 6 is mounted on the operating table 1 (e.g., Figure 1(Lower part of the operating table 1). A guide rod 7 is mounted on a guide frame 6 and extends in a direction parallel to the operating table 1. A slider 21 is slidably mounted on the operating table 1 based on the guide rod 7 to slide back and forth linearly along the operating table 1. The slider 21 can be fixedly connected to a slider on the guide rod 7, and the slider can slide back and forth linearly along the guide rod 7.

[0079] Figure 4 A perspective view of a slider according to an embodiment of the present disclosure is shown schematically. Figure 5 A perspective view of a rotating seat according to an embodiment of the present disclosure is shown schematically.

[0080] like Figures 1 to 4 As shown, in some illustrative embodiments, the slider 21 includes a mounting bracket 211 and a sliding body 212. The mounting bracket 211 includes a first mounting plate 2111 and a second mounting plate 2112. The first mounting plate 2111 is slidably mounted on the operating table 1, and the first mounting plate 2111 and the second mounting plate 2112 are connected in an L-shape. The second mounting plate 2112 extends from the lower part of the operating table to the upper part of the operating table 1. The first mounting plate 2111 is fixedly connected to a slider on the guide rod 7, and the slider can reciprocate linearly along the guide rod 7. The first mounting plate 2111 can reciprocate linearly along the guide rod 7 based on the slider. The sliding body 212 is cylindrical and coaxially connected to the arched structure of the second mounting plate 2112.

[0081] like Figures 1 to 5 As shown, in some illustrative embodiments, the horizontal adjustment assembly 2 further includes a first bearing seat 23 and a first bearing 24. The first bearing seat 23 is installed within a first receiving space 221 formed by the rotating seat 22. The first bearing 24 is sleeved on the first bearing seat 23 and forms a second receiving space 25 with the sliding body 212, as shown. Figure 2 As shown, the first bearing housing 23 is located at the bottom of the second receiving space 25.

[0082] Furthermore, the rotating seat 22 rotates relative to the sliding member 21 based on the cooperation of the first bearing 24 and the first bearing seat 23, thereby enabling the rotating seat 22 to drive the surgical arm 5, the vertical adjustment component 3 and the rotation adjustment component 4 to rotate from the upper part of the operating table 1 to the lower part of the operating table 1.

[0083] In some illustrative embodiments, an arc-shaped sliding groove 222 is formed on the rotating seat 22, and a protrusion 213 corresponding to the sliding groove 222 is formed on the sliding member 21. The rotating seat 22 limits the rotation angle of the rotating seat 22 based on the length of the sliding groove 222, such as... Figure 5As shown, the sliding groove 222 is formed into a semicircle based on its length, which allows the rotating seat 22 to rotate 180°, thereby driving the surgical arm 5, the vertical adjustment component 3 and the rotation adjustment component 4 to rotate 180° around the axis of the sliding body 212. In other words, the surgical arm 5, the vertical adjustment component 3 and the rotation adjustment component 4 can be driven to rotate from the upper part of the operating table 1 to the lower part of the operating table 1.

[0084] like Figures 1 to 5 As shown, in some illustrative embodiments, the horizontal adjustment assembly 2 further includes a first brake 26. The first brake 26 is installed within the second receiving space 25 and rotates under the drive of the first bearing seat 23. When the protrusion 213 slides to the end of the sliding groove 222, the first brake 26 can prevent the rotating seat 22 from rotating relative to the sliding member 21. When the protrusion 213 slides to the end of the sliding groove 222, the horizontal adjustment assembly 2 is parallel to the operating table 1.

[0085] like Figures 1 to 5 As shown, in some illustrative embodiments, the leveling assembly 2 further includes a speed reducer 27. The speed reducer 27 is disposed between the first brake 26 and the first bearing housing 23, and is configured to increase the speed at which the first brake 26 rotates under the drive of the first bearing housing 23, thereby reducing the locking force of the first brake 26 in preventing the rotating seat 22 from rotating relative to the sliding member 21.

[0086] In some illustrative embodiments, the horizontal adjustment assembly 2 further includes a torsion spring 28, sleeved on the reducer 27, and connected to the slider 21 and the rotating seat 22 via the reducer 27, to provide driving force to the rotating seat 22 when it rotates relative to the slider 21. One end of the torsion spring 28 can be fixedly connected to the first bearing 24, and the other end of the torsion spring 28 can be fixedly connected to the reducer 27. When the rotating seat 22 rotates relative to the slider 21, it can drive the surgical arm 5, the rotation adjustment assembly 4, and the vertical adjustment assembly 3 to descend. The torsion spring 28 can store the gravitational potential energy of the surgical arm 5, the rotation adjustment assembly 4, and the vertical adjustment assembly 3 during the descent, thereby providing driving force to the rotating seat 22 and reducing the need for external driving force.

[0087] A radially extending boss can be formed on the inner wall of the sliding member 21, and the upper surface of the boss (e.g. Figure 2 The surface shown that contacts the bottom surface of the first brake 26 can be used to support the first brake 26, and the lower surface of the boss (as shown) Figure 2 The surface that contacts the reducer 27 (as shown) can be used to limit the torsion spring 28 and the reducer 27 to be within the second receiving space 25.

[0088] Figure 6 An exploded view of a rotation adjustment assembly according to an embodiment of the present disclosure is shown schematically. Figure 7 A partial cross-sectional view of a rotation adjustment assembly according to an embodiment of the present disclosure is shown schematically. Figure 8 A partial perspective view is schematically shown after the surgical arm according to an embodiment of the present disclosure is received into the first link. Figure 9 A partial perspective view of the surgical device according to an embodiment of the present disclosure after folding is schematically shown.

[0089] like Figures 6 to 7 As shown, in some illustrative embodiments, the rotation adjustment assembly 4 includes a first link 41 and a second link 42. Specifically, the first link 41 is rotatably mounted on the side of the vertical adjustment assembly 3 opposite to the horizontal adjustment assembly 4. The second link 42 is rotatably connected to the side of the first link 41 opposite to the vertical adjustment assembly 3, and the surgical arm 5 is rotatably connected to the side of the second link 42 opposite to the first link 41.

[0090] Furthermore, the length of the first link 41 is greater than the length of the second link 42. When the second link 42 rotates to overlap with the first link 41, the surgical arm 5 can be accommodated within the first link 41, such as... Figure 8 As shown, after the supporting arms of the surgical arm 5 overlap, the second link 42 drives the entire surgical arm 5 to be housed under the first link 41. Figure 9 As shown, the rotating seat 22 drives the surgical arm 5, the vertical adjustment component 3 and the rotation adjustment component 4 to rotate from the upper part of the operating table to the lower part of the operating table, and the surgical arm 5, the vertical adjustment component 3 and the rotation adjustment component 4 are housed in the lower part of the operating table.

[0091] like Figures 6 to 7 As shown, in some illustrative embodiments, the rotation adjustment assembly 4 further includes two first connecting portions 43 and a second connecting portion 44. Specifically, the two first connecting portions 43 are configured to rotatably connect the vertical adjustment assembly 3 to the first connecting rod 41 and to the second connecting rod 42, respectively. The second connecting portion 44 is configured to connect the second connecting rod 42 to the surgical arm 5.

[0092] Further, the second connecting part 44 includes a motor 441, a first bevel gear 442, and a second bevel gear 443. The motor 441 is mounted inside the second connecting rod 42. The first bevel gear 442 is connected to the output end of the motor 441 to rotate under the drive of the motor. The second bevel gear 443 meshes with the first bevel gear 442, and the output end of the second bevel gear 442 is rotatably connected to the surgical arm 5. The axial direction of the second bevel gear 443 coincides with the rotation axis of the surgical arm 5. The axial direction of the second bevel gear 443 is perpendicular to the axial direction of the second bevel gear 442. After adjusting the position of the surgical arm 5 in the horizontal plane parallel to the operating table 1 by the rotatable rotation adjustment assembly 4, the second connecting part 44 can drive the surgical arm 5 to further adjust its position in the horizontal plane parallel to the operating table 1. The adjustment by the rotation adjustment assembly 4 can be called coarse adjustment, and the adjustment by the second connecting part 44 can be called fine adjustment. Furthermore, the surgical arm 5 is equipped with a drive mechanism that can drive each arm of the surgical arm 5 to rotate, so as to make precise adjustments to the surgical instruments or endoscopes at the surgical end of the surgical arm 5.

[0093] Furthermore, each of the two first connecting parts 43 may be provided with a second brake 431, a brake shaft 432, and a second bearing 433. One of the first connecting parts 43 (e.g. Figure 7 The first connecting part 43 on the left side shown can rotatably connect the first connecting rod 41 to the vertical adjustment assembly 3 via the second bearing 433, and lock it via the brake shaft 432 and the second brake 431 when the first connecting rod 41 is not allowed to rotate relative to the vertical adjustment assembly 3. Another first connecting part 43 (as shown) Figure 7 The second brake 431 of the first connecting part 43 on the right side shown can rotatably connect the first link 41 and the second link 42 through the second bearing 433, and lock it through the brake shaft 432 when the first link 41 is not allowed to rotate relative to the second link 42.

[0094] In some illustrative embodiments, the vertical adjustment component 3 extends and retracts via a lead screw in a direction perpendicular to the rotating seat.

[0095] Specifically, the vertical adjustment assembly 3 may include a vertical housing 31, a lead screw 32, a splined shaft 33, a splined nut 34, and a third brake 35. A vertical channel is formed within the vertical housing 31. The lead screw 32 can be mounted in the vertical channel via bearings. The rotation of the lead screw 32 can be restricted by the third brake 35. The lead screw 32 is threadedly connected to the splined shaft 33. The axial position of the splined shaft 33 is defined by the splined nut 34, so that the brake shaft 432 is coaxially arranged with the splined shaft 33. The splined shaft 33 and the lead screw 32 form a sliding pair. Based on the lead screw 32, the splined shaft 33 drives the rotation adjustment assembly 4 and the surgical arm 5 to move in the vertical direction, adjusting the height of the surgical arm 5.

[0096] Figure 10 A perspective view schematically illustrates the deployed state of the surgical arm according to an embodiment of the present disclosure. Figure 11 A perspective view of a folded surgical arm according to an embodiment of the present disclosure is shown schematically.

[0097] In some illustrative embodiments, such as Figure 10 As shown, the surgical arm 5 has the functions of adjusting the yaw motion direction and the pitch motion direction. The yaw motion direction can be a rotational motion around the rotation axis A, which is perpendicular to the ground and intersects the trajectory line B of the pitch motion direction at a fixed point O. The trajectory line B of the pitch motion direction is an arc.

[0098] In some illustrative embodiments, after the surgical procedure is completed, the surgical arm 5 is in an extended state (e.g., Figure 10 The folding process of the surgical device can be as follows: the arms of the surgical arm 5 overlap (e.g., ...). Figure 11 The rotating adjustment component 4 drives the surgical arm 5 to be housed within the first connecting rod 41. The vertical adjustment component 3 drives the rotating adjustment component 4 and the surgical arm 5 to descend to their lowest height. Then, the rotating adjustment component 4 drives the vertical adjustment component 3, the rotating adjustment component 4, and the surgical arm 5 to flip to the lower part of the operating table 1. The surgical device of this embodiment can form a relatively compact structure after folding, which is beneficial for the transfer and transportation of the surgical robot system. The thickness of the horizontal adjustment component 2, the vertical adjustment component 3, the rotating adjustment component 4, and the surgical arm 5 after folding can be controlled within 150mm. The overall height of the surgical device before folding can be 1080mm, and the overall height of the surgical device after folding can be controlled within 676mm.

[0099] In some illustrative embodiments, the folded length of the surgical arm 5 can be set to be similar to the length of the second link 42 and less than the length of the first link 41. The center of gravity of the folded surgical arm 5 can be positioned close to the vertical adjustment assembly 3 to ensure safety.

[0100] This disclosure also proposes a surgical robot system. The surgical robot system includes the surgical apparatus and surgical instruments or endoscopes described above.

[0101] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of this disclosure. It should be understood that the above are only specific embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A surgical device, characterized in that, include: Operating table; The horizontal adjustment component includes: A sliding member, slidably mounted on the operating table and extending from the lower part of the operating table to the upper part of the operating table; and A rotating seat is rotatably mounted on the sliding member. An arc-shaped sliding groove is formed on the rotating seat, and a protrusion corresponding to the sliding groove is formed on the sliding member. The rotating seat limits the angle of rotation of the rotating seat based on the length of the sliding groove. The first brake rotates under the drive of the rotating seat. When the protrusion slides to the end of the sliding groove, the first brake prevents the rotating seat from rotating relative to the sliding member. The speed reducer is configured to increase the speed at which the first brake rotates under the drive of the rotating seat, thereby reducing the locking force of the first brake when preventing the rotating seat from rotating relative to the sliding member; A torsion spring is sleeved on the reducer and connected to the reducer, the slider, and the rotating seat to provide a driving force to the rotating seat when the rotating seat rotates relative to the slider. A vertical adjustment assembly is telescopically mounted on the side of the rotating base opposite to the sliding member; A rotation adjustment assembly is rotatably mounted on the side of the vertical adjustment assembly opposite to the horizontal adjustment assembly; and The surgical arm is rotatably mounted on the side of the rotation adjustment assembly opposite to the vertical adjustment assembly; When the rotating seat rotates relative to the sliding member, the rotating seat drives the surgical arm, the vertical adjustment component, and the rotation adjustment component to rotate from the lower part of the operating table to the upper part of the operating table or from the upper part of the operating table to the lower part of the operating table.

2. The surgical device according to claim 1, characterized in that, Also includes: Guide frame, installed on the operating table; A guide rod is mounted on the guide frame and extends in a direction parallel to the operating table. The slider is slidably mounted on the operating table based on the guide rod to slide back and forth linearly along the operating table.

3. The surgical device according to claim 1, characterized in that, The rotation adjustment assembly includes: The first link is rotatably mounted on the side of the vertical adjustment assembly opposite to the horizontal adjustment assembly; The second link is rotatably connected to the side of the first link opposite to the vertical adjustment assembly, and the surgical arm is rotatably connected to the side of the second link opposite to the first link; The length of the first link is greater than the length of the second link, and when the second link rotates to overlap with the first link, the surgical arm is allowed to be accommodated in the first link.

4. The surgical device according to claim 1, characterized in that, The slider includes: The mounting bracket includes a first mounting plate and a second mounting plate. The first mounting plate is slidably mounted on the operating table. The first mounting plate and the second mounting plate are connected in an L-shape. The second mounting plate extends from the lower part of the operating table to the upper part of the operating table. The sliding body is cylindrical and coaxially connected to the second mounting plate.

5. The surgical device according to claim 4, characterized in that, The horizontal adjustment component further includes: The first bearing housing is installed within the first accommodating space formed by the rotating seat; The first bearing is sleeved on the first bearing seat and forms a second receiving space with the sliding body; The rotating seat rotates relative to the sliding member based on the cooperation of the first bearing and the first bearing seat.

6. The surgical device according to claim 3, characterized in that, The rotation adjustment assembly further includes: Two first connecting parts are configured to respectively rotatably connect the vertical adjustment assembly to the first link and rotatably connect the first link to the second link; and A second connecting portion is configured to connect the second link to the surgical arm, wherein the second connecting portion includes: The motor is installed inside the second connecting rod; A first bevel gear is connected to the output end of the motor to rotate under the drive of the motor; and The second bevel gear meshes with the first bevel gear, and the output end of the second bevel gear is rotatably connected to the surgical arm. The axial direction of the second bevel gear coincides with the rotation axis of the surgical arm.

7. The surgical device according to claim 1, characterized in that, The vertical adjustment component extends and retracts via a lead screw in a direction perpendicular to the rotating base.

Images