Distributed surgical robot system

Abstract

The present disclosure relates to the field of medical devices, and discloses a distributed surgical robot system, including a base, a first positioning arm and a second positioning arm. The first and second positioning arms respectively include a positioning link mechanism, a lifting mechanism, a remote center of motion (RCM) mechanism and at least one linear module. The positioning link mechanisms of the first and second positioning arms are respectively connected to the base at different positions, the proximal end of the lifting mechanism is connected to the distal end of the positioning link mechanism, the proximal end of the RCM mechanism is connected to the distal end of the lifting mechanism, and the linear module is connected to the distal end of the RCM mechanism. The RCM mechanism includes a plurality of arc-shaped links whose proximal ends and distal ends are respectively connected in rotation in sequence and whose rotation axes intersect at the remote center of motion. By carrying one or more surgical instruments respectively on the two positioning arms, the overall distributed arrangement of the surgical robot system is realized, and integration and miniaturization are achieved at the second positioning arm, which can meet the requirements of multiple complex surgical procedures at the same time and increase the flexibility of surgical layout design.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a distributed surgical robot system. Background Art

[0002] Compared with traditional surgery, laparoscopic minimally invasive surgery has less surgical trauma and faster postoperative recovery, and has been widely used. Existing laparoscopic surgical robot systems consist of multiple positioning arms carrying multiple surgical instruments, such as surgical tools and endoscopes. Depending on the different patients and surgical procedures, multiple positioning arms need to be adjusted and positioned before or during the operation so that multiple surgical instruments can be adjusted to the designated surgical positions. During the operation, the surgeon uses a remote control mode to control the surgical actuators at the end of the surgical instruments to perform surgical operations on different parts of the body. For surgical robot systems, the positioning capabilities of multiple positioning arms in extracorporeal space are directly related to whether the surgical robot can perform a variety of surgical procedures. Multiple positioning arms occupying the space beside the bed will affect the surgical assistance and real-time observation of the assistant doctor at the bedside. Multiple positioning arms colliding with each other during operation will increase the risk of injury to patients and create surgical safety hazards. Summary of the Invention

[0003] In some embodiments, the present disclosure provides a surgical robot system comprising:

[0004] base;

[0005] A first positioning arm, the first positioning arm comprising:

[0006] a first positioning link mechanism, the first positioning link mechanism being rotatably connected to the base at a first position;

[0007] a first lifting mechanism, wherein a proximal end of the first lifting mechanism is rotatably connected to a distal end of the first positioning link mechanism;

[0008] a first remote center of motion (RCM) mechanism, wherein a proximal end of the first RCM mechanism is rotationally connected to a distal end of the first lifting mechanism at a first angle; and

[0009] at least one first linear module connected to the distal end of the first RCM mechanism; and

[0010] A second positioning arm, the second positioning arm comprising:

[0011] a second positioning link mechanism, the second positioning link mechanism being rotatably connected to the base at a second position;

[0012] a second lifting mechanism, wherein a proximal end of the second lifting mechanism is rotatably or fixedly connected to a distal end of the second positioning link mechanism;

[0013] a second RCM mechanism, wherein a proximal end of the second RCM mechanism is rotatably connected to a distal end of the second lifting mechanism at a second angle; and

[0014] At least one second linear module is connected to the distal end of the second RCM mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0016] Figure 1 A schematic structural diagram of a surgical robot system according to some embodiments of the present disclosure is shown;

[0017] FIG2( a ) shows a schematic structural diagram of a first positioning arm according to some embodiments of the present disclosure;

[0018] FIG2( b ) shows a schematic structural diagram of a second positioning arm according to some embodiments of the present disclosure;

[0019] FIG3( a ) shows a schematic structural diagram of a first RCM mechanism when it is fully deployed according to some embodiments of the present disclosure;

[0020] FIG3( b ) shows a schematic structural diagram of a second RCM mechanism when it is fully deployed according to some embodiments of the present disclosure;

[0021] FIG4( a ) shows a schematic structural diagram of a linear module and a driving device according to some embodiments of the present disclosure;

[0022] FIG4( b ) shows a schematic structural diagram of a linear module according to some embodiments of the present disclosure;

[0023] FIG4( c ) shows a schematic diagram of a partial structure of a driving device according to some embodiments of the present disclosure;

[0024] Figure 5 A schematic diagram showing the internal structure of a driving device according to some embodiments of the present disclosure is shown;

[0025] Figure 6 A schematic diagram showing a first angle structure of a driving device according to some embodiments of the present disclosure is shown;

[0026] Figure 7 A schematic diagram showing a second angle structure of a driving device according to some embodiments of the present disclosure is shown;

[0027] Figure 8A schematic diagram showing the exploded structure of a connection interface, a transmission member, and a drive interface according to some embodiments of the present disclosure is shown;

[0028] Figure 9 A schematic structural diagram of a surgical instrument according to some embodiments of the present disclosure is shown;

[0029] Figure 10 A schematic structural diagram of a proximal portion of a surgical instrument according to some embodiments of the present disclosure is shown;

[0030] Figure 11 A schematic structural diagram showing a proximal portion of a surgical instrument coupled to a drive device according to some embodiments of the present disclosure;

[0031] Figure 12 A schematic diagram showing the structure of the slider and the distribution of the drive wire in the surgical instrument according to some embodiments of the present disclosure;

[0032] Figure 13 A front view showing a connection adapter in an unfolded state according to some embodiments of the present disclosure is shown;

[0033] Figure 14 A schematic diagram showing the structure of a connection adapter in a folded state according to some embodiments of the present disclosure is shown;

[0034] Figure 15 A schematic diagram showing the assembly structure of a connection adapter and a surgical instrument according to some embodiments of the present disclosure is shown;

[0035] Figure 16 A rear view of a connection adapter in an unfolded state according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0036] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0037] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In this disclosure, the end closest to the operator (e.g., doctor) is defined as the proximal end, near portion, or rear end, and the end closest to the patient being operated on is defined as the distal end, far end, or front end. Those skilled in the art will appreciate that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0038] Figure 1 FIG. 1 shows a schematic structural diagram of a surgical robot system 1 according to some embodiments of the present disclosure. Figure 2(a) and 2(b) Schematic diagrams of the structures of the first positioning arm 20a and the second positioning arm 20b according to some embodiments of the present disclosure are shown respectively, wherein the surgical instrument and the connection adapter are not shown in the figure. Figure 1 、 Figure 2(a) and 2(b) As shown, the surgical robot system 1 includes a base 2, a first positioning arm 20a, and a second positioning arm 20b. The first positioning arm 20a may include a first positioning link mechanism 202a, a first lifting mechanism 203a, a first remote center of motion (RCM) mechanism 204a, and at least one first linear module 205a. The first positioning link mechanism 202a is rotationally connected to the base 2 at a first position, the proximal end of the first lifting mechanism 203a is rotationally connected to the distal end of the first positioning link mechanism 202a, the proximal end of the first RCM mechanism 204a is rotationally connected to the distal end of the first lifting mechanism 203a at a first angle, and the at least one first linear module 205a is connected to the distal end of the first RCM mechanism 204a.

[0039] The second positioning arm 20b includes a second positioning linkage 202b, a second lifting mechanism 203b, a second RCM mechanism 204b, and at least one second linear module 205b. The second positioning linkage 202b is rotationally connected to the base 2 at a second position, the proximal end of the second lifting mechanism 203b is rotationally or fixedly connected to the distal end of the second positioning linkage 202b, the proximal end of the second RCM mechanism 204b is rotationally connected to the distal end of the second lifting mechanism 203b at a second angle, and the at least one second linear module 205b is connected to the distal end of the second RCM mechanism 204b.

[0040] In some embodiments, the base 2 may include a column and a crossbeam, and the first positioning arm 20a and the second positioning arm 20b are rotatably connected to the crossbeam. Alternatively, the base 2 may also be a fixed building. The first positioning arm 20a and the second positioning arm 20b are supported by the base 2, and the distal end of the first positioning arm 20a can carry a first surgical instrument, and the distal end of the second positioning arm 20b can carry one or more second surgical instruments. Before the operation, the positions of the first surgical instrument and the second surgical instrument are adjusted by the first positioning arm 20a and the second positioning arm 20b to perform preoperative arrangements. By carrying one and multiple surgical instruments respectively by the first positioning arm and the second positioning arm, the overall distributed arrangement of the surgical robot system is realized, and integration and miniaturization are achieved at the second positioning arm. In this way, the requirements of multiple complex surgical procedures can be met at the same time, and the flexibility of the surgical arrangement design can be increased.

[0041] Figure 3(a) and 3(b) Schematic diagrams of the structures of the first RCM mechanism 204a and the second RCM mechanism 204b when deployed according to some embodiments of the present disclosure are respectively shown. In some embodiments, the first RCM mechanism 204a and the second RCM mechanism 204b may include a plurality of arc-shaped connecting rods, the proximal ends and distal ends of the plurality of arc-shaped connecting rods are respectively and sequentially connected in rotation, and the rotation axes of the plurality of arc-shaped connecting rods of the first RCM mechanism 204a and the second RCM mechanism 204b intersect at the first remote motion center (RCM point) and the second remote motion center (RCM point), respectively, as shown in FIG. Figure 3(a) and 3(b) shown.

[0042] In some embodiments, as shown in FIG2( a), the first positioning linkage mechanism 202a includes at least a first link 2021a and a second link 2022a. The proximal end of the first link 2021a is rotationally connected to the base 2 about a first vertical axis, and the distal end of the first link 2021a is rotationally connected to the proximal end of the second link 2022a about a second vertical axis. The first rotation axis and the second rotation axis are vertically parallel, so that the first link 2021a and the second link 2022a rotate horizontally about the first vertical axis and the second vertical axis, respectively.

[0043] In some embodiments, as shown in Figure 2(b), the second positioning link mechanism 202b includes at least a third link 2021b and a fourth link 2022b, the proximal end of the third link 2021b is rotationally connected to the base 2 around a third vertical axis, and the distal end of the third link 2021b is rotationally connected to the proximal end of the fourth link 2022b around a fourth vertical line, so that the third link 2021b and the fourth link 2022b rotate horizontally around the third vertical axis and the fourth vertical axis, respectively.

[0044] In some embodiments, the first positioning link mechanism 202a (or the second positioning link mechanism 202b) may further include more additional links, the proximal ends of the additional links may be connected to the distal ends of the second link 2022a (or the fourth link 2022b) for rotation around a vertical axis. The above is merely an example and is not intended to be limiting. By arranging multiple links horizontally and partially overlapping them in a folded manner, the lateral space occupied by the positioning arm is reduced, the horizontal space in the operating room is fully utilized, the space occupied by the operating trolley on the side of the bed is reduced, and the internal space of the positioning arm is compactly utilized. At the same time, two or more rotary joints are provided in the horizontal direction, so that the swing interference of the positioning link mechanism of the positioning arm in the horizontal plane is reduced, its motion space is increased, and the flexibility of the positioning arm is improved.

[0045] In some embodiments, as shown in Figures 2(a) and 3(a), the multiple curved links of the first RCM mechanism 204a may include a first curved link 2041a, a second curved link 2042a, and a third curved link 2043a. The proximal end of the first curved link 2041a is rotationally connected to the distal end of the first lifting mechanism 203a around a first rotation axis, and the first rotation axis is at the first angle to the vertical axis. The proximal end of the second curved link 2042a is rotationally connected to the distal end of the first curved link 2041a around a second rotation axis, and the proximal end of the third curved link 2043a is rotationally connected to the distal end of the second curved link 2042a around a third rotation axis, and the first, second, and third rotation axes intersect at a first remote center of motion (RCM point), as shown in Figure 3(a).

[0046] In some embodiments, as shown in Figures 2(b) and 3(b), the plurality of arcuate links of the second RCM mechanism 204b may include a fourth arcuate link 2041b, a fifth arcuate link 2042b, and a sixth arcuate link 2043b. The proximal end of the fourth arcuate link 2041b is rotationally connected to the distal end of the second lifting mechanism 203b around a fourth rotation axis, and the fourth rotation axis is parallel to the vertical axis. The proximal end of the fifth arcuate link 2042b is rotationally connected to the distal end of the fourth arcuate link 2041b around a fifth rotation axis, and the proximal end of the sixth arcuate link 2043b is rotationally connected to the distal end of the fifth arcuate link 2042b around a sixth rotation axis, and the fourth, fifth, and sixth rotation axes intersect at the second remote motion center, as shown in Figure 3(b).

[0047] It should be understood that the first rotation axis forms a first angle with the vertical axis, and the fourth rotation axis is parallel to the vertical axis. This can further increase the working space between the first positioning arm and the second positioning arm, and avoid interference between the positioning link mechanism of the positioning arm during movement.

[0048] In some embodiments, the fourth rotation axis is parallel to the vertical axis, and the proximal end of the second lifting mechanism 203b can be fixedly connected to the distal end of the fourth connecting rod 2022b of the second positioning linkage mechanism 202b. In this way, it is possible to avoid providing a rotation joint between the second lifting mechanism 203b and the distal end of the second positioning linkage mechanism 202b, thereby simplifying the structure of the second positioning arm 20b. It will be appreciated by those skilled in the art that the proximal end of the second lifting mechanism 203b and the distal end of the fourth connecting rod 2022b of the second positioning linkage mechanism 202b can also be rotatably connected, for example, they can rotate about the vertical axis. The proximal end of the first lifting mechanism 203a of the first positioning arm 20a can be rotatably connected to the distal end of the second connecting rod 2022a of the first positioning linkage mechanism 202a, thereby increasing the motion space of the first positioning arm 20a and avoiding interference with the second positioning arm 20b.

[0049] While keeping the first RCM point (or the second RCM point) stationary, for example, the first arc link 2041a, the second arc link 2042a and the third arc link 2043a (or, the fourth arc link 2041b, the fifth arc link 2042b and the sixth arc link 2043b) can move in the motion space, for example, they can be converted between fully folded, fully unfolded and an intermediate state. It should be understood that the link radian, link thickness and link arc length of the multiple arc links of the first RCM mechanism 204a and the second RCM mechanism 204b can be designed according to actual needs, so that during the rotational movement of the multiple arc links, they can move around the RCM point in both the unfolded position and the folded position, and the link working space is met to the greatest extent, avoiding interference between the multiple links. It should be understood that during surgery, the remote motion center can be the entry point or incision position, and the positioning arm carries the surgical instrument to move the surgical instrument around the RCM point to adjust the position or perform surgical operations.

[0050] Those skilled in the art will appreciate that the connection joints between the various connecting rods of the positioning arm can be at least partially realized by active joints. The positioning arm can include a drive motor and / or a braking device disposed at the active joint. In addition, the positioning arm can also include a sensor (e.g., an encoder, a potentiometer, a Hall sensor, etc.) disposed at at least a portion of the connection joints between the various connecting rods to sense the rotation information of the connecting rods to obtain the configuration or posture of the positioning arm.

[0051] In some embodiments, at least one first linear module 205a includes a single first linear module fixedly disposed at the distal end of the third arc-shaped link 2043a, such as Figure 1 As shown. In some embodiments, the second positioning arm 20b may further include a mounting platform 206, as shown in FIG2(b). The mounting platform 206 is fixedly disposed at the distal end of the fourth arc-shaped connecting rod 2043b, and the mounting platform 206 includes a plurality of mounting positions, for example, three mounting positions as shown in FIG2(b). In some embodiments, at least one second linear module includes a plurality of linear modules 205b, and the plurality of linear modules 205b are respectively disposed on a plurality of mounting positions. It should be understood that the structures of the first linear module 205a and the second linear module 205b are similar. In many descriptions of the present disclosure, for convenience, the linear module 205 is used as a general term for the first linear module 205a and the second linear module 205b.

[0052] Figures 4(a), 4(b), and 4(c) respectively illustrate a schematic diagram of the structure of the linear module 205 in cooperation with the drive device 21, a schematic diagram of the structure of the linear module 205, and a schematic diagram of a portion of the structure of the drive device 21 according to some embodiments of the present disclosure. As shown in Figures 4(a), 4(b), and 4(c), the linear module 205 may include a linear module motor (not shown), a lead screw 2051, a slide rail (not shown), and a slider 2052. The slider 2052 is slidably connected to the lead screw 2051 and slidably disposed on the slide rail. The lead screw 2051 is coupled to the output end of the linear module motor and, driven by the linear module motor, drives the slider 2052 to slide along the slide rail.

[0053] In some embodiments, the plurality of mounting locations may include a first mounting location, a second mounting location, and a third mounting location spaced apart around the center of the mounting platform 206. The plurality of second linear modules 205b include a second linear module A, a second linear module B, and a second linear module C. The second linear module A, the second linear module B, and the second linear module C are mounted at the first mounting location, the second mounting location, and the third mounting location, respectively. The distal extensions of the second linear modules A, B, and C converge toward the second remote center of motion. It should be understood that the proximal ends of the plurality of second linear modules 205b diverge from one another, while the distal extensions converge toward the remote center of motion. This prevents interference between the plurality of second linear modules 205b when the drive device 21 carries a surgical instrument and moves along the second linear modules 205b, thereby ensuring operational safety. It should be understood that the description and definition of the second linear module A, the second linear module B, and the second linear module C in this disclosure is intended solely to distinguish the plurality of second linear modules and should not be construed as otherwise.

[0054] In some embodiments, as shown in FIG4( a ), the linear module 205 may be provided with at least one function button 2053, which an operator can manually press to control the linear advance and retreat of the linear module 205. For example, the button 2053 may include a forward button and a reverse button, which are separately provided. The linear module controls the advance and retreat of an external device (e.g., a surgical instrument) on the drive device, thereby controlling the surgical instrument's arrival at the surgical operating area.

[0055] The first positioning arm 20a further includes a first drive device disposed on the first linear module 205a, and the second positioning arm 20b further includes a second drive device disposed on the second linear module 205b. It should be understood that the first and second drive devices have similar structures. For convenience, in many descriptions of this disclosure, the drive device 21 is used collectively to refer to the first and second drive devices.

[0056] The drive device 21 can be fixedly mounted on the slider 2052 of the linear module. The slider 2052 is used to drive the drive device 21 to slide along the slide rail. It should be understood that the slider 2052 may include a slider 2052a and a slider 2052b that cooperate with each other. The slider 2052a can be fixedly connected to the drive device 21, and the slider 2052b is slidably connected to the screw rod 2051 and slidably mounted on the slide rail. The sliders 2052a and 2052b are fixedly connected. The screw rod 2051 is coupled to the output end of the linear module motor and, driven by the linear module motor, drives the slider 2052 to slide along the slide rail, thereby driving the linear motion of the drive device 21 through the slider 2052.

[0057] Figure 5 FIG. 2 shows a schematic diagram of the internal structure of the driving device 21 according to some embodiments of the present disclosure. Figure 5 As shown, the drive device 21 includes at least one motor 25, at least one transmission mechanism 222, and at least one drive interface 211. The at least one transmission mechanism 222 is coupled to the at least one motor 25 and is used to convert the rotational motion of the motor 25 into linear motion. At least one drive interface 211 is connected to the at least one transmission mechanism 222. The drive interface 211 is used to couple with an external device and, driven by the at least one transmission mechanism 222, to produce linear motion, thereby providing drive to the external device. This drive device 21 can directly provide linear drive to an external device via the drive interface 211, resulting in a simple structure.

[0058] For example, Figure 5 As shown, the transmission mechanism 222 may include a screw rod 2221 and at least one nut 2222 threadedly connected to the screw rod 2221. The nut 2222 may be connected to the screw rod 2221 by a connecting rod (eg Figure 8 The connecting rod 2225 shown is connected to the drive interface 211. The screw rod 2221 is coupled to at least one motor 25 and rotates under the drive of the motor 25 to drive the nut 2222 to move linearly along the screw rod, thereby driving the drive interface 211 to move linearly. It should be understood that the number of transmission mechanisms 222 can be adjusted according to the number of connection interfaces of the external device. The above is only an example, and the transmission mechanism can also include other mechanisms that can convert rotational motion into linear motion.

[0059] In some embodiments, as shown in FIG. 4( a ), FIG. 4( c ), Figure 5As shown, the drive device 21 may further include a main body 24. The main body 24 includes a receiving groove 22 disposed at the distal end, and at least one drive window 221 disposed on the inner wall of the receiving groove 22, wherein at least one drive interface 211 is located within the at least one drive window 221. It should be understood that the main body 24 may include a housing of the drive device 21 or a frame of the drive device, and the shape of the main body 24 may be configured according to the layout of the drive device 21 to cover or support the internal structure of the drive device 21. For example, as shown in Figures 4(a) and 4(c), the main body 24 may include a proximal portion and a distal portion, wherein the distal portion is smaller than the proximal portion and may be connected to the proximal portion via a frustum-shaped structure. The motor 25 and the transmission mechanism 222 may be disposed within the proximal portion of the main body 24, and the receiving groove 22 may be disposed on the distal portion of the main body 24.

[0060] The shape of the receiving groove 22 may include, but is not limited to, a cube, a cylinder, a truncated cone, an irregular three-dimensional structure, or a combination thereof. The drive interface 211 may be located in the drive window 221 and protrude from the drive window 221, and move within the drive window 221 under the drive of the transmission mechanism 222. It should be understood that the drive interface 211 is provided with a coupling structure, such as a coupling groove, a coupling protrusion, a side section, etc. The structure of the drive interface 211 can be the same or different. For example, the interface can be an irregular cylindrical shape (e.g., including a side section), a cylindrical shape, a truncated cone shape, etc. By providing interfaces with different structures, assembly can be facilitated.

[0061] Figure 6 and Figure 7 Schematic diagrams of the structure of the driving device 21 according to some embodiments of the present disclosure are shown in different angles. Figure 6 The distal end of the middle shell has part of the outer shell hidden, showing the distal internal structure. Figure 7 In some embodiments, the housing is not hidden. Figure 6 and Figure 7 As shown, the at least one driving window 221 may include at least one first driving window 221a located on the first inner wall of the receiving groove 22 and at least one second driving window 221b located on the second inner wall of the receiving groove 22. The at least one driving interface 211 includes at least one first driving interface 211a located in the first driving window 221a and at least one second driving interface 211b located in the second driving window 221b. In some embodiments, the first inner wall is opposite to the second inner wall, such as Figure 6 and Figure 7As shown. For example, the receiving slot 22 can be a cubic structure. The receiving slot 22 can include a left inner wall 2201a, a right inner wall 2201b, and a central inner wall 2201c. The first drive window 221a and the second drive window 221b can be respectively provided on the left inner wall 2201a and the right inner wall 2201b.

[0062] In some embodiments, the at least one drive window 211 may further include at least one third drive window (not shown) located on the third inner wall (e.g., the middle inner wall 2201c) of the receiving groove 22, and the at least one drive interface 211 may further include at least one third drive interface (not shown) located within the third drive window. It will be understood by those skilled in the art that the terms left, middle, and right herein are for the convenience of indicating relative positional relationships and should be broadly interpreted. Other nomenclatures may also be used, such as front, bottom, rear, etc.

[0063] In some embodiments, as Figure 6 and Figure 7 As shown, the driving device 21 further includes at least one engaging structure, for example, an engaging groove 23, provided on the first inner wall (for example, the left inner wall 2201a) and / or the second inner wall (for example, the right inner wall 2201b). The engaging groove 23 is used to engage with an external device (for example, Figure 14 The engaging protrusion (eg Figure 14 It should be understood that the left inner wall 2201a and the right inner wall 2201b can each be provided with two engaging grooves 23. The engaging grooves 23 engage with the engaging protrusions 180 to detachably connect the drive device to the external device.

[0064] Those skilled in the art will understand that Figure 7 The illustrated engaging groove 23 is merely an exemplary embodiment; other structures may be employed, such as protrusions, magnetically engaging structures, and the like. The engaging structure may also be a protrusion, with a corresponding groove provided on the external device to achieve detachable connection between the drive device 21 and the external device (e.g., the connection adapter 10). It should be understood that the engaging structure may also be other structures capable of achieving detachable connection.

[0065] In some embodiments, the surgical robot system 1 further includes a first surgical instrument disposed at the distal end of the first positioning arm 20a and a first connection adapter for detachably connecting the first surgical instrument to the first drive device. The surgical robot system 1 further includes a plurality of second surgical instruments disposed at the distal end of the second positioning arm 20b and a plurality of second connection adapters for detachably connecting the plurality of second surgical instruments to the plurality of second drive devices. It should be understood that the first surgical instrument or the second surgical instrument may include an endoscope, for example, the endoscope may include at least one imaging unit and an illumination unit, etc. The first surgical instrument or the second surgical instrument may include surgical tools for performing surgical operations, for example, separation forceps, grasping forceps, scissors, bipolar grasping forceps, single-stage curved scissors, needle holders, etc.

[0066] It should be understood that the first and second connecting adapters have similar structures. For convenience, in many descriptions of this disclosure, the connecting adapter 10 is used as a general term for the first and second connecting adapters. Similarly, the proximal ends of the first and second surgical instruments have similar structures. For convenience, in many descriptions of this disclosure, the surgical instrument 30 is used as a general term for the first and second surgical instruments.

[0067] Figure 8 1 shows a schematic diagram of the exploded structure of the connection interface 331, the transmission member 300 and the drive interface 211 according to some embodiments of the present disclosure. Figure 9 FIG. 2 shows a schematic structural diagram of a surgical instrument 30 according to some embodiments of the present disclosure. Figure 9 As shown, the surgical instrument 30 (first surgical instrument or second surgical instrument) includes at least one connection interface, a connection adapter 10 (see Figure 13 and Figure 14 ) includes at least one first interface and at least one second interface, the first interface is used to couple with the connection interface of the surgical instrument 30, and the second interface is used to couple with the drive interface of the drive device 21.

[0068] In some embodiments, as Figure 7 As shown, the connecting adapter 10 is detachably connected to the receiving slot 22 of the driving device 21 , and the surgical instrument 30 is detachably connected to the connecting adapter 10 . The surgical instrument 30 is detachably connected to the receiving slot 22 of the driving device 21 through the connecting adapter 10 .

[0069] In some embodiments, the connection adapter 10 (first connection adapter or second connection adapter) includes at least one first interface 310 and at least one second interface 320, the first interface 310 is used to couple with the connection interface 331 of the surgical instrument 30, and the second interface 320 is used to couple with the drive interface 211 of the drive device 21. Figure 8As shown, at least one surgical instrument 30 may include at least one connection interface 331, and the connection adapter 10 includes at least one transmission member 300. The transmission member 300 includes a first interface 310 and a second interface 320. The first interface 310 is used to couple with the connection interface 331 of the surgical instrument 30, and the second interface 320 is used to couple with the drive interface 211 of the drive device 21. The at least one drive device 21 is connected to the drive interface 211 via a connecting rod 2225 to drive the at least one drive interface 211 to move. The drive of the drive device 21 is directly transmitted to the surgical instrument 30 through the connection adapter 10 to control the movement of the surgical instrument 30.

[0070] Figure 10 FIG. 1 shows a schematic structural diagram of a proximal portion of a surgical instrument 30 according to some embodiments of the present disclosure. Figure 11 FIG. 1 is a schematic structural diagram showing a proximal portion of a surgical instrument 30 coupled to a drive device 21 according to some embodiments of the present disclosure. Figure 12 Schematic diagram showing the distribution of the slider 33 and the drive wire 34 according to some embodiments of the present disclosure. Figure 10 The deformable membrane of one of the housing windows is shown (shown by shading), and the deformable membranes of the other housing windows or housing windows in other figures are not shown. It should be understood that the first surgical instrument and the second surgical instrument can be different in the distal instrument structure, and their proximal end structures can be similar. In some embodiments, as Figure 8 、 Figure 9 and Figure 10 As shown, the surgical instrument 30 includes an arm 31, an end instrument 32, a housing 35, at least one deformable membrane 37, at least one slider 33, and at least one drive wire 34. The end instrument 32 is disposed at the distal end of the arm 31, and the housing 35 is located at the proximal end of the arm 31. The housing 35 includes at least one housing window (e.g., 3531, 3521). Figure 10 As shown, at least one deformable membrane 37 is sealed and arranged on the shell 35 for covering at least one shell window. At least one slider 33 is slidably arranged inside the shell 35, and a connection interface 331 is connected to at least one slider 33. The connection interface 331 is sealed and connected to the deformable membrane 37 and is located in at least one shell window. At least one drive wire 34 is used to drive the arm body 31 and / or the end instrument 32, and the first end of the drive wire 34 is fixedly connected to the slider 33 (for example, sliders 33a-33c). The connection interface 331 is used to receive drive through the deformation of at least one deformable membrane 37 to drive the slider 33 to push or pull the drive wire 34, and drive the arm body 31 and / or the end instrument 32 through the drive wire 34.

[0071] The end effector 32 of the surgical instrument 30 may include, for example, separating forceps, grasping forceps, scissors, bipolar grasping forceps, single-stage curved scissors, needle holders, etc. The end instrument of the first surgical instrument may include an endoscope, for example, the endoscope may include at least one imaging unit and an illumination unit, etc.

[0072] In some embodiments, the drive wire 34 may include a flexible rope, and the slider 33 may pull the flexible rope to move under the received drive. In some embodiments, the drive wire 34 may include an elastic rod, a superelastic wire, etc., to achieve push and pull movements under the drive of the slider 33. The arm body 31 and the end instrument 32 may adopt various suitable structures, and may also be connected to the drive wire 34 in various suitable ways, and perform various operations under the drive of the drive wire 34. For example, the arm body 31 may include one or more of a straight rod structure, a continuum structure, a snake bone structure, a wrist structure, etc. By externalizing the drive device and / or externalizing the transmission mechanism that transmits the drive, the surgical instrument can be miniaturized and lightweight.

[0073] It should be understood that the circumference of the deformable membrane 37 can be sealed and connected (e.g., by welding, bonding, etc.) to the housing 35, thereby covering at least one housing window to form an effective barrier between the first side (e.g., the inside) and the second side (e.g., the outside) of the housing 35, such as a sterile barrier that blocks bacteria. The connection interface 331 is sealed and connected to the deformable membrane 37, and is used to receive actuation through the deformation of at least one deformable membrane 37. For example, the connection interface 331 can be integrally formed with the deformable membrane 37, welded, or bonded, so that no gap exists between the connection between the connection interface 331 and the deformable membrane 37, thereby sealing and isolating the sterile area from the sterile area.

[0074] Those skilled in the art should understand that the sealing setting or sealing connection in the present disclosure means that the connection is sealed to form a barrier, such as a sterile barrier for blocking bacteria, a dust barrier for blocking dust, etc.

[0075] like Figure 10 As shown, the connection interface 331 of at least one slider 33 is used to transmit the movement between the connection interface 331 and the drive interface 211 of the drive device 21 through the deformation of at least one deformable membrane 37. For example, the connection interface 331 can be used to move under the drive of the drive interface 211 of the drive device 21. Figure 8As shown, the drive interface 211 of the drive device 21 can receive drive via the connecting rod 2225 and connect to the transmission member 300, which drives the connection interface 331 (or 331c) to move. Because the deformable membrane 37 is deformable, the drive interface 211 allows the connection interface 331 to move, thereby transmitting the drive (e.g., linear drive) of the drive interface 211 to the connection interface 331. The connection interface 331 then drives the slider 33 to move, thereby pushing and / or pulling the drive wire 34. The structure is simple and easy to operate.

[0076] Those skilled in the art will appreciate that motion may include various forms of motion, such as movement parallel to the window plane, movement perpendicular to the window plane, or a combination of the two motions, and the like. Motion may include, for example, linear motion, curvilinear motion, and the like. In some embodiments of the present disclosure, linear motion is used as an example for description, but this does not constitute any limitation to the present disclosure. In addition, in some embodiments, the transmission member 300 may be omitted, and the drive interface 211 may be directly coupled to the connection interface 331. For example, a surgical instrument may be directly connected to the drive device, omitting the connection adapter.

[0077] In some embodiments, as Figure 10 and Figure 11 As shown, the at least one housing window may include at least one first housing window 3531 located on the first side of the housing 35 and at least one second housing window (not shown) located on the second side of the housing 35. Figure 10 As shown, the housing 35 may be a cubic structure. The housing 35 may include an upper side plate 351, a lower side plate 352, a left side plate 353 and a right side plate ( Figure 10 For example, the first shell window 3531 and the second shell window (not shown) are respectively provided on the left side plate 353 and the right side plate (not shown). Figure 10 As shown, four first housing windows 3531 are provided on the left side plate 353. At least one slider 33 may include at least one slider 33a and at least one slider 33b (eg, Figure 12 As shown). The connection interface 331 of at least one slider 33a is located in at least one first housing window 3531, and the connection interface 331 of at least one slider 33b is located in at least one second housing window. In some embodiments, as Figure 10 and Figure 11As shown, the at least one housing window may further include a third housing window 3521 located on a third side of the housing (e.g., the lower side plate 352), and the at least one slider 33 may further include a slider 33c, with a connection interface 331c of the slider 33c located in the third housing window 3521. In some embodiments, taking the slider 33a as an example, the connection interfaces 331 of multiple sliders 33a may be located in the same first housing window 3531, or multiple connection interfaces 331 of one slider 33a may be located in the same first housing window 3531.

[0078] In some embodiments, the first housing window 3531 and the at least one slider 33a and the second housing window and the at least one slider 33b may be arranged in a mirror-symmetrical manner. It should be understood that a group of first housing windows 3531 and a group of second housing windows may each include a plurality of spaced housing windows, and a group of third housing windows 3521 may include a single housing window. Figure 10 As shown, each slider may include a connection interface 331. Figure 10 As shown, there are four first housing windows 3531 and four sliders 33a, respectively. The connection interface 331 of each slider 33a is located within the corresponding first housing window 3531. There are four second housing windows and four sliders 33b, respectively. The connection interface 331 of each slider 33b is located within the corresponding second housing window. The four first housing windows 3531 and the connection interfaces of the slider 33a are mirror-symmetrically distributed with the four second housing windows and the connection interfaces of the slider 33b along the direction of linear movement (e.g., the length direction of the housing 35 or the surgical instrument 30). This facilitates the coordinated driving of the connection interfaces 331 located within the first housing windows 3531 and the second housing windows. The above numbers are merely examples. It should be understood that the number of first housing windows 3531 and second housing windows can also be one, two, five, etc. The number of connection interfaces 331 located in the same housing window can also be two, three, etc. The number of housing windows and connection interfaces 331 can be adjusted according to the number of drive interfaces on the drive device.

[0079] In some embodiments, as Figure 10 As shown, the surgical instrument 30 (the first surgical instrument or the second surgical instrument) may further include at least one limiting structure 38 provided on the first side and / or the second side. For example, at least one limiting structure 38 is provided on the outer side of the left side panel 353 and / or the right side panel. It should be understood that the inner side of the left side panel and the right side panel refers to the side facing each other when the left side panel 353 and the right side panel are relatively arranged. The outer side of the left side panel and the right side panel refers to the side facing away from each other when the left side panel and the right side panel are relatively arranged. Figure 10 As shown, the limiting structure 38 can be a groove, and the inner side of the external device (such as the connecting adapter 10) is provided with a limiting protrusion (such as Figure 14 The limiting structure engages with the limiting protrusion to limit the movement of the surgical instrument along the linear movement direction (for example, the length direction of the left plate 353 or the right plate). Those skilled in the art will understand that Figure 10 The limiting structure shown is only an exemplary embodiment, and other structures may be used, such as protrusions, magnetic attraction structures, etc.

[0080] In some embodiments, as Figure 10 As shown, the surgical instrument 30 (the first surgical instrument or the second surgical instrument) may further include a balancing valve 355 disposed on the housing 35. The balancing valve 355 may be used to maintain internal and external air pressure balance during sterilization of the surgical instrument. In actual use, the balancing valve may be removed.

[0081] In some embodiments, as Figure 10 As shown, the surgical instrument 30 (the first surgical instrument or the second surgical instrument) may further include a handle 356 provided on the housing 35. For example, the handle 356 may be located outside the upper side plate 351 of the housing 35 for the operator to hold so as to facilitate installation or removal of the surgical instrument on or from an external device.

[0082] In some embodiments, as Figure 11 As shown, the surgical instrument 30 (the first surgical instrument or the second surgical instrument) may further include at least one communication interface 357 provided on the housing 35. For example, the at least one communication interface 357 may form a communication connection between the inside and outside of the lower plate 352 of the surgical instrument. For example, the outside of the housing 35 of the surgical instrument 30 is connected to an external device (such as a connection adapter 10), and the at least one communication interface 357 may be used to communicate with the external device so as to form a communication connection between the inside of the housing 35 of the surgical instrument 30 and the external device on the outside. Figure 11 As shown, the lower side plate 352 may be provided with a plurality of communication interfaces 357 arranged at intervals. The external device may be provided with a plurality of communication contacts (eg Figure 13 After the external device is installed, the multiple communication interfaces 357 are connected to the communication contacts to establish a communication connection between the surgical instrument and the external device. Those skilled in the art will appreciate that the assembler can determine whether the surgical instrument and the external device are properly installed by determining whether the communication contacts are connected to the communication interfaces 357. The communication contacts and communication interfaces 357 can also be used to read parameter information from or write parameter information to the surgical instrument or the external device.

[0083] In some embodiments, as Figure 10As shown, the surgical instrument 30 (the first surgical instrument or the second surgical instrument) may further include an electrode interface 358 or a fiber optic interface (not shown) disposed on the housing 35. For example, the electrode interface 358 may provide a conductive path for an electrical energy tool, such as a monopolar or bipolar coagulation tool or an electrocuting tool. The fiber optic interface may provide a path for endoscopic imaging or illumination when the distal end of the surgical instrument is an endoscope.

[0084] Figure 13 FIG. 2 shows a front view of the connection adapter 10 in an unfolded state according to some embodiments of the present disclosure. Figure 14 A schematic diagram of the structure of the connection adapter 10 in a folded state according to some embodiments of the present disclosure is shown. For the convenience of explanation, Figure 14 The shadow representing the second deformable film 200 is omitted, and only the transmission member 300 is retained. In some embodiments, Figure 13 and Figure 14 As shown, the connection adapter 10 (first connection adapter or second connection adapter) may include an adapter substrate 100, at least one second deformable film 200, and at least one transmission member 300. The adapter substrate 100 includes at least one transmission window (e.g., transmission windows 111, 121, and 131). The at least one second deformable film 200 is sealed on the adapter substrate 100 to cover the at least one transmission window. The at least one transmission member 300 is sealed on the second deformable film 200 and is located in the at least one transmission window. The transmission member 300 includes an interface 310 located on a first side of the second deformable film 200 and an interface 320 located on a second side of the deformable film. The interface 310 is used to couple with a connection interface 331, and the interface 320 is used to couple with a drive interface 211. The transmission member 300 receives drive from the drive interface 211 through deformation of the second deformable film 200, and the connection interface 331 receives transmission through deformation of the deformable film 37.

[0085] It should be understood that the second deformable membrane 200 can be sealedly connected (e.g., welded, bonded, etc.) to the adapter substrate 100 along its circumference, thereby covering at least one transmission window to form an effective barrier between the first and second sides of the adapter substrate 100, such as a sterile barrier that blocks bacteria. For example, the transmission member 300 can be integrally formed with the second deformable membrane 200, welded, or bonded to the second deformable membrane 200, so that no gap exists between the connection between the transmission member 300 and the second deformable membrane 200, thereby sealingly isolating the sterile zone from the sterile zone.

[0086] The deformable membrane (e.g., deformable membrane 37, second deformable membrane 200) can be made of various deformable materials, such as an elastic membrane. For example, the deformable membrane can include a rubber membrane (e.g., a TPU membrane) or a plastic membrane. The deformable membrane can extend and retract with the linear motion of the drive interface and transmission member to ensure that the drive interface and transmission member do not tear or damage the deformable membrane during movement.

[0087] like Figure 13 and Figure 14 As shown, at least one transmission window may include a first transmission window 111 and a second transmission window 121. Figure 14 As shown, in some embodiments, the adapter substrate 100 may be in a U-shape or may be folded to form a U-shape. The adapter substrate 100 may include a left substrate 110, a right substrate 120, and a middle substrate 130. For example, a first transmission window 111 and a second transmission window 121 may be provided on the left substrate 110 and the right substrate 120, respectively. In some embodiments, at least one transmission window may include a third transmission window 131, and the third transmission window 131 may be provided on the middle substrate 130. For example, Figure 8 and Figure 14 As shown, the transmission member 300 may include a first interface 310 and a second interface 320 located at both ends and fixedly connected, and a coupling structure is provided on the first interface 310 and the second interface 320, respectively. The coupling structure of the first interface 310 of the transmission member 300 may include a protrusion, the connection interface 331 may include a corresponding groove, the second interface 320 of the transmission member 300 may include a groove, and the drive interface 211 may include a corresponding protrusion. The protrusion engages with the groove to achieve coupling between the positioning arm drive interface 211 and the surgical instrument connection interface 311 through the transmission member 300. The above is only an example, and one of the interface and the drive interface of the transmission member 300 may be a protrusion and the other may be a groove. Alternatively, the transmission member and the drive interface may also be other structures that can be connected to each other.

[0088] Figure 15 FIG. 1 shows a schematic diagram of the assembly structure of the connection adapter 10 and the surgical instrument 30 according to some embodiments of the present disclosure. Figure 15 As shown, the proximal end of the surgical instrument 30 can be moved in a direction perpendicular to the central base plate 130 of the connecting adapter 10 (eg Figure 15 The surgical instrument 30 is installed in the connection adapter 10, and the lower side plate 352 of the surgical instrument 30 abuts against the middle substrate 130 of the adapter substrate 100. The communication contacts 140 on the middle substrate 130 are in communication connection with the communication interface 357. The proximal outer side of the surgical instrument 30 is provided with an opening extending in the longitudinal direction, and further includes a connection interface (e.g., a portion of the surgical instrument 30) exposed from the opening and capable of translating along the opening. Figure 8 and Figure 10The left and right substrates 110 and 120 of the connection adapter 10 are provided with interfaces 310 on their inner sides. The interfaces 310 are coupled to the connection interfaces 331 via the coupling structure on the connection interfaces 331 to connect the surgical instrument 30 to the connection adapter 10 in a drivable manner. The outer side of the proximal end of the surgical instrument 30 is provided with a limiting structure (e.g., a position limiting structure) perpendicular to the direction of the middle substrate 130 of the connection adapter 10. Figure 10 The limiting structure 38 shown in the figure) is provided on the inner side of the left substrate 110 and / or the right substrate 120 with at least one limiting portion 170 protruding from the surface of the left substrate 110 and / or the right substrate 120, and the limiting structure 38 is engaged with the limiting portion 170 to limit the movement of the surgical instrument 30 along the length direction, so as to detachably connect the surgical instrument 30 to the connecting adapter 10.

[0089] like Figure 13 As shown, in some embodiments, at least one grounding pin 150 is further provided on the adapter substrate 100. Two grounding pins 150 may be provided on the middle substrate 130. By providing the grounding pins, static electricity can be prevented from damaging the components of the system. Figure 14 As shown, in some embodiments, at least one connecting structure, such as a snap-fit ​​protrusion 180, is correspondingly provided on the outer side of the left substrate 110 and / or the right substrate 120. At least one snap-fit ​​groove 23 is provided on the left inner wall 2201a and / or the right inner wall 2201b of the receiving slot 22 of the driving device 21. The snap-fit ​​protrusion 180 is used to snap-fit ​​with the snap-fit ​​groove 23 on the driving device 21. By snapping the snap-fit ​​protrusion 180 with the snap-fit ​​groove 23, the adapter substrate 100 and the driving device 21 are detachably connected. In some embodiments, as Figure 14 As shown, shielding portions 190 extending outward from the substrate surface are further provided on the outer sides of the left substrate 110 and / or the right substrate 120. These shielding portions 190 are used to shield the portion of the transmission member 300 exposed outside the substrate. The provision of these shielding portions creates a space between the outer side of the adapter substrate 100 and the positioning arm 20 for linear movement of the transmission member 300 after the adapter substrate 100 and the positioning arm 20 are assembled.

[0090] Figure 16 FIG. 2 shows a reverse side view of the connection adapter 10 (first connection adapter or second connection adapter) in an unfolded state according to some embodiments of the present disclosure. Figure 16As shown, in some embodiments, the connection adapter 10 further includes a sterile protective film 400. The sterile protective film 400 is sealedly connected to the periphery of the adapter base plate 100 and extends outward to cover at least a portion of the positioning arm. It should be understood that the adapter base plate 100 can be in the shape of a U or a sheet structure that can be folded into a U shape to fit into the receiving groove of the drive device. The sterile protective film 400 is connected to the adapter base plate 100 along the circumference, for example by welding or bonding, and extends outward to cover at least a portion of the drive device and the positioning arm. It should be understood that the sterile protective film 400 can be a TPU film to facilitate sterilization during the manufacturing process to achieve medical material grade. The adapter base plate 100 can be plastic to facilitate connection with the sterile protective film 400 and the second deformable film 200. It should be understood that the extended sterile protective film 400 can be adapted to the shape of the portion of the positioning arm that needs to be covered. By covering at least a portion of the positioning arm with the sterile protective film 400, the surgical instrument and the positioning arm can be isolated to isolate the sterile side and the sterile side, thereby meeting the requirements of the operating environment.

[0091] The deformable membrane 37 covers at least one housing window of the surgical instrument, thereby forming a sterile barrier that effectively blocks bacteria between the outer side (sterile side) and the inner side (possibly contaminated side) of the surgical instrument. The second deformable membrane 200 covers at least one transmission window, thereby forming a sterile barrier that effectively blocks bacteria between the inner and outer sides of the connecting adapter. This double barrier further ensures the barrier effect. The sterile protective membrane 400 covers the drive device 21 and the positioning arm (e.g., the first positioning arm 20a or the second positioning arm 20b), thereby forming a sterile barrier that effectively blocks bacteria between the positioning arm portion near the surgical instrument 30 and the surgical instrument 30, thereby providing a sterile surgical operating environment and preventing bacterial contamination of the surgical instrument. At least one transmission member 300 is disposed on the second deformable membrane 200. Through the deformation of the second deformable membrane 200, the drive (e.g., linear drive) on the first side of the connecting adapter 10 is transmitted to the second side of the connecting adapter 10 through the transmission member 300, thereby directly transmitting various motions, such as linear motion. By deforming the deformable membrane 37 , the driving interface 211 of the driving device 21 is allowed to drive the connecting interface 331 to move, so as to push and / or pull the driving wire 34 , thereby driving the surgical instrument 30 to perform various operations, making the structure simple and easy to operate.

[0092] In some embodiments, as shown in FIG2( a ), the surgical robot system 1 further includes a first sheath assembly 500 a, the first sheath assembly 500 a including a first channel for passing a first surgical instrument. The first linear module 205 a further includes a first clamping portion, the first clamping portion being configured to be detachably connected to the first sheath assembly 500 a, such that the first sheath assembly 500 a or the axis of the first sheath assembly 500 a passes through the first remote motion center.

[0093] In some embodiments, as shown in FIG2( b ), the surgical robot system 1 further includes a second sheath assembly 500 b, which includes a plurality of second channels for passage of a plurality of second surgical instruments. The plurality of second linear modules 205 b further include a second clamping portion 2061, which is configured to be detachably connected to the second sheath assembly 500 b so that the second sheath assembly 500 b passes through the second remote center of motion. For example, the plurality of second surgical instruments may include an endoscope, and the arm axis of the endoscope may pass through the second remote center of motion.

[0094] In some embodiments, at least a portion of at least one of the channels of the first sheath assembly 500a or the second sheath assembly 500b is deformable in the radial direction, the axial direction, or both. This deformation of the channel allows the distal end of the surgical instrument to smoothly pass through the sheath assembly and enter the intended surgical site even in the presence of certain positioning errors or offsets.

[0095] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical robot system, characterized in that: include: base; A first positioning arm, the first positioning arm comprising: a first positioning link mechanism, the first positioning link mechanism being rotatably connected to the base at a first position; a first lifting mechanism, wherein a proximal end of the first lifting mechanism is rotatably connected to a distal end of the first positioning link mechanism; a first RCM mechanism, wherein a proximal end of the first RCM mechanism is rotatably connected to a distal end of the first lifting mechanism at a first angle; and at least one first linear module connected to the distal end of the first RCM mechanism; A second positioning arm, the second positioning arm comprising: a second positioning link mechanism, the second positioning link mechanism being rotatably connected to the base at a second position; a second lifting mechanism, wherein a proximal end of the second lifting mechanism is rotatably or fixedly connected to a distal end of the second positioning link mechanism; a second RCM mechanism, wherein a proximal end of the second RCM mechanism is rotatably connected to a distal end of the second lifting mechanism at a second angle; and at least one second linear module connected to the distal end of the second RCM mechanism; The second positioning arm also includes a mounting platform fixedly arranged at the distal end of the second RCM mechanism, the mounting platform includes a plurality of mounting positions, the at least one second linear module includes a plurality of second linear modules, and the plurality of second linear modules are respectively arranged on the plurality of mounting positions; the extension lines of the distal ends of the plurality of second linear modules converge toward the second remote motion center of the second RCM mechanism; the plurality of second linear modules include a second clamping portion, and the second clamping portion is used to be detachably connected to the second sheath assembly so that the second sheath assembly passes through the second remote motion center of the second RCM mechanism.

2. The surgical robot system according to claim 1, wherein: The first positioning link mechanism includes at least a first link and a second link, the proximal end of the first link is rotationally connected to the base around a first vertical axis, and the distal end of the first link is rotationally connected to the proximal end of the second link around a second vertical axis, so that the first link and the second link rotate horizontally around the first vertical axis and the second vertical axis respectively.

3. The surgical robot system according to claim 2, wherein: The first RCM mechanism includes a plurality of arc-shaped connecting rods, the proximal ends and distal ends of the plurality of arc-shaped connecting rods are respectively and sequentially connected in rotation, and the rotation axes of the plurality of arc-shaped connecting rods intersect at a first remote motion center.

4. The surgical robot system according to claim 3, wherein: The plurality of arc-shaped connecting rods include: a first arc-shaped connecting rod, wherein a proximal end of the first arc-shaped connecting rod is rotatably connected to a distal end of the lifting mechanism about a first rotation axis, and the first rotation axis forms the first angle with the vertical axis; a second arc-shaped link, a proximal end of the second arc-shaped link being rotatably connected to a distal end of the first arc-shaped link about a second rotation axis; and A third arc-shaped connecting rod, wherein the proximal end of the third arc-shaped connecting rod is rotationally connected to the distal end of the second arc-shaped connecting rod around a third rotation axis, and the first rotation axis, the second rotation axis and the third rotation axis intersect at a first remote motion center.

5. The surgical robot system according to claim 4, characterized in that: The at least one first linear module includes a first linear module fixedly arranged at the distal end of the third arc-shaped connecting rod. The first linear module includes a first linear module motor, a first screw rod, a first slide rail and a first slider. The first slider is slidably connected to the first screw rod. The first screw rod is coupled to the output end of the first linear module motor and drives the first slider to slide along the first slide rail under the drive of the first linear module motor.

6. The surgical robot system according to claim 5, characterized in that: The first positioning arm also includes a first driving device arranged on the first linear module, the first driving device includes at least one first driving interface for linear movement and a first main body, the first main body includes a first accommodating groove arranged at the far end and at least one first driving window arranged on the inner wall of the first accommodating groove, wherein the at least one first driving interface is located in the at least one first driving window.

7. The surgical robot system according to claim 6, characterized in that: Also includes: a first surgical instrument, the first surgical instrument comprising at least one connection interface; as well as A first connection adapter, the first connection adapter is used to detachably connect the first surgical instrument to the first drive device, the first connection adapter includes at least one first interface and at least one second interface, the first interface is used to couple with the connection interface of the first surgical instrument, and the second interface is used to couple with the first drive interface of the first drive device.

8. The surgical robot system according to claim 7, characterized in that: The first surgical instrument comprises: a housing, the housing comprising at least one housing window, the at least one connection interface being located in the at least one housing window; at least one first deformable membrane, sealingly disposed on the housing and configured to cover the at least one housing window, wherein the connection interface is sealingly connected to the first deformable membrane and configured to receive actuation through deformation of the first deformable membrane; or The first connection adapter includes: an adapter base plate comprising at least one transmission window; at least one second deformable membrane, sealingly disposed on the adapter substrate and configured to cover the at least one transmission window; At least one transmission member is sealed on the second deformable membrane and located in the at least one transmission window, the transmission member includes the first interface located on the first side of the second deformable membrane and the second interface located on the second side of the deformable membrane, and the transmission member receives drive from the first drive interface through the deformation of the second deformable membrane.

9. The surgical robot system according to claim 7, wherein: Also included is a first sheath assembly, the first sheath assembly including a first channel, the first channel being used for passing the first surgical instrument; The first linear module further includes a first clamping portion, which is configured to be detachably connected to the first sheath assembly so that the first sheath assembly passes through the first remote motion center.

10. The surgical robot system according to any one of claims 1 to 9, characterized in that: The second positioning link mechanism includes at least a third link and a fourth link, the proximal end of the third link is rotationally connected to the base around a third vertical axis, and the distal end of the third link is rotationally connected to the proximal end of the fourth link around a fourth vertical axis, so that the third link and the fourth link rotate horizontally around the third vertical axis and the fourth vertical axis respectively.

11. The surgical robot system according to claim 10, wherein: The second RCM mechanism includes a plurality of arc-shaped connecting rods, the proximal ends and distal ends of the plurality of arc-shaped connecting rods are respectively and sequentially connected in rotation, and the rotation axes of the plurality of arc-shaped connecting rods intersect at a second remote motion center.

12. The surgical robot system according to claim 11, wherein: The plurality of arc-shaped connecting rods include: a fourth arc-shaped connecting rod, a proximal end of the fourth arc-shaped connecting rod being rotatably connected to a distal end of the lifting mechanism about a fourth rotation axis, wherein the fourth rotation axis is parallel to the vertical axis; a fifth arc-shaped link, a proximal end of the fifth arc-shaped link being rotatably connected to the distal end of the fourth arc-shaped link about a fifth rotation axis; and A sixth arc-shaped link, wherein the proximal end of the sixth arc-shaped link is rotationally connected to the distal end of the fifth arc-shaped link around a sixth rotation axis, and the fourth rotation axis, the fifth rotation axis and the sixth rotation axis intersect at the second remote motion center.

13. The surgical robot system according to claim 12, wherein: The mounting platform is fixedly arranged at the distal end of the fourth arc-shaped connecting rod. The second linear module includes a second linear module motor, a second screw rod, a second slide rail and a second slider. The second slider is slidably connected to the second screw rod. The second screw rod is coupled to the output end of the second linear module motor and drives the second slider to slide along the second slide rail under the drive of the second linear module motor.

14. The surgical robot system according to claim 13, wherein: The multiple mounting positions include a first mounting position, a second mounting position, and a third mounting position spaced apart around the center of the mounting platform. The multiple second linear modules include a second linear module A, a second linear module B, and a second linear module C. The second linear module A, the second linear module B, and the second linear module C are respectively mounted at the first mounting position, the second mounting position, and the third mounting position. Extension lines of the distal ends of the second linear module A, the second linear module B, and the second linear module C converge toward the second remote motion center.

15. The surgical robot system according to claim 13, wherein: It also includes multiple second driving devices, which are respectively fixed on the multiple second sliders. The second driving devices include at least one second driving interface for linear motion and a second main body. The second main body includes a second accommodating groove arranged at the far end and at least one second driving window arranged on the inner wall of the second accommodating groove, wherein the at least one second driving interface is located in the at least one second driving window, and the second slider is used to drive the second driving device to slide along the second slide rail.

16. The surgical robot system according to claim 15, characterized in that: Also includes: a plurality of second surgical instruments, each of the second surgical instruments comprising at least one connection interface; as well as Multiple second connection adapters, the second connection adapters are used to detachably connect the second surgical instrument to the second drive device, the second connection adapters include at least one first interface and at least one second interface, the first interface is used to couple with the connection interface of the second surgical instrument, and the second interface is used to couple with the second drive interface of the second drive device.

17. The surgical robot system according to claim 16, wherein: The second surgical instrument comprises: a housing, the housing comprising at least one housing window, the at least one connection interface being located in the at least one housing window; at least one first deformable membrane, sealingly disposed on the housing and configured to cover the at least one housing window, wherein the connection interface is sealingly connected to the first deformable membrane and configured to receive actuation through deformation of the first deformable membrane; or The second connection adapter includes: an adapter base plate comprising at least one transmission window; at least one second deformable membrane, sealingly disposed on the adapter substrate and configured to cover the at least one transmission window; At least one transmission member is sealed on the second deformable membrane and located in the at least one transmission window, the transmission member includes the first interface located on the first side of the second deformable membrane and the second interface located on the second side of the deformable membrane, and the transmission member receives drive from the second drive interface through the deformation of the second deformable membrane.

18. The surgical robot system according to claim 16, wherein: Also included is a second sheath assembly, which includes a plurality of second channels for allowing the plurality of second surgical instruments to pass through.

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