Surgical robot and drive system

Abstract

The embodiment of the present application provides a driving system of a surgical robot and the surgical robot. The driving system comprises a first driving device configured to load a surgical instrument, the first driving device comprising a heat dissipation structure and at least one motor configured to drive an end effector of the surgical instrument to move, a sleeve sleeved with the first driving device, a second driving device configured to drive the first driving device to move between a first position and a second position, so that the surgical instrument performs a feeding movement, and a shell comprising at least one cavity for receiving the first driving device and the sleeve, wherein, in the first position, the first driving device is located outside the cavity, and the sleeve is at least partially located outside the cavity; in the second position, the first driving device is at least partially located in the cavity, the heat dissipation structure is located outside the cavity, and the sleeve is partially located in the cavity.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical treatment, in particular to a driving system of a surgical robot and a surgical robot having the same. BACKGROUND

[0002] Minimally invasive medical technology refers to a medical treatment method of performing surgery or biopsy in the body cavity of a human body by using a laparoscope, a thoracoscope and other modern medical instruments and related equipment. Compared with the traditional surgical method, the minimally invasive medical technology has the advantages of small trauma, light pain, fast recovery, alleviating the discomfort of patients and reducing harmful side effects.

[0003] With the progress of science and technology, the minimally invasive medical surgical robot technology has gradually matured and is widely used. The minimally invasive surgical medical robot usually includes a master control console and a slave operating device. A doctor controls the slave operating device by controlling the input device of the master control console. The slave operating device is used to respond to the control command sent by the master control console and perform corresponding surgical operations. The instrument is connected with the driving device of the slave operating device for performing surgical operations. The distal end of the instrument includes an end device for performing surgical operations and a joint assembly connected with the end device which can move in multiple degrees of freedom.

[0004] When the surgical instrument performs a feeding motion, i.e. extends into the human body and retracts from the human body, it is beneficial to increase the stroke of the feeding motion. The existing surgical robot has the problem that the stroke of the feeding motion performed by the surgical instrument is small, which cannot meet some surgical requirements and brings safety problems in surgery. SUMMARY

[0005] Therefore, in a first aspect, the present application provides a driving system of a surgical robot, which comprises:

[0006] a first driving device configured to load a surgical instrument, the first driving device comprising a heat dissipation structure and at least one actuator configured to drive a motion of an end effector of the surgical instrument;

[0007] a sleeve sleeved on the first driving device;

[0008] a second driving device configured to drive the first driving device to move between a first position and a second position, so that the surgical instrument performs a feeding operation;

[0009] a housing comprising at least one cavity for receiving the first driving device and the sleeve, wherein, in the first position, the first driving device is located outside the cavity, and the sleeve is at least partially located outside the cavity; in the second position, the first driving device is at least partially located inside the cavity, the heat dissipation structure is located outside the cavity, and the sleeve is at least partially located inside the cavity.

[0010] In one embodiment, the driving system further comprises a sleeve detachably connected with the housing, in the first position, the end effector of the surgical instrument is located in the sleeve; in the second position, the end effector of the surgical instrument is located outside the sleeve.

[0011] In one embodiment, in the first position, there is a gap between the bottom of the first driving device and the top of the cavity, the sleeve covers the gap.

[0012] In one embodiment, the second driving device comprises a first slider, a transmission member and a motor, the first slider is fixedly connected with the first driving device, the motor is used to drive the transmission member to move to drive the first slider to move.

[0013] In one embodiment, further comprising a second slider and a guide rail, the second slider is slidably arranged on the guide rail, the sleeve is fixedly connected with the second slider.

[0014] In one embodiment, the sleeve comprises a first slot, the first slot extends along the axial direction of the sleeve, the proximal end of the first slot has a first sealing edge, the distal end of the first driving device has a first baffle, when the first driving device moves from the second position to the first position, the first baffle abuts against the first sealing edge, so that the sleeve moves with the first driving device.

[0015] In one embodiment, the sleeve further comprises a second slot, the second slot extends along the axial direction of the sleeve, the distal end of the second slot has a second sealing edge, the first slider or the first driving device comprises a second baffle, when the first driving device moves from the first position to the second position, the second baffle abuts against the second sealing edge, so that the sleeve moves with the first driving device.

[0016] In one embodiment, the driving system further comprises a damping device, when the driving system rotates around the remote center of motion, the damping device is used to maintain the relative position between the sleeve and the guide rail unchanged.

[0017] In one embodiment, the damping device comprises a magnet and a magnetic part, the magnet is mounted on the sleeve, the magnetic part is fixedly connected with the guide rail, the magnet directly or indirectly contacts with the magnetic part.

[0018] In one embodiment, the magnet is mounted in a groove of the sleeve, there is a gap between the magnet and the bottom of the groove.

[0019] In one embodiment, the damping device comprises a friction block and a support bar, the friction block abuts against the support bar, the friction block abuts against the sleeve through a spring, and the support bar is fixedly connected with the guide rail.

[0020] The present application provides, in a second aspect, a surgical robot comprising:

[0021] a first drive device configured to load a surgical instrument, the first drive device comprising a heat dissipation structure and at least one actuator configured to drive an end effector of the surgical instrument to move;

[0022] a housing comprising at least one cavity for receiving the first drive device;

[0023] a sleeve sleeved on the first drive device;

[0024] a sleeve detachably connected to the housing;

[0025] when the first drive device moves to the nearest end of the housing, the end effector is located in the sleeve, there is a gap between the bottom of the first drive device and the top of the cavity, and the sleeve is configured to cover the gap. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 a top view schematic diagram of a surgical robot assisted medical system according to an embodiment of the present application;

[0027] Figure 2 a schematic diagram of a master console of a surgical robot according to an embodiment of the present application;

[0028] Figure 3 a schematic diagram of a surgical instrument according to an embodiment of the present application;

[0029] Figure 4 a schematic diagram of a slave operating device of a surgical robot according to an embodiment of the present application;

[0030] Figure 5 a schematic diagram of a drive system of a surgical robot according to an embodiment of the present application;

[0031] Figure 6A a schematic diagram of a first drive device of a drive system according to an embodiment of the present application when the first drive device is located at a first position;

[0032] Figure 6B a schematic diagram of a first drive device of a drive system according to an embodiment of the present application when the first drive device is located at a second position;

[0033] Figure 7Aschematic view of a second drive device of a drive system of an embodiment of the present application driving the first device to a first position;

[0034] Figure 7B schematic view of a second drive device of a drive system of an embodiment of the present application driving the first device to a second position;

[0035] Figure 8A schematic view of a second drive device of a drive system of an embodiment of the present application driving the first device to a second position;

[0036] Figure 8B schematic view of a second drive device of a drive system of an embodiment of the present application driving the first device to a second position. DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of the present application, a more complete understanding of the present application can be had by reference to the following description in conjunction with the associated drawings. The figures included in the attached drawings are intended to illustrate the best mode presently contemplated of carrying out the application. However, the application is capable of many different forms of implementation and several examples thereof are described in the detailed description below. Any statement hereinafter that refers to an example is intended to mean that example is one embodiment among many alternative examples. In addition, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0038] It is to be understood that when an element such as a layer, region or substrate is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can also be present. In contrast, when an element is referred to as being "connected to" or "coupled to" another element, it can be directly connected to the other element or intervening elements can be present. Like reference numerals refer to like elements throughout. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. As used herein, the term "about" when used in reference to a particular recited numerical value, means that the value can vary from the recited value by no more than 1%, 2%, 5%, or 10%. As used herein, the terms "vertical", "horizontal", "left", "right", "above", "below", and the like, are intended to describe the orientation of the device as shown in the drawings, and are not intended to limit the device to the orientation shown in the drawings. It is to be understood that these spatially relative terms are intended to encompass different orientations of the device in use or in operation, for example, if the device is turned over, a top surface could become a bottom surface. Therefore, an element depicted above or below another element by these terms can instead be oriented horizontally or vertically in other examples. Terms such as "above" and "below" can include vertical orientations of above and below, as well as horizontal orientations of above and below.

[0039] As used herein, the terms "distal" and "proximal" are directional terms used in the context of interventional medical devices, where "distal" refers to the end of the device that is farthest from the surgeon during a procedure, and "proximal" refers to the end of the device that is closest to the surgeon during a procedure. As used herein, the term "plurality" includes two and more than two.

[0040] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, which includes an end effector that can be a surgical instrument for performing a surgical procedure, such as a biopsy needle, an electrocautery, a forceps, a stapler, a scissors, an imaging device (e.g., an endoscope or an ultrasound probe), and the like. Some of the instruments used in embodiments of the present application further include an articulating member (e.g., a joint assembly) that provides the end effector with one or more mechanical degrees of freedom that enable the position and orientation of the end effector to be manipulated to move relative to the shaft of the instrument. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing forceps. The instrument can also include a memory that can be updated by the surgical system, whereby the memory system can provide one-way or two-way communication between the instrument and one or more system components.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0042] A surgical robot-assisted medical system according to an embodiment of the present application is shown in FIG. 1. The surgical robot-assisted medical system includes a master console 20 and a slave operating apparatus 10, the master console 20 is communicatively connected to the slave operating apparatus 10, and a surgeon S can remotely operate the slave operating apparatus 10 at the master console 20. The master console 20 is configured to transmit a control signal to the slave operating apparatus 10 according to the operation of the surgeon S and display an image acquired by the slave operating apparatus 10, and the surgeon S can observe a three-dimensional image of a patient's body provided by the image system through the master console 10, and the surgeon S can control the slave operating apparatus 10 to perform an operation (e.g., perform a surgery or acquire an image of the patient's body) with an immersive feeling by observing the three-dimensional image of the patient's body. Figure 1

[0043] The slave operating apparatus 10 includes a control device, a mechanical arm 11, and a surgical instrument driving system 12. The control device can be provided in a base of the slave operating apparatus 10 or on the mechanical arm 11, and in an embodiment, the control device is used to control the joint movement of the mechanical arm 11 and the movement of the driving system 12. A plurality of surgical instruments can be mounted on the driving system 12, and the driving system 12 is used to drive the surgical instruments to act so that the surgical instruments can perform various surgeries.

[0044] ​In one embodiment, the surgical robot-assisted medical system further includes a gas inhalation device, a lumen assembly (not shown), and a cannula 13, the lumen assembly providing fluid communication between the cannula 13 and the gas inhalation device. The cannula 13 is connected to the distal end of the drive system 12 and is inserted into the body cavity of the patient P lying on the operating table T. The end effectors of multiple surgical instruments or cameras at the distal end of endoscopes extend through the cannula 13 into the body cavity of the patient P to perform surgical-related operations or acquire images of the patient P's internal environment.

[0045] In one embodiment, surgeon S can control the operating mode of the gas inhalation device via the main control console 10, for example, injecting gas from a gas source into the patient P's body cavity to create an artificial pneumoperitoneum, or aspirating gas from the patient P's body cavity. Assistant A installs surgical instruments 40 onto or replaces surgical instruments 40 from the drive system 12 according to the surgical situation. Surgeon S, assistant A, and anesthesiologist B form a basic surgical team. Surgical instruments 40 can be surgical instruments used to perform surgical procedures, such as electrocautery devices, forceps, staplers, ultrasonic scalpels, etc., or imaging devices (e.g., endoscopes) or other surgical tools for acquiring images.

[0046] The main control console 10 is also remotely connected to the electronic device cart 30, which in turn is remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the aforementioned gas blowing device. In this embodiment, the main control console 10 communicates remotely with the slave operating device 10 and the electronic device cart 30 via wired Ethernet communication. However, remote communication is not limited to wired Ethernet communication; it can also be other wired methods, such as, but not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0047] In one embodiment, such as Figure 2As shown, the master console 20 includes a display device 21 for displaying images acquired by the image system, an armrest 22 for placing the operator's arm and / or hand to make the operator more comfortable in operating the input device 23, a viewing device 24 for viewing the images displayed by the display device, and a control signal processing system 25. The armrest 22 can be omitted according to actual needs; or the viewing device 24 can be omitted, in which case the images can be viewed directly. The operator controls the movement of the surgical instruments from the slave operating apparatus 10 by operating the input device 23, and the control signal processing system of the master console 20 processes the input signals of the input device 23 and sends control commands to the slave operating apparatus. The slave operating apparatus 10 responds to the control commands of the master console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be provided in the slave operating apparatus 10, for example, in the base of the slave operating apparatus 10. The control signal processing system 25 can be the same device as the control device described above.

[0048] The surgical robot also typically includes an image system portion (not shown) that enables the operator to view the surgical site from outside the patient's body. The image system portion typically includes an instrument 40 having video image acquisition capability (e.g., an instrument 40 having image acquisition capability) and one or more video display devices for displaying the acquired images. Generally, the instrument 40 having image acquisition capability includes optics for one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images within the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument 40 having image acquisition capability, and the signals produced by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on the video display device.

[0049] As Figure 3As shown, the instrument 40 includes an instrument cassette 41, an elongated shaft 42, a snake joint 43, and an end effector 44. The instrument 40 is detachably mounted on the slave manipulator 10 from the drive system 12. The instrument cassette 41 has a transmission device (not shown) therein, which includes a plurality of transmission units (e.g., winches) connected to the snake joint 43 and the end effector 44 through a plurality of cables. The plurality of transmission units are respectively coupled to and driven by a plurality of actuators (e.g., motors) in the drive system 12. The plurality of actuators receive control commands from a control device and drive the end effector 44 to move according to the control commands. The control device can be disposed in the master console 20 or in the slave manipulator 10. For example, the drive units drive the transmission units to rotate and thereby control the end effector 44 to move by winding / unwinding the cables. The end effector 44 can perform a plurality of Cartesian degrees of freedom motions, such as translation (including lateral and / or longitudinal translation), pitch, yaw, etc., through the snake joint 43. It is understood that the translation and pitch, or the translation and yaw, can be independently or simultaneously moved. The end effector 44 is used to perform operations related to surgical operations. Depending on the requirements of the surgical operations, the end effector 44 can be an electrocautery, a forceps, a stapler, a scissors, an ultrasonic knife, a camera, an imaging device, etc. The camera or the imaging device is used to acquire images inside a human body.

[0050] Figure 4 FIG. 1 is a schematic diagram of an overall structure of an embodiment of a surgical robot slave manipulator 200 according to the present application. As shown, the slave manipulator 200 further includes a cart chassis 210, a cart handrail 230, a main support column 241, a lifting column 242, a large arm member 250, a small arm member 260, a boom member 270, and a drive system 220. The slave manipulator 200 includes the lifting column 242, the large arm member 250, the small arm member 260, the boom member 270, and the drive system 220. Figure 4

[0051] ​The trolley chassis 210 is a wheeled structure. Operators can control the movement of the trolley chassis 210 via the trolley handle 230, thus enabling the transport of equipment from the operating device 200. The main support column 241 is fixedly connected to the trolley chassis 210, providing support for the overall structure of the surgical robot 110. The lifting column 242 can extend and retract relative to the main support column 241 along its central axis 202, thereby enabling the lifting movement of the entire robotic arm. The upper arm component 250 can rotate around the central axis 202 of the lifting column 242. The forearm component 260 and the upper arm component 250 have a rotating joint at the pivot axis 203, allowing for rotational movement. Similarly, the boom component 270 can rotate around the pivot axis 204 of the forearm component 260, and the drive system 220 can rotate around the pivot axis 206 of the boom component 270.

[0052] Central axes 202, 203, and 204 are parallel to each other and spatially perpendicular to central axis 206. The vertical center plane 207 of the holding device 220 passes through the telecentric fixed point 160 and is perpendicular to central axis 206. The horizontal center plane 201 of the upper arm component 250 is parallel to the horizontal center plane 205 of the lower arm component 260, and is perpendicular to the vertical center plane 207 of the holding device 220 and to central axis 201. The combined movement of the moving components 242-220 enables the initial positioning of the entire robotic arm 200, the movement of the telecentric fixed point 160 at the end of the robotic arm 200, and the rotational movement of the sleeve 150.

[0053] In one embodiment, such as Figure 5 The drive system 320 of the operating device 10 includes a plurality of first drive devices 321a, 321b, 321c, 321d, each first drive device being used to mount surgical instruments or endoscopes, and each first drive device having a plurality of actuators ( Figure 5 (Not shown), multiple actuators are poweredly connected to the aforementioned transmission unit within the surgical instrument or endoscope, thereby driving the serpentine joint 43 and end effector 44 of the surgical instrument or endoscope to move, thus achieving multi-degree-of-freedom movement of the surgical instrument or endoscope. In this embodiment, the drive system 320 has four first drive devices; in other embodiments, the number of first drive devices in the drive system 320 may also be other numbers, such as three.

[0054] The drive system 320 also includes a housing 322 for receiving the first drive unit 321.

[0055] The driving system 320 further comprises a plurality of second driving devices 330, each of which is configured to drive one of the first driving devices 321, and the first driving devices 321 are movable between the proximal end and the distal end of the driving system 320 under the driving of the second driving devices 330, so as to drive the surgical instruments and the endoscope to perform a feeding motion.

[0056] During the driving of the first driving devices 321 from the proximal end to the distal end by the second driving devices 330, the housing 322 receives the first driving devices 321, so that when the first driving devices 321 move to the distal end, the first driving devices 321 are "buried" in the housing 322.

[0057] In one embodiment, the housing 322 comprises side walls 324 extending along the proximal end, and the second driving devices 330 are installed in the side walls 324, and the two side walls 324 surround the four first driving devices 321.

[0058] In one embodiment, the housing 322 has a plurality of cavities 325 for receiving the first driving devices 321 when the first driving devices 321 move to the distal end.

[0059] In one embodiment, the driving system 320 further comprises a docking portion 323 extending from the bottom of the housing 322 to the distal end, and the docking portion 323 is used for docking with the sleeve 13, and after the sleeve 13 is successfully docked on the docking portion 323, the driving system 320 is rotated to drive the sleeve 13 to move.

[0060] After the surgical instruments and the endoscope are installed on the first driving devices 321, the distal ends of the surgical instruments and the endoscope can pass through the sleeve 13 and extend into the human body.

[0061] The control device 25 controls the movement of the mechanical arm 200 to rotate the driving system 320 around a remote center of motion 131, which is controlled by the control device 25 through an algorithm to control the movement of the mechanical arm 200, and is generally located on the sleeve 13. After the sleeve 13 is inserted into the incision of the human body, the remote center of motion 131 is located at the incision of the human body. Regardless of the movement of the mechanical arm 200, the position of the remote center of motion 131 relative to the chassis 210 does not change. In this way, by rotating the driving system 320 around the remote center of motion 131, the position and posture of the surgical instruments and the endoscope at the distal end can be changed without damaging the human body.

[0062] In one embodiment, as shown in Figure 6A and Figure 6B , the stroke of the second driving device 330 of the driving system 420 is greater than the stroke of the first driving device 321. Figure 5The second driving device 330 in the embodiment shown has a larger stroke, so that the first driving device 321 can perform a larger distance feeding movement, which will bring greater benefits to the operation: when the surgical instrument / endoscope moves proximally to the driving system 420, the end effector of the surgical instrument and the endoscope can be retracted into the sleeve, so that if the operation needs to be suspended before or during the operation, the surgical instrument can be prevented from contacting the human body when the endoscope is used to observe the internal environment, thereby improving the safety of the operation. Moving distally to the surgical instrument / endoscope can be the distal end of the surgical instrument and the endoscope reaching a more distant lesion.

[0063] As shown in Figure 6A The driving system 420 includes a sleeve 340 arranged between the first driving device 321 and the cavity 325, and the sleeve 340 moves following the movement of the first driving device 321. Due to the increased movement stroke of the first driving device 321, when the first driving device 321 moves to the proximal end, i.e. the first position L1, the end effector of the surgical instrument and the endoscope can be retracted into the sleeve, at this time the first driving device 321 is farthest from the cavity 325, and there is a gap G1 between the bottom 3211 of the first driving device 321 and the top of the cavity 325. If the gap G1 is exposed to the outside, foreign matter may enter the cavity 325 through the gap G1, or the sterile drape (not shown in the figure) may be stuck in the gap 340, thereby affecting the safety of the operation.

[0064] If it is attempted to cover the gap G1 by increasing the length of the first driving device 321, when the first driving device 321 moves to the distal end, the bottom of the first driving device 321 will inevitably interfere with the space inside the shell 322; if it is attempted to cover the gap G1 by increasing the upper edge of the cavity 325, then when the first driving device 321 moves to the distal end, the heat dissipation structure 326 of the first driving device 321 will be completely immersed inside the upper cavity 325, which will affect the heat dissipation effect of the first driving device 321.

[0065] During the movement of the first driving device 321 from the distal end to the proximal end, the sleeve 340 moves following the first driving device 321 to cover the gap G1.

[0066] As shown in Figure 6B When the first driving device 321 moves to the distal end, i.e. the second position L2, the first driving device 321 is mostly contained in the cavity 325, but the heat dissipation structure 326 of the first driving device 321 is still located outside the cavity 325, so that the heat dissipation effect of the heat dissipation structure 326 can be guaranteed. The heat dissipation structure 326 can be a heat dissipation hole for air cooling inside the first driving device 321. In some other embodiments, the heat dissipation structure can also be a water cooling structure connected to the first driving device 321 and the outside for heat dissipation.

[0067] When the first driving device 32 is at the second position L2, the sleeve 340 is substantially entirely received in the cavity 325.

[0068] In one embodiment, as shown in FIG. 3, the second driving device 350 includes a first transmission member 351, a first slider 352, and a motor 353. The first slider 352 is mounted on the first transmission member 351, and the motor 353 is configured to drive the first transmission member 351 to move, thereby driving the first slider 352 to move linearly between the proximal end and the distal end of the first transmission member 351. The first slider 352 is fixedly connected to the first driving device 321, and the first slider 352 drives the first driving device 321 to move linearly. Figure 7A and Figure 7B In one embodiment, the first transmission member 351 and the first slider 352 are a screw and a nut, respectively, and the motor 353 is configured to drive the screw to rotate, thereby driving the nut to move linearly. In other embodiments, the first transmission member 351 and the first slider 352 can also be other transmission modes, for example, the first transmission member 351 is a belt, the first slider 352 is fixed on the belt, and the motor 353 is configured to drive the belt to rotate, thereby driving the first slider 352 to move linearly.

[0069] In one embodiment, the sleeve 340 is provided with a first slot 341, the proximal end of the first slot 341 is provided with a first sealing edge 342, and the first driving device 321 is provided with a first blocking edge 3212 matched with the first sealing edge 342. During the movement of the first driving device 321 from the distal end to the proximal end driven by the second driving device 350, the first blocking edge 3212 abuts against the first sealing edge 342, thereby enabling the sleeve 340 to move from the distal end to the proximal end together with the first driving device 321.

[0070] In one embodiment, the length of the sleeve 340 is less than the length of the first driving device 321, thereby avoiding interference between the sleeve 340 and the bottom of the cavity 325.

[0071] In one embodiment, the sleeve 340 is provided with a second slot 343, the second slot 343 is arranged at a different position of the sleeve 340 from the first slot 341, and the opening direction of the first slot 341 is opposite to that of the second slot 343, i.e., the opening of the first slot 341 is at the distal end of the sleeve 340, and the opening of the second slot 343 is at the proximal end of the sleeve 340. In this way, when the length of the sleeve 340 is less than the length of the first driving device 321, the first driving device 321 can drive the sleeve 340 to move.

[0072] In one embodiment, the length of the sleeve 340 is less than the length of the first driving device 321, thereby avoiding interference between the sleeve 340 and the bottom of the cavity 325.

[0073] The distal end of the second slot 343 is provided with a second sealing edge 3431, and the first slider 352 is provided with a second stop edge 3521 matched with the second sealing edge 3431. During the process that the second driving device 350 drives the first driving device 321 to move from the proximal end to the distal end, the second stop edge 3521 abuts against the second sealing edge 3431, so that the sleeve 340 moves together with the first driving device 321. In other embodiments, the second stop edge 3521 can also be arranged on the first driving device 321, and the effect of the first driving device 3521 driving the sleeve 340 to move can also be achieved.

[0074] In an embodiment, the driving system 420 further comprises a guide rail 361 and a second slider 362, the second slider 362 is slidingly installed on the guide rail 361, the guide rail 361 is fixedly installed on the shell 322, and the second slider 362 is fixedly connected with the sleeve 340. During the movement of the sleeve 340, the second slider 362 slides along the guide rail 361, so that the sleeve 340 moves in the direction of the guide rail 361, avoiding the sleeve 340 from shaking during movement.

[0075] In an embodiment, a damping device is arranged between the sleeve 340 and the guide rail 361. The damping device is used to increase the resistance between the sleeve 340 and the guide rail 361, so as to prevent the sleeve from freely sliding along the guide rail 361 during the whole process of the driving system 420 turning over, such as when the driving system rotates around the remote center of motion 131, when the shell 322 turns over, or when the whole driving system 420 is dragged to turn over by the assistant A during preoperative preparation, so as to maintain the position of the sleeve 340 relative to the guide rail 361 and the shell 322 unchanged.

[0076] In an embodiment, as shown in Figure 8A The damping device comprises a magnet 363 and a magnetic component 364. The magnet 363 is installed in the sleeve 340, and the magnetic component 364 is fixedly connected with the guide rail 361. The magnet 363 and the magnetic component 364 are attracted to each other, thereby increasing the damping between the sleeve 340 and the guide rail 360, so as to maintain the relative position between the sleeve 420 and the guide rail 361 and the shell 322 unchanged when the driving system 420 rotates around the remote center of motion. In a specific embodiment, the magnet 363 is a permanent magnet, and the magnetic component 364 is a steel bar.

[0077] The magnet 363 and the magnetic component 364 can be in direct contact or non-direct contact.

[0078] In an embodiment, the damping device further comprises a protection piece 365 arranged between the magnet 363 and the magnetic component 364. The protection piece 365 is used to protect the magnet 363 during the sliding process of the sleeve 340 along the guide rail 360. Conversely, the magnet 363 is abraded, and the protection piece 365 can be a copper sheet.

[0079] In one embodiment, the magnet 363 is mounted in a groove of the sleeve 340, and has a gap G2 between the magnet 363 and the groove bottom 3411, and the magnet 363 can float up and down in the gap G2, so that when the sleeve 340 moves, the magnet 363 can still be attracted to the uneven part on the magnetic component 364.

[0080] In one embodiment, as shown in FIG. 6, the damping device includes a friction block 366 and a support bar 367, and the friction surface of the friction block 366 abuts against the support bar 367. Figure 8B When the driving system 420 is flipped or rotated around the remote center of motion 131, the friction between the friction block 366 and the support bar 367 is sufficient to resist the tendency of the sleeve 340 to slide, thereby maintaining the sleeve 340 stationary relative to the guide rail 361 and the housing 322.

[0081] The technical features of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, but it should be understood that any combination of the technical features is within the scope of the present disclosure as long as the combination does not result in contradictions.

[0082] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.

Claims

1. A drive system for a surgical robot, characterized in that, include: A first drive device configured to load surgical instruments, the first drive device including a heat dissipation structure and at least one actuator configured to drive the end effector of the surgical instruments to move. A sleeve, which is fitted onto the first driving device; A second drive device is configured to drive the first drive device to move between a first position and a second position to cause the surgical instrument to perform a feed operation. The housing includes at least one cavity for receiving the first driving device and the sleeve, wherein, in the first position, the first driving device is located outside the cavity and the sleeve is at least partially located outside the cavity; in the second position, the first driving device is at least partially located inside the cavity, the heat dissipation structure is located outside the cavity, and the sleeve is at least partially located inside the cavity. In the first position, there is a gap between the bottom of the first driving device and the top of the cavity, and the sleeve covers the gap; The sleeve includes a first groove extending along the axial direction of the sleeve. The proximal end of the first groove has a first sealing edge, and the distal end of the first driving device has a first baffle. When the first driving device moves from the second position to the first position, the first baffle abuts against the first sealing edge so that the sleeve follows the movement of the first driving device.

2. The drive system as described in claim 1, characterized in that, The drive system also includes a sleeve detachably connected to the housing, wherein in the first position, the end effector of the surgical instrument is located in the sleeve; and in the second position, the end effector of the surgical instrument is located outside the sleeve.

3. The drive system as described in claim 1, characterized in that, The second driving device includes a first slider, a transmission component, and a motor. The first slider is fixedly connected to the first driving device, and the motor is used to drive the transmission component to move so as to drive the first slider to move.

4. The drive system as described in claim 3, characterized in that, It also includes a second slider and a guide rail, the second slider being slidably disposed on the guide rail, and the sleeve being fixedly connected to the second slider.

5. The drive system as described in claim 1, characterized in that, The sleeve further includes a second groove extending axially along the sleeve, the distal end of the second groove having a second sealing edge, the first slider or the first driving device including a second baffle, the second baffle abutting against the second sealing edge when the first driving device moves from the first position to the second position, so that the sleeve follows the movement of the first driving device.

6. The drive system as described in claim 4, characterized in that, The drive system also includes a damping device, which is used to maintain the relative position between the sleeve and the guide rail when the drive system rotates around the remote motion center.

7. The drive system as described in claim 6, characterized in that, The damping device includes a magnet and a magnetic part. The magnet is mounted on the sleeve, and the magnetic part is fixedly connected to the guide rail. The magnet and the magnetic part are in direct or indirect contact.

8. The drive system as described in claim 7, characterized in that, The magnet is installed in a groove in the sleeve, and there is a gap between the magnet and the bottom of the groove.

9. The drive system as described in claim 7, characterized in that, The damping device includes a friction block and a support bar. The friction block abuts against the support bar, and the friction block abuts against the sleeve via a spring. The support bar is fixedly connected to the guide rail.

10. A surgical robot, characterized in that, include: A first drive device configured to load surgical instruments, the first drive device including a heat dissipation structure and at least one actuator configured to drive the end effector of the surgical instruments to move. The housing includes at least one cavity for receiving the first driving device; A sleeve, which is fitted onto the first driving device; A sleeve, which is detachably connected to the housing; A second drive device is configured to drive the first drive device to move between a first position and a second position to cause the surgical instrument to perform a feed operation. When the first drive unit moves to the nearest end of the housing, the end effector is located inside the sleeve, and there is a gap between the bottom of the first drive unit and the top of the cavity, the sleeve being configured to cover the gap; In the first position, the first driving device is located outside the cavity, and the sleeve is at least partially located outside the cavity; in the second position, the first driving device is at least partially located inside the cavity, the heat dissipation structure is located outside the cavity, and the sleeve is at least partially located inside the cavity. The sleeve includes a first groove extending along the axial direction of the sleeve. The proximal end of the first groove has a first sealing edge, and the distal end of the first driving device has a first baffle. When the first driving device moves from the second position to the first position, the first baffle abuts against the first sealing edge so that the sleeve follows the movement of the first driving device.

11. The surgical robot as described in claim 10, characterized in that, It also includes a damping device located between the sleeve and the housing, the damping device being used to maintain the position of the sleeve relative to the housing when the housing is flipped.

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