Surgical robot

Abstract

The invention provides a surgical robot which comprises a long main arm and a first surgical execution module, the first surgical execution module comprises a first linear moving mechanism and a first linear guiding mechanism which are arranged in the extending direction of the main arm, and a supporting frame which is fixed to the first linear guiding mechanism in a sliding mode. A first driver used for driving the linear moving mechanism and a control device are installed on the supporting frame, and the control device comprises a control assembly and a fixing assembly which are located on the sterile side and the non-sterile side respectively, the first driver drives the first linear moving mechanism to enable the supporting frame to linearly move on the first linear guiding mechanism, and the control assembly drives the fixing assembly to move in a non-contact air control mode. The intracavity medical instrument fixed to the fixing assembly is delivered into the body of an operated person or withdrawn from the body of the operated person to assist the operated person to conduct an operation, the operation efficiency is improved, and the labor intensity of the operated person is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an auxiliary surgical robot clinically used for operating intracavitary medical devices such as catheters and guidewires. Background Art

[0002] Currently, in manual surgeries involving the use of catheter guidewires, the operator needs to stand near the patient to operate intracavitary medical devices such as guidewires, guide catheters or angioplasty catheters into or out of the patient's body with a vascular system. The operator is exposed to the radiation of medical imaging equipment throughout the whole process. Although there are protective facilities such as lead suits, the long-term wearing of lead suits increases the operator's physical exertion, which not only increases the risk of hand tremors, causing quality concerns for the already inefficient surgery, but also brings high occupational damage to the operator who works in a radiation environment for a long time, and the labor intensity is very high.

[0003] Robot-assisted surgery technology has the characteristics of precision, reliability, fine movements, and minimally invasive surgery. It can greatly improve surgical accuracy while effectively reducing radiation damage to surgeons. It has broad development prospects and has become a key research direction in the field of surgical robots. Summary of the invention

[0004] Based on this, it is necessary to provide a surgical robot that can efficiently deliver or withdraw intracavitary medical devices in order to address the deficiencies in the prior art.

[0005] The present invention provides a surgical robot, which includes an elongated main arm and a first surgical execution module. The first surgical execution module includes a first linear motion mechanism and a first linear guide mechanism arranged along the extension direction of the main arm, and a support frame slidably fixed to the first linear guide mechanism. A first driver and a control device for driving the first linear motion mechanism are installed on the support frame. The control device includes a control component and a fixed component fixed to the support frame. The first driver drives the first linear motion mechanism to make the support frame move linearly on the first linear guide mechanism. The control component drives the fixed component to move, so that the intracavitary medical device fixed to the fixed component can be delivered into the patient's body or withdrawn from the patient's body.

[0006] Preferably, the control component includes a rotating active member, and the fixed component includes a rotating driven member. The rotating active member drives the rotating driven member to rotate through a non-contact remote control method, so that the intracavitary medical device fixed to the fixed component rotates.

[0007] Preferably, the fixing assembly further comprises a base and a connecting piece rotatably fixed to the base, the connecting piece is used to connect to the intracavitary medical device, and the rotating follower is fixed to the connecting piece or the intracavitary medical device.

[0008] Preferably, the connecting member is also used to connect the connecting valve to connect the connecting valve with the intracavitary medical device.

[0009] Preferably, the connecting piece is respectively connected to the intracavitary medical device and the connecting valve through a Luer connector.

[0010] Preferably, the fixing assembly further comprises a base and a connecting valve fixed to the base, the connecting valve is used to connect to an intracavitary medical device, and the rotating follower is fixed to the connecting valve or the intracavitary medical device.

[0011] Preferably, the connecting valve is connected to the intracavitary medical device via a Luer connector.

[0012] Preferably, the active rotating member is a magnetic drive wheel, and the driven rotating member is a magnetic induction wheel.

[0013] Preferably, the control component further includes a moving active component, and the fixed component further includes a moving driven component, and the moving driven component moves under the non-contact and airborne control of the moving active component, thereby allowing the control component to non-contact and airborne control the movement of the fixed component.

[0014] Preferably, the active moving member of the control component is fixed at a plurality of positions of the corresponding driven moving member, so as to drive the fixed component to move in multiple dimensions.

[0015] Preferably, the control component also includes a fixed frame, the fixed frame includes two opposite sides and two mounting arms extending from the two sides respectively, a first moving active member is installed on each mounting arm, and a second moving active member is installed on each side, the fixed component also includes a base, and the base is provided with moving driven members on both sides corresponding to the two first moving active members and the corresponding second moving active members.

[0016] Preferably, the control component further comprises a second driver fixed to the fixed frame, the active rotating member of the control component is a magnetic drive wheel fixed to the output shaft of the second driver, and the driven rotating member of the fixed component is a magnetic induction wheel.

[0017] Preferably, the support frame includes a column and a frame fixed to the end of the column, the frame is provided with a first fixing groove, the control component also includes a base, the fixing frame is fixed to the top of the base, and the base includes a first plug-in portion that can be inserted into the first fixing groove.

[0018] Preferably, the frame defines a first accommodating space at one end, and a first electromagnet is installed in the first accommodating space for magnetically attracting the first plug-in portion of the base.

[0019] Preferably, the frame secures a delivery module at the other opposite end.

[0020] Preferably, the surgical robot also includes a delivery module, which includes a third linear guide mechanism and a third driver respectively installed on two opposite sides of the other opposite end of the frame, and a third motion conversion mechanism that converts the rotational motion of the third driver into the linear motion of the third linear guide mechanism, and the delivery module is fixed on the third linear guide mechanism.

[0021] Preferably, the active moving member is a driving magnetic block, and the passive moving member is an induction magnetic block.

[0022] Preferably, the first linear moving mechanism is a gear rack mechanism driven by the first driver, the first linear guiding mechanism is a first slide rail slider mechanism, the first driver is fixed to the first slide rail slider mechanism through a first fixing plate, and the support frame is fixed to the first fixing plate.

[0023] Preferably, the surgical robot also includes a support arm rotatably mounted at the end of the main arm and a rotating joint mounted at the end of the support arm, a support plate is mounted on the rotating joint, the support plate fixes a gripping piece, a second fixing groove is provided on the gripping piece, and the base of the control component also includes a second plug-in portion which can be inserted into the second fixing groove.

[0024] Preferably, the holding piece has a second accommodating space, and a second electromagnet is installed in the second accommodating space for magnetically attracting the second plug-in portion of the base.

[0025] Preferably, the surgical robot also includes a transmission module, which includes a third linear guide mechanism and a third driver respectively installed on two opposite sides of the support plate, and a third motion conversion mechanism that converts the rotational motion of the third driver into the linear motion of the third linear guide mechanism, and the gripping member is fixed to the support plate through the third linear guide mechanism.

[0026] Preferably, the surgical robot also includes a second surgical execution module, the second surgical execution module includes a second fixed plate and a delivery module fixed to the second fixed plate, and the control component is located between the delivery module of the first surgical execution module and the delivery module of the second surgical execution module.

[0027] Preferably, the surgical robot also includes a transmission module, which includes a third linear guide mechanism and a third driver respectively installed on two opposite sides of the support plate, and a third motion conversion mechanism that converts the rotational motion of the third driver into the linear motion of the third linear guide mechanism, and the second fixed plate is fixed to the support plate through the third linear guide mechanism.

[0028] The surgical robot of the present invention includes a first surgical execution module having a first driver. The first driver drives the first linear moving mechanism to make the support frame move linearly on the first linear guide mechanism, so that the control component fixed to the support frame drives the fixed component to move through a non-contact remote control method, so that the intracavitary medical device fixed to the fixed component can be delivered into the patient's body or withdrawn from the patient's body, thereby assisting the operator in performing the operation, which not only improves the operation efficiency but also reduces the operator's labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic assembly diagram of the first embodiment of the surgical robot of the present invention, wherein the control device is fixed to the first surgical execution module.

[0030] Figure 2 for Figure 1 Another state diagram of the present invention, in which the control device switches from a first surgical execution module to a second surgical execution module.

[0031] Figure 3 for Figure 2 Another side view of .

[0032] Figure 4 for Figure 1 Still another state diagram, wherein the control device is fixed to the second surgery execution module and the first surgery execution module is evacuated from the control device.

[0033] Figure 5 for Figure 4 A is an enlarged view of the middle image. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the invention more clearly understood, the invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not intended to limit the invention.

[0035] In the description of the present invention, the term "proximal end" refers to the end close to the operator, and the term "distal end" refers to the end away from the operator; the terms "delivery", "push", "advance", "pull" or "drag" refer to the process of moving from a place away from the operator toward a place near the operator, and the terms "withdrawal", "withdrawal" or "backward" refer to the process of moving from a place close to the operator toward a place away from the operator, and the terms "horizontal", "vertical", "up", "down", "left", "right", "inside", "outside", "between", "between" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. Unless otherwise clearly specified and limited, the terms "connection", "connected", "fixed", "installed", etc. should be understood in a broad sense, for example, it can be fixed connection, detachable connection, or integral connection; it can be mechanical connection, electrical connection or magnetic connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, nor do they mean that they will appear in sequence, and there may even be no terms that are at the beginning of the sequence, but only terms that are at the end of the sequence. Therefore, features defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is more than one, unless otherwise clearly and specifically defined.

[0037] The surgical robot of the present invention is used to clamp, deliver or withdraw, for example, intracavitary medical devices. It should be understood that the term "intracavitary" includes cavities such as natural cavities, pan-vascular cavities, and organ cavities. The term "intracavitary medical device" may refer to any shape or any type of catheter, finger guide wire, guide catheter, angioplasty catheter, or endoscope, various laparoscopy, tube mirror, etc., including any catheter-type or guidewire-type consumable or non-consumable device suitable for natural cavities, pan-vascular intervention, electrophysiology, structural heart disease and other procedures. The guidewires here include but are not limited to guide wires, loach guidewires, angiographic guidewires and microguidewires, etc., and guiding and supporting intracavitary medical devices (also known as guidewire-type intracavitary medical devices), and catheters include but are not limited to guide catheters, microcatheters, angiographic catheters, intermediate tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon expansion stent catheters, etc. Diagnosis, treatment intracavitary medical devices (also known as catheter-type intracavitary medical devices). It should be understood that the scope and spirit of the present invention are not limited to these examples of the present invention.

[0038] Finally, it should be noted that, if there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, all within the protection scope of the present invention.

[0039] Please refer to Figures 1 to 5 , is a schematic diagram of a first embodiment of the surgical robot of the present invention, which can deliver or withdraw intracavitary medical devices 80, 84 into or out of the patient's body. For the sake of clear display of the surgical robot of the present invention, although some parts are omitted in the figure, they are still important.

[0040] The surgical robot includes a robotic arm 10 , a first surgical execution module 50 , two conveying modules 20 , and a second surgical execution module 40 fixed to the conveying module 20 .

[0041] The robotic arm 10 includes an elongated main arm 12, a support arm 14 rotatably mounted at the end of the main arm 12, and a rotating joint 16 mounted at the end of the support arm 14. Specifically, refer to a robotic arm described in Chinese patent application 202310729743.1, all of which are introduced into the present invention and will not be repeated here.

[0042] The first surgical execution module 50 includes a first linear guide mechanism, a first driver 53, a first linear moving mechanism, a support frame 58, a first delivery module 59 and a control device 60. In this embodiment, the first linear guide mechanism is a first slide rail slider mechanism 51, and the first slide rail slider mechanism 51 includes a slide rail 512 fixed to the main arm 12 and a slider 514 slidably mounted on the slide rail 512. The first driver 53 is fixed to the slider 514 of the first slide rail slider mechanism 51 through a first fixing plate 57. In this embodiment, the first driver 53 is a servo. In this embodiment, the first linear moving mechanism is a first gear rack mechanism 55, and the first gear rack mechanism 55 includes a rack 552 fixed to the main arm 12 parallel to the slide rail 512 and a gear 554 installed on the output shaft of the first driver 53 and meshing with the rack 552. The support frame 58 includes a column 582 fixed to the first fixing plate 57 and a frame 584 horizontally fixed to the end of the column 582. The frame 584 has a first receiving space 586 at one end and two first fixing grooves 588 respectively formed on two opposite side walls of the first receiving space 586. A first electromagnet 589 is installed in the first receiving space 586. The first delivery module 59 is fixed to the other opposite end of the frame 584.

[0043] A support plate 22 is mounted on the rotating joint 16. Each transport module 20 includes a third linear guide mechanism, a third driver 25 and a third motion conversion mechanism 30 mounted on the support plate 22. In this embodiment, the two third linear guide mechanisms of the two transport modules 20 are both third slide rail slider mechanisms 24, both fixed to the upper side of the support plate 22; the two third drivers 25 are both servos, both fixed to the lower side of the support plate 22. The third slide rail slider mechanism 24 includes a slide rail 26 fixed to the support plate 22 and a slider 28 slidably mounted on the slide rail 26. The third motion conversion mechanism 30 includes a linkage 32 connected to the slider 28 and a rotating wheel 34 that can move in coordination with the linkage 32. The linkage 32 is provided with an elongated slide groove 36, the extension direction of which is perpendicular to the extension direction of the slide rail 26 (i.e., the axial delivery or withdrawal direction of the intracavitary medical device 80). A sliding column 38 slidably engaged in the slide groove 36 is convexly provided on one side of the rotating wheel 34. Through the coordinated movement of the rotating wheel 34 and the linkage 32, the rotational movement of the third driver 25 is converted into the linear reciprocating motion of the slider 28 along the slide rail 26. Specifically, refer to a surgical robot described in Chinese patent application 202211105526.7 and a force measuring surgical robot described in Chinese patent application 202211146397.6, all of which are introduced into the present invention.

[0044] The second surgical execution module 40 includes a second fixing plate 42 fixed to the slider 28 of the third slide rail slider mechanism 24 of one of the transmission modules 20 (the one closer to the distal end in this embodiment) and a second delivery module 44 fixed to the second fixing plate 42. A gripping member 46 is fixed to the slider 28 of the third slide rail slider mechanism 24 of another transmission module 20. The gripping member 46 has a roughly U-shaped cross section, and has a second accommodating space 462 and two second fixing grooves 464 respectively opened on two opposite side walls in the second accommodating space 462, and a second electromagnet 466 is installed in the second accommodating space 462. As for the first delivery module 59 and the second delivery module 44, they both include a driving component and an operating component that moves under the non-contact air control of the driving component, the operating component is used to clamp the intracavitary medical device and drive the intracavitary medical device to move, and the operating component and the driving component are respectively located on the sterile side and the non-sterile side separated by the sterile barrier. In this way, the intracavitary medical device is delivered into or withdrawn from the patient's body by applying a linear force along the intracavitary medical device and / or applying a torsional force / torque on the intracavitary medical device to rotate it around the axis. For the non-contact remote control between the driving component (having a rotating active part such as a driving part and a moving active part such as a driving block) and the operating component (having a rotating driven part such as a sensing part and a moving driven part such as a sensing block), the operating component drives the intracavitary medical device to move linearly and / or rotate, including permanent magnet / electromagnetic drive, electromagnetic induction, electric field coupling, DC resonance and other non-contact remote control / transmission methods. For details, refer to Chinese patent application 202210803401.5 describing a surgical robot device and its operating method, and Chinese patent application 2 A surgical robot described in Chinese patent application No. 02211105526.7, a surgical execution device and a surgical robot having the surgical execution device described in Chinese patent application No. 202310237481.7, a surgical robot delivery module described in Chinese patent application No. 202310460639.7, an open sterile box described in Chinese patent application No. 202310517391.3, and a surgical execution module and a surgical robot described in Chinese patent application No. 202310565522.5, all of which are introduced into the present invention.

[0045] The control device 60 includes a control component 61 and a fixed component 66, and the fixed component 66 and the control component 61 are respectively located on the sterile side and the non-sterile side separated by a sterile barrier (not shown), so that the control component 61 can control the movement of the fixed component 66 in a non-contact manner. The control component 61 includes a base 62, a fixed frame 63 fixed to the top of the base 62, a second driver 64 fixed to the fixed frame 63, and a driving member 65 fixed to the output shaft of the second driver 64. The base 62 includes a first plug-in portion 624 that can be inserted into the two first fixed grooves 588 of the support frame 58 and a second plug-in portion 622 that can be inserted into the two second fixed grooves 464 of the gripping member 46. The fixed frame 63 includes two side edges 632 arranged opposite to each other and two mounting arms 634 extending from the two side edges 632 respectively. A first driving block 636 is installed on each mounting arm 634, and a second driving block 638 is installed on both side edges 632. In this embodiment, the second driver 64 is a steering gear. The fixing assembly 66 includes a base 67, a connecting member 68 rotatably fixed to the base 67, and a sensing member 69 fixed to the connecting member 68. The base 67 is provided with sensing blocks 672 on both sides corresponding to the two first driving blocks 636 and the corresponding second driving blocks 638, so that the first driving blocks 636 and the second driving blocks 638 can non-contactly absorb the sensing blocks 672 from multiple directions or dimensions. The connecting member 68 includes a male Luer connector 682 and a female Luer connector 684 provided at two opposite ends, which are respectively matched and connected with the female Luer connector 82 at the proximal end of the intracavitary medical device 80 and the male Luer connector 72 of the connecting valve 70. The connecting member 68 is provided with a connecting hole 686 running through the male Luer connector 682 and the female Luer connector 684. The connecting valve 70 can be a two-way two-way valve, a three-way three-way valve, a three-way valve, a straight-through valve, a T valve or a Y valve, etc. as needed. The male Luer connector 682 and the female Luer connector 684 of the connector 68 are located on both sides of the base 67. In this embodiment, the driving member 65 and the sensing member 69 can be a magnetic driving wheel and a magnetic induction wheel, such as a permanent magnetic wheel, an electromagnetic wheel, or a permanent and electromagnetic hybrid type. The magnetic induction wheel is fixed to one end of the connector 68 provided with a male Luer connector 682, and rotates under the non-contact remote control of the magnetic driving wheel. For details, refer to an intracavitary medical device control module and its connecting valve described in Chinese patent application 202310315778.0, and an intracavitary medical device control device and its driving method described in Chinese patent application 202310270354.7, all of which are introduced into the present invention; the first driving block 636 and the second driving block 638 can be driving magnetic blocks, and the sensing block 672 can be an induction magnetic block, such as a permanent magnetic block, an electromagnetic magnetic block, or a permanent and electromagnetic hybrid magnetic block.

[0046] When preparing for surgery, the support arm 14 can be adjusted to rotate relative to the main arm 12, and the support plate 22 can be adjusted to rotate through the rotating joint 16 thereon. The first plug-in portion 624 of the base 62 of the control device 60 is inserted into the two first fixing grooves 588 of the support frame 58, and is fixed by the first electromagnet 589. The female Luer connector 82 of the intracavitary medical device 80 (such as a catheter) is connected to the male Luer connector 682 of the connector 68 and clamped in the second delivery module 44. The intracavitary medical device 84 (such as a guide wire) is inserted into the intracavitary medical device 80, and its proximal end is inserted into the first delivery module 59 and clamped, and the distal end is inserted out of the distal end of the intracavitary medical device 80. The fixed component 66 of the control device 60 is then placed on the control component 61 (generally, the control component 61 has a shell, and the fixed component 66 is placed outside the shell of the control component 61), and the first driving block 636 (such as a driving magnetic block) and the second driving block 638 (such as a driving magnetic block) on the control component 61 and the sensing block 672 (such as a sensing magnetic block) on the fixed component 66 are attracted from multiple directions or multiple dimensions to position each other.

[0047] The first driver 53 is started to drive the gear 554 of the first gear rack mechanism 55 to move linearly along the rack 552, thereby driving the support frame 58 to move linearly on the slide rail 512 of the first slide rail slider mechanism 51. Then the first driving block 636 (such as a driving magnetic block) and the second driving block 638 (such as a driving magnetic block) on the control component 61 firmly and non-contactly absorb the sensing block 672 (such as a sensing magnetic block) on the fixed component 66 from multiple directions or multiple dimensions, thereby driving the fixed component 66 to move linearly through non-contact and spaced control. At the same time, the third driver 25 of the transmission module 20 is started, and the third motion conversion mechanism 30 is used to convert the rotational motion of the third driver 25 into the linear motion of the slider 28 along the slide rail 26, so as to drive the second delivery module 44 to move linearly, so that the control device 60 and the second delivery module 44 can deliver the intracavitary medical device 80 (catheter) together. When the support frame 58 approaches the gripping member 46, the second plug-in portion 622 of the base 62 is inserted into the two second fixing grooves 464 of the gripping member 46, and is fixed by the second electromagnet 466, and the first electromagnet 589 releases the first plug-in portion 624 of the base 62, so that the first driver 53 moves backward with the support frame 58, and the first plug-in portion 624 of the base 62 leaves the two first fixing grooves 588. At this time, the third driver 25 of another transmission module 20 is started, and the third motion conversion mechanism 30 converts the rotational motion of the third driver 25 into the linear motion of the slider 28 along the slide rail 26, so that the gripping member 46 continues to move linearly with the control device 60, so that the intracavitary medical device 80 (catheter) can be further advanced, maximizing the use of the length of the intracavitary medical device 80 (catheter). At the same time or at different times, the control component 61 of the control device 60 and the drive component of the second delivery module 44 respectively control the fixing component 66 and the operating component in a non-contact manner, so that the intracavitary medical device 80 (catheter) rotates. Specifically, the second driver 64 of the control component 61 drives the driving member 65 (magnetic driving wheel) to rotate, thereby non-contactingly controlling the induction member 69 (magnetic induction wheel) to rotate, thereby driving the intracavitary medical device 80 (catheter) fixed to the connecting member 68 to rotate. At the same time or at different times, the first driver 53 can also be used to drive the support frame 58, thereby driving the first delivery module 59 to move linearly to drive the intracavitary medical device 84 (guidewire) to move linearly; at the same time or at different times, the driving component of the first delivery module 59 controls its operating component non-contactly to rotate the intracavitary medical device 84 (guidewire). Thus, the delivery of the intracavitary medical devices 80, 84 is achieved. Preferably, the control device 60 and the second delivery module 44 are synchronously moved linearly to make the intracavitary medical device 80 straight without being tortuous.

[0048] In addition, the intracavitary medical device 84 (guidewire) can be delivered to the position by the first delivery module 59 or the second delivery module 44, and then the intracavitary medical device 80 (catheter) can be delivered by the control device 60 and the second delivery module 44. At this time, the intracavitary medical device 84 (guidewire) is only supported in the first delivery module 59 without being clamped. When the base 62 is fixed on the gripping member 46, the first driver 53 can drive the support frame 58 away from the second surgery execution module 40. Of course, it is best to ensure that the intracavitary medical device 84 (guidewire) does not move.

[0049] In other surgeries, the intracavitary medical device 84 (guide wire) may be omitted, and only the intracavitary medical device 80 (catheter) may be delivered.

[0050] In addition, the withdrawal process of the intracavitary medical device 80 (catheter) and the intracavitary medical device 84 (guidewire) is basically the same as the delivery process, and will not be repeated here.

[0051] In other embodiments, the delivery module 20 may be disposed on the frame 584 of the support frame 58. In this way, the first delivery module 59 may move linearly relative to the control device 60, making it more convenient to deliver and / or withdraw the intracavitary medical device 84.

[0052] In other embodiments, a force measuring mechanism may be provided between the transmission module 20 and the delivery modules 44, 59, specifically referring to a force measuring surgical robot described in Chinese patent application 202211146397.6, the entire contents of which are introduced into the present invention.

[0053] In other embodiments, the connecting valve 70 can be directly fixed to the base 67 of the fixing assembly 66 of the control device 60, so that the female Luer connector 82 of the intracavitary medical device 80 is directly connected to the male Luer connector 72 of the connecting valve 70. In addition, the sensing element 69 can also be fixed to the intracavitary medical device 80.

[0054] In other embodiments, for the above-mentioned linear motion mechanism and drive, in addition to the rack and pinion mechanism and the servo, the linear motion mechanism can also be a screw and a servo (or motor), a conveyor belt (or synchronous belt) or a cable and a rotating wheel and a servo (or motor) and the like.

[0055] The non-contact air-to-air control between the above-mentioned driving member 65 and the sensing member 69 can be realized not only by permanent magnet, but also by electromagnetic drive, electromagnetic induction, electric field coupling, DC resonance, etc. It can be seen that the "non-contact air-to-air control / transmission" of the present invention refers to the control / transmission achieved without contact in space by the transmission mechanism, rather than control / transmission through the air medium, that is, it can also achieve air-to-air control in a vacuum. In short, the "non-contact air-to-air control / transmission" of the present invention is driven by non-contact forces, namely electric field forces, magnetic field forces and other field forces, without the need for a medium, and in a vacuum. Therefore, the use of any field to exert force on the material placed therein to achieve "non-contact air-to-air control / transmission" is also applicable to the present invention. Specifically, refer to a surgical execution device and a surgical robot having the surgical execution device described in Chinese patent application 202310237481.7, a surgical robot device and its operation method described in Chinese patent application 202210803401.5, and a surgical robot described in Chinese patent application 202211105526.7, all of which are introduced into the present invention. Therefore, in essence, the driving member 65 and the sensing member 69 can also be regarded as a rotating active member and a rotating driven member in a general sense, respectively, and frictionless power transmission is achieved between them through a "non-contact remote control / transmission" method.

[0056] Similarly, the mutual attraction and positioning of the first drive block 636 and the second drive block 638 on the control component 61 and the sensing block 672 on the fixed component 66 can be achieved not only by permanent magnetism, but also by non-contact air-controlled methods such as electromagnetic drive, electromagnetic induction, electric field coupling, and DC resonance. Positioning and driving. In essence, the first drive block 636, the second drive block 638, and the sensing block 672 can also be regarded as mobile active parts and mobile driven parts in a general sense, respectively, and power transmission is achieved between them through the "non-contact air-controlled / transmission" method. For details, refer to a surgical execution device and a surgical robot having the surgical execution device described in Chinese patent application 202310237481.7, a surgical robot device and its operation method described in Chinese patent application 202210803401.5, and a surgical robot described in Chinese patent application 202211105526.7, all of which are introduced into the present invention.

[0057] Regarding the relative position relationship between the control component 61 and the fixed component 66 of the control device 60 and the shell setting thereof, specific reference is made to a surgical robot delivery module described in Chinese patent application 202310460639.7, the entire contents of which are introduced into the present invention.

[0058] In summary, the first surgical execution module 50 has a first driver 53, which can drive the first linear moving mechanism to make the support frame 58 move linearly on the first linear guide mechanism, so that the control component 61 fixed to the support frame 58 drives the fixed component 66 to move through a non-contact remote control method, so that the intracavitary medical device 80 fixed to the fixed component 66 can be delivered into the patient's body or withdrawn from the patient's body, to assist the operator in performing the operation, which not only improves the efficiency of the operation, but also reduces the labor intensity of the operator.

[0059] The above magnetic drive wheels and magnetic induction wheels can also be called magnetic wheels, magnetic driving wheels, magnetic gears, magnetic gears, magnetic gears, magnetic suspension wheels, magnetic power wheels, non-contact transmission wheels, magnetic couplers, magnetic transmissions, etc.

[0060] The above-mentioned embodiments only express limited implementation methods of the invention, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the invention, several deformations, improvements or deteriorations can be made. For example, the driver in the present invention can also be a motor, a stepper motor, a servo motor or a motor, etc., and the support frame 58 can be set to a lifting type, so that the control device 60 can be raised or lowered as needed. These all belong to the protection scope of the invention. Therefore, the protection scope of the invention patent shall be based on the claims.

Claims

1. A surgical robot, characterized in that: The surgical robot includes an elongated main arm and a first surgical execution module, the first surgical execution module includes a first linear motion mechanism and a first linear guide mechanism arranged along the extension direction of the main arm, and a support frame slidably fixed to the first linear guide mechanism, a first driver and a control device for driving the first linear motion mechanism are installed on the support frame, the control device includes a control component and a fixed component fixed to the support frame, the first driver drives the first linear motion mechanism to make the support frame move linearly on the first linear guide mechanism, the control component drives the fixed component to move, so that the intracavitary medical device fixed to the fixed component can be delivered into the patient's body or withdrawn from the patient's body.

2. A surgical robot according to claim 1, characterized in that: The control component includes a rotating active member, and the fixed component includes a rotating driven member. The rotating active member drives the rotating driven member to rotate through a non-contact remote control method, so that the intracavitary medical device fixed to the fixed component rotates.

3. A surgical robot according to claim 2, characterized in that: The fixing assembly also includes a base and a connecting piece rotatably fixed to the base, the connecting piece is used to connect the intracavitary medical device, and the rotating follower is fixed to the connecting piece or the intracavitary medical device.

4. A surgical robot according to claim 3, characterized in that: The connecting piece is also used to connect the connecting valve to connect the connecting valve with the intracavitary medical device.

5. A surgical robot according to claim 4, characterized in that: The connecting piece is respectively connected to the intracavitary medical device and the connecting valve through a Luer connector.

6. A surgical robot according to claim 2, characterized in that: The fixing assembly also includes a base and a connecting valve fixed to the base, the connecting valve is used to connect the intracavitary medical device, and the rotating follower is fixed to the connecting valve or the intracavitary medical device.

7. A surgical robot according to claim 6, characterized in that: The connecting valve is connected to the intracavitary medical device through a Luer connector.

8. A surgical robot according to claim 2, characterized in that: The active rotating part is a magnetic driving wheel, and the driven rotating part is a magnetic induction wheel.

9. A surgical robot according to claim 2, characterized in that: The control component further includes a moving active member, and the fixed component further includes a moving driven member. The moving driven member moves under the non-contact and airborne control of the moving active member, thereby allowing the control component to non-contact and airborne control the movement of the fixed component.

10. A surgical robot according to claim 9, characterized in that: The active moving member of the control component is fixed at a plurality of positions of the corresponding driven moving member to drive the fixed component to move in multiple dimensions.

11. A surgical robot according to claim 10, characterized in that: The control component also includes a fixed frame, which includes two opposite sides and two mounting arms extending from the two sides respectively, a first moving active member is installed on each mounting arm, and a second moving active member is installed on each side. The fixed component also includes a base, and the base is provided with moving driven members on both sides corresponding to the two first moving active members and the corresponding second moving active members.

12. A surgical robot according to claim 11, characterized in that: The control component also includes a second driver fixed to the fixed frame, the active rotating member of the control component is a magnetic driving wheel fixed to the output shaft of the second driver, and the driven rotating member of the fixed component is a magnetic induction wheel.

13. A surgical robot according to claim 11, characterized in that: The support frame includes a column and a frame fixed to the end of the column, the frame is provided with a first fixing groove, the control component also includes a base, the fixing frame is fixed to the top of the base, and the base includes a first plug-in portion that can be inserted into the first fixing groove.

14. A surgical robot according to claim 13, characterized in that: The frame is provided with a first accommodating space at one end, and a first electromagnet is installed in the first accommodating space for magnetically attracting the first plug-in portion of the base.

15. A surgical robot according to claim 13, characterized in that: The frame secures the delivery module at the other opposite end.

16. A surgical robot according to claim 15, characterized in that: The surgical robot also includes a delivery module, which includes a third linear guide mechanism and a third driver respectively installed on two opposite sides of the other opposite end of the frame, and a third motion conversion mechanism that converts the rotational motion of the third driver into the linear motion of the third linear guide mechanism, and the delivery module is fixed on the third linear guide mechanism.

17. A surgical robot according to claim 9 or 12, characterized in that: The active moving part is a driving magnetic block, and the passive moving part is an induction magnetic block.

18. The surgical robot according to claim 1, characterized in that: The first linear moving mechanism is a gear rack mechanism driven by the first driver, the first linear guiding mechanism is a first slide rail slider mechanism, the first driver is fixed to the first slide rail slider mechanism through a first fixing plate, and the support frame is fixed to the first fixing plate.

19. The surgical robot according to claim 13, characterized in that: The surgical robot also includes a support arm rotatably mounted at the end of the main arm and a rotating joint mounted at the end of the support arm, a support plate is mounted on the rotating joint, the support plate fixes a gripping piece, a second fixing groove is defined in the gripping piece, and the base of the control component also includes a second plug-in portion that can be inserted into the second fixing groove.

20. A surgical robot according to claim 19, characterized in that: The holding piece has a second accommodating space, and a second electromagnet is installed in the second accommodating space for magnetically attracting the second plug-in portion of the base.

21. The surgical robot according to claim 19, characterized in that: The surgical robot also includes a transmission module, which includes a third linear guide mechanism and a third driver respectively installed on two opposite sides of the support plate, and a third motion conversion mechanism that converts the rotational motion of the third driver into the linear motion of the third linear guide mechanism. The gripping member is fixed to the support plate via the third linear guide mechanism.

22. The surgical robot according to claim 19, characterized in that: The surgical robot also includes a second surgical execution module, which includes a second fixed plate and a delivery module fixed to the second fixed plate, and the control component is located between the delivery module of the first surgical execution module and the delivery module of the second surgical execution module.

23. A surgical robot according to claim 22, characterized in that: The surgical robot also includes a transmission module, which includes a third linear guide mechanism and a third driver respectively installed on two opposite sides of the support plate, and a third motion conversion mechanism that converts the rotational motion of the third driver into the linear motion of the third linear guide mechanism. The second fixed plate is fixed to the support plate through the third linear guide mechanism.

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