Surgical robot and control method

Abstract

The invention discloses a surgical robot and a control method.The surgical robot comprises an operating arm, an endoscope assembly, a biopsy forceps assembly, a first pushing assembly and a second pushing assembly, a sliding guide rail is arranged on the operating arm, and the extending direction of the sliding guide rail is the first direction; the endoscope assembly and the biopsy forceps assembly are arranged on the sliding guide rail in a sliding mode, and an instrument hole penetrating in the first direction is formed in the endoscope assembly; at least part of the biopsy forceps assembly extends into the instrument hole; the first pushing assembly and the second pushing assembly are both arranged on the operation arm, and the first pushing assembly is used for driving the endoscope assembly to reciprocate in the first direction; the second pushing assembly is used for driving the biopsy forceps assembly to reciprocate in the first direction. According to the surgical robot, the endoscope assembly and the biopsy forceps assembly are guided to work independently, manual operation is replaced, the automatic operation degree of the surgical robot in the biopsy sampling process is improved, and the safety of the surgical process is improved.

Description

Technical Field

[0001] The present invention relates to the field of surgical robots, and in particular to a surgical robot and a control method thereof. Background Art

[0002] At present, the development of surgical medical robots has made great progress. Compared with humans, medical surgical robots have the characteristics of accurate positioning, stable operation, strong dexterity, large working range, and no fear of radiation and infection. Medical surgical robots can not only assist doctors in completing the precise positioning of the surgical site, solve the tremor, fatigue, and muscle nerve feedback of the surgeon's hands, but also achieve minimal surgical damage, improve the accuracy and quality of disease diagnosis and surgical treatment, increase the safety factor of surgery, shorten the treatment time, and reduce medical costs. In the application scenario of minimally invasive surgery, the operator can insert minimally invasive medical devices (including surgical instruments, diagnostic instruments, therapeutic instruments, or biopsy instruments) through the natural orifices of the patient's anatomical structure or surgical incisions to reach the target tissue location and perform the surgical procedure.

[0003] However, existing surgical robots usually only control the movement and guidance of diagnostic instruments (such as endoscopes) by robots, and biopsy instruments (such as biopsy forceps) still need to be operated by the operator. During the operation, manual operation and robot control processes are performed simultaneously or alternately, which can easily cause conflicts and bring inconvenience to the surgical operation process. Summary of the invention

[0004] The main purpose of the present invention is to provide a surgical robot and a control method, aiming to improve the deficiencies of the above-mentioned prior art and integrate diagnostic instruments with biopsy instruments to solve the problem that the existing robot work and manual operation are performed simultaneously or alternately, which easily causes conflicts and the safety of the surgical process is insufficient.

[0005] In order to achieve the above-mentioned object, the present invention proposes a surgical robot, which comprises:

[0006] An operating arm, wherein a sliding guide rail is provided on the operating arm, and an extending direction of the sliding guide rail is a first direction;

[0007] an endoscope assembly, slidably disposed on the sliding guide rail, wherein the endoscope assembly is formed with an instrument hole extending through along the first direction;

[0008] A biopsy forceps assembly is slidably disposed on the sliding guide rail, and the biopsy forceps assembly at least partially extends into the instrument hole;

[0009] The first pushing assembly and the second pushing assembly are both arranged on the operating arm. The first pushing assembly is transmission-connected with the endoscope assembly for driving the endoscope assembly to reciprocate along a first direction; the second pushing assembly is transmission-connected with the biopsy forceps assembly for driving the biopsy forceps assembly to reciprocate along the first direction.

[0010] Optionally, the endoscope assembly includes an endoscope drive box and an endoscope body, the endoscope drive box can be slidably set on the sliding guide rail and is transmission-connected to the first pushing assembly; the endoscope body is arranged on one side of the endoscope drive box and extends along the first direction; wherein the instrument hole extends from the endoscope drive box into the endoscope body.

[0011] Optionally, the endoscope body includes an endoscope bending section and an endoscope extension section, the endoscope extension section is connected to the endoscope drive box and extends along the first direction; the endoscope bending section is arranged on the side of the endoscope extension section away from the endoscope drive box; the endoscope drive box includes a first bending device and a first traction rope, one end of the first traction rope is connected to the first bending device, and the other end extends along the first direction to be connected to the endoscope bending section; the first bending device is used to retract and release the first traction rope.

[0012] Optionally, at least four first traction ropes are provided, and at least four first traction ropes are distributed in a ring shape around the endoscope extension section; at least four first bending devices are provided, and the first traction ropes are coiled on the first bending devices; the first bending device is used to retract and release the first traction rope to guide the endoscope bending section to rotate in at least two degrees of freedom.

[0013] Optionally, the biopsy forceps assembly includes a biopsy forceps drive box and a biopsy forceps body, the biopsy forceps drive box can be slidably set on the sliding guide rail and is transmission-connected to the second pushing assembly; the biopsy forceps body is arranged on one side of the biopsy forceps drive box and extends along the first direction; wherein the biopsy forceps body at least partially passes through the endoscope drive box and extends to one end of the endoscope body away from the endoscope drive box.

[0014] Optionally, the biopsy forceps body includes a biopsy forceps extension section, a biopsy forceps bending section and a biopsy clamp, the biopsy forceps extension section is connected to the biopsy forceps drive box and extends along the first direction; the biopsy forceps bending section is arranged at the end of the biopsy forceps extension section away from the biopsy forceps drive box; the biopsy clamp is arranged at the end of the biopsy forceps bending section; wherein the biopsy forceps extension section is hollow inside; the biopsy forceps drive box includes a second bending device, a second traction rope, an opening and closing device and a third traction rope, one end of the second traction rope is connected to the second bending device, and the other end passes through the biopsy forceps extension section and extends to be connected to the biopsy forceps bending section; the second bending device is used for retracting and releasing the second traction rope; one end of the third traction rope is connected to the opening and closing device, and the other end passes through the biopsy forceps extension section and extends to be connected to the biopsy clamp; the opening and closing device is used for retracting and releasing the third traction rope to drive the biopsy clamp to open and close.

[0015] Optionally, the biopsy forceps drive box also includes a rotating device and a traction structure, one end of the traction structure is connected to the biopsy forceps extension section, and the other end is provided with a first bevel gear, and the top of the rotating device is provided with a second bevel gear, and the first bevel gear is meshed with the second bevel gear; the rotating device is used to drive the traction structure to rotate to guide the biopsy forceps extension section and the biopsy forceps bending section to rotate.

[0016] Optionally, the first pushing assembly includes a first synchronous belt and a first driving device, one end of the first synchronous belt is connected to the output shaft of the first driving device, and the other end is connected to the endoscope assembly; the second pushing assembly includes a second synchronous belt and a second driving device, one end of the second synchronous belt is connected to the output shaft of the second driving device, and the other end is connected to the biopsy forceps assembly; wherein, the first driving device and the second driving device are relatively arranged on both sides of the sliding guide rail.

[0017] Optionally, the operating arm further includes a guide plate, and the biopsy forceps assembly, the endoscope assembly and the guide plate are sequentially arranged on the operating arm along a first direction; wherein a guide hole is provided on the guide plate, and the guide hole is colinear with the instrument hole.

[0018] The present application also discloses a control method for a surgical robot, which is used for any of the above-mentioned surgical robots; wherein the control method comprises:

[0019] Obtaining the three-dimensional coordinates of the target object and planning a moving path according to the three-dimensional coordinates;

[0020] driving the operating arm to move according to the moving path so that the endoscope assembly is aligned with the intervention port;

[0021] Move the endoscope assembly to intervene in the target cavity and collect image information in the target cavity;

[0022] Determine a biopsy position based on the image information and convert it into biopsy coordinate information;

[0023] According to the biopsy coordinate information, the endoscope assembly is driven to move so that the instrument hole is aligned with the biopsy position;

[0024] The biopsy forceps assembly is moved to the front end of the endoscope assembly to perform sampling.

[0025] Beneficial effects: The surgical robot proposed in the present invention drives the endoscope assembly and the biopsy forceps assembly to reciprocate independently along the first direction on the guide rail through the first pushing assembly and the second pushing assembly arranged on the operating arm, and an instrument hole penetrating along the first direction is arranged on the endoscope assembly, the biopsy forceps assembly is inserted into the instrument hole, and slides along the first direction under the guidance of the instrument hole, so as to achieve the effect of the endoscope assembly and the biopsy forceps assembly working in coordination; during use, the working position is first found through the endoscope assembly, and then the biopsy forceps assembly is moved out of the instrument hole to sample the working position, the whole process is completed through mechanical automation, without manual operation, avoiding the problem that the endoscope assembly and the biopsy forceps assembly may interfere with each other during work, improving the convenience and accuracy of the surgical robot, and improving the safety of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0027] Figure 1 This is a schematic diagram of the structure of the surgical robot disclosed in this application;

[0028] Figure 2 A schematic diagram of a portion of the structure of the surgical robot disclosed in this application;

[0029] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0030] Figure 4 for Figure 2 A partial enlarged view of point B in the middle;

[0031] Figure 5 A schematic diagram of a portion of the structure of the surgical robot disclosed in this application;

[0032] Figure 6 for Figure 5 A partial enlarged view of point C in the middle;

[0033] Figure 7 A schematic diagram of the structure of the surgical robot system disclosed in this application;

[0034] Figure 8 This is a flow chart of the control method of the surgical robot disclosed in this application.

[0035] Description of Figure Numbers:

[0036] 100, surgical robot; 110, operating arm; 111, sliding guide rail; 112, guide plate; 1121, guide hole; 120, endoscope assembly; 121, instrument hole; 122, endoscope drive box; 1221, first bending device; 1222, first traction rope; 123, endoscope body; 1231, endoscope bending section; 1232, endoscope extension section; 130, biopsy forceps assembly; 131, biopsy forceps drive Box; 1311, second bending device; 1312, second traction rope; 1313, opening and closing device; 1314, third traction rope; 1315, rotating device; 1316, traction structure; 132, biopsy forceps body; 1321, biopsy forceps extension section; 1322, biopsy forceps bending section; 1323, biopsy clamp; 140, first pushing assembly; 150, second pushing assembly; 200, trolley; 300, multi-degree-of-freedom swing arm.

[0037] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0040] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral 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 the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] In addition, in the present application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions. Taking "A and / or B as an example", it includes solution A, or solution B, or a solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0042] Reference Figure 1 The surgical robot 100 of the present application includes an operating arm 110, an endoscope assembly 120, a biopsy forceps assembly 130, a first pushing assembly 140 and a second pushing assembly 150. The operating arm 110 is provided with a sliding guide rail 111, and the extending direction of the sliding guide rail 111 is a first direction; the endoscope assembly 120 and the biopsy forceps assembly 130 can both be slidably arranged on the sliding guide rail 111, and the endoscope assembly 120 is formed with an instrument hole 121 that passes through along the first direction, and the biopsy forceps assembly 130 at least partially extends into the instrument hole 121; the first pushing assembly 140 and the second pushing assembly 150 are both arranged on the operating arm 110, and the first pushing assembly 140 is connected to the endoscope assembly 120 for driving the endoscope assembly 120 to reciprocate along the first direction; the second pushing assembly 150 is connected to the biopsy forceps assembly 130 for driving the biopsy forceps assembly 130 to reciprocate along the first direction.

[0043] Specifically, in this embodiment, the operating arm 110 is used to carry various components of the surgical robot 100, and the sliding guide rail 111 guides the endoscope assembly 120 and the biopsy forceps assembly 130 to be inserted into the target position during the operation of the surgical robot 100. The first pushing assembly 140 and the second pushing assembly 150 drive the endoscope assembly 120 and the biopsy forceps assembly 130 respectively. The first pushing assembly 140 and the second pushing assembly 150 can be components that are combined and arranged in any one or more modes of motor drive, hydraulic drive or pneumatic drive. This application does not make specific restrictions on this, and it can achieve the purpose of driving the endoscope assembly 120 and the biopsy forceps assembly 130 to reciprocate along the first direction.

[0044] Specifically, in this embodiment, the first pushing assembly 140 and the second pushing assembly 150 are used to respectively control the reciprocating motion process of the endoscope assembly 120 and the biopsy forceps assembly 130 along the first direction. Compared with the traditional method of using a robot to control the movement of the endoscope assembly 120, the operator manually controls the operation of the biopsy forceps assembly 130, thereby improving the automation level of the surgical robot 100 to achieve the effect of the endoscope assembly 120 and the biopsy forceps assembly 130 working in coordination. During use, the working position is first found through the endoscope assembly 120, and then the biopsy forceps assembly 130 is moved out of the instrument hole 121 to sample the working position. The entire process is completed through mechanical automation without manual operation, thereby avoiding the problem that the endoscope assembly 120 and the biopsy forceps assembly 130 may interfere with each other during operation, thereby improving the convenience and accuracy of the operation of the surgical robot 100 and improving the safety of use.

[0045] Specifically, in the field to which the present application belongs, the size of the cavity to be intervened is relatively small, so it is necessary to maintain stability during the operation to avoid tearing the cavity. Therefore, the endoscope assembly 120 and the biopsy forceps assembly 130 are arranged in sequence along the first direction, and the instrument hole 121 is set in the endoscope assembly 120 at the front end of the first direction, and the biopsy forceps assembly 130 at the rear end at least partially extends into the instrument hole 121. Then, during the operation of the surgical robot 100, when the endoscope assembly 120 extends into or moves out of the natural orifice or surgical incision along the first direction, the part of the biopsy forceps assembly 130 extending into the instrument hole 121 can extend into the cavity through the instrument hole 121 to achieve the surgical purpose. In this way, the obstruction that the biopsy forceps assembly 130 and the endoscope assembly 120 may cause to each other during the movement in the same direction is avoided, and the working stability of the two is high, which further improves the working efficiency of the surgical robot 100, and there is no need to open multiple natural orifices or surgical incisions, which further reduces surgical injuries.

[0046] In one embodiment of the present application, refer to Figure 1The operating arm 110 also includes a guide plate 112, and a biopsy forceps assembly 130, an endoscope assembly 120 and a guide plate 112 are sequentially arranged on the operating arm 110 along a first direction; wherein a guide hole 1121 is provided on the guide plate 112, and the guide hole 1121 is colinear with the instrument hole 121.

[0047] Specifically, a guide plate 112 is provided on the operating arm 110, located at the front end of the sliding guide rail 111, and the biopsy forceps assembly 130, the endoscope assembly 120 and the guide plate 112 are arranged in sequence along the first direction, and a guide hole 1121 extending along the first direction can be provided at a position corresponding to the instrument hole 121 on the guide plate 112, and the shape and size of the guide hole 1121 can be set to be the same as the instrument hole 121. The guide hole 1121 is colinear with the instrument hole 121, so the endoscope extension section 1232 extending toward the first direction will be inserted into the guide hole 1121, which is conducive to keeping the endoscope extension section 1232 in a straight line along the first direction, facilitating advancement, and further improving the operational convenience and working stability of the surgical robot 100.

[0048] In another embodiment of the present application, refer to Figure 1 and Figure 2 , discloses that the endoscope assembly 120 includes an endoscope drive box 122 and an endoscope body 123, the endoscope drive box 122 can be slidably arranged on the sliding guide rail 111, and is in transmission connection with the first pushing assembly 140; the endoscope body 123 is arranged on one side of the endoscope drive box 122, and extends along the first direction; wherein the instrument hole 121 extends from the endoscope drive box 122 to the endoscope body 123. In this embodiment, the endoscope body 123 is used to realize the function of acquiring image information, and the endoscope drive box 122 slidably connected to the sliding guide rail 111 drives the endoscope body 123 to move; specifically, the endoscope drive box 122 can drive the endoscope body 123 by a motor drive mode, a hydraulic drive mode, or a pneumatic drive mode, and this application does not make specific limitations on this.

[0049] In another embodiment of the present application, Figure 1 , Figure 2 and Figure 3 As shown, the endoscope body 123 includes an endoscope bending section 1231 and an endoscope extension section 1232, the endoscope extension section 1232 is connected to the endoscope drive box 122 and extends along a first direction; the endoscope bending section 1231 is arranged on the side of the endoscope extension section 1232 away from the endoscope drive box 122; the endoscope drive box 122 includes a first bending device 1221 and a first traction rope 1222, one end of the first traction rope 1222 is connected to the first bending device 1221, and the other end extends along the first direction to be connected to the endoscope bending section 1231; the first bending device 1221 is used to retract and release the first traction rope 1222.

[0050] Specifically, the endoscope extension section 1232 disclosed in this embodiment is used to be inserted into the cavity to approach the target biopsy position and capture image information. The endoscope bending section 1231 disclosed in this embodiment is provided with a lens on the side away from the endoscope extension section 1232 for acquiring image information. The endoscope bending section 1231 is made of a flexible material that can be bent, such as polyethylene, polypropylene and other flexible plastic materials, and can be bent in at least one degree of freedom to drive the lens provided thereon to change the viewing angle, thereby increasing the shooting angle, acquiring more image information, and improving the scope of application and working flexibility of the surgical robot 100.

[0051] In this embodiment, the first bending device 1221 includes but is not limited to using a stepper motor or a motor as a power source, and setting a turntable on the output shaft to wind the first traction rope 1222 to achieve the purpose of retracting and releasing the rope length, controlling the local force of the endoscope bending section 1231, and achieving the effect of the bending action. Specifically, the first traction rope 1222 can be a plastic rope or a steel wire rope; the first traction rope 1222 can be inserted into the instrument hole 121, or set on the outer peripheral surface of the endoscope extension section 1232, and a cable groove is set on the endoscope extension section 1232 to accommodate the first traction rope 1222. This application does not make specific restrictions on this. The first traction rope 1222 is connected to the endoscope bending section 1231. When the first bending device 1221 is tightened, the rope length of the first traction rope 1222 is shortened, and a pulling force is generated on the side of the endoscope bending section 1231 connected to the first traction rope 1222, pulling the endoscope bending section 1231 to bend, thereby changing the shooting angle.

[0052] It should be noted that the transmission method disclosed in this embodiment is rope drive, which is only an example and not an exhaustive list. The transmission between the endoscope bending section 1231 and the first bending device 1221 can also be achieved by using a transmission rod, a conveyor belt, hydraulics, etc., as an equivalent replacement for the concept of this application. Other types of transmission methods should also be within the scope of protection of this application as long as they can achieve the technical effects disclosed in this application.

[0053] In a preferred embodiment, the endoscope bending section 1231 and the endoscope extension section 1232 are integrally formed, and the instrument hole 121 is sequentially penetrated through the endoscope bending section 1231 and the endoscope extension section 1232, so that the endoscope body 123 is hollow to facilitate the insertion of the biopsy forceps assembly 130.

[0054] In another embodiment of the present application, the endoscope bending section 1231 and the endoscope extension section 1232 are both made of a bendable flexible material, which further reduces the production difficulty of the endoscope body 123 in the present application and reduces the production cost of the surgical robot 100.

[0055] In one embodiment of the present application, Figure 3 As shown, at least four first traction ropes 1222 are provided, and at least four first traction ropes 1222 are distributed in a ring shape around the endoscope extension section 1232. At least four first traction ropes 1222 are arranged in a circumferential ring shape around the endoscope extension section 1232, so that a traction member can be driven to bend toward the direction of the degree of freedom through the winding process of each traction motor, that is, at least four traction members are provided, so that the endoscope bending section 1231 can bend in at least four directions. Such a configuration further increases the control accuracy of the bending direction of the endoscope bending section 1231, and while improving the working flexibility of the surgical robot 100, it also further increases the control accuracy of the surgical robot 100. For example, four first traction ropes 1222 are set, and the interval between two adjacent first traction ropes 1222 is 90°, so that the endoscope bending section 1231 can be controlled to rotate in four directions of up, down, left and right; of course, by pulling two first traction ropes 1222 at the same time, the endoscope bending section 1231 can be controlled to move in more directions such as the upper left, lower left, upper right, and lower right.

[0056] In this embodiment, at least four first bending devices 1221 are provided, and the first traction rope 1222 is coiled on the first bending device 1221; the first bending device 1221 is used to retract and release the first traction rope 1222 to guide the endoscope bending section 1231 to rotate in at least two degrees of freedom. The first bending device 1221 and the first traction rope 1222 are driven in a one-to-one correspondence, with high control accuracy, strong flexibility, and convenient and precise operation.

[0057] In another embodiment of the present application, Figure 1 , Figure 2 and Figure 4 As shown, the biopsy forceps assembly 130 includes a biopsy forceps drive box 131 and a biopsy forceps body 132. The biopsy forceps drive box 131 can be slidably set on the sliding guide rail 111 and is transmission-connected to the second pushing assembly 150; the biopsy forceps body 132 is arranged on one side of the biopsy forceps drive box 131 and extends along a first direction; wherein the biopsy forceps body 132 at least partially passes through the endoscope drive box 122 and extends to one end of the endoscope body 123 away from the endoscope drive box 122.

[0058] The biopsy forceps body 132 disclosed in this embodiment is used to obtain body biopsy tissue, and the biopsy forceps drive box 131 slidably connected to the sliding guide rail 111 drives the biopsy forceps body 132 to slide relative to the endoscope assembly 120. Specifically, the biopsy forceps drive box 131 can drive the endoscope body 123 by a motor drive mode, a hydraulic drive mode, or a pneumatic drive mode, and this application does not make specific limitations on this. The working mode of separately setting the biopsy forceps drive box 131 to drive the biopsy forceps body 132 further increases the working accuracy and controllability of the biopsy forceps assembly 130, replaces manual operation, avoids the possibility of conflict when operating the endoscope assembly 120 and the biopsy forceps assembly 130 at the same time, and makes the workflow of the surgical robot 100 more orderly and the working process safer.

[0059] In one embodiment of the present application, refer to Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 The biopsy forceps body 132 includes a biopsy forceps extension section 1321, a biopsy forceps bending section 1322 and a biopsy clamp 1323. The biopsy forceps extension section 1321 is connected to the biopsy forceps driving box 131 and extends along the first direction; the biopsy forceps bending section 1322 is arranged at one end of the biopsy forceps extension section 1321 away from the biopsy forceps driving box 131, and the biopsy clamp 1323 is arranged at the end of the biopsy forceps bending section 1322; wherein the biopsy forceps extension section 1321 is hollow inside; the biopsy forceps driving box 131 includes a second bending device 1311, a second traction rope 1312, an opening The second traction rope 1312 has one end connected to the second bending device 1311, and the other end extends through the biopsy forceps extension section 1321 to be connected to the biopsy forceps bending section 1322; the second bending device 1311 is used to retract the second traction rope 1312; the third traction rope 1314 has one end connected to the opening and closing device 1313, and the other end extends through the biopsy forceps extension section 1321 to be connected to the biopsy clamp 1323; the opening and closing device 1313 is used to retract the third traction rope 1314 to drive the biopsy clamp 1323 to open and close.

[0060] In this embodiment, the second bending device 1311 is used to provide a driving force to curl the biopsy forceps bending section 1322, which can be powered by pneumatic drive, motor drive or hydraulic drive, which is not specifically limited in this embodiment. The second bending device 1311 is set to drive the second traction rope 1312 to be retracted and released, so that the biopsy forceps bending section 1322 rotates, thereby increasing the operating range and improving the work adaptability; the opening and closing device 1313 controls the third traction rope 1314 to drive the biopsy clamp 1323 to open and close, so as to complete the sampling action, achieve the purpose of automated operation sampling, and increase the automation function of the surgical robot 100.

[0061] It should be noted that the bent section 1322 of the biopsy forceps is made of a bendable flexible material, such as plastic materials such as polyethylene and polypropylene, and can bend in at least one degree of freedom to drive the biopsy clamp 1323 fixed on the side of the bent section 1322 of the biopsy forceps away from the biopsy forceps extension section 1321, thereby allowing the biopsy clamp 1323 to have a larger working range, further improving the scope of application and flexibility of use of the surgical robot 100.

[0062] In a preferred embodiment, the biopsy forceps bending section 1322 and the biopsy forceps extension section 1321 are integrally formed, and the production difficulty of the biopsy forceps body 132 is reduced through the integral molding process, further reducing the production cost of the surgical robot 100.

[0063] It can be understood that the second traction rope 1312 and the third traction rope 1314 are both arranged along the length direction of the biopsy forceps extension section 1321. They can be clamped on the inner wall surface of the biopsy forceps extension section 1321 or the outer peripheral surface of the biopsy forceps extension section 1321, or additional auxiliary through-going cable grooves can be set in the biopsy forceps bending section 1322 and the biopsy forceps extension section 1321. The present application does not make specific limitations on this.

[0064] It should be noted that the second traction rope 1312 and the third traction rope 1314 disclosed in this embodiment can adopt traction ropes of the same model as the first traction rope 1222, and the second bending device 1311 and the opening and closing device 1313 can adopt the same motor and turntable assembly structure as the first bending device 1221; thereby simplifying the types of components of the surgical robot 100, reducing the difficulty of structural assembly, and saving manufacturing costs.

[0065] In one embodiment of the present application, refer to Figure 4 The biopsy forceps drive box 131 also includes a rotating device 1315 and a traction structure 1316, one end of the traction structure 1316 is connected to the biopsy forceps extension section 1321, and the other end is provided with a first bevel gear, and the top of the rotating device 1315 is provided with a second bevel gear, and the first bevel gear is meshed with the second bevel gear; the rotating device 1315 is used to drive the traction structure 1316 to rotate, so as to guide the biopsy forceps extension section 1321 and the biopsy forceps curved section 1322 to rotate.

[0066] In this embodiment, the driving force in the rotating device 1315 can be transmitted to the biopsy forceps body 132 through the meshing of the first bevel gear and the second bevel gear, so that the biopsy forceps extension section 1321, the biopsy forceps bending section 1322 and the biopsy clamp 1323 rotate synchronously, thereby realizing the working requirement of adjusting the angle of the biopsy clamp 1323 by rotating the biopsy forceps extension section 1321 during the operation of the surgical robot 100, further increasing the control accuracy and working flexibility of the surgical robot 100 disclosed in this embodiment.

[0067] In one embodiment of the present application, the first pushing assembly 140 includes a first synchronous belt and a first driving device, one end of the first synchronous belt is connected to the output shaft of the first driving device, and the other end is connected to the endoscope assembly 120; the second pushing assembly 150 includes a second synchronous belt and a second driving device, one end of the second synchronous belt is connected to the output shaft of the second driving device, and the other end is connected to the biopsy forceps assembly 130; wherein the first driving device and the second driving device are relatively arranged on both sides of the sliding guide rail 111.

[0068] Specifically, in this embodiment, the first pushing assembly 140 and the second pushing assembly 150 are used to drive and guide the linear motion process of the endoscope assembly 120 and the biopsy forceps assembly 130 in the first direction, respectively. The implementation method can be any one or more combinations of ball screws, synchronous belts, push rod motors, electric actuators, linear motors, gear racks, cam mechanisms, cylinder mechanisms, or hydraulic cylinder mechanisms. This application does not make specific restrictions on this. In a preferred embodiment, the driving is carried out in a conveyor belt manner, and the driving function is realized by setting a combination of a first synchronous belt and a first driving device, a second synchronous belt and a second driving device. Compared with other forms, it has a constant transmission ratio, a smoother transmission process, and a higher transmission efficiency, that is, it further improves the working efficiency of the surgical robot 100.

[0069] The technical solution of this application also proposes a surgical robot system, such as Figure 7 As shown, it includes a trolley 200, a multi-degree-of-freedom swing arm 300, and the surgical robot 100 described in any of the above embodiments. The multi-degree-of-freedom swing arm 300 is arranged on the trolley 200, and the operating arm 110 is connected to the multi-degree-of-freedom swing arm 300. Using the trolley 200 as a base is conducive to maintaining the stability of the system. The processing terminal and the control panel can be placed on the trolley 200, so as to facilitate the processing of the data information collected by the surgical robot 100; in addition, the trolley 200 can be provided with rollers to achieve the effect of facilitating the movement of the surgical robot 100 system, which is convenient for use. The multi-degree-of-freedom swing arm 300 is arranged on the trolley 200 to increase the flexibility of the position control of the surgical robot 100, so as to adapt to various working occasions.

[0070] In addition, if Figure 8As shown, the technical solution of the present application also provides a control method of a surgical robot, which is used in the surgical robot system as described above to control any of the surgical robots 100 described above; wherein the control method specifically includes:

[0071] S100, obtaining the three-dimensional coordinates of the target object, and planning a moving path according to the three-dimensional coordinates;

[0072] S200, driving the operating arm to move according to the moving path, so that the endoscope assembly is aligned with the intervention port;

[0073] S300, moving the endoscope assembly to intervene in the target cavity, and collecting image information in the target cavity;

[0074] S400, determining a biopsy position based on the image information, and converting the position into biopsy coordinate information;

[0075] S500, driving the endoscope assembly to move according to the biopsy coordinate information so that the instrument hole is aligned with the biopsy position;

[0076] S600, moving the biopsy forceps assembly to the front end of the endoscope assembly to perform sampling.

[0077] In this embodiment, by establishing a coordinate system in three-dimensional space, the coordinates of the surgical robot and the coordinates of the target object are determined, so as to plan the movement path of the surgical robot to the working area; then the operating arm is moved according to the planned path so that the endoscope is aligned with the intervention port, which is generally formed by a natural orifice of the patient's anatomical structure or a surgical incision; then the endoscope assembly is moved toward a designated position in the cavity. It can be understood that a sensing unit for collecting position information is provided in the endoscope assembly, such as a camera device that can take images, and whether the endoscope assembly has moved to the target position can be determined by the sensing unit continuously collecting information along the way during the movement and providing real-time feedback.

[0078] Specifically, the endoscope component obtains image information in the cavity, and then determines the biopsy position; based on the image information of the biopsy position, it can be determined whether there are abnormal conditions in the corresponding internal environment of the subject to be examined that hinder the subsequent work. After the endoscope component moves into place, the biopsy coordinate information is obtained, and the biopsy forceps component can be further controlled to move and extend from the instrument hole for sampling.

[0079] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A surgical robot, characterized in that: include: An operating arm, wherein a sliding guide rail is provided on the operating arm, and an extending direction of the sliding guide rail is a first direction; an endoscope assembly, slidably disposed on the sliding guide rail, wherein the endoscope assembly is formed with an instrument hole extending through along the first direction; A biopsy forceps assembly is slidably disposed on the sliding guide rail, and the biopsy forceps assembly at least partially extends into the instrument hole; The first pushing assembly and the second pushing assembly are both arranged on the operating arm. The first pushing assembly is transmission-connected with the endoscope assembly for driving the endoscope assembly to reciprocate along a first direction; the second pushing assembly is transmission-connected with the biopsy forceps assembly for driving the biopsy forceps assembly to reciprocate along the first direction.

2. The surgical robot according to claim 1, characterized in that: The endoscope assembly comprises an endoscope drive box and an endoscope body, wherein the endoscope drive box can be slidably arranged on the sliding guide rail and is transmission-connected with the first pushing assembly; the endoscope body is arranged on one side of the endoscope drive box and extends along the first direction; Wherein, the instrument hole extends from the endoscope drive box into the endoscope body.

3. The surgical robot according to claim 2, characterized in that: The endoscope body comprises an endoscope bending section and an endoscope extension section, the endoscope extension section is connected to the endoscope drive box and extends along the first direction; the endoscope bending section is arranged on a side of the endoscope extension section away from the endoscope drive box; The endoscope drive box includes a first bending device and a first traction rope, one end of the first traction rope is connected to the first bending device, and the other end extends along the first direction to be connected to the endoscope bending section; the first bending device is used to retract and release the first traction rope.

4. The surgical robot according to claim 3, characterized in that: There are at least four first traction ropes, which are distributed in a ring shape around the endoscope extension section; there are at least four first bending devices, which are coiled around the first bending devices; the first bending devices are used to retract and release the first traction rope to guide the endoscope bending section to rotate in at least two degrees of freedom.

5. The surgical robot according to claim 2, characterized in that: The biopsy forceps assembly comprises a biopsy forceps drive box and a biopsy forceps body, wherein the biopsy forceps drive box can be slidably arranged on the sliding guide rail and is transmission-connected with the second pushing assembly; the biopsy forceps body is arranged on one side of the biopsy forceps drive box and extends along the first direction; Wherein, the biopsy forceps body at least partially passes through the endoscope drive box and extends to an end of the endoscope body away from the endoscope drive box.

6. The surgical robot according to claim 5, characterized in that: The biopsy forceps body comprises a biopsy forceps extension section, a biopsy forceps bending section and a biopsy clamp, wherein the biopsy forceps extension section is connected to the biopsy forceps drive box and extends along the first direction; the biopsy forceps bending section is arranged at one end of the biopsy forceps extension section away from the biopsy forceps drive box; the biopsy clamp is arranged at the end of the biopsy forceps bending section; wherein the biopsy forceps extension section is hollow inside; The biopsy forceps drive box includes a second bending device, a second traction rope, an opening and closing device and a third traction rope, one end of the second traction rope is connected to the second bending device, and the other end passes through the biopsy forceps extension section and extends to be connected to the biopsy forceps bending section; the second bending device is used to retract the second traction rope; one end of the third traction rope is connected to the opening and closing device, and the other end passes through the biopsy forceps extension section and extends to be connected to the biopsy clamp; the opening and closing device is used to retract the third traction rope to drive the biopsy clamp to open and close.

7. The surgical robot according to claim 6, characterized in that: The biopsy forceps drive box also includes a rotating device and a traction structure, one end of the traction structure is connected to the biopsy forceps extension section, and the other end is provided with a first bevel gear, the top of the rotating device is provided with a second bevel gear, and the first bevel gear is meshed with the second bevel gear; the rotating device is used to drive the traction structure to rotate to guide the biopsy forceps extension section and the biopsy forceps bending section to rotate.

8. The surgical robot according to any one of claims 1 to 7, characterized in that: The first pushing assembly includes a first synchronous belt and a first driving device, one end of the first synchronous belt is connected to the output shaft of the first driving device, and the other end is connected to the endoscope assembly; The second pushing assembly includes a second synchronous belt and a second driving device, one end of the second synchronous belt is connected to the output shaft of the second driving device, and the other end is connected to the biopsy forceps assembly; Wherein, the first driving device and the second driving device are arranged opposite to each other on two sides of the sliding guide rail.

9. The surgical robot according to any one of claims 1 to 7, characterized in that: The operating arm further comprises a guide plate, and the biopsy forceps assembly, the endoscope assembly and the guide plate are sequentially arranged on the operating arm along a first direction; Wherein, a guide hole is provided on the guide plate, and the guide hole is colinear with the instrument hole.

10. A control method for a surgical robot, used for the surgical robot according to any one of claims 1 to 9; characterized in that: The control method comprises: Obtaining the three-dimensional coordinates of the target object and planning a moving path according to the three-dimensional coordinates; driving the operating arm to move according to the moving path so that the endoscope assembly is aligned with the intervention port; Move the endoscope assembly to intervene in the target cavity and collect image information in the target cavity; Determine a biopsy position based on the image information and convert it into biopsy coordinate information; According to the biopsy coordinate information, the endoscope assembly is driven to move so that the instrument hole is aligned with the biopsy position; The biopsy forceps assembly is moved to the front end of the endoscope assembly to perform sampling.

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