Surgical robot and surgical robot control system

Abstract

The invention discloses a surgical robot and a surgical robot control system, the surgical robot comprises an execution robot, the execution robot is provided with a semicircular sliding frame and a suspension, the suspension is arranged to be of a structure capable of moving in the radial direction, the circumferential direction and the autorotation direction relative to the semicircular sliding frame, and the centripetal end on the suspension can be driven to be close to a puncture part; the instrument base is connected to the centripetal end of the suspension in a swinging mode, the surgical instrument is arranged on one side of the instrument base in a sliding mode, the sliding arrangement of the surgical instrument is matched with the swinging arrangement of the instrument base and the activity characteristic of the semicircular sliding frame, and the incision cannot be further damaged when the operation shaft connected with the surgical instrument penetrates through the incision to conduct universal swinging. The invention discloses a surgical robot control system which is provided with a laser scanner, a processor, a display and a controller, so that a patient can be displayed on the display in a three-dimensional manner, an operator can determine the position of an incision through a display screen, and the surgical robot is controlled to assist the operator in incision through a ring type leveler. And the convenience of incision operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive abdominal surgery instruments, and in particular to a surgical robot and a surgical robot control system. Background Art

[0002] Minimally invasive abdominal surgery has the advantages of low surgical risk and rapid postoperative recovery. However, since it is a minimally invasive technique, it requires a high level of surgical skills on the part of the surgeon. Currently, minimally invasive abdominal surgery requires incisions in the abdomen, usually 3-4, to place different instruments (surgical instruments, gas supply instruments, laparoscopic instruments, and sewage discharge instruments). The structure of the surgical instruments mainly includes surgical instruments and operating shafts. When in use, the operator holds the surgical instrument and inserts the operating shaft into the incision. The required surgical tools (cutter, clamp, suture forceps, etc.) are installed on one end of the operating shaft. Under the guidance of the laparoscope, the operator can perform minimally invasive surgery by operating the surgical instruments.

[0003] At present, when performing minimally invasive surgery manually, it is easy to further damage the wound. The main reason is that the operating shaft is easy to squeeze the wound during universal motion. To solve this problem, a guide sleeve is usually inserted into the wound, and the operating shaft passes through the guide sleeve. The guide sleeve plays the role of guiding the operating shaft and protecting the wound. However, since the operating shaft needs universal motion, it will push the guide sleeve to squeeze the wound laterally. For this reason, the market is in urgent need of a robot that can assist minimally invasive surgery without damaging the wound. Some minimally invasive surgical manipulators have appeared on the market, which use rockers or other handheld tools to control the manipulator to perform minimally invasive abdominal operations. However, this type of surgical manipulator is usually a multi-arm suspension transmission structure, which is prone to shaking due to inertial force. That is, the operating shaft is prone to shaking when it swings universally, thereby affecting the accuracy of the operation; in addition, the abdomen is usually in a collapsed state during abdominal incision, making the incision operation inconvenient.

[0004] To this end, the present invention proposes a surgical robot and a surgical robot control system. Summary of the invention

[0005] The purpose of the present invention is to propose a surgical robot and a surgical robot control system in order to solve the problems mentioned in the background technology.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A surgical robot comprises an execution robot, which comprises a base and a semicircular slide located on the base, wherein the semicircular slide is provided with a suspension which can radially extend, circumferentially rotate and rotate on its own, the radially extendable action end of the suspension points to the center of the semicircular slide, the radially extendable action end of the suspension is swingably connected to an instrument seat located in the suspension, the swing axis of the instrument seat is perpendicular to the rotation axis of the suspension, a surgical instrument opposite to one end of the instrument seat is arranged in the suspension, the surgical instrument can swing synchronously with the instrument seat and can move relative to the instrument seat, one end of the surgical instrument is provided with an operating shaft which passes through the instrument seat, the operating shaft and the instrument seat are slidably matched, the suspension is provided with a ring-type leveler which can follow the suspension to move synchronously circumferentially relative to the semicircular slide and can move along the radial direction of the semicircular slide, the inner ring mouth of the ring-type leveler is opposite to the instrument seat.

[0007] As a further description of the above technical solution: The suspension includes a control slide, a control shaft and a convex telescopic frame. The control slide and the semicircular slide are circumferentially slidably matched and a control shaft is provided on one side of the control slide. The convex telescopic frame is located in the semicircular slide and its top is fixedly connected to one end of the control shaft. The protruding end of the convex telescopic frame faces the center of the semicircular slide, and a U-shaped frame is rotatably connected to the protruding end. The middle part of the U-shaped frame is fixedly connected to the instrument seat. Control units for telescopic control of the convex telescopic frame are provided on both sides of the convex telescopic frame, and the control unit includes a control motor close to the control shaft.

[0008] As a further description of the above technical solution: The top of the convex telescopic frame is fixedly connected to a guide plate fixedly connected to the top and the control shaft, and the bottom of the guide plate is slidably connected to a control slider. The suspension also includes a rectangular telescopic frame, the bottom of the control slider is rotatably connected to the top of the rectangular telescopic frame, the middle part of the cross beam at the bottom of the rectangular telescopic frame is fixedly connected to the outer wall of the instrument seat, the outer wall of the cross beam is fixedly connected to a groove frame located in the rectangular telescopic frame, the surgical instrument and the groove frame are slidably matched, a control unit 2 for driving the control slider to slide is arranged on the guide plate, and a control unit 3 for controlling the sliding of the surgical instrument is connected to the outer wall of the cross beam, and the control unit 3 includes a control motor 3 close to the instrument seat.

[0009] As a further description of the above technical solution: The ring-type leveler includes a positioning ring plate, a positioning sleeve and a suction cup. The positioning sleeve passes through the plate surface of the positioning ring plate and the two are slidably matched. The number of the positioning sleeves is at least six and they are evenly distributed circumferentially relative to the positioning ring plate. The bottom of the positioning sleeve is connected to the suction cup. A lifting drive rod for controlling the sliding of the positioning sleeve is provided on one side of the positioning ring plate. The lifting drive rod corresponds to the positioning sleeve one by one.

[0010] As a further description of the above technical solution: The ring-type leveler also includes a rangefinder and a pressure sensor. The rangefinder is fixedly arranged at the bottom of the positioning ring plate and located on one side of the positioning sleeve. The top of the suction cup is fixedly connected with a positioning tube sleeved in the positioning sleeve. The pressure sensor is arranged between the positioning sleeve and the positioning tube. The pressure sensor is used to detect the size of the suction cup load.

[0011] As a further description of the above technical solution: Two ear plates are fixedly connected to the outer periphery of the positioning ring plate, a transmission sleeve is fixedly connected to one side of the ear plate, and a screw-type control mechanism close to the end and connected to the transmission sleeve is arranged at the bottom of the control slide.

[0012] As a further description of the above technical solution: An arc-shaped slide is penetrated on one side of the semicircular slide, the control slide is arranged to penetrate the arc-shaped slide, a clearance gap is penetrated on the top of the semicircular slide, the control shaft is arranged to penetrate the clearance gap, a servo motor 1 is fixedly connected to the bottom of the control slide, the output shaft of the servo motor 1 is fixedly connected to the driving gear, and a row of teeth meshing with the driving gear is fixedly connected to the inner circumferential wall of the semicircular slide.

[0013] As a further description of the above technical solution: The base comprises two parallel fixed guide rail plates and a transmission screw. The transmission screw is rotatably connected in the fixed guide rail plate and is screwed through one end of the semicircular slide frame.

[0014] A surgical robot control system is also provided, including a human body three-dimensional modeling module, the human body three-dimensional modeling module including a laser scanner, a processor, a display and a controller, the laser scanner is fixedly installed above the base through a bracket and its height is higher than the semicircular slide, the processor is used to display the human body structure scanned by the laser scanner through the display, and the controller has the function of controlling the sliding of the semicircular slide, the lifting and lowering of the ring leveler, and the suction and exhaust of the suction cup.

[0015] As a further description of the above technical solution: The display is a touch screen structure and a touch operation area is arranged on it.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In the present invention, the execution robot is operated by remote control. A semicircular slide and a suspension are arranged on the execution robot. By arranging the suspension to be movable in radial, circumferential and rotational directions relative to the semicircular slide, the centripetal end of the suspension can be driven close to the puncture site, and then the centripetal end of the suspension is swung to connect the instrument seat, and the surgical instrument is slidably arranged on one side of the instrument seat. Thus, the sliding arrangement of the surgical instrument cooperates with the swing arrangement of the instrument seat and the movable characteristics of the semicircular slide, so that the operating shaft connected to the surgical instrument will not further damage the incision when it passes through the incision for universal swing.

[0017] 2. In the present invention, a ring-type leveler is arranged on the suspension frame and can follow the circumferential movement relative to the semicircular slide. The ring-type leveler can move radially relative to the semicircular slide. The ring-type leveler has the function of leveling and fixing the skin around the wound. This arrangement not only helps to make a quick incision, but also ensures that the wound will not shift when the operating shaft on the surgical instrument passes through the wound for operation, thereby further ensuring the integrity of the wound.

[0018] 3. In the present invention, the control motor 1 on the control unit 1 is located close to the control shaft, the control motor 3 on the control unit 3 is located close to the swing axis of the instrument seat, and the control slide slides circumferentially along the semicircular slide. This arrangement greatly reduces the inertial force generated during the universal swinging motion of the operating shaft, thereby ensuring the accuracy of the operating shaft operation and improving the success rate and efficiency of the operation.

[0019] 4. In the present invention, by setting up a laser scanner, a processor, a display and a controller, it is convenient to display the patient in three dimensions on the display. The operator can determine the incision position through the display screen, and then control the surgical robot to assist the operator in making the incision through the ring leveler, which greatly improves the convenience of the incision operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of a surgical robot and a surgical robot control system proposed by the present invention; Figure 2 This is a schematic diagram of the structure of the overall coordination of the suspension and the ring-type leveler of a surgical robot proposed by the present invention; Figure 3 A plan view of the connection between a control shaft, a convex telescopic frame, a rectangular telescopic frame and an instrument seat of a surgical robot proposed by the present invention; Figure 4 for Figure 2 Schematic diagram at the bottom; Figure 5 A partially cutaway plan view of a ring-type leveler of a surgical robot proposed by the present invention; Figure 6 This is a schematic diagram of the structure of a power system of a surgical robot proposed by the present invention; Figure 7 for Figure 2 Schematic diagram of the enlarged part “a” in the figure.

[0021] Legend: 1. Executing robot; 11. Base; 111. Guide plate; 112. Drive screw; 12. Semicircular slide; 121. Arc slide; 122. Give way; 123. Tooth; 13. Suspension; 131. Control slide; 132. Control shaft; 133. Convex telescopic frame; 1331. Control slide; 1332. Protruding end; 1333. U-shaped frame; 1334. Guide plate; 134. Rectangular telescopic frame; 1341. Crossbeam; 13411. Slot frame; 135. Control unit 1; 1351. Control motor 1; 136. Control Control unit 2; 137, control unit 3; 1371, control motor 3; 138, servo motor 1; 1381, driving gear; 14, instrument seat; 15, surgical instrument; 16, operating shaft; 2, ring leveler; 21, positioning ring plate; 211, ear plate; 2111, transmission sleeve; 22, positioning sleeve; 23, suction cup; 231, positioning tube; 24, lifting drive rod; 25, rangefinder; 26, pressure sensor; 3, screw control mechanism; 4, laser scanner; 5, processor; 6, display; 61, touch operation area; 7, controller. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Embodiment 1: See also Figure 1-Figure 7 A surgical robot includes an execution robot 1, which is controlled by a simulator in the prior art. An operating handle or other hand-held operating components can be set on the simulator. The function of the execution robot 1 is to operate a surgical instrument 15, and the surgical instrument 15 controls an operating shaft 16 thereon to perform operations such as puncture, swinging, spot checking, stripping, cutting, and suturing. The operating shaft 16 can connect different surgical instruments to achieve different functions. It should be noted that the operating shaft 16 can adopt the structure in the prior art, and its function is to connect surgical instruments and transmit the operation of the surgical instrument 15 to the surgical instruments.

[0024] In the present technical solution, the execution robot 1 includes a base 11 and a semicircular slide 12 located on the base 11. When in use, the base 11 is fixedly mounted on the operating table, and a suspension 13 capable of radial extension, circumferential rotation and self-rotation is arranged in the semicircular slide 12, wherein the radial extension action end of the suspension 13 points to the center of the semicircular slide 12, that is, the extension action end of the suspension 13 is the centripetal end. The sliding function of the semicircular slide 12 relative to the base 11 and the circumferential rotation function of the suspension 13 relative to the semicircular slide 12 enable the radial extension action end of the suspension 13 to quickly and accurately approach the part to be incised.

[0025] In this embodiment, the base 11 includes two parallel fixed guide plates 111 and a transmission screw 112. The two ends of the semicircular slide 12 are welded with slides that slide with the fixed guide plates 111. The transmission screw 112 is rotatably connected in the fixed guide plate 111 and is screwed through and connected to the slide on the semicircular slide 12. When in use, a servo motor four is installed at one end of the fixed guide plate 111. The output shaft of the servo motor four is fixedly connected to one end of the transmission screw 112. The servo motor four provides driving force for the rotation of the transmission screw 112. When the transmission screw 112 rotates, it drives the entire semicircular slide 12 to slide on the base 11.

[0026] Specifically, the suspension 13 includes a control slide 131, and the control slide 131 and the semicircular slide 12 are circumferentially slidably matched. When the control slide 131 slides, it can drive the entire suspension 13 to move along the circumferential direction of the semicircular slide 12. In specific implementation, an arcuate slide 121 is penetrated on one side of the semicircular slide 12, and the control slide 131 is arranged to penetrate the arcuate slide 121. The bottom of the control slide 131 is fixedly connected to a servo motor 138, and the output shaft of the servo motor 138 is fixedly connected to a driving gear 1381. The inner circumferential wall of the semicircular slide 12 is fixedly connected to a row of teeth 123 meshing with the driving gear 1381, so that the driving force for the circumferential sliding of the control slide 131 relative to the semicircular slide 12 is provided by the cooperation of the servo motor 138, the driving gear 1381 and the teeth 123.

[0027] The suspension 13 includes a control shaft 132, and the control shaft 132 is disposed on one side of the control slide 131. The axis of the control shaft 132 is perpendicular to and intersects with the axis of the semicircular slide 12. Specifically, a clearance notch 122 is provided through the top of the semicircular slide 12, and the control shaft 132 is provided as a gap through the clearance notch 122. When in use, a servo motor 2 is fixedly installed on the top of the control slide 131, and the output shaft of the servo motor 2 is fixedly connected to the control shaft 132, and the servo motor 2 provides a driving force for the rotation of the control shaft 132 relative to the control slide 131.

[0028] Furthermore, the suspension 13 includes a convex telescopic frame 133. The convex telescopic frame 133 is located within the semi-circular carriage 12, and its top is fixedly connected to one end of the control rotating shaft 132. The shape of the convex telescopic frame 133 resembles the Chinese character "凸" (convex). The protruding end 1332 of the convex telescopic frame 133 faces the center of the semi-circular carriage 12. Here, the protruding end 1332 is the operating end for the radial telescopic movement of the suspension 13 mentioned above. During minimally invasive surgery, the protruding end 1332 of the convex telescopic frame 133 presses against the skin. Among them, a U-shaped frame 1333 is rotatably connected to the protruding end 1332. The setting of the U-shaped frame 1333 facilitates the protruding end 1332 of the convex telescopic frame 133 to make way for the incision. That is to say, after the incision is made, it will be opposite to the inner wall of the U-shaped frame 1333, and the incision will not be compressed. In summary, the control rotating shaft 132 cooperating with the control slide 131 can achieve the functions of the self-rotation of the convex telescopic frame 133 and the circumferential rotation relative to the semi-circular carriage 12. Among them, the telescopic function of the convex telescopic frame 133 adjusts the distance between its protruding end 1332 and the center of the semi-circular carriage 12.

[0029] In this embodiment, control units one 135 for controlling the telescoping of the convex telescopic frame 133 are provided on both sides of the convex telescopic frame 133. Among them, the convex telescopic frame 133 adopts a two-section telescopic structure. The control unit one 135 includes a control motor one 1351 close to the control rotating shaft 132. The control motor one 1351 is fixedly installed at the position of the top side of the convex telescopic frame 133. Specifically in implementation, the control unit one 135 includes a transmission screw rod. The transmission screw rod is fixedly connected to the output end of the control motor one 1351, and the transmission screw rod is threadedly connected to the telescopic straight pipe structure on the convex telescopic frame 133. The control motor one 1351 provides driving force for the rotation of the transmission screw rod, thereby realizing the function of controlling the telescoping of the convex telescopic frame 133. It should be noted that since the two control motors one 1351 are arranged close to the control rotating shaft 132. Thus, the moment of inertia of the control rotating shaft 132 is greatly reduced.

[0030] An instrument seat 14 located within the suspension 13 is swingably connected to the operating end of the radial telescoping of the suspension 13. The swing axis of the instrument seat 14 is perpendicular to the self-rotation axis of the suspension 13. During the operation, a guide sleeve is installed at one end of the instrument seat 14 facing the incision. The guide sleeve is located within the U-shaped frame 1333. During use, the guide sleeve penetrates the incision, and the guide sleeve can swing in place, playing a role in protecting the incision. Specifically, a U-shaped frame 1333 is rotatably connected to the above-mentioned protruding end 1332, and the middle of the U-shaped frame 1333 is fixedly connected to the instrument seat 14. When the U-shaped frame 1333 swings relative to the convex telescopic frame 133, it can drive the instrument seat 14 to swing synchronously.

[0031] Furthermore, the suspension 13 also includes a rectangular telescopic frame 134, the top of the convex telescopic frame 133 is fixedly connected with a guide plate 1334, the top of the guide plate 1334 is fixedly connected to the control shaft 132, and in specific implementation, it is preferred that the middle of the guide plate 1334 is fixedly connected to the top of the convex telescopic frame 133, and the middle of the top of the guide plate 1334 is fixedly connected to the bottom of the control shaft 132, and when the control shaft 132 rotates, it will drive the convex telescopic frame 133 to rotate through the guide plate 1334. The bottom of the guide plate 1334 is slidably connected with a control slider 1331, and the bottom of the control slider 1331 is rotatably connected to the top of the rectangular telescopic frame 134, and the crossbeam 1341 at the bottom of the rectangular telescopic frame 134 itself is fixedly connected to the outer wall of the instrument seat 14, and in specific implementation, it is preferred that the middle of the crossbeam 1341 and the outer wall of the instrument seat 14 are an integrated fixedly connected structure. Therefore, when the control slider 1331 slides, the rectangular telescopic frame 134 can drive the instrument seat 14 to swing relative to the protruding end 1332. In order to increase the swing angle of the instrument seat 14, the rectangular telescopic frame 134 can be set to a multi-section telescopic structure.

[0032] In this embodiment, a control unit 2 136 is provided on the guide plate 1334. The control unit 2 136 is used to drive the control slider 1331 to slide along the guide plate 1334. Specifically, a slide groove is provided at the bottom of the guide plate 1334 and slides with a guide seat fixedly provided on the top of the control slider 1331. The control unit 2 136 includes a screw and a control motor 2. The screw is rotatably connected in the slide groove and is screwed through and connected with the guide seat on the control slider 1331. The control motor 2 is fixedly installed at one end of the guide plate 1334 and its output shaft is fixedly connected to one end of the screw. The control motor 2 provides driving force for the rotation of the screw, thereby driving the control slider 1331 to slide along the guide plate 1334.

[0033] A surgical instrument 15 is arranged in the suspension 13 and is opposite to one end of the instrument seat 14. The surgical instrument 15 can adopt the structure in the prior art. The surgical instrument 15 can swing synchronously with the instrument seat 14 and can move relative to the instrument seat 14. An operating shaft 16 that penetrates the instrument seat 14 is arranged at one end of the surgical instrument 15. The operating shaft 16 and the instrument seat 14 are slidably matched. The instrument seat 14 can be a sleeve structure. The outer wall of the operating shaft 16 and the inner wall of the instrument seat 14 adopt a transition fit structure. The accuracy of the transition fit here must meet the requirement that the operating shaft 16 can slide freely axially in the instrument seat 14.

[0034] Furthermore, the outer wall of the crossbeam 1341 is fixedly connected with a slot frame 13411, wherein the open end of the slot frame 13411 is fixedly connected to the crossbeam 1341, the slot frame 13411 is located in the rectangular telescopic frame 134, the surgical instrument 15 is located in the slot frame 13411, the surgical instrument 15 and the slot frame 13411 are slidably matched, and the slot frame 13411 plays a role in improving the sliding stability of the surgical instrument 15. In specific implementation, a fixed sleeve can be fixedly sleeved on the outside of the surgical instrument 15, and two connecting plates are welded to the outer peripheral wall of the fixed sleeve, and the free ends of the two connecting plates are welded to guide sleeves respectively sleeved on the two straight rods on the slot frame 13411.

[0035] In this embodiment, the outer wall of the crossbeam 1341 is connected with a control unit 3 137 for controlling the sliding of the surgical instrument 15, and the control unit 3 137 includes a control motor 3 1371 near the instrument seat 14. In specific implementation, the control unit 3 137 includes a lead screw, which fixes the bottom of the control motor 3 1371 and the outer wall of the crossbeam 1341, and then the lead screw is fixedly connected to the output shaft of the control motor 3 1371. The lead screw and the above-mentioned connecting plate are screwed together, and when the lead screw rotates, it can drive the surgical instrument 15 to move relative to the slot frame 13411, and then drive the operating shaft 16 to move axially. It should be noted that since the control motor 3 1371 is close to the swing axis of the instrument seat 14, the swing inertia of the instrument seat 14 can be greatly reduced, so that the inertia of the universal swing and axial movement of the operating shaft 16 is greatly reduced, thereby improving the accuracy and efficiency of surgical auxiliary operations.

[0036] The suspension 13 is provided with an annular leveler 2 which can synchronously move with the suspension 13 in the circumferential direction relative to the semicircular slide 12 and can move along the radial direction of the semicircular slide 12. The inner ring opening of the annular leveler 2 is opposite to the instrument seat 14, and the area opposite to the inner ring opening of the annular leveler 2 and the skin is the incision area. The function of the annular leveler 2 is to level and fix the skin around the incision so that the incision will not move due to unexpected circumstances, thereby ensuring that the operating shaft 16 will not produce additional pressure on the incision during the universal swing process. At the same time, when the skin around the incision is in a leveled state, it is convenient to install the operating shaft 16 of the surgical knife to control the scalpel incision, and it can also assist the operator to manually operate an ordinary scalpel to perform an incision operation.

[0037] Specifically, the ring-type leveler 2 includes a positioning ring plate 21, a positioning sleeve 22 and a suction cup 23. The positioning sleeve 22 penetrates the plate surface of the positioning ring plate 21. The positioning sleeve 22 and the positioning ring plate 21 are slidably matched and the sliding direction is along the axial direction of the positioning sleeve 22. The number of the positioning sleeves 22 is at least six and is evenly distributed in the circumferential direction relative to the positioning ring plate 21. The bottom of the positioning sleeve 22 is connected to the suction cup 23. When in use, the suction cup 23 is connected to the external air pump control group (air pump and electromagnetic control valve) through a hose. A lifting drive for controlling the sliding of the positioning sleeve 22 is provided on one side of the positioning ring plate 21. The movable rod 24 and the lifting drive rod 24 are located on one side of the positioning sleeve 22. The lifting drive rod 24 corresponds to the positioning sleeve 22 one by one. The lifting drive rod 24 adopts an electric telescopic rod structure, and its function is to control the positioning sleeve 22 to drive the suction cup 23 to move axially. When the suction cup 23 contacts the skin and adsorbs, the positioning sleeve 22 is controlled to move up, and the suction cup 23 will drive the skin to lift up. At this time, the incision position and its surroundings are in a flat or nearly flat state, which is convenient for puncture incision, and the position of the incision is fixed. The subsequent operation shaft 16 will not increase the pressure on the incision during the universal swing operation.

[0038] Furthermore, the ring-type leveler 2 includes a rangefinder 25, which is fixedly arranged at the bottom of the positioning ring plate 21. The rangefinder 25 is located on one side of the positioning sleeve 22 and the two correspond one to one. The rangefinder 25 uses a laser rangefinder, and its function is to measure the distance between the positioning ring plate 21 and the skin, specifically, the distance between each suction cup 23 and the skin opposite to the suction cup 23. This arrangement facilitates the control of the flatness of the skin after it is lifted. The ring-type leveler 2 includes a pressure sensor 26. The top of the suction cup 23 is fixedly connected with a positioning tube 231 sleeved in the positioning sleeve 22. The positioning tube 231 is a ventilating tube. When in use, the top of the positioning tube 231 is connected to the external air pump control group (air pump and electromagnetic control valve) through a hose. The pressure sensor 26 is arranged between the positioning sleeve 22 and the positioning tube 231, wherein the positioning tube 231 and the positioning sleeve 22 are axially slidably matched. The pressure sensor 26 is used to detect the weight of the suction cup 23. In specific implementation, an annular groove can be opened on the inner peripheral wall of the positioning sleeve 22, and then a retaining ring located in the annular groove is fixedly sleeved on the outside of the positioning tube 231. The pressure sensor 26 is arranged at a position between the bottom of the annular groove and the lower end face of the retaining ring, so that when the suction cup 23 is loaded, the pressure sensor 26 will be squeezed. The pressure sensor 26 and the lifting drive rod 24 are electrically connected to the single-chip microcomputer, and the single-chip microcomputer sets a limited pressure to prevent the skin from being damaged by excessive lifting. When the pressure exceeds the set value, the lifting drive rod 24 involved in the work stops working at the same time. It should be noted that the number of the positioning sleeves 22 is at least six, such as six, nine, or twelve. Each time it is used, only one group of suction cups 23 is used. The number of suction cups in a group is three, and the connecting lines between the three suction cups 23 in a group form an equilateral triangle. The suction cups 23 of different groups are controlled to be used in turn through a set program to avoid the problem of necrosis of the skin caused by long-term adsorption.

[0039] Among them, two ear plates 211 are fixedly connected to the outer periphery of the positioning ring plate 21, and the two ear plates 211 are evenly distributed circumferentially relative to the positioning ring plate 21. A transmission sleeve 2111 is fixedly connected to one side of the ear plate 211. In the specific implementation, it is preferred that the transmission sleeve 2111 is located at the free end of the ear plate 211, and a screw-type control mechanism 3 close to the end and connected to the transmission sleeve 2111 is arranged at the bottom of the control slide 131. The screw-type control mechanism 3 includes a servo motor three and a transmission screw. The servo motor three is fixedly installed at the bottom of the control slide 131 and its output shaft is fixedly connected to the top of the transmission screw. The transmission screw and the transmission sleeve 2111 are screwed together, thereby controlling the positioning ring plate 21 to move in its radial direction relative to the semicircular slide 12.

[0040] A surgical robot control system includes a human body three-dimensional modeling module, which includes a laser scanner 4, a processor 5, a display 6 and a controller 7. The laser scanner 4 is fixedly installed above a base 11 through a bracket and its height is higher than a semicircular slide 12. The processor 5 is used to display the human body structure scanned by the laser scanner 4 through the display 6. The display 6 is a touch screen structure. At the same time, the processor 5 constructs a three-dimensional coordinate system on the display 6. The controller 7 has the function of controlling the sliding of the semicircular slide 12, the lifting and lowering of the ring-type leveler 2, and the suction and exhaust of the suction cup 23. That is to say, the controller 7 is electrically connected to the power output components related to the operation of the control ring-type leveler 2. For example, when it is necessary to make an incision in the human abdominal cavity, the operator determines the incision position by touching the part to be incised displayed on the display 6 with a stylus. The display 6 is provided with a touch operation area 61. The operator starts the controller 7 by touching the operation area 61. The controller 7 controls the movement of the semicircular slide 12 according to the coordinate size of the incision position according to the program setting, controls the suspension 13 to rotate circumferentially relative to the semicircular slide 12, and then controls the annular leveler 2 to approach the skin, and then controls the suction cup 23 to absorb the skin and lift it up. At this time, the scalpel can be held manually to make an incision, or the operating shaft 16 can be controlled to carry the scalpel close to the skin and make an incision.

[0041] This control system greatly improves the efficiency and accuracy of the operation from determining the position to be cut to cutting and forming.

[0042] Working principle: This working principle is described by taking the first incision in the abdomen as an example. When in use, the patient lies flat on the operating table, and then the laser scanner 4 is started to scan the human body. The processor 5 displays the scanned data in three dimensions on the display 6, and at the same time constructs a coordinate system. Then the operator selects the incision position according to the three-dimensional image, and then triggers the preparation work by touching the operation area 61. According to the program setting, the semicircular slide 12 slides to the top of the position to be incised, and then the slide 131 is controlled to slide so that the ring mouth of the positioning ring plate 21 is right at the position to be incised, and then the screw-type control mechanism 3 controls the positioning ring plate 21 to approach the skin. At this time, the rangefinder 25 measures the position of each suction cup 23 and the corresponding skin. Then, the lifting drive rod 24 is controlled to move to drive some of the positioning sleeves 22 to move differently, and then the corresponding suction cups 23 absorb the skin. The positioning sleeves 22 involved are controlled to rise until the corresponding suction cups 23 are in the same plane. At this time, the skin is in a flat or nearly flat state. Then, the operator holds the external rocker or the handheld operating component to start the control unit 135, so that the convex telescopic frame 133 descends to drive the operating shaft 16 on the surgical instrument 15 to approach the position to be incised, and then starts the control shaft 132 to rotate to adjust the incision direction. Then, the control unit 3 137 controls the axial movement of the operating shaft 16, and the control unit 2 136 drives the instrument seat 14 to swing to control the incision length. After the current incision is completed, the next incision can be made in the above manner, and the operator can install related surgical instruments (laparoscope, drainage suction tube, trachea) on the completed incision.

[0043] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A surgical robot, characterized in that: The invention comprises an execution robot (1), wherein the execution robot (1) comprises a base (11) and a semicircular slide (12) located on the base (11), wherein a suspension (13) capable of radial extension, circumferential rotation and self-rotation is arranged in the semicircular slide (12), wherein the radially extending action end of the suspension (13) points to the center of the semicircular slide (12), and the radially extending action end of the suspension (13) is swingably connected to an instrument seat (14) located in the suspension (13), wherein the swing axis of the instrument seat (14) is perpendicular to the self-rotation axis of the suspension (13), and wherein the suspension (13) is provided with a suspension seat (14) which is connected to the instrument seat (14). 14) and a surgical instrument (15) at one end thereof, the surgical instrument (15) being capable of swinging synchronously with the instrument seat (14) and being capable of moving relative to the instrument seat (14), one end of the surgical instrument (15) being provided with an operating shaft (16) penetrating the instrument seat (14), the operating shaft (16) and the instrument seat (14) being slidably matched, the suspension (13) being provided with an annular leveler (2) capable of synchronously moving circumferentially with the suspension (13) relative to the semicircular slide (12) and being capable of moving in a radial direction along the semicircular slide (12), the inner ring opening of the annular leveler (2) being relative to the instrument seat (14).

2. A surgical robot according to claim 1, characterized in that: The suspension (13) comprises a control slide (131), a control shaft (132) and a convex telescopic frame (133); the control slide (131) and the semicircular slide (12) are circumferentially slidably matched and a control shaft (132) is provided on one side of the control slide; the convex telescopic frame (133) is located inside the semicircular slide (12) and the top of the convex telescopic frame is fixedly connected to one end of the control shaft (132); the protruding end (1332) of the convex telescopic frame (133) Towards the center of the semicircular slide (12), the protruding end (1332) is rotatably connected to a U-shaped frame (1333), the middle part of the U-shaped frame (1333) is fixedly connected to the instrument seat (14), and both sides of the convex telescopic frame (133) are provided with a control unit (135) for controlling the telescopic movement of the convex telescopic frame (133), and the control unit (135) includes a control motor (1351) close to the control shaft (132).

3. A surgical robot according to claim 2, characterized in that: The top of the convex telescopic frame (133) is fixedly connected to a guide plate (1334) fixedly connected to the top and the control shaft (132); the bottom of the guide plate (1334) is slidably connected to a control slider (1331); the suspension (13) further comprises a rectangular telescopic frame (134); the bottom of the control slider (1331) is rotatably connected to the top of the rectangular telescopic frame (134); the middle of a crossbeam (1341) at the bottom of the rectangular telescopic frame (134) is fixedly connected to the outer wall of the instrument seat (14); the crossbeam (1341) is rotatably connected to the top of the rectangular telescopic frame (134); The outer wall of the crossbeam (1341) is fixedly connected to a slot frame (13411) located in a rectangular telescopic frame (134), the surgical instrument (15) and the slot frame (13411) are slidably matched, the guide plate (1334) is provided with a control unit 2 (136) for driving the control slider (1331) to slide, the outer wall of the crossbeam (1341) is connected to a control unit 3 (137) for controlling the sliding of the surgical instrument (15), and the control unit 3 (137) includes a control motor 3 (1371) close to the instrument seat (14).

4. A surgical robot according to claim 2, characterized in that: The ring-type leveler (2) comprises a positioning ring plate (21), a positioning sleeve (22) and a suction cup (23); the positioning sleeve (22) penetrates the plate surface of the positioning ring plate (21) and the two are slidably matched; the number of the positioning sleeves (22) is at least six and they are evenly distributed in the circumferential direction relative to the positioning ring plate (21); the bottom of the positioning sleeve (22) is connected to the suction cup (23); a lifting drive rod (24) for controlling the sliding of the positioning sleeve (22) is provided on one side of the positioning ring plate (21); the lifting drive rod (24) and the positioning sleeve (22) correspond one to one.

5. A surgical robot according to claim 4, characterized in that: The ring-type leveler (2) further comprises a distance meter (25) and a pressure sensor (26); the distance meter (25) is fixedly arranged at the bottom of the positioning ring plate (21) and located on one side of the positioning sleeve (22); the top of the suction cup (23) is fixedly connected to a positioning tube (231) sleeved in the positioning sleeve (22); the pressure sensor (26) is arranged between the positioning sleeve (22) and the positioning tube (231); and the pressure sensor (26) is used to detect the size of the load on the suction cup (23).

6. The surgical robot according to claim 4, characterized in that: Two ear plates (211) are fixedly connected to the outer periphery of the positioning ring plate (21), a transmission sleeve (2111) is fixedly connected to one side of the ear plate (211), and a screw-type control mechanism (3) is provided at the bottom of the control slide seat (131) near the end and connected to the transmission sleeve (2111).

7. The surgical robot according to claim 2, characterized in that: An arc-shaped slideway (121) is penetrated on one side of the semicircular slide (12), the control slide (131) is arranged to penetrate the arc-shaped slideway (121), a clearance notch (122) is penetrated on the top of the semicircular slide (12), the control shaft (132) is arranged to penetrate the clearance notch (122), a servo motor 1 (138) is fixedly connected to the bottom of the control slide (131), the output shaft of the servo motor 1 (138) is fixedly connected to the driving gear (1381), and the inner peripheral wall of the semicircular slide (12) is fixedly connected to a row of teeth (123) meshing with the driving gear (1381).

8. The surgical robot according to claim 1, characterized in that: The base (11) comprises two parallel fixed guide rail plates (111) and a transmission screw (112); the transmission screw (112) is rotatably connected inside the fixed guide rail plate (111) and is threadedly engaged with one end of the semicircular slide frame (12).

9. A surgical robot control system, comprising a surgical robot according to claim 1, characterized in that: The invention comprises a human body three-dimensional modeling module, wherein the human body three-dimensional modeling module comprises a laser scanner (4), a processor (5), a display (6) and a controller (7); the laser scanner (4) is fixedly mounted above a base (11) via a bracket and its height is higher than a semicircular slide frame (12); the processor (5) is used to display the human body structure scanned by the laser scanner (4) via the display (6); and the controller (7) has the functions of controlling the sliding of the semicircular slide frame (12), the lifting and lowering of the ring-type leveler (2) and the suction and exhaust of the suction cup (23).

10. A surgical robot control system according to claim 9, characterized in that: The display (6) is a touch screen structure and a touch operation area (61) is provided thereon.

Images