Surgical robot and surgical robot system

Abstract

The embodiment of the invention provides a surgical robot and a surgical robot system. The surgical robot comprises a base assembly; the suspension arm is arranged on the base assembly, the suspension arm comprises a first-layer suspension arm and a second-layer suspension arm which are distributed up and down, and the first-layer suspension arm and the second-layer suspension arm can rotate relatively; and one end of each mechanical arm is connected with the suspension arm, and the first-layer suspension arm and the second-layer suspension arm are each connected with at least two mechanical arms. According to the surgical robot provided by the embodiment of the invention, the multiple mechanical arms are distributed in the upper layer and the lower layer, different surgical scenes can be conveniently adapted, and the moving range of the mechanical arms is greatly widened.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a surgical robot and a surgical robot system. Background Art

[0002] In current minimally invasive surgeries, surgical robots are usually used to carry surgical instruments, and doctors manipulate the surgical instruments by controlling the surgical robot at a remote end to perform the surgery. A typical application of the prior art is the DAVINCI system of Intuitive Surgicl, Inc. of Mountain View, CA.

[0003] Most surgical robots use 4 robotic arms or fewer, 3 robotic arms, and can carry 1 endoscope and 3 (or 2) other surgical instruments at the same time. However, for a complete minimally invasive surgery, in addition to the endoscope, 4 other surgical instruments are often required to work simultaneously to complete the surgery. The existing solution is to configure an assistant doctor beside the patient's bed. The assistant doctor can observe the surgical area image on the display screen and hold the instrument to operate at the same time to cooperate with the surgeon. However, on the one hand, it may cause collisions between the robotic arms and the assistant during the movement of the robotic arms, posing a safety hazard. On the other hand, the safety space of the assistant doctor is compressed by the robotic arms, the body is in a distorted state, the hand-eye coordination is difficult, and the cooperation with the surgeon is poor.

[0004] In order to further exert the advantages of surgical robot-assisted surgery, a better idea is to increase the number of robotic arms to 5 or more, so that all the surgical instruments required for the surgery are carried by the surgical robot, and the assistant doctor also uses a console to control at a remote end. However, although the industry hopes to increase the number of robotic arms, and there are also related patents proposing the idea of a five-arm double console, due to the characteristics of the parallelogram series robotic arm, it will swing greatly during the surgery. Combining its layout mode across the human body, when 4 robotic arms of the robot act simultaneously, it is already easy to have collision interference between adjacent robotic arms. If the number of parallelogram series robotic arms is increased to 5 or more, the interference will be more serious, and it is difficult to perform normal surgical operations. Therefore, how to make each robotic arm have a larger range of motion and not interfere with each other within a certain range of motion, especially when 5 or more robotic arms move simultaneously, is an urgent problem to be solved currently. Summary of the Invention

[0005] Therefore, the purpose of the present invention is to provide a surgical robot and a surgical robot system to at least solve the problem that the range of motion of the robotic arm is small during the movement process.

[0006] A first aspect of the present invention provides a surgical robot, comprising: a base assembly; a suspension arm, which is arranged on the base assembly, and the suspension arm comprises a first-layer suspension arm and a second-layer suspension arm distributed up and down, and the first-layer suspension arm and the second-layer suspension arm can rotate relative to each other; a plurality of robotic arms, one end of the plurality of robotic arms is connected to the suspension arm, and at least two robotic arms are connected to the first-layer suspension arm and the second-layer suspension arm.

[0007] The surgical robot provided by the embodiment of this aspect enables multiple robotic arms to be distributed in two layers, changing the adjacent relationship of the robotic arms, so that multiple robotic arms can change into more positioning modes, which is convenient for adapting to different surgical scenarios. Moreover, the first-layer hanging arm can drive the robotic arm on it to rotate as a whole relative to the second-layer hanging arm of the lower layer and the robotic arm on it. Compared with the upper and lower hanging arms that cannot rotate relative to each other and the robotic arms can only move in the adjacent space, the movement range of the robotic arms is greatly improved. In the case of 5 robotic arms, it can provide convenience for carrying 5 surgical instruments without interfering with each other, which is conducive to allowing multiple robotic arms to be away from each other and each having enough space to move. Moreover, the robotic arms have high flexibility in movement, which is convenient for adapting to various surgical scenarios.

[0008] A second aspect of the present invention provides a surgical robot system, comprising: a surgical robot as described in any one of the first aspect embodiments above, a first control console and a second control console, the first control console and the second control console are both connected to the surgical robot control, and each control console controls the movement of at least one robotic arm of the surgical robot.

[0009] The surgical robot system provided by the embodiment of this aspect has the surgical robot of any embodiment of the first aspect, and thus has the beneficial effects of any embodiment, which will not be described in detail here. In addition, the surgical robot system is equipped with two control consoles, and two people use the two control consoles to control the movement of the mechanical arms of the surgical robot. Compared with one control console, one person can independently control the movement of multiple mechanical arms, and can timely control the movement of the corresponding mechanical arms, which is convenient for multiple mechanical arms to move in coordination at the same time.

[0010] Additional aspects and / or advantages of the present general inventive concept will be set forth in part in the following description and in part will be obvious from the description, or may be learned through practice of the present general inventive concept. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other objects and features of the present invention will become more apparent through the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0012] Figure 1 A schematic diagram of the local structure of a surgical robot in the related art during preoperative positioning is shown;

[0013] Figure 2 Shows a schematic structural diagram of a surgical robot according to an embodiment of the present application;

[0014] Figure 3 Shows a schematic structural diagram of a parallel robotic arm according to an embodiment of the present application;

[0015] Figure 4 Shows a schematic structural diagram when a parallel robotic arm and a surgical instrument are connected together according to an embodiment of the present application;

[0016] Figure 5 Shows a schematic structural diagram when a parallel robotic arm and another surgical instrument are connected together according to an embodiment of the present application;

[0017] Figure 6 Shows a schematic structural diagram when an execution main body and an execution installation part are assembled according to an embodiment of the present application;

[0018] Figure 7 Shows Figure 6 The partial enlarged view at I in;

[0019] Figure 8 Shows another schematic structural diagram when an execution main body and an execution installation part are assembled according to an embodiment of the present application;

[0020] Figure 9 Shows Figure 8 The partial enlarged view at J in;

[0021] Figure 10 Shows a schematic structural diagram of a serial robotic arm according to an embodiment of the present application;

[0022] Figure 11 Shows a schematic structural diagram of a suspension arm according to an embodiment of the present application;

[0023] Figure 12 Shows a top view structural diagram of a suspension arm according to an embodiment of the present application;

[0024] Figure 13 Shows Figure 12 The sectional view in the A - A direction in;

[0025] Figure 14 Shows a schematic structural diagram of a base assembly according to an embodiment of the present application;

[0026] Figure 15 Shows a schematic structural diagram of a suspension device according to an embodiment of the present application;

[0027] Figure 16A schematic diagram of the side structure of a surgical robot in one embodiment of the present application during preoperative positioning is shown;

[0028] Figure 17 Shows Figure 16 Middle: A top view of the surgical robot cutting open the BB;

[0029] Figure 18 A schematic diagram showing the structure of a surgical robot in one embodiment of the present application during preoperative positioning;

[0030] Figure 19 A schematic structural diagram of a first control console according to an embodiment of the present application is shown.

[0031] Figure 1 Description of Figure Numbers:

[0032] 10' surgical instruments, 20' parallel robotic arms.

[0033] Figures 2 to 19 Description of Figure Numbers:

[0034] 10 execution assembly (10a, 10b, 10c, 10d, 10e), 110 execution body, 111 instrument rod, 112 second transmission assembly, 120 execution mounting portion, 121 first mounting portion, 122 second mounting portion, 123 mounting hole, 124 first transmission assembly,

[0035] 20 parallel robot arm (20a, 20b, 20c, 20d, 20e), 210 static platform, 220 branch chain, 230 dynamic platform, 240 connecting part, 241 first mounting ear, 242 second mounting ear, 243 rotating part,

[0036] 30 serial mechanical arms (30a, 30b, 30c, 30d, 30e), 310 cross beams, 320 sliding beams, 330 telescopic rods, 340 rotating parts, 350 pitch parts,

[0037] 40 boom, 410 first layer boom, 411 first upper baffle, 412 first lower baffle, 413 first support column, 414 first connection port, 420 second layer boom, 421 second upper baffle, 422 second lower baffle, 423 second support column, 424 second connection port, 430 fourth drive assembly, 431 drive motor, 432 reducer, 433 drive belt,

[0038] 50 suspension device, 510 first suspension arm, 520 second suspension arm, 530 suspension umbrella,

[0039] 60 base assembly, 610 base, 620 pillar, 630 first beam, 640 second beam,

[0040] 70 The first console. Detailed implementation

[0041] The following detailed implementation is provided to assist the reader in obtaining a comprehensive understanding of the methods, devices, and / or systems described herein. However, after understanding the disclosure of the present application, various changes, modifications, and equivalents of the methods, devices, and / or systems described herein will be apparent. For example, the order of operations described herein is merely exemplary and is not limited to those set forth herein, but rather may be changed as will be apparent after understanding the disclosure of the present application, except for operations that must occur in a specific order. In addition, descriptions of features known in the art may be omitted for greater clarity and conciseness.

[0042] The features described herein may be implemented in different forms and should not be construed as limited to the examples described herein. Instead, the examples described herein are provided only to illustrate some of the many possible ways of implementing the methods, devices, and / or systems described herein, which will be apparent after understanding the disclosure of the present application.

[0043] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more of them.

[0044] Although terms such as "first," "second," and "third" may be used herein to describe various components, components, regions, layers, or parts, these components, components, regions, layers, or parts should not be limited by these terms. Instead, these terms are only used to distinguish one component, component, region, layer, or part from another. Thus, the first component, first component, first region, first layer, or first part referred to in the examples described herein may also be referred to as the second component, second component, second region, second layer, or second part without departing from the teachings of the examples.

[0045] In the specification, when an element such as a layer, region, or substrate is described as "on," "connected to," or "coupled to" another element, the element may be directly "on," "connected to," or "coupled to" the other element, or there may be one or more other elements in between. In contrast, when an element is described as "directly on," "directly connected to," or "directly coupled to" another element, there may be no other elements in between.

[0046] The terms used herein are for describing various examples only and are not intended to limit the disclosure. Unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. The terms "comprising", "including" and "having" specify the presence of the described features, quantities, operations, components, elements and / or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements and / or combinations thereof. The term "plurality" represents any quantity of two or more.

[0047] The definitions of orientation terms such as "above", "below", "top" and "bottom" in this application are based on the orientation of the product in the normal use state, unless otherwise specified that the orientation in the drawings shall prevail.

[0048] Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs after understanding this invention. Unless explicitly defined as such herein, terms such as those defined in a general dictionary shall be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this invention, and shall not be interpreted in an idealized or overly formalized manner.

[0049] Most current surgical robots only have 3 or 4 robotic arms. During surgery, only 1 endoscope and 2 (or 3) other surgical instruments can be carried simultaneously, but this is not sufficient for some surgeries. An assistant doctor is still needed to stand beside the patient and hold surgical instruments to complete the surgery together with the surgical robot. However, during the surgery, the movement of the surgical robot is likely to interfere with the assistant doctor, posing a safety hazard. Therefore, increasing the number of robotic arms of the surgical robot so that all surgical instruments required for the surgery are carried on multiple robotic arms is a better technical concept. However, in current surgical robots, if the number of robotic arms is increased, for example, increased to 5, during the surgery, the robotic arms and surgical instruments are likely to collide with each other, making it difficult to perform normal surgical operations.

[0050] Therefore, the first aspect embodiment of the present invention proposes a robotic arm that has a large range of motion. Even when the surgical robot has multiple such robotic arms, the range of motion of the robotic arms is still large, and it is not easy for the multiple robotic arms to interfere with each other.

[0051] The robotic arm includes a parallel robotic arm. As Figures 3 to 5As shown in the figure, the parallel robotic arm 20 includes a stationary platform 210, a moving platform 230, and multiple linkages 220 connected between the stationary platform 210 and the moving platform 230. A connecting portion 240 is provided on the moving platform 230, and the connecting portion 240 is used to connect with the execution component 10. Here, the parallel robotic arm 20 is used to connect the execution component 10. During the movement of the parallel robotic arm 20, the swinging space is small and it is not easy to collide.

[0052] Furthermore, the robotic arm further includes an execution component 10. The execution component 10 is connected to the moving platform 230 through the connecting portion 240. The execution body 110 of the execution component 10 extends offset to one side relative to the straight line perpendicular to the moving platform 230. That is, the extending direction of the execution body 110 is set at an angle with the straight line perpendicular to the moving platform 230. After the execution component 10 is installed on the parallel robotic arm 20, the execution body 110 is not perpendicular to the moving platform 230, but is offset to one side compared with the straight line perpendicular to the moving platform 230, and there is a certain included angle between the two. When the robotic arm acts on a target such as near a human body, the parallel robotic arm 20 will be pushed away a certain distance by the offset and extended execution component 10, away from the target, which will increase the movement space of the robotic arm, thereby reducing the probability of interference during the movement of the robotic arm.

[0053] Figure 4 In the figure, the straight line H1 represents a straight line perpendicular to the moving platform 230, the straight line L1 represents the extending direction of the execution body 110, and the straight line L1 is deflected by an angle K1 to one side relative to the straight line H1. Specifically, the leading end of the execution body 110, that is, the end far from the target, is offset by an angle K1 away from the target relative to the straight line H1. Then, compared with the execution body 110 being perpendicular to the moving platform 230, after the execution body 110 is tilted, the parallel robotic arm 20 can be pulled away from the target, and the relative angle between the parallel robotic arm 20 and the target is changed, thereby increasing the movement space of the parallel robotic arm 20. Figure 5 In the figure, the straight line H2 represents a straight line perpendicular to the moving platform 230, the straight line L2 represents the extending direction of the execution body 110, and the straight line L2 is deflected by an angle K2 to one side relative to the straight line H2. Specifically, the leading end of the execution body 110, that is, the end far from the target, is offset by an angle K2 away from the target relative to the straight line H2. Then, compared with the execution body 110 being perpendicular to the moving platform 230, after the execution body 110 is tilted, the parallel robotic arm 20 can be pulled away from the target, thereby increasing the movement space of the parallel robotic arm 20. Among them, since Figure 4 and Figure 5 the types, sizes, etc. of the execution components 10 in the figure are not the same, the deflection angles K1 and K2 can also be different, so that the parallel robotic arm 20 can have a certain movement range when connecting various execution components 10. Of course, in other embodiments, the deflection angles K1 and K2 can also be the same.

[0054] It should be noted that in this embodiment, the extending direction of the execution body 110 of the execution component 10 is the direction in which the execution component 10 acts on the target. For example, when the execution component 10 is a surgical instrument, the extending direction of the execution body 110 is the extending direction of the instrument rod 111, such as Figure 4 the extending direction of the straight line L1 in Figure 5 and the extending direction of the straight line L2 in. In addition, for a straight line perpendicular to the moving platform 230, in the initial state, each branch chain of the parallel manipulator 20 is located at the initial position, and the static platform 210 is parallel to the moving platform 230. At this time, the straight line perpendicular to the moving platform 230 is collinear or parallel to the axis of the parallel manipulator 20. If the parallel manipulator 20 changes its posture and moves a certain distance, the moving platform 230 may not be parallel to the static platform 210. At this time, the straight line perpendicular to the moving platform 230 may extend and deviate to one side relative to the axis of the parallel manipulator 20. However, regardless of whether the parallel manipulator 20 is in the initial position or changes its posture, after the execution component 10 is connected to the connecting part, its execution body 110 can extend and deviate to one side relative to the straight line perpendicular to the moving platform 230. Thus, whether before or during the operation, the parallel manipulator 20 can be pushed away from the human body by a certain distance by the execution component 10, increasing the activity space.

[0055] Furthermore, the angle between the extending direction of the execution body 110 of the execution component 10 and the straight line perpendicular to the moving platform 230 is between 30° and 90°. Within this angle range, both the execution component 10 and the parallel manipulator 20 have a more appropriate working range, which is beneficial for preoperative positioning and intraoperative motion control in the application of the surgical robot.

[0056] Refer to Figure 4 and Figure 5 The included angles K1 and K2 in represent the angles between the extending direction of the execution body 110 and the straight line perpendicular to the moving platform 230 when different execution components 10 are installed on the parallel manipulator 20. After the execution component 10 is installed on the parallel manipulator 20, it has an included angle of any angle between 30° and 90° directly with the straight line perpendicular to the moving platform 230. For example, it can be 35°, 40°, 46°, 52°, 65°, 78°, 83°, etc., including the endpoint values of 30° and 90°. Then, when multiple execution components 10 are circumferentially distributed around the human body, multiple parallel manipulators 20 will be pushed away from the human body by a certain distance by multiple execution components 10 that extend obliquely, greatly reducing the probability of collision and interference between multiple parallel manipulators 20 and the surgical robot connected thereto.

[0057] Refer to Figure 16 、 Figure 17 and Figure 18 , Figure 16 、 Figure 17 andFigure 18 The preoperative positioning postures of the parallel manipulator 20 and the execution assembly 10 are shown. In the way of this embodiment, the execution assembly 10 is mostly in an inclined state during surgical positioning and the surgical process. This further enables the manipulator, when preoperatively positioning, to make the execution assembly 10 in a set position and a set posture without adjusting or without significantly adjusting the parallel manipulator 20, and the preoperative positioning is convenient. Moreover, during the surgical process, the execution assembly 10 can be in a set posture without significant adjustment, reducing the probability of interference between the manipulators before and during the surgery. Moreover, it is beneficial for the parallel manipulator 20 to adjust the execution assembly 10 within the maximum stroke range during the surgical process, improving flexibility.

[0058] In addition, during the surgical process, there will also be situations where the execution body 110 needs to be replaced, or the execution body 110 is disassembled after the surgery. At this time, if the execution assembly 10 is vertically installed on the moving platform 230, that is, the extending direction of the execution body 110 of the execution assembly 10 is perpendicular to the moving platform 230, it is very difficult to disassemble the execution body 110 without moving the parallel manipulator 20. Especially when the execution body 110 is inserted into the human body, there will also be certain safety hazards. In this embodiment, the included angle between the extending direction of the execution body 110 and the straight line perpendicular to the moving platform 230 is between 30° and 90°, which is convenient for disassembling and assembling the execution body 110. Specifically, when disassembling the execution body 110, the execution body 110 is separated from the moving platform 230 while moving backward to the end far away from the human body. Or when installing or replacing the execution body 110, the execution body 110 is installed on the execution installation part 120 from back to front, and the disassembly and assembly process has good safety. Refer to Figures 7 to 10 , the execution body 110 can be inserted into the installation hole 123 from below and then pushed forward to the designated position to complete the assembly. When disassembling the execution body 110, the execution body 110 can be moved backward a certain distance and then separated from the installation hole 123 downward without moving the parallel manipulator 20.

[0059] In addition, when the execution component 10 is installed on the connection part 240, the angle between the extension direction of the execution body 110 of the execution component 10 and the straight line perpendicular to the moving platform 230 is between 30° and 90°. Here, the above-mentioned offset angle can be directly designed on the connection part 240, so that the above-mentioned angle can be directly maintained between the execution component 10 and the moving platform 230 after installation; or the offset angle can be designed on the execution component 10. For example, the position on the execution component 10 that has the above-mentioned angle with the execution body 110 is connected to the moving platform 230. Of course, a connecting part can also be additionally provided to form the above-mentioned angle by the connecting part itself and be detachably connected to the connection part 240 and the execution component 10 respectively. For example, the connecting part is triangular, and the angle of one of the angles is between 30° and 90°, and the two sides of the angle are respectively connected to the connection part 240 and the execution component 10 to achieve the above-mentioned angle between the execution component 10 and the moving platform 230. As long as the angle between the extension direction of the execution body 110 of the execution component 10 and the straight line perpendicular to the moving platform 230 is between 30° and 90° it is acceptable.

[0060] As an example, the angle between the extension direction of the execution body 110 and the straight line perpendicular to the moving platform 230 is between 40° and 75°, or between 35° and 60°, or between 50° and 80°. Within this angle range, when the execution component 10 acts on the human body, the parallel manipulator 20 can be at a certain distance from the human body, and the moving space is large, which can effectively avoid the occurrence of collisions.

[0061] Furthermore, in some embodiments, as Figures 6 to 9 shown, the connection part 240 includes a first mounting ear 241 and a second mounting ear 242 connected thereto. The first mounting ear 241 is connected to the moving platform 230, and the second mounting ear 242 is connected to the execution component 10. The first mounting ear 241 and the second mounting ear 242 are arranged at an angle, so that the execution body 110 extends offset to one side relative to the straight line perpendicular to the moving platform 230.

[0062] In these embodiments, the connecting portion 240 is configured such that it includes a first mounting ear 241 and a second mounting ear 242 having a certain included angle. The first mounting ear 241 is connected to the moving platform 230, and they are arranged in parallel. The second mounting ear 242 is connected to the actuating assembly 10. After the actuating assembly 10 is connected to the second mounting ear 242, the actuating body 110 naturally forms a certain included angle with the first mounting ear 241 and extends offset to one side with respect to the line perpendicular to the moving platform 230. This makes the installation convenient and fast, and there is no need to adjust the posture of the actuating assembly 10 subsequently. Moreover, after different types of actuating assemblies 10 are connected to the connecting portion 240, the actuating body 110 can extend offset to one side with respect to the line perpendicular to the moving platform 230, showing good versatility. In addition, the connecting portion 240 designed in this way has a simple structure and is convenient to process.

[0063] Further, as Figures 6 to 9 shown, the plane where the first mounting ear 241 is located is parallel to the plane where the moving platform 230 is located, and the plane where the second mounting ear 242 is located is parallel to the extending direction of the actuating body 110. At this time, the included angle between the first mounting ear 241 and the second mounting ear 242 can reflect the included angle between the extending direction of the actuating body 110 and the line perpendicular to the moving platform 230 after the actuating assembly 10 is mounted on the second mounting ear 242. The sum of the two included angles is 90°, which is convenient for accurately designing the posture after the actuating assembly 10 is installed, thus facilitating the stable adjustment of the movement of the robotic arm for accurate surgical operations.

[0064] Further, the first mounting ear 241 is hingedly connected to the second mounting ear 242, and the angle between the first mounting ear 241 and the second mounting ear 242 is adjustable. By adjusting the included angle between the two mounting ears, different initial postures can be achieved after the actuating assembly 10 is mounted on the connecting portion 240. The posture of the actuating assembly 10 can be adjusted according to different surgeries, or its initial posture can be adjusted according to different actuating assemblies 10, showing good versatility.

[0065] Further, in some embodiments, as Figure 3 、 Figure 4 and Figure 5 shown, the connecting portion 240 includes a rotary portion 243. The rotary portion 243 can rotate on the surface of the moving platform 230 and drive the actuating assembly 10 to rotate.

[0066] In these embodiments, after the actuating assembly 10 is connected to the connecting portion 240, the rotary portion 243 can drive the entire actuating assembly 10 to rotate relative to the moving platform 230. The rotary portion 243 can be involved in the pre-operative positioning and also in the surgery. It can increase the movement stroke of the overall parallel robotic arm 20 and the rotary portion 243, enabling the surgical instrument to move flexibly.

[0067] Specifically, although the parallel robotic arm 20 occupies a small space during the swinging process and is easy to cooperate without interfering with each other, the adjustment stroke of the parallel robotic arm 20 is relatively small, and it needs to rely on the passive arm in the robotic arm to achieve the preoperative positioning. Before the operation, the execution component 10 needs to be initially positioned on the patient. This positioning requires a total of 5 degrees of freedom, including three translations and two deflections, so that the execution component 10 carried on the moving platform 230 passes through the so-called telecentric fixed point on the patient's epidermis and obtains a better preoperative state. Depending on the surgical procedure, the deflection angle of the execution component 10 varies greatly. An effective preoperative positioning structure is that the passive arm in the robotic arm (such as the serial robotic arm 30 below) can provide a large deflection angle for the parallel robotic arm 20. However, the passive arm is relatively large in volume, and too many rotating joints result in relatively poor rigidity. In this embodiment, a rotary part 243 is added to the end of the parallel robotic arm 20. The rotary part 243 can drive the execution component 10 to rotate relative to the moving platform 230 during the preoperative positioning process, which can reduce the movement stroke of the passive arm in this movement direction, and even make the movement stroke of the passive arm in this movement direction zero, reduce the movement amplitude of the passive arm, reduce the probability of mutual interference of multiple robotic arms during the movement process, and improve the rigidity of the robotic arm. Moreover, since the rotary part 243 can independently drive the execution component 10 to rotate along the set direction, compared with the passive arm or the parallel robotic arm 20 driving the execution component 10 to rotate in this set direction, because the weight and volume of the passive arm and the parallel robotic arm 20 are relatively large, it can reduce the occupied space during operation and reduce energy consumption.

[0068] Further, as Figures 6 to 9 shown, when the connecting part 240 further includes the above-mentioned first mounting ear 241 and second mounting ear 242, the first mounting ear 241 is connected to the rotary part 243, and the rotary part 243 drives the execution component 10 to rotate through the first mounting ear 241 and the second mounting ear 242.

[0069] Further, the first mounting ear 241 is detachably connected to the rotary part 243, which is convenient for replacing the first mounting ear 241 and the second mounting ear 242, so as to replace the structures with different included angles to connect with the execution component 10.

[0070] Further, as Figure 3As shown, the rotation center line of the rotating part 243 is perpendicular to the surface of the moving platform 230. In this way, the rotation orientation of the rotating part 243 can be the same as the self-rotation orientation of the moving platform 230 of the parallel manipulator 20, so that the overall moving stroke of the parallel manipulator 20 and the rotating part 243 in this orientation can be larger, improving the movement flexibility of the execution component 10. In addition, in this case, the rotating part 243 can be further made to fit the surface of the moving platform 230. Of course, there is a relative rotation gap between the two, so that the moving platform 230 can limit the rotating part 243, preventing the rotating part 243 from skewing during rotation and causing the execution component 10 to be misaligned.

[0071] Further, the straight line where the extending direction of the execution main body 110 is located avoids the space where the parallel manipulator 20 is located. On the one hand, the execution main body 110 and the parallel manipulator 20 can have relatively independent activity spaces, avoiding mutual interference and limitation during their movements. Especially in the scenario where the execution component 10 and the connecting part 240 are detachable, it is beneficial to the safe replacement of the execution main body 110 along its own extending direction. On the other hand, when multiple manipulators act together, the probability of collision between the execution main body 110 and the parallel manipulators 20 on other manipulators can also be reduced.

[0072] Further, the execution component 10 is detachably connected to the connecting part 240, facilitating the replacement of the execution component 10.

[0073] Regarding the specific structure of the execution component 10, further, in some embodiments, the execution component 10 includes: an execution main body 110; an execution installation part 120, the execution main body 110 is arranged on the execution installation part 120, the execution main body 110 is detachably connected to the execution installation part 120, and the execution installation part 120 is connected to the connecting part 240, facilitating the replacement of the execution main body 110.

[0074] In some embodiments, the execution installation part 120 includes a first installation part 121 and a second installation part 122 that are perpendicularly distributed. The surface of the first installation part 121 perpendicular to the extending direction of the second installation part 122 is in fitting connection with the connecting part 240. A driving motor (not shown in the figure) is provided in the first installation part 121, and a first transmission component 124 is provided in the second installation part 122. The driving motor is connected to the first transmission component 124. The execution main body 110 includes an instrument rod 111 and a second transmission component 112 arranged at the end of the instrument rod 111. The second transmission component 112 is connected to the first transmission component 124 on the second installation part 122, and the extending direction of the instrument rod 111 is the same as the extending direction of the first installation part 121. The driving motor drives the mechanical rod 111 to move through the first transmission component 124 and the second transmission component 112.

[0075] In these embodiments, a driving motor and a first transmission assembly 124 connected to the driving motor are provided in the execution installation part 120. The execution main body 110 includes an instrument rod 111 and a second transmission assembly 112 connected to the instrument rod 111. The driving motor drives the execution end of the instrument rod 111 to move through the first transmission assembly 124 and the second transmission assembly 112 for surgical operations. When the execution main body 110 and the execution installation part 120 are detachable, different types of instrument rods 111 can be replaced, and the driving motor on the execution installation part 120 is borrowed for driving. Compared with configuring a driving motor on the execution main body 110, the weight of the execution main body 110 can be reduced, and it is convenient to operate the movement of the execution main body 110.

[0076] In some embodiments, an installation hole 123 is provided on the second installation part 122. The installation hole 123 penetrates through the second installation part 122 along the extension direction of the first installation part 121, and the installation hole 123 also penetrates through the end face of the second installation part 122 away from the first installation part 121; the instrument rod 111 can be inserted into the installation hole 123 from one end of the second installation part 122 away from the first installation part 121 and extend back and forth in the installation hole 123 along the extension direction parallel to the first installation part 121.

[0077] In these embodiments, since the first installation part 121 and the second installation part 122 are perpendicular to each other, and the second installation part 122 has an installation hole 123 that penetrates along the extension direction of the first installation part 121, the instrument rod 111 will be parallel to the first installation part 121 after being inserted into the installation hole 123, which is convenient for the instrument rod 111 to be in a set posture after installation, so that the extension direction of the instrument rod 111 and the straight line perpendicular to the moving platform 230 maintain a set included angle, thereby avoiding incorrect deviation of the instrument rod 111 and resulting in inaccurate acquisition of the posture of the instrument rod 111, and facilitating accurate surgical operations. In addition, making the installation hole 123 penetrate through the end face of the second installation part 122 away from the first installation part 121 and allowing the instrument rod 111 to enter the installation hole 123 from this side can make the end of the instrument rod 111 always located outside the installation hole 123, while allowing the middle section or other parts of the instrument rod 111 to enter the installation hole 123, so as to facilitate the configuration of a structure convenient for surgery or a structure convenient for entering the human body at the end of the instrument rod 111 without interference with the installation hole 123.

[0078] Furthermore, the robotic arm is a surgical robotic arm, and the execution component 10 is a surgical instrument.

[0079] Further, in some embodiments, the robotic arm further includes: a serial robotic arm 30, the serial robotic arm 30 includes at least two joints and a first driving assembly for driving the joints. The serial robotic arm 30 is connected to the static platform 210 of the parallel robotic arm 20. The parallel robotic arm 20 is provided with a second driving assembly. The serial robotic arm 30 can drive the parallel robotic arm 20 to move under the drive of the first driving assembly, and the parallel robotic arm 20 can drive the execution assembly 10 to move through the moving platform 230 under the drive of the second driving assembly. The robotic arm is connected by the serial robotic arm 30 and the parallel robotic arm 20, and the two can be independently driven. The serial robotic arm 30 is convenient for preoperative positioning, and the parallel robotic arm 20 is convenient for intraoperative movement, with good flexibility.

[0080] In some embodiments, the connecting portion 240 includes a rotating portion 243. The rotating portion 243 can rotate on the surface of the moving platform 230. The rotating portion 243 is connected to the execution assembly 10 and can drive the execution assembly 10 to rotate. The rotating portion 243 is provided with a third driving assembly. The serial robotic arm 30 and the rotating portion 243 are used to complete the preoperative positioning of the robotic arm, and the parallel robotic arm 20 and the rotating portion 243 are used to complete the intraoperative movement of the execution assembly 10. Then, during the preoperative positioning process, the parallel robotic arm 20 does not need to participate, which is beneficial for the parallel robotic arm 20 to have the maximum operating stroke during subsequent intraoperative procedures, and the surgical flexibility is good. Moreover, the parallel robotic arm 20 and the rotating portion 243 are used to complete the intraoperative movement of the execution assembly 10. The rotating portion 243 can directly drive the execution assembly 10 to rotate. Compared with rotating the parallel robotic arm 20 to drive the execution assembly 10 to rotate, the parallel robotic arm 20 continuously maintains the maximum movement stroke, the rotating part is light in weight, small in volume, and has good flexibility. Among them, the third driving assembly is a motor.

[0081] For the robotic arm provided in the above first aspect embodiment, to make the angle between the execution body 110 and the straight line perpendicular to the moving platform 230 be between 30° and 90°, the connecting portion 240 is provided with a first mounting ear 241 and a second mounting ear 242. Of course, in other embodiments, the connecting portion 240 may also have other structures. For example, the connecting portion 240 may also include a third mounting ear (not shown in the figure). One end of the third mounting ear is connected to the surface of the moving platform 230, and the other end is upturned. The angle between the third mounting ear and the straight line perpendicular to the moving platform 230 is between 30° and 90°. The third mounting ear is directly connected to the execution assembly 10. In this case, without the rotating portion structure, the execution assembly 10 is directly mounted on the third mounting ear, and the above-designed angle can also be achieved.

[0082] In addition, to achieve the above-mentioned designed included angle, the structures of the first mounting ear 241 and the second mounting ear 242 can also be arranged on the execution mounting part 120 of the execution component 10, or the above-mentioned third mounting ear can be arranged on the execution mounting part 120 of the execution component 10. At this time, the structure of the connecting part 240 can be an instrument interface (not shown in the figure) arranged on the moving platform 230. The structure is simple and convenient for processing. Of course, the first mounting ear 241 and the second mounting ear 242 can also be independent connecting parts, respectively connected to the connecting part 240 and the execution component 10.

[0083] Among them, when the above-mentioned included angle is designed on the execution component 10, for the specific structure of the execution component 10, in some embodiments, the execution component 10 includes an execution main body 110 and an execution mounting part 120. The execution main body 110 is arranged on the execution mounting part 120, and a mounting interface is arranged on the execution mounting part 120. The included angle between the plane where the mounting interface is located and the extending direction of the execution main body 110 is between 30° and 90°, and the mounting interface is connected to the connecting part 240. When it is designed that the mounting interface is connected to the connecting part 240 here, the plane where the mounting interface is located is parallel to the moving platform 230. And since the included angle between the plane where the mounting interface is located and the extending direction of the execution main body 110 is already between 30° and 90°, therefore, after the execution component 10 is installed in place, the extending direction of the execution main body 110 naturally also has an included angle between 30° and 90° with the straight line perpendicular to the moving platform 230.

[0084] For the setting position of the mounting interface, in one embodiment, as Figure 4 and Figure 5 shown, there is a third mounting ear on the surface of the execution mounting part 120. The included angle between the third mounting ear and the extending direction of the execution main body 110 is between 30° and 90°, and the mounting interface is arranged on the third mounting ear. The structure is simple and convenient for processing. In another embodiment, the execution mounting part 120 includes a trapezoidal block (not shown in the figure). The included angle between the inclined surface and the bottom surface of the trapezoidal block is between 30° and 90°, the mounting interface is arranged on the inclined surface of the trapezoidal block, and the execution main body 110 is flush with the bottom surface. The specific structure of the execution mounting part 120 and the setting position of the mounting interface can be diversified and will not be listed one by one here.

[0085] In addition, the execution body 110 can be detachably connected to the execution installation part 120, so that the execution body 110 can be independently replaced, and the execution installation part 120 can also be independently replaced. Specifically, the number of the execution installation parts 120 can be multiple, and the angles between the planes where the installation interfaces on each execution installation part 120 and the extension direction of the execution body 110 are different. The execution installation part 120 is replaceably connected to the execution body 110 and the connection part 240. Here, multiple execution installation parts 120 can be configured for a parallel manipulator 20, and at the same time, one execution installation part 120 is connected to a parallel manipulator 20, and the remaining execution installation parts 120 are reserved. Thus, by replacing different execution installation parts 120, different angles can be formed between the extension direction of the execution body 110 thereon and the moving platform 230, which is beneficial to enabling the execution component 10 to have different angles and postures when installed on the parallel manipulator 20 according to the surgical characteristics of different execution components 10, thereby improving adaptability. For example, some execution components 10 are shorter and some are longer. If multiple execution components 10 carried on multiple parallel manipulators 20 are all to reach the preoperative positioning state, the positions of the multiple parallel manipulators 20 are different to a certain extent, and the postures are also different to a certain extent, increasing the difficulty of cooperative control. Moreover, the manipulator needs to be adjusted as a whole to change the preoperative position of the execution component 10. For example, the manipulator connected to the longer execution component 10 is moved away from the human body, and the manipulator connected to the shorter execution component 10 is moved closer to the human body. The overall weight of the manipulator is large, increasing energy consumption. By replacing different execution installation parts 120 to adjust the posture of the execution component 10, for example, making the shorter execution component 10 have a smaller inclination and the longer execution component 10 have a larger inclination, not only can the preoperative positioning requirements be met, but also the movement of the preoperative manipulator can be reduced, the control difficulty can be lowered, and the energy consumption can be reduced. In addition, the number of the execution bodies 110 can also be multiple and different, such as an endoscope, surgical instruments such as a scalpel, etc. The multiple execution bodies 110 are replaceably arranged on the execution installation part 120. Here, at the same time, one execution body 110 is installed on the execution installation part 120 of a parallel manipulator 20, and the redundant execution bodies 110 can be reserved for subsequent use or replacement. The number and type of the execution components 10 carried on the surgical robot can be determined according to the requirements of different surgeries, and no specific limitation is made here.

[0086] It should be noted that the execution component 10 in this embodiment can be produced and sold in combination with the surgical robot, or can be produced and sold independently. When the angle between the plane where the installation interface of the execution component 10 is located and the extension direction of the execution main body 110 is between 30° and 90°, the separate execution component 10 is paired with the moving platform 230 of the surgical robot in the related art, and it is also possible to make the angle between the extension direction of the execution main body 110 of the execution component 10 and the straight line perpendicular to the moving platform 230 be between 30° and 90°, which also conforms to the technical concept of this application.

[0087] As Figure 2 , Figures 16 to 18 shown, the second aspect embodiment of the present invention provides a surgical robot, which includes a base component 60 and a plurality of robotic arms as described in any one of the above embodiments connected thereto.

[0088] For the surgical robot proposed in this aspect embodiment, since it has the robotic arm of any one of the above embodiments, it thus has the beneficial effects of any one of the above embodiments, which will not be elaborated here one by one.

[0089] In some embodiments, as Figure 2 , Figures 16 to 18 shown, the number of robotic arms is 5. Then the surgical robot can carry 5 execution components 10 for surgery, which can be applicable to various surgeries, and there is no need to additionally configure an assistant doctor to hold surgical instruments for surgery, avoiding collisions between the robotic arm and the assistant doctor and improving safety.

[0090] Specifically, as Figure 2 shown, the number of robotic arms is 5, and each robotic arm includes a serial robotic arm 30 and a parallel robotic arm 20. Among them, the 5 serial robotic arms 30 are respectively Figure 2 and Figure 12 30a, 30b, 30c, 30d, 30e in, and the 5 parallel robotic arms 20 are respectively Figure 2 and Figure 12 20a, 20b, 20c, 20d, 20e in. The 5 parallel robotic arms 20 are respectively connected to 5 execution components 10, which are respectively Figure 10 10a, 10b, 10c, 10d, 10e in. After the execution component 10 is installed on the parallel robotic arm 20, the execution main body 110 is not perpendicular to the moving platform 230, but is offset to one side compared with the straight line perpendicular to the moving platform 230. Then when the 5 execution components 10 are circumferentially distributed around the human body, the multiple parallel robotic arms 20 will be separated by a certain distance by the multiple offset and extended execution components 10 and be far away from the human body, as Figure 16 , Figure 17 and Figure 18 shown, which also increases the circumferential interval between the multiple parallel robotic arms 20, compared withFigure 1 The middle surgical instrument 10' is directly and vertically installed on the moving platform 230 of the parallel manipulator 20'. Compared with the situation where multiple surgical instruments 10' are arranged with a very small interval between multiple parallel manipulators 20' during the preoperative positioning of the patient, the probability of mutual collision and interference between multiple parallel manipulators 20 and the actuating components 10 connected thereto can be greatly reduced. This is beneficial for the surgical robot to carry more actuating components 10, such as 5 or more, and there will be no interference during the surgical process.

[0091] As Figures 16 to 19 As shown, an embodiment of the third aspect of the present invention provides a surgical robot system. The surgical robot system includes the surgical robot as described in the above embodiment, a first console 70 and a second console. The first console 70 and the second console are both connected to the surgical robot for control, and each console controls at least one of the manipulators to move.

[0092] For the surgical robot system provided by the embodiment of this aspect, since it has the surgical robot of any of the above embodiments, it thus has the beneficial effects of any of the above embodiments, which will not be elaborated here one by one. In addition, the surgical robot system is configured with two consoles, and two people use the two consoles to control the movement of the manipulators of the surgical robot. Compared with one console where one person independently controls the movement of multiple manipulators, the corresponding manipulators can be controlled in a timely manner, facilitating the simultaneous coordinated movement of multiple manipulators. Figure 19 The structural schematic diagram of the first console 70 of an embodiment is shown, and the second console may have the same or similar structure as the first console 70.

[0093] In some embodiments, the surgical robot includes 5 manipulators, and each console controls at least two manipulators to move. Then the surgical robot can carry 5 actuating components 10 for surgery and can be applicable to various surgeries. Moreover, each console controls at least two manipulators to move, and two people use the two consoles to control the movement of multiple manipulators, increasing the surgical efficiency, reducing the surgical time, and avoiding the situation where one person controls too many manipulators and fails to control them in a timely manner.

[0094] In some embodiments, when a second driving component is provided on the parallel manipulator 20 and the connecting portion 240 includes a rotating portion 243 and a third driving component is provided on the rotating portion 243, the first console 70 and the second console are both connected to the second driving component and the third driving component for control. Then during the surgical process, each console can independently control the movement of the parallel manipulator 20 or independently control the rotation of the rotating portion 243, thereby realizing the multi-directional movement of the actuating component 10.

[0095] During the specific surgical process, after the posture of the manipulator is adjusted, the doctor can send control instructions to the second driving component and the third driving component through the console, and finally control the actuating component 10 to perform surgical operations.

[0096] As Figure 2 、 Figure 11 and Figure 18 shown, an embodiment of the fourth aspect of the present invention provides a surgical robot, which includes: a base assembly 60; a boom 40 disposed on the base assembly 60, the boom 40 includes a first-layer boom 410 and a second-layer boom 420 distributed vertically, and the first-layer boom 410 and the second-layer boom 420 can rotate relative to each other; a plurality of robotic arms, one end of the plurality of robotic arms is connected to the boom 40, and at least two robotic arms are connected to both the first-layer boom 410 and the second-layer boom 420.

[0097] For the surgical robot provided by the embodiment of this aspect, the plurality of robotic arms are distributed in upper and lower double layers, changing the adjacent relationship of the robotic arms, so that the plurality of robotic arms can vary in more positioning ways, facilitating adaptation to different surgical scenarios. Moreover, the first-layer boom 410 can drive the robotic arms thereon to rotate integrally relative to the second-layer boom 420 and the robotic arms thereon below. Compared with the situation where the upper and lower layer booms 40 cannot rotate relative to each other and the robotic arms can only move within the adjacent space, the movement range of the robotic arms is greatly improved. In the case of 5 robotic arms, it is convenient to carry 5 surgical instruments without interference between the 5 robotic arms, which is beneficial for the plurality of robotic arms to be able to move away from each other and each have sufficient space to move. Moreover, the robotic arms have high movement flexibility and are convenient for adapting to various surgical scenarios. Comparing Figure 2 the situation where the plurality of robotic arms are cross-positioned in Figure 18 and the situation where the plurality of robotic arms are not cross-positioned in

[0098] In some embodiments, the robotic arms on the first-layer boom 410 can rotate on the outer periphery of the robotic arms on the second-layer boom 420. This avoids interference between the inner and outer layers of robotic arms.

[0099] In some embodiments, the robotic arms on the first-layer boom 410 can rotate relative to the first-layer boom 410, and the robotic arms on the second-layer boom 420 can rotate relative to the second-layer boom 420. This further improves the flexibility of the plurality of robotic arms.

[0100] In some embodiments, the rotation range of the robotic arms on the first-layer boom 410 is greater than the rotation range of the robotic arms on the second-layer boom 420. The upper boom 40 is more flexible, improving the flexibility of the surgical robot.

[0101] In some embodiments, the number of robotic arms is five, two of which are rotatably connected to the first-layer boom 410, and the remaining three robotic arms are rotatably connected to the second-layer boom 420. This allows two robotic arms to rotate in an independent space and three robotic arms to rotate in an independent space. Compared with four or more robotic arms located in the same horizontal space, the probability of collision between the robotic arms can be reduced.

[0102] Regarding the specific structure of the boom 40, further, in some embodiments, as Figure 11 、 Figure 12 and Figure 13 shown, the first-layer boom 410 includes a first upper baffle 411, a first lower baffle 412, and a first support column 413 connected between the first upper baffle 411 and the first lower baffle 412. One end of at least two robotic arms is rotatably connected between the first upper baffle 411 and the first lower baffle 412; the second-layer boom 420 includes a second upper baffle 421, a second lower baffle 422, and a second support column 423 connected between the second upper baffle 421 and the second lower baffle 422. The second upper baffle 421 is rotatably connected to the bottom of the first lower baffle 412. One end of at least two robotic arms is rotatably connected between the second upper baffle 421 and the second lower baffle 422; the boom 40 is connected with a fourth driving assembly 430. The fourth driving assembly 430 can drive the second-layer boom 420 to rotate. The robotic arm has a first driving assembly, and the first driving assembly can drive the robotic arm to rotate relative to the boom 40.

[0103] In these embodiments, each layer of the boom 40 has an upper baffle and a lower baffle, and one end of the robotic arm is limited between the upper baffle and the lower baffle, which is beneficial to improving the installation stability of the robotic arm. The fourth driving assembly 430 drives the second-layer boom 420 located in the lower layer to rotate, and the first driving assembly drives the robotic arm to rotate relative to the boom 40. Then, in addition to being able to move with the boom 40 where it is located, the robotic arm can also rotate relative to the boom 40 where it is located, with good flexibility.

[0104] In some embodiments, as Figure 13 shown, the fourth driving assembly 430 includes a driving motor 431 and a speed reducer 432. The first support column 413 and the second support column 423 have mutually communicating cavities. The driving motor 431 is arranged in the cavity of the first support column 413, and the speed reducer 432 is arranged in the cavity of the second support column 423. The driving motor 431 can drive the second support column 423 to rotate through the speed reducer 432. Here, the fourth driving assembly 430 is hidden inside the boom 40, with a good appearance effect. In addition, by using the driving motor 431 to drive the second-layer boom 420 to rotate through the speed reducer 432, the boom 40 will not rotate too fast, improving safety.

[0105] Further, the fourth driving component 430 further includes a transmission belt 433, and the driving motor 431 is connected to the speed reducer 432 via the transmission belt 433.

[0106] In some embodiments, as Figure 11 and Figure 12 shown, the first lower baffle 412 is triangular, and at least two of the three corners of the first lower baffle 412 exposed outside the first support column 413 are provided with first connection ports 414 for rotatably connecting to the robotic arm; the second lower baffle 422 is triangular, and second connection ports 424 are provided at all three corners of the second lower baffle 422 exposed outside the second support column 423 for rotatably connecting to the robotic arm.

[0107] In these embodiments, making both the first lower baffle 412 and the second lower baffle 422 triangular and setting the connection ports at the corners of the triangle to connect the robotic arm, on the one hand, these two baffles occupy less space, reduce weight and save costs, and on the other hand, the connection ports at the corners are not too close to each other, which is beneficial to separating the robotic arms and reducing the probability of collision between the robotic arms.

[0108] In some embodiments, the first lower baffle 412 is an equilateral triangle, and the second lower baffle 422 is an equilateral triangle. This is beneficial for the three second connection ports 424 to be circumferentially equally spaced, and for the spacing between the first connection ports 414 to be the same as or similar to the spacing between the second connection ports 424, which can more evenly separate the robotic arms and reduce the probability of collision between the robotic arms.

[0109] In some embodiments, the diameter of the circumcircle of the first lower baffle 412 is greater than or equal to the diameter of the circumcircle of the second lower baffle 422. When the diameter of the circumcircle of the first lower baffle 412 is greater than the diameter of the circumcircle of the second lower baffle 422, the first connection ports 414 can be located outside the second connection ports 424 in the horizontal direction, so that the robotic arms on the first layer of the lifting arm 410 can be located outside the robotic arms on the second layer of the lifting arm 420, which is beneficial for the robotic arms on the first layer of the lifting arm 410 to rotate outside the robotic arms on the second layer of the lifting arm 420, thereby reducing the probability of collision between the internally and externally distributed robotic arms.

[0110] Of course, it is also possible to make the diameter of the circumcircle of the first lower baffle 412 equal to the diameter of the circumcircle of the second lower baffle 422. At this time, if the robotic arms on the first layer of the lifting arm 410 are to rotate outside the robotic arms on the second layer of the lifting arm 420, the length of the robotic arms on the first layer of the lifting arm 410 can be designed or adjusted to be greater than the length of the robotic arms on the second layer of the lifting arm 420, so as to facilitate the rotation of the robotic arms on the first layer of the lifting arm 410 outside the robotic arms on the second layer of the lifting arm 420.

[0111] In addition to the first-layer boom 410 and the second-layer boom 420, the boom 40 may further include a third-layer boom 40 (not shown in the figure). The third-layer boom 40 is located below the second-layer boom 420 and can rotate relative to the second-layer boom 420. Multiple robotic arms are distributed among the three-layer booms 40. For example, at least two of the multiple robotic arms are connected to the third-layer boom 40. Similarly, the boom 40 may also continue to include a fourth-layer boom 40 (not shown in the figure), a fifth-layer boom 40 (not shown in the figure), etc., not limited to the above two layers.

[0112] Further, in some embodiments, as Figure 2 , Figure 16 , Figure 17 and Figure 18 shown, each robotic arm includes a series robotic arm 30 and a parallel robotic arm 20 connected in sequence. One end of the series robotic arm 30 is connected to the boom 40; the series robotic arm 30 can provide five degrees of freedom to achieve the preoperative positioning of the execution component 10, and / or the parallel robotic arm 20 can provide at least five degrees of freedom, such as six degrees of freedom. The form of the series-parallel robotic arm connection occupies less space and is not easily interfered with each other.

[0113] In some embodiments, as Figure 2 and Figure 10 shown, the series robotic arm 30 includes a cross beam 310, a sliding beam 320, a telescopic rod 330, a rotating member 340, and a pitching member 350 connected in sequence. One end of the cross beam 310 is connected to the boom 40; the sliding beam 320 can slide along the cross beam 310 in a direction close to or away from the boom 40; the telescopic rod 330 is connected to the sliding beam 320 and can move up and down along the sliding beam 320; the rotating member 340 is connected to the bottom of the telescopic rod 330, and the rotating member 340 can rotate relative to the telescopic rod 330, and the rotation center line of the rotating member 340 coincides with or is parallel to the axis of the telescopic rod 330; the pitching member 350 is connected to the rotating member 340, and the pitching member 350 can perform a pitching motion relative to the rotating member 340. The pitching member 350 is connected to the corresponding parallel robotic arm 20. This robotic arm structure occupies less space. Especially during preoperative positioning, the movement trajectory is relatively regular. Compared with the robotic arm in the form of a parallelogram, the probability of the robotic arms colliding with each other can be reduced, and it is convenient for the doctor to accurately control the movement of the series robotic arm 30 to a specific position, improving the control accuracy. The joints of the series robotic arm 30 mentioned in the embodiments of this article include kinematic pairs composed of the above-mentioned cross beam 310, sliding beam 320, telescopic rod 330, rotating member 340, and pitching member 350, etc. The first driving component is a motor, and the motor is used to drive the kinematic pair to move.

[0114] Of course, the structure of the series robotic arm 30 can also adopt other methods to achieve five degrees of freedom, not limited to the above examples.

[0115] Further, in some embodiments, such as Figure 15 and Figure 16 shown, the surgical robot further includes a suspension device 50, the suspension device 50 is connected to the bottom of the boom 40, and multiple robotic arms are circumferentially distributed around the suspension device 50. For example, the suspension device 50 is connected to the bottom of the second-layer boom 420, and the suspension device 50 is fixedly connected to the second-layer boom 420, or the suspension device 50 is rotatably connected to the second-layer boom 420.

[0116] In one example, the execution body 110 of the execution assembly 10 extends offset to one side with respect to a straight line perpendicular to the moving platform 230, and the extension direction is the direction in which the execution body 110 points to the suspension device 50.

[0117] Here, multiple robotic arms can be arranged around the patient, leaving a space above the patient's abdomen, so that the suspension device 50 can act on the inner side of the patient's abdominal wall to make the patient's abdominal wall bulge, facilitating the establishment of a surgical space and vision inside the patient.

[0118] As an example, such as Figure 15 shown, the suspension device 50 includes a first suspension arm 510, a second suspension arm 520, and a suspension umbrella 530. The first suspension arm 510 is rotatably connected to the boom 40 and is horizontally disposed below the boom 40; the second suspension arm 520 is rotatably connected to the first suspension arm 510 and is horizontally disposed below the first suspension arm 510; the suspension umbrella 530 is connected to the second suspension arm 520 through a suspension rope. The first suspension arm 510 and the second suspension arm 520 can be stacked or at least partially overlapped vertically by rotation, which can reduce the occupied space and reduce the probability of collision between the suspension device 50 and the surrounding robotic arms. Moreover, the first suspension arm 510 and the second suspension arm 520 are rotatably connected, and the first suspension arm 510 is rotatably connected to the boom 40, which is convenient for adjusting the position of the suspension umbrella 530. In a specific application, the suspension umbrella 530 acts on the inner side of the patient's abdominal wall, and through the upward pulling force provided by the suspension device 50, the patient's abdominal wall bulges.

[0119] Of course, in other embodiments, the surgical robot can also be combined with the traditional carbon dioxide pneumoperitoneum method to inflate the patient's body to establish a surgical space and vision.

[0120] An embodiment of the fifth aspect of the present invention provides a surgical robot system, the surgical robot system includes: a surgical robot as in any one of the embodiments of the fourth aspect above, a first control console 70, and a second control console, the first control console 70 and the second control console are both connected to the surgical robot for control, and each control console controls the movement of at least one robotic arm of the surgical robot.

[0121] The surgical robot system provided by the embodiments of this aspect has the surgical robot of any one of the above fourth aspects, and thus has the beneficial effects of any one of the above embodiments, which will not be elaborated here one by one. In addition, the surgical robot system is configured with two consoles, and two people use the two consoles to control the movement of the robotic arms of the surgical robot. Compared with one console where one person independently controls the movement of multiple robotic arms, the corresponding robotic arms can be controlled in a timely manner, facilitating the simultaneous coordinated movement of multiple robotic arms and enabling the assistant doctor to be in a more comfortable cooperation environment.

[0122] In some embodiments, the surgical robot includes five robotic arms, two of which are rotatably connected to the first-layer boom 410, and the remaining three are rotatably connected to the second-layer boom 420; the first console 70 is connected to control the three robotic arms connected to the second-layer boom 420, and the second console is connected to control the two robotic arms connected to the first-layer boom 410.

[0123] In these embodiments, the two consoles respectively control the robotic arms connected to the first-layer boom 410 and the robotic arms connected to the second-layer boom 420, facilitating the manipulation by observing the postures of the corresponding robotic arms. Moreover, one console can be the main console and the other can be the slave console. For example, several execution components 10 frequently used during the operation are connected to the same layer of boom, such as the second-layer boom 420 located at the lower layer, and are manipulated by the surgeon, while the remaining execution components 10 are connected to the first-layer boom 410 and are manipulated by the assistant doctor, facilitating the coordinated cooperation of each execution component 10 during the operation.

[0124] The following details a surgical robot according to an embodiment of the present invention.

[0125] As Figure 2 and Figure 18 shown, a surgical robot includes a base assembly 60, a boom 40, and five robotic arms. Each robotic arm includes a serial robotic arm 30 and a parallel robotic arm 20. Among them, the five serial robotic arms 30 are respectively Figure 2 and Figure 18 30a, 30b, 30c, 30d, 30e in Figure 2 and Figure 18 20a, 20b, 20c, 20d, 20e in Figure 16 10a, 10b, 10c, 10d, 10e in. The five parallel robotic arms 20 are each connected to five execution components 10, respectively. The boom 40 is connected to the base assembly 60. The serial robotic arm 30 serves as a passive arm and is connected to the boom 40, and the parallel robotic arm 20 serves as an active arm and is connected to the serial robotic arm 30.

[0126] As Figure 10As shown in the figure, the serial manipulator 30 has 5 degrees of freedom of movement. The cross beam 310 is rotatably connected to the boom 40 and is driven by a motor to rotate along the axis O1. The sliding beam 320 is slidably connected to the cross beam 310 and is driven by a motor to move linearly along the cross beam 310. The telescopic rod 330 is slidably connected to the sliding beam 320 and is driven by a motor to move linearly up and down along the sliding beam 320. The rotating member 340 is rotatably connected to the telescopic rod 330 and is driven by a motor to rotate along the axis O2. The pitching member 350 is rotatably connected to the rotating member 340 and is driven by a motor to rotate along the axis O3. The main function of the serial manipulator 30 is preoperative positioning, positioning the parallel manipulator 20 in a suitable position for surgical operation.

[0127] As Figure 3 , Figure 4 and Figure 5 shown, the parallel manipulator 20 is a 3-UPS type parallel mechanism, having 3 branch chains 220. The 3 branch chains 220 connect the static platform 210 and the moving platform 230. Each branch chain 220 includes a cross hinge, a linear motion component, and an equivalent spherical hinge. The cross hinge has two rotational pairs, one of which is driven by a motor. The linear motion component is driven by a motor to perform reciprocating motion. The equivalent spherical hinge has three rotational pairs with intersecting axes. The parallel manipulator 20 has 6 degrees of freedom and is mounted at the distal end of the serial manipulator 30 and fixedly connected through an interface. In the above embodiment, the second drive assembly includes six motors, three of which are used to drive the reciprocating motion of the linear motion part, and the other three are used to drive the rotation of the three branch chains. In another embodiment, the parallel manipulator 20 is a Stewart parallel mechanism.

[0128] To obtain more flexible preoperative positioning and surgical operation, a rotary part is additionally added to the moving platform 230 of the parallel manipulator 20. As Figure 3 shown, the rotary part is driven by a motor to rotate along the axis R1. This rotational motion can be used for preoperative positioning to enable the manipulator to obtain more independent spaces, and can also participate in the surgical process to make the movement of the parallel manipulator 20 more flexible.

[0129] An endoscope for surgery and various types of execution components 10 can be mounted on the parallel manipulator 20. As Figure 4As shown, the endoscope is fixed on the rotating part 243, and the axis of the endoscope forms an angle K1 with the axis R1 of the rotating part 243, and the angle is 30° to 90°, which makes the endoscope easier to install and remove. During the operation, by controlling the 6 degrees of freedom and the rotating part of the serial robot arm 30, the endoscope can rotate around D1X1 and D1Y1 and telescopic movement along D1Z1, wherein the D1X1Y1Z1 coordinate system is fixed relative to the static platform 210, and point D1 is called the telecentric fixed point. D1 is overlapped with the center of the opening on the patient's skin. During the operation, the endoscope will not cause pulling damage to the human skin, and the minimally invasive surgery effect is achieved.

[0130] Similar to the effect of an endoscope, various types of instruments required for the surgical process can be carried on the parallel robot arm 20. Figure 5 , realizing the rotation of the actuator 10 around D2X2, D2Y2 and the telescopic movement along D2Z2, wherein the D2X2Y2Z2 coordinate system is fixed relative to the static platform 210, point D2 is called the telecentric fixed point, and D2 is coincident with the center of the opening on the patient's skin.

[0131] Through the above structure, the execution component 10 can achieve Figure 16 and Figure 17 The relative position of the robotic arms can be determined, and the robotic arms can move flexibly during the operation without collision or interference.

[0132] exist Figure 16 and Figure 17 Under the relative position condition, a suspension device 50 can be optionally set just above the other actuators 10 and the endoscope, and the suspension umbrella 530 of the suspension device 50 acts on the inner side of the patient's abdominal wall, and the suspension device 50 provides an upward pulling force to make the patient's abdominal wall bulge, so as to establish a surgical space and field of view in the body. Of course, the traditional CO2 pneumoperitoneum method can also be used to inflate the body to establish a surgical space and field of view.

[0133] The five serially connected mechanical arms 30 are rotatably connected to the suspension arm 40, as shown in FIG. Figure 11 As shown, the arm 40 has two layers, the second layer arm 420 located at the lower layer has three second connection ports 424, which are respectively connected to the three mechanical arms. The second layer arm 420 is rotatably connected to the first layer arm 410 located at the upper layer, and is driven by the driving motor 431 to rotate along the axis P1. The first layer arm 410 has two first connection ports 414, which are respectively connected to the other two mechanical arms. The first layer arm 410 is fixedly connected to the second crossbeam 640 of the base assembly 60. The upper and lower layers of the arm 40 allow the serial mechanical arms 30 to be arranged crosswise, making the layout more flexible and improving the adaptability of the surgical robot.

[0134] like Figure 14As shown, in the base assembly 60, the second cross beam 640 is slidably connected to the first cross beam 630 and driven by a motor to telescopically move along the first cross frame. The first cross frame is rotatably connected to the support column 620 and driven by a motor to rotate along the axis C1. The support column 620 is slidably connected to the base 610 and driven by a motor to move up and down along the base 610. The base 610 is placed on the ground. The base assembly 60 provides stable support for the surgical robot.

[0135] In the above embodiment, a rotating part capable of coaxial rotary motion is connected in series on the moving platform 230 of the parallel manipulator 20, which can rotate a full circle, and the extension line of the execution main body 110 of the carried execution assembly 10 forms a fixed angle of 30° to 90° with the straight line perpendicular to the moving platform 230. The execution main body 110 can be loaded from the back to the front, which is convenient for disassembly and assembly and has high safety. The added rotary motion can participate in the preoperative positioning, making the positioning more flexible. It is not necessary for the serial manipulator 30 to separately achieve the preoperative positioning of 5 degrees of freedom, which is beneficial to making the structure of the serial manipulator 30 simpler. The added rotary motion can also participate in the operation, increasing the motion stroke of the parallel manipulator 20. Compared with the case where the parallel manipulator 20 and the execution assembly 10 are fixedly connected without a rotating part, in this embodiment, the distance between adjacent parallel manipulators 20 can be increased, further reducing the risk of collision.

[0136] In addition, the passive arm is of a serial structure, providing 5 degrees of freedom for preoperative positioning of the parallel manipulator 20. The 5 serial manipulators 30 are arranged in two layers, with two in the upper layer and three in the lower layer. The upper and lower layer serial manipulators 30 can be cross-arranged to change the adjacent relationship of the manipulators, and more positioning methods can be varied to adapt to different surgical scenarios. Each single serial manipulator 30 has a simple structure, small volume, and good rigidity. This solution occupies little space during the surgical operation, can realize the simultaneous operation of multiple manipulators without mutual interference, completely replaces the bedside hand-held operation of the assistant doctor, improves the surgical quality, and eliminates the risk of the assistant doctor being injured by the manipulator.

[0137] In the surgical robot provided by the embodiment of the present invention, when the execution assembly 10 is installed on the parallel manipulator 20, the angle between the extension direction of the execution main body 110 and the straight line perpendicular to the moving platform 230 is between 30° and 90°, which solves the problem of mutual collision when multiple parallel manipulators 20 and multiple execution assemblies 10 work simultaneously. The surgical robot occupies little space during the surgical operation, can realize the simultaneous operation of multiple manipulators without mutual interference, is beneficial to completely replacing the bedside hand-held operation of the assistant doctor, improves the surgical quality, and eliminates the risk of the assistant doctor being injured by the manipulator. Of course, further flexibility of the manipulator can be improved by making the suspension arm 40 include multiple layers of suspension arms that can rotate relative to each other up and down, such as the first layer suspension arm 410 and the second layer suspension arm 420, and even the third layer suspension arm and more layers of suspension arms.

[0138] Although the embodiments of the present invention have been described in detail above, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the present invention. It should be understood that, in the view of those skilled in the art, these modifications and variations will still fall within the spirit and scope of the embodiments of the present invention defined by the claims.

Claims

1. A surgical robot, characterized in that: The surgical robot comprises: Base assembly (60); A suspension arm (40) is arranged on the base assembly (60), the suspension arm (40) comprising a first-layer suspension arm (410) and a second-layer suspension arm (420) which are distributed up and down, and the first-layer suspension arm (410) and the second-layer suspension arm (420) are capable of rotating relative to each other; A plurality of mechanical arms, one end of each of the plurality of mechanical arms is connected to the suspension arm (40), and at least two of the mechanical arms are connected to each of the first-layer suspension arm (410) and the second-layer suspension arm (420).

2. The surgical robot according to claim 1, characterized in that: The robotic arm on the first-layer boom (410) is capable of rotating around the periphery of the robotic arm on the second-layer boom (420); and / or the rotation range of the robotic arm on the first-layer boom (410) is greater than the rotation range of the robotic arm on the second-layer boom (420).

3. The surgical robot according to claim 1, characterized in that: The number of the mechanical arms is five, two of which are rotatably connected to the first-layer suspension arm (410), and the remaining three mechanical arms are rotatably connected to the second-layer suspension arm (420).

4. The surgical robot according to any one of claims 1 to 3, characterized in that: The first-layer suspension arm (410) comprises a first upper baffle (411), a first lower baffle (412), and a first support column (413) connected between the first upper baffle (411) and the first lower baffle (412), and one end of at least two of the mechanical arms is rotatably connected between the first upper baffle (411) and the first lower baffle (412); The second layer suspension arm (420) comprises a second upper baffle (421), a second lower baffle (422) and a second support column (423) connected between the second upper baffle (421) and the second lower baffle (422), the second upper baffle (421) is rotatably connected to the bottom of the first lower baffle (412), and one end of at least two of the mechanical arms is rotatably connected between the second upper baffle (421) and the second lower baffle (422); The boom (40) is connected to a fourth drive assembly (430), and the fourth drive assembly (430) is capable of driving the second-layer boom (420) to rotate. The mechanical arm has a first drive assembly, and the first drive assembly is capable of driving the mechanical arm to rotate relative to the boom (40).

5. The surgical robot according to claim 4, characterized in that: The fourth driving assembly (430) includes a driving motor (431) and a reducer (432); the first support column (413) and the second support column (423) have mutually connected cavities; the driving motor (431) is arranged in the cavity of the first support column (413); the reducer (432) is arranged in the cavity of the second support column (423); the driving motor (431) can drive the second support column (423) to rotate via the reducer (432).

6. The surgical robot according to claim 5, characterized in that: The first lower baffle (412) is triangular in shape, and at least two of the three corners of the first lower baffle (412) exposed from the first support column (413) are provided with a first connection port (414), and the first connection port (414) is used for rotatably connecting with the mechanical arm; The second lower baffle (422) is triangular in shape, and three corners of the second lower baffle (422) exposed from the second support column (423) are provided with second connection ports (424), and the second connection ports (424) are used for rotatably connecting with the mechanical arm.

7. The surgical robot according to claim 6, characterized in that: The first lower baffle plate (412) is in the shape of an equilateral triangle, and the second lower baffle plate (422) is in the shape of an equilateral triangle; and / or The diameter of the circumscribed circle of the first lower baffle plate (412) is greater than or equal to the diameter of the circumscribed circle of the second lower baffle plate (422).

8. The surgical robot according to any one of claims 1 to 3, characterized in that: Each of the mechanical arms comprises a serial mechanical arm (30) and a parallel mechanical arm (20) connected in sequence, and one end of the serial mechanical arm (30) is connected to the suspension arm (40); The serial robot arm (30) can provide five degrees of freedom to achieve preoperative positioning of the actuator (10), and / or the parallel robot arm (20) can provide at least five degrees of freedom.

9. The surgical robot according to claim 8, characterized in that: The tandem mechanical arm (30) comprises: A crossbeam (310), one end of the crossbeam (310) being connected to the boom (40); A sliding beam (320) capable of sliding along the cross beam (310) toward or away from the boom (40); A telescopic rod (330) connected to the sliding beam (320) and capable of moving up and down along the sliding beam (320); A rotating member (340) connected to the bottom of the telescopic rod (330), the rotating member (340) being capable of rotating relative to the telescopic rod (330), and a rotation center line of the rotating member (340) being coincident with or parallel to an axis line of the telescopic rod (330); A pitching member (350) is connected to the rotating member (340). The pitching member (350) can perform a pitching motion relative to the rotating member (340). The pitching member (350) is connected to a corresponding parallel mechanical arm (20).

10. The surgical robot according to any one of claims 1 to 3, characterized in that: The boom (40) further comprises a third-layer boom (40) located below the second-layer boom (420), wherein the third-layer boom is capable of rotating relative to the second-layer boom (420), and at least two of the plurality of mechanical arms are connected to the third-layer boom (40).

11. The surgical robot according to any one of claims 1 to 3, characterized in that: The surgical robot further comprises: A suspension device (50) is connected to the bottom of the second-layer suspension arm (420), wherein the suspension device (50) is fixedly connected to the second-layer suspension arm (420), or the suspension device (50) is rotatably connected to the second-layer suspension arm (420); The plurality of mechanical arms are distributed circumferentially around the suspension device (50).

12. A surgical robot system, characterized in that: The surgical robot system includes a surgical robot as described in any one of claims 1 to 11, a first control console and a second control console, the first control console and the second control console are both control-connected to the surgical robot, and each control console controls the movement of at least one robotic arm of the surgical robot.

13. The surgical robot system according to claim 12, characterized in that: The surgical robot comprises five mechanical arms, two of which are rotatably connected to the first-layer suspension arm (410), and the remaining three mechanical arms are rotatably connected to the second-layer suspension arm (420); The first control console is control-connected to the three mechanical arms connected to the second-layer suspension arm (420), and the second control console is control-connected to the two mechanical arms connected to the first-layer suspension arm (410).

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