Instrument operation arm and surgical robot system

Abstract

The invention provides an instrument operation arm and a surgical robot system. The instrument operation arm comprises a surgical instrument and a replacement device. A surgical instrument includes an instrument shaft and an end effector for detachable connection to a tip of the instrument shaft. The replacing device comprises a loading part, a holding mechanism, a driving assembly and a linear moving assembly. The loading part is provided with a loading position, and the loading position is used for arranging the end effector. The holding mechanism is correspondingly arranged at the loading position, the holding mechanism has a fastening state and a loosening state, in the fastening state, the holding mechanism is used for clamping the end effector, and in the loosening state, the holding mechanism allows the end effector to be separated from the loading part. The driving assembly drives the loading position to move to the position opposite to the tail end of the instrument rod and drives the retaining mechanism to be switched between the fastening state and the loosening state. The linear moving assembly is connected with the surgical instrument and used for driving the instrument rod to be close to or away from the loading position. According to the instrument operation arm, the labor cost and the instrument cost are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more particularly to an instrument operating arm and a surgical robot system. Background Art

[0002] Robotic surgical systems use various types of medical devices to perform minimally invasive surgical procedures, which have the advantages of accurate positioning, stable operation, high dexterity, large working range, resistance to radiation and infection, etc., and are widely used in various surgeries.

[0003] And such systems allow the surgical instruments to be remotely manipulated. The surgical instruments are typically configured with an end effector in the form of a surgical tool (such as a surgical scalpel, scissors, forceps, pliers, cautery tool, etc.) provided at one end of an elongated tube. Most surgical instruments are mounted on the instrument operating arm of the robotic surgical system during the robotic surgery for actuation. The operating arm provides multiple degrees of freedom of operation for the surgical instrument, enabling the doctor to remotely control the position, pointing angle, and execution state of the end effector of the surgical instrument (e.g., scissors opening and closing, cautery mode, etc.).

[0004] However, surgical instruments usually come with only one type of end effector, and it is not removable and replaceable, lacking flexibility. In addition, an instrument operating arm usually comes with only one surgical instrument. When another surgical instrument needs to be used on the same instrument operating arm during the surgery, a medical staff member needs to assist in replacing the entire surgical instrument beside the patient, which increases the labor and instrument consumption costs.

[0005] Therefore, there is a need for an instrument operating arm and a surgical robot system to at least partially solve the above problems. Summary of the Invention

[0006] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further elaborated in the Detailed Description section. The Summary of the Invention section of the present application is not intended to attempt to define the key features and essential technical features of the claimed technical solution, nor is it intended to determine the protection scope of the claimed technical solution.

[0007] To at least partially solve the above problems, a first aspect of the present application provides an instrument operating arm for a surgical robot system, the instrument operating arm comprising:

[0008] A surgical instrument, the surgical instrument comprising an instrument rod and a plurality of end effectors, the end effectors being adapted to be detachably connected to the end of the instrument rod;

[0009] A replacement device, the replacement device comprising:

[0010] Loading unit, the loading unit is provided with a plurality of loading positions, and the loading positions are used to set the end effector.

[0011] A plurality of holding mechanisms, the plurality of holding mechanisms are correspondingly arranged at the plurality of loading positions, and the holding mechanism has a fastening state and a release state.

[0012] In the fastening state, the holding mechanism is used to clamp the end effector.

[0013] In the release state, the holding mechanism allows the end effector to disengage from the loading unit.

[0014] Drive assembly, the drive assembly drives the loading position to move to a position opposite to the end of the instrument rod, and drives the holding mechanism to switch between the fastening state and the release state.

[0015] Linear movement assembly, the linear movement assembly is connected to the surgical instrument, and the linear movement assembly is used to drive the instrument rod to approach or move away from the loading position.

[0016] According to the instrument operating arm of the present application, it is possible to replace the end effector of the surgical instrument without replacing the entire surgical instrument, and there is no need for manual disassembly and assembly, which reduces the labor cost and the instrument cost, and also reduces the possibility of introducing external contamination.

[0017] Optionally, the drive assembly includes:

[0018] The first drive assembly, the first drive assembly is connected to the loading unit, and the first drive assembly is used to drive the loading unit to move along the first direction, so that a plurality of loading positions can move along the first direction to correspond to the position of the end of the instrument rod.

[0019] The second drive assembly, the second drive assembly is used to be connected to the holding mechanism and is used to drive the holding mechanism to switch between the fastening state and the release state. According to this solution, two drive assemblies are used to respectively complete the alignment operation and the clamping operation of the holding mechanism, and the driving speed is fast and the accuracy is high.

[0020] Optionally, the replacement device includes a base, the base includes a loading unit and a connecting part connected to the loading unit, and the first drive assembly includes a first driver, and the output end of the first driver is connected to the connecting part. According to this solution, an indirect connection between the loading unit and the driver can be realized, the structure is compact, and space is saved.

[0021] Optionally, the first drive assembly further includes a first transmission assembly, and the first transmission assembly is connected between the output end of the first driver and the connecting part. According to this solution, the driving force of the driver is effectively transmitted by using the first transmission assembly.

[0022] Optionally, the first transmission assembly includes a reducer.

[0023] Optionally, the loading position is configured as a notch located at the edge of the loading part, and the notch extends through the loading part along the second direction, and the notch is used to accommodate the end effector. According to this solution, the through notch can accommodate the end effector and does not interfere with the normal use of the surgical instrument.

[0024] Optionally, the replacement device further includes a covering part, the covering part is arranged on the loading part so that the holding mechanism is located between the covering part and the loading part, and a through hole corresponding to the loading position is arranged at the edge of the covering part. According to the above setting, structures such as the holding mechanism can be protected, improving reliability.

[0025] Optionally, the holding mechanism includes:

[0026] A clamp, the clamp has a holding end and a connecting end, a pivoting part is arranged between the connecting end and the holding end, the holding end is used for clamping the end effector, and the clamp is pivotally connected to the loading part through the pivoting part;

[0027] A second transmission component, the second transmission component is pivotally connected to the connecting end and is also used for connecting to the second driving component, the second transmission component is configured to be able to move along the third direction, and the third direction points to the loading position;

[0028] Wherein, when the second driving component drives the second transmission component to approach the loading position, the holding end of the clamp pivots in a direction away from the loading position, and the holding mechanism switches to the loosening state;

[0029] When the second driving component drives the second transmission component to move away from the loading position, the holding end of the clamp pivots in a direction close to the loading position, and the holding mechanism switches to the fastening state. According to the above setting, by using the clamp and the second transmission component, a smooth switching between the fastening state and the loosening state is achieved.

[0030] Optionally, the holding mechanism includes a pair of clamps, the holding ends of the pair of clamps are arranged opposite to each other, a guiding part is arranged on the loading part, and the second transmission component includes:

[0031] A first push rod, the first push rod is arranged through the guiding part;

[0032] A first connecting rod, the first connecting rod is fixedly connected to the first push rod, and the first connecting rod is located between the guiding part and the loading position;

[0033] A pair of second connecting rods, the second connecting rods are pivotally connected between the first connecting rod and the connecting ends of the clamps. According to the above setting, the clamping is firm and the state switching is smoother.

[0034] Optionally, the loading part is further provided with a reset fixing part, and a reset elastic part is connected between the reset fixing part and the first link. The reset elastic part is configured to apply a reset force to the first link in a direction away from the loading position, so that the holding mechanism has a tendency to switch to the fastening state. According to this solution, after the driving force disappears, the holding mechanism can be automatically switched to the fastening state, which is beneficial to conveniently loading multiple end effectors.

[0035] Optionally, the second driving assembly includes:

[0036] A second push rod configured to be movable along a second direction;

[0037] A second driver connected to the second push rod, the second driver being used to drive the second push rod to move along the second direction so that the end of the second push rod can abut against the end of the first push rod;

[0038] Wherein, the ends of the first push rod and the second push rod are respectively provided with cooperating inclined surfaces. When the first push rod abuts against the second push rod, the second push rod can push the first push rod closer to the loading position. According to the above setting, the movement of the first push rod is realized by the pushing action of the inclined surface.

[0039] Optionally, the second driving assembly further includes a screw member and a moving block threadedly engaged with the screw member. The second push rod is fixedly connected to the moving block, and the output end of the second driver is connected to the screw member. According to the above setting, the up and down movement of the second push rod can be realized by using the threaded engagement.

[0040] Optionally, the instrument operating arm includes an arm main body, the linear movement assembly is arranged on the arm main body, the replacement device includes a drive box connected to the arm main body, and the first driving assembly and the second driving assembly are arranged in the drive box. The loading part is rotatably arranged in the drive box, the second push rod penetrates the loading part along the rotation axis of the loading part, and a plurality of holding mechanisms are arranged around the rotation axis, and the first push rod points to the rotation axis. According to this solution, the loading part in the form of a turntable makes the structure concise and has high accuracy in position alignment.

[0041] Optionally, the connecting part has a gear structure, and the loading part is configured as a turntable or a chain; or

[0042] The connecting part has a chain structure, and the loading part is configured as a turntable or a chain; or

[0043] The connecting part has a rack structure, and the loading part is configured as a slider.

[0044] The second aspect of the present application provides a surgical robot system, including the instrument operating arm of the first aspect above.

[0045] The surgical robot system according to the present application has a technical effect similar to that of the instrument operating arm of the first aspect described above.

[0046] Optionally, a control device is further included, the control device is connected to the instrument operating arm signal, and the control device is configured to execute the end effector selection process according to the instruction, and the end effector selection process includes:

[0047] Controlling the linear motion assembly to drive the surgical instrument to move from the initial position along the second direction, so that the end of the instrument rod moves to above the loading portion;

[0048] Controlling the first driving assembly to drive the loading portion to move along a first direction so that the selected end effector is aligned with the end of the instrument rod;

[0049] Controlling the linear motion assembly to drive the surgical instrument to move along the second direction and to connect the end of the instrument rod with the selected end effector;

[0050] When the connection is successful, the second driving assembly is controlled to drive the holding mechanism to switch to a released state;

[0051] The linear motion assembly is controlled to drive the surgical instrument to move along the second direction and insert the sleeve. According to the above arrangement, the initial selection of the end effector can be completed.

[0052] Optionally, the control device is configured to execute an end effector replacement process according to the instruction, and the end effector replacement process includes:

[0053] Controlling the second driving assembly to drive the holding mechanism to switch to a released state;

[0054] Controlling the linear motion assembly to drive the current end effector of the surgical instrument to move along the second direction to a loading position;

[0055] Controlling the second drive assembly to drive the holding mechanism to switch to a fastened state;

[0056] Controlling the linear motion assembly to drive the surgical instrument to move along a second direction and to cause the end of the instrument rod to be separated from the current end effector;

[0057] Controlling the linear motion assembly to drive the end of the instrument rod of the surgical instrument to move along the second direction to above the loading portion;

[0058] Controlling the first driving assembly to drive the loading portion to move along a first direction so that the end effector to be replaced is aligned with the end of the instrument rod;

[0059] Controlling the linear motion assembly to drive the surgical instrument to move along the second direction and to connect the end of the instrument rod with the end effector to be replaced;

[0060] After successful connection, control the second drive assembly to drive the holding mechanism to switch to the released state;

[0061] Control the linear movement assembly to drive the surgical instrument to move in the second direction and insert it into the cannula. According to the above settings, the replacement process of the end effector can be completed.

[0062] Optionally, the control device is configured to execute the end effector return process according to an instruction, and the end effector return process includes:

[0063] Control the second drive assembly to drive the holding mechanism to switch to the released state;

[0064] Control the linear movement assembly to drive the current end effector of the surgical instrument to move to the loading position in the second direction;

[0065] Control the second drive assembly to drive the holding mechanism to switch to the tightened state;

[0066] Control the linear movement assembly to drive the surgical instrument to move in the second direction and disengage the end of the instrument rod from the current end effector;

[0067] Control the linear movement assembly to drive the surgical instrument to move to the initial position in the second direction. According to the above settings, the return after the operation can be completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The following drawings of the present application are hereby incorporated as part of the present application for understanding the present application. The embodiments of the present application shown in the drawings and their descriptions are used to explain the principles of the present application.

[0069] In the drawings:

[0070] Figure 1 is a schematic diagram of a surgical robot system according to an embodiment of the present application;

[0071] Figure 2 is a schematic diagram of a robotic arm system according to an embodiment of the present application;

[0072] Figure 3 is a schematic diagram of an instrument operating arm according to an embodiment of the present application;

[0073] Figure 4 is Figure 3 a schematic diagram of another perspective of the instrument operating arm in ;

[0074] Figure 5 is a schematic cross-sectional view of a replacement device part of an instrument operating arm according to an embodiment of the present application;

[0075] Figure 6An enlarged schematic view of a replacement device part of an instrument operating arm according to an embodiment of the present application;

[0076] Figure 7 A schematic view of the replacement device holding mechanism in a tightened state according to an embodiment of the present application; and

[0077] Figure 8 A schematic view of the replacement device holding mechanism in a loosened state according to an embodiment of the present application.

[0078] Explanation of reference numerals:

[0079] 1: Surgical robot system 20: Doctor console 30: Imaging system

[0080] 10: Manipulator system 11: Base 12: Handle

[0081] 13: Column 14: Manipulator arm 15: Adjusting arm part

[0082] 16: Operating arm part 17: Connecting arm 100: Instrument operating arm

[0083] 101: Arm main body 102: Linear movement component 103: Sleeve

[0084] 104: Instrument drive device 110: Replacement device 111: Base

[0085] 112: Loading part 113: Connecting part 114: Loading position

[0086] 115: Reset fixing part 116: Reset elastic part 117: Covering part

[0087] 118: Drive box 119: Guide part 120: Holding mechanism

[0088] 121: Clamp 122: Holding end 123: Connecting end

[0089] 124: Pivoting part 130: First drive assembly 131: First driver

[0090] 132: First transmission assembly 140: Second transmission assembly 141: First push rod

[0091] 142: First connecting rod 143: Second connecting rod 150: Second drive assembly

[0092] 151: Second push rod 152: Screw part 153: Moving block

[0093] 154: Second driver 160: Surgical instrument 161: Instrument rod

[0094] 162: End effector D1: First direction D2: Second direction

[0095] D3: Third direction Detailed implementation manners

[0096] In the following description, numerous specific details are given to provide a more thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application may be practiced without one or more of these details. In other instances, well-known technical features have not been described to avoid obscuring the present application.

[0097] It should be noted that the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of the stated features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.

[0098] The ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and similar expressions used herein are for illustrative purposes only and are not restrictive.

[0099] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings.

[0100] See Figure 1 , the surgical robot system 1 according to an embodiment of the present application is a robot that can perform surgery remotely, and it may include a control system (also referred to as the doctor console 20), a robotic arm system 10 (a robotic arm system 10 beside the patient), and an imaging system 30.

[0101] Among them, the control system is provided with a display unit for displaying the environment of the surgical instrument 160, a doctor operation control mechanism, an armrest, etc. Among them, an observation window is opened on the display unit for the doctor to observe, the operation control mechanism is configured such that its actions can correspond to the actions of the surgical instrument 160, and the armrest is used to place the doctor's arm. In addition, on the doctor console 20, there are also other control switches that are convenient for the hands or feet to touch or press to perform various function operations and complete human-machine interaction.

[0102] The imaging system 30 has a display screen, an endoscope controller, system electronics, an image processor, etc.

[0103] The robotic arm system 10 may include at least one robotic arm 14. The robotic arm 14 has a plurality of connecting arms 17. Adjacent two connecting arms 17 are relatively movable with specific degrees of freedom, so that the end of the robotic arm 14 can achieve multi-degree-of-freedom movement (such as degrees of freedom, which will vary according to different surgical instruments 160). An instrument operating arm 100 is installed at the end of the robotic arm 14, and the surgical instrument 160 or the endoscope is detachably installed on the instrument operating arm 100.

[0104] In one example, referring to Figure 2 , the robotic arm system 10 includes a base 11. A column 13 is provided on the base 11, and at least one robotic arm 14 that can move up and down relative to the base 11 is provided on the column 13 ( Figure 2 only one robotic arm 14 is shown in the figure). A handle 12 may also be provided on the base 11, and the operator can assist in moving the base 11 through the handle 12.

[0105] The robotic arm 14 generally may include an adjustment arm portion 15 and an operating arm portion 16. The end of the operating arm portion 16 is used to install the instrument operating arm 100, and the instrument operating arm 100 is used to install the surgical instrument 160 or the endoscope. An instrument driving device 104 may also be provided on the instrument operating arm 100 to drive the surgical instrument 160 to perform actions such as insertion and clamping. Before operating the robot for surgery, it is necessary to first operate the adjustment arm portion 15 to make the surgical instrument 160 installed at the end of the operating arm portion 16 reach the designated position, and then lock the rotating joints of the adjustment arm portion 15. During the surgery, the operating arm portion 16 is remotely controlled to complete the surgical operation, while keeping the rotating joints of the adjustment arm portion 15 locked to prevent relative rotation between the connecting rods (i.e., the connecting arms 17) of the adjustment arm portion 15 during the surgery. The instrument operating arm 100 of the embodiment of the present application will be elaborated in detail below in conjunction with Figures 3 to 8 The instrument operating arm 100 of the embodiment of the present application will be elaborated in detail below in conjunction with

[0106] Among them, the instrument operating arm 100 includes a replacement device 110. The surgical instrument 160 includes an instrument rod 161 and a plurality of end effectors 162. The end effectors 162 are used to detachably connect to the end of the instrument rod 161. The replacement device 110 includes a loading portion 112, a plurality of holding mechanisms 120, a driving assembly, and a linear movement assembly 102.

[0107] The loading part 112 is provided with a plurality of loading positions 114 for setting the end effector 162. A plurality of holding mechanisms 120 are correspondingly arranged at the plurality of loading positions 114, and the holding mechanisms 120 have a fastening state and a releasing state. In the fastening state, the holding mechanism 120 is used to clamp the end effector 162. In the releasing state, the holding mechanism 120 allows the end effector 162 to disengage from the loading part 112. The driving assembly drives the loading position 114 to move to a position opposite to the end of the instrument rod 161, and drives the holding mechanism 120 to switch between the fastening state and the releasing state. The linear movement assembly 102 is connected to the surgical instrument 160, and the linear movement assembly 102 is used to drive the instrument rod 161 to approach or move away from the loading position 114.

[0108] According to the instrument operating arm 100 of the present application, the end effector 162 of the surgical instrument 160 can be replaced without replacing the entire surgical instrument 160, and manual disassembly and assembly are not required, reducing labor costs and instrument costs, and also reducing the possibility of introducing exogenous contamination.

[0109] More specifically, referring to Figure 3 、 Figure 4 and Figure 5 ,the instrument operating arm 100 includes an arm main body 101, and the linear movement assembly 102 is arranged on the arm main body 101. The linear movement assembly 102 can be, for example, a vertical slide rail and slider assembly. The surgical instrument 160 together with the instrument driving device 104 is connected to the slider, and the slider can drive the surgical instrument 160 to move along the second direction D2 (vertically).

[0110] The replacement device 110 includes a base 111 and a covering part 117 arranged on the base 111. The base 111 includes the above-mentioned loading part 112 and a connecting part 113. The connecting part 113 is connected to the loading part 112 and is located below the loading part 112. The covering part 117 is arranged on the loading part 112 so that the holding mechanism 120 is located between the covering part 117 and the loading part 112. Thus, structures such as the holding mechanism 120 can be protected, improving reliability.

[0111] In the illustrated embodiment, the loading part 112 is configured as a turntable or a chain (ring chain), and the connecting part 113 has a gear structure or a chain structure.

[0112] Preferably, the loading part 112 is configured as a turntable, the connecting part 113 has a gear structure, and the first transmission assembly 132 is meshed and connected to the connecting part 113.

[0113] The loading position 114 is configured as a notch located at the edge of the loading part 112, and the notch extends through the loading part 112 along the second direction D2. The notch is used to accommodate the end effector 162. A through hole corresponding to the loading position 114 is provided at the edge of the covering part 117. The through notch can accommodate the end effector 162 and does not interfere with the normal use of the surgical instrument 160.

[0114] The replacement device 110 further includes a drive box 118, and the drive box 118 is connected to the arm main body 101. The drive assembly includes a first drive assembly 130 and a second drive assembly 150, and the first drive assembly 130 and the second drive assembly 150 are arranged in the drive box 118. The loading part 112 is located on the upper side of the drive box 118.

[0115] Reference Figure 5 , the first drive assembly 130 is connected to the loading part 112, and it is used to drive the loading part 112 to move along the first direction D1, so that a plurality of loading positions 114 can move along the first direction D1 to correspond to the position of the end of the instrument rod 161. Specifically, the first drive assembly 130 includes a first driver 131 and a first transmission assembly 132. The output end of the first driver 131 is connected to the connecting part 113 via the first transmission assembly 132. In other words, the first transmission assembly 132 is connected between the output end of the first driver 131 and the connecting part 113. Optionally, the first transmission assembly 132 is configured as a speed reducer 132 or a reduction box.

[0116] As an alternative implementation, the first direction D1 can be a circumferential direction. For example, the first direction D1 can be a circumferential direction perpendicular to the third direction D3.

[0117] In an embodiment not shown, the first direction D1 can also be a linear direction, the loading part 112 is configured as a slider, and the connecting part 113 has a rack structure.

[0118] Reference Figure 5 , Figure 6 , Figure 7 and Figure 8 , the second drive assembly 150 is used to connect to the holding mechanism 120 and is used to drive the holding mechanism 120 to switch between a tightened state and a loosened state. The holding mechanism 120 includes a clamp 121 and a second transmission assembly 140.

[0119] Among them, the holding mechanism 120 includes a pair of clamps 121. The clamps 121 have a holding end 122 and a connecting end 123. A pivot part 124 is provided between the connecting end 123 and the holding end 122. The holding ends 122 of the pair of clamps 121 are arranged opposite to each other, and the holding ends 122 are used to clamp the end effector 162. And, the clamps 121 are pivotally connected to the loading part 112 through the pivot part 124.

[0120] The connecting end 123 of the second transmission assembly 140 and the clamp 121 is pivotally connected. And the second transmission assembly 140 is further configured to be connected to the second drive assembly 150. The second transmission assembly 140 is configured to be movable along a third direction D3, where the third direction D3 points to the loading position 114. In the present embodiment, the third direction D3 may be the radial direction of the loading portion 112. Thus, when the second drive assembly 150 drives the connecting end 123 of the clamp 121 to move, the clamp 121 can rotate about the pivot portion 124 as the axis, so as to realize the mutual approach or separation of the holding ends 122 of the pair of clamps 121, and further realize the clamping or releasing of the end effector 162.

[0121] Specifically, referring to Figure 7 , when the second drive assembly 150 drives the second transmission assembly 140 away from the loading position 114, the holding end 122 of the clamp 121 pivots in the direction approaching the loading position 114, and the holding mechanism 120 switches to the fastening state. Referring to Figure 8 , when the second drive assembly 150 drives the second transmission assembly 140 close to the loading position 114, the holding end 122 of the clamp 121 pivots in the direction away from the loading position 114, and the holding mechanism 120 switches to the released state.

[0122] It should be noted that in some embodiments not shown, the holding mechanism may also be other structures that can realize the fastening or releasing of the end effector 162 under the drive of the second drive assembly 150, and is not limited to the form of the clamp.

[0123] The second transmission assembly 140 includes a first push rod 141, a first link 142, and a pair of second links 143. Among them, the pair of second links 143 are respectively pivotally connected to the connecting end 123 of the clamp 121, and the first link 142 is connected between the pair of second links 143, preferably pivotally connected. And the first push rod 141 is fixedly connected to the first link 142. The first push rod 141 is configured to be movable along the third direction D3 under the action of the second drive assembly 150 (the second push rod 151), so as to drive the first link 142 to move, and further drive the clamp 121 to pivot through a lever action. In order to limit the moving direction of the first push rod 141, a guiding portion 119 is provided on the loading portion 112, and the first push rod 141 is disposed through the guiding portion 119.

[0124] The second driving assembly 150 includes a second push rod 151 and a second driver 154. The second driver 154 is connected to the second push rod 151, and the second push rod 151 is configured to be movable along a second direction D2. Preferably, the second push rod 151 penetrates through the loading portion 112 along the rotation axis of the loading portion 112. The second driver 154 is used to drive the second push rod 151 to move along the second direction D2, so that when the end of the second push rod 151 moves along the second direction D2, it can drive the first push rod 141 to move along a third direction D3.

[0125] As an implementation form, the second driving assembly 150 further includes a screw member 152 and a moving block 153, and the moving block 153 is configured to be in threaded cooperation with the screw member 152. Specifically, when the screw member 152 rotates, the moving block 153 can move along the screw member 152. In this embodiment, the screw member 152 extends along the second direction D2, one end (such as the bottom end) of the second push rod 151 is fixedly connected to the moving block 153, and the output end of the second driver 154 is connected to the screw member 152. Thus, the up and down movement of the second push rod 151 can be realized by using the threaded cooperation.

[0126] It should be noted that the second driving assembly 150 is not limited to the structure of the screw member 152 and the moving block 153, and other linear driving structures can also be used, such as linear driving structures using ball screws, etc., which are not limited herein.

[0127] As an alternative embodiment, the other end (such as the top end) of the second push rod 151 can be connected to the end of the first push rod 141, such as a flexible connection. Thus, when the second push rod 151 moves either upward or downward, it can drive the first push rod 141 to move along the third direction D3 (towards or away from the center of the loading portion 112).

[0128] In the illustrated embodiment, the ends of the first push rod 141 and the second push rod 151 are respectively provided with cooperating inclined surfaces. When the first push rod 141 abuts against the second push rod 151, the second push rod 151 can push the first push rod 141 towards the loading position 114. For example, when the second push rod 151 moves upward, it can push the first push rod 141 towards the loading position 114. However, in this setting, when the second push rod 151 moves downward, the first push rod 141 will disengage from the second push rod 151. Therefore, a structure capable of resetting the holding mechanism 120 needs to be provided.

[0129] Specifically, the loading unit 112 is further provided with a reset fixing part 115, and a reset elastic part 116 is connected between the reset fixing part 115 and the first link 142. The reset elastic part 116 is configured to apply a reset force to the first link 142 in a direction away from the loading position 114, so that the holding mechanism 120 has a tendency to switch to the fastening state. Thus, after the driving force disappears, the holding mechanism 120 can be automatically switched to the fastening state, which is beneficial to conveniently loading a plurality of end effectors 162.

[0130] The following will introduce the specific steps of selecting the end effector 162, switching the end effector 162, and the return of the surgical instrument 160. The surgical robot system 1 further includes a control device. The control device is in signal connection with the instrument operating arm 100, and the control device is configured to execute the end effector 162 selection process, the end effector 162 replacement process, and the end effector 162 return process according to instructions.

[0131] Among them, the end effector 162 selection process is configured as follows: First, control the linear movement component 102 to drive the surgical instrument 160 to move from the initial position along the second direction D2, so that the end of the instrument rod 161 moves above the loading unit 112. Then, control the first drive component 130 to drive the loading unit 112 to move along the first direction D1, so that the selected end effector 162 is aligned with the end of the instrument rod 161. Then, control the linear movement component 102 to drive the surgical instrument 160 to move along the second direction D2 and make the end of the instrument rod 161 connect with the selected end effector 162. When the connection is successful, control the second drive component 150 to drive the holding mechanism 120 to switch to the release state. Next, control the linear movement component 102 to drive the surgical instrument 160 to move along the second direction D2 and insert it into the sleeve 103 for surgery. Thus, the initial selection of the end effector 162 can be completed.

[0132] The replacement process of the end effector 162 is configured as follows: First, control the second drive assembly 150 to drive the holding mechanism 120 to switch to the loosened state (this step can be skipped if the holding mechanism 120 is already in the loosened state). Then, control the linear movement assembly 102 to drive the current end effector 162 of the surgical instrument 160 to move along the second direction D2 to the loading position 114 (the vacant loading position 114). Next, control the second drive assembly 150 to drive the holding mechanism 120 to switch to the tightened state. Then, control the linear movement assembly 102 to drive the surgical instrument 160 to move along the second direction D2 and separate the end of the instrument rod 161 from the current end effector 162. Next, control the linear movement assembly 102 again to drive the end of the instrument rod 161 of the surgical instrument 160 to move along the second direction D2 to above the loading part 112. Then, control the first drive assembly 130 to drive the loading part 112 to move along the first direction D1 so that the end effector 162 to be replaced is aligned with the end of the instrument rod 161. Next, control the linear movement assembly 102 to drive the surgical instrument 160 to move along the second direction D2 and connect the end of the instrument rod 161 with the end effector 162 to be replaced. When the connection is successful, control the second drive assembly 150 to drive the holding mechanism 120 to switch to the loosened state. Finally, control the linear movement assembly 102 to drive the surgical instrument 160 to move along the second direction D2 and insert it into the cannula 103 for surgery. Thus, the replacement process of the end effector 162 can be completed.

[0133] The retraction process of the end effector 162 is configured as follows: Control the second drive assembly 150 to drive the holding mechanism 120 to switch to the loosened state (this step can be skipped if the holding mechanism 120 is already in the loosened state). Then, control the linear movement assembly 102 to drive the current end effector 162 of the surgical instrument 160 to move along the second direction D2 to the loading position 114 (the vacant loading position 114). Next, control the second drive assembly 150 to drive the holding mechanism 120 to switch to the tightened state, and control the linear movement assembly 102 to drive the surgical instrument 160 to move along the second direction D2 and separate the end of the instrument rod 161 from the current end effector 162. Finally, control the linear movement assembly 102 to drive the surgical instrument 160 to move along the second direction D2 to the initial position. Thus, the retraction after the surgery can be completed.

[0134] In all the above preferred embodiments, the processes and steps described are only examples. Unless adverse effects occur, various processing operations can be performed in an order different from the order of the above processes. The order of the steps of the above processes can also be increased, combined, or deleted according to actual needs.

[0135] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the technical field of this application. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0136] This application has been illustrated by the above embodiments, but it should be understood that the above embodiments are only for the purpose of exemplification and illustration, and this application is not limited to the above embodiments. According to the teachings of this application, more variations and modifications can be made, and these variations and modifications all fall within the scope of protection required by this application.

Claims

1. An instrument operating arm for a surgical robot system, characterized in that, The instrument operating arm includes: A surgical instrument, which includes an instrument rod and a plurality of end effectors, and the end effectors are used to detachably connect to the end of the instrument rod; A replacement device, and the replacement device includes: A loading part, which is provided with a plurality of loading positions for setting the end effectors; A plurality of holding mechanisms, and the plurality of holding mechanisms are correspondingly arranged at the plurality of loading positions. The holding mechanism has a fastening state and a releasing state; In the fastening state, the holding mechanism is used to clamp the end effector; In the releasing state, the holding mechanism allows the end effector to disengage from the loading part; A driving component, which drives the loading position to move to a position opposite to the end of the instrument rod and drives the holding mechanism to switch between the fastening state and the releasing state; A linear movement component, which is connected to the surgical instrument and is used to drive the instrument rod to approach or move away from the loading position.

2. The instrument operating arm according to claim 1, characterized in that, The driving component includes: A first driving component, which is connected to the loading part and is used to drive the loading part to move along a first direction so that the plurality of loading positions can move along the first direction to correspond to the position of the end of the instrument rod; A second driving component, which is used to connect to the holding mechanism and drive the holding mechanism to switch between the fastening state and the releasing state.

3. The instrument operating arm according to claim 2, characterized in that, The replacement device includes a base, and the base includes the loading part and a connecting part connected to the loading part. The first driving component includes a first driver, and the output end of the first driver is connected to the connecting part.

4. The instrument operating arm according to claim 3, characterized in that, The first driving component further includes a first transmission component, and the first transmission component is connected between the output end of the first driver and the connecting part.

5. The instrument operating arm according to claim 4, characterized in that, The first transmission component includes a reducer.

6. The instrument operating arm according to claim 1, characterized in that, The loading position is configured as a notch located at the edge of the loading part, and the notch extends through the loading part along a second direction for accommodating the end effector.

7. The instrument operating arm according to claim 6, wherein, The replacement device further includes a covering part, and the covering part is arranged on the loading part so that the holding mechanism is located between the covering part and the loading part. A through hole corresponding to the loading position is provided at the edge of the covering part.

8. The instrument operating arm according to any one of claims 2-5, characterized in that, The holding mechanism includes: A clamp, which has a holding end and a connecting end, and a pivoting part is arranged between the connecting end and the holding end. The holding end is used to clamp the end effector, and the clamp is pivotally connected to the loading part through the pivoting part; A second transmission component, which is pivotally connected to the connecting end and is also used to connect to the second driving component. The second transmission component is configured to be able to move along a third direction, and the third direction points to the loading position. Wherein, when the second driving component drives the second transmission component close to the loading position, the holding end of the clamp pivots in a direction away from the loading position, and the holding mechanism switches to the loosening state; When the second driving component drives the second transmission component away from the loading position, the holding end of the clamp pivots in a direction close to the loading position, and the holding mechanism switches to the fastening state.

9. The instrument operating arm according to claim 8, wherein The holding mechanism includes a pair of clamps, the holding ends of the pair of clamps are arranged opposite to each other, a guiding portion is provided on the loading portion, and the second transmission component includes: A first push rod, the first push rod penetrates through the guiding portion; A first link rod, the first link rod is fixedly connected to the first push rod, and the first link rod is located between the guiding portion and the loading position; A pair of second link rods, the second link rods are pivotally connected between the first link rod and the connecting ends of the clamps.

10. The instrument operating arm according to claim 9, characterized in that, The loading portion is further provided with a reset fixing portion, and a reset elastic member is connected between the reset fixing portion and the first link rod. The reset elastic member is configured to apply a reset force to the first link rod in a direction away from the loading position, so that the holding mechanism has a tendency to switch to the fastening state.

11. The instrument operating arm according to claim 10, wherein, The second driving component includes: A second push rod, the second push rod is configured to be able to move along the second direction; A second driver, the second driver is connected to the second push rod, and the second driver is used to drive the second push rod to move along the second direction, so that the end of the second push rod can abut against the end of the first push rod; Wherein, the ends of the first push rod and the second push rod are respectively provided with cooperating inclined surfaces. When the first push rod abuts against the second push rod, the second push rod can push the first push rod close to the loading position.

12. The instrument operating arm according to claim 11, characterized in that, The second driving component further includes a screw member and a moving block threadedly engaged with the screw member. The second push rod is fixedly connected to the moving block, and the output end of the second driver is connected to the screw member.

13. The instrument operating arm according to claim 11, wherein, The instrument operating arm includes an arm main body, the linear movement component is arranged on the arm main body, the replacement device includes a driving box, the driving box is connected to the arm main body, and the first driving component and the second driving component are arranged in the driving box. The loading portion is rotatably arranged in the driving box. The second push rod penetrates through the loading portion along the rotation axis of the loading portion. A plurality of the holding mechanisms are arranged around the rotation axis, and the first push rod points to the rotation axis.

14. The instrument operating arm according to claim 4, wherein The connecting portion has a gear structure, and the loading portion is configured as a turntable or a chain; or The connecting portion has a chain structure, and the loading portion is configured as a turntable or a chain; or The connecting portion has a rack structure, and the loading portion is configured as a slider.

15. A surgical robot system, characterized in that, Including the instrument operating arm according to any one of claims 1-14.

16. The surgical robot system according to claim 15, wherein It further includes a control device, which is signal - connected to the instrument operating arm. The control device is configured to execute an end - effector selection process according to an instruction. The end - effector selection process includes: Controlling the linear movement component to drive the surgical instrument to move from the initial position along the second direction, so that the end of the instrument rod moves above the loading part; Controlling the first driving component to drive the loading part to move along the first direction, so that the selected end - effector is aligned with the end of the instrument rod; Controlling the linear movement component to drive the surgical instrument to move along the second direction and making the end of the instrument rod connect with the selected end - effector; After successful connection, controlling the second driving component to drive the holding mechanism to switch to the released state; Controlling the linear movement component to drive the surgical instrument to move along the second direction and insert into the cannula.

17. The surgical robot system according to claim 16, wherein The control device is configured to execute an end - effector replacement process according to an instruction. The end - effector replacement process includes: Controlling the second driving component to drive the holding mechanism to switch to the released state; Controlling the linear movement component to drive the current end - effector of the surgical instrument to move along the second direction to the loading position; Controlling the second driving component to drive the holding mechanism to switch to the tightened state; Controlling the linear movement component to drive the surgical instrument to move along the second direction and making the end of the instrument rod disengage from the current end - effector; Controlling the linear movement component to drive the end of the instrument rod of the surgical instrument to move along the second direction above the loading part; Controlling the first driving component to drive the loading part to move along the first direction, so that the end - effector to be replaced is aligned with the end of the instrument rod; Controlling the linear movement component to drive the surgical instrument to move along the second direction and making the end of the instrument rod connect with the end - effector to be replaced; After successful connection, controlling the second driving component to drive the holding mechanism to switch to the released state; Controlling the linear movement component to drive the surgical instrument to move along the second direction and insert into the cannula.

18. The surgical robot system according to claim 16, wherein The control device is configured to execute an end - effector return process according to an instruction. The end - effector return process includes: Controlling the second driving component to drive the holding mechanism to switch to the released state; Controlling the linear movement component to drive the current end - effector of the surgical instrument to move along the second direction to the loading position; Controlling the second driving component to drive the holding mechanism to switch to the tightened state; Controlling the linear movement component to drive the surgical instrument to move along the second direction and making the end of the instrument rod disengage from the current end - effector; Controlling the linear movement component to drive the surgical instrument to move along the second direction to the initial position.

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