Surgical tool and surgical robot system

Abstract

The invention relates to the field of medical instruments, and discloses a surgical tool and a surgical robot system. The surgical tool comprises an arm body, a guide tube penetrating through the arm body and a tool head arranged at the far end of the arm body. The tool head comprises a main body, a first electrode and a second electrode, the first electrode and the second electrode are arranged on the main body, the first electrode and the second electrode are separated, the first electrode and the second electrode are both cylindrical, and the first electrode is arranged on the outer side of the second electrode in a sleeving mode. The body includes an interior cavity having a proximal end in communication with the distal end of the guide tube and including a distal opening. The surgical tool provided by the invention can execute surgical operations of suction and electrocoagulation, is beneficial to reducing switching of surgical tools, and can efficiently suck and remove smoke and the like generated by electrocoagulation.

Description

Technical Field

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

[0002] Laparoscopic surgery is a surgical form that has gradually developed and been widely used in recent years. It has advantages such as small incisions, greatly reducing the patient's recovery time, discomfort experience, and postoperative side effects. Performing laparoscopic surgery, especially single-port laparoscopic surgery, through a surgical robot system can optimize the surgical form through computer remote control technology.

[0003] During surgery, a suction device is needed to suck out the patient's bleeding, exudate, pus, contents of organs, etc., so as to make the surgical field clearer and reduce the possibility of contamination. When performing surgery, the user needs to switch between surgical instruments and the suction device, and the switching steps are relatively cumbersome. Summary of the Invention

[0004] In some embodiments, the present invention provides a surgical tool, including: An arm body; A guiding tube, penetrating the arm body; and A tool head, arranged at the distal end of the arm body, and the tool head includes: A main body, the main body includes an internal cavity, the proximal end of the internal cavity communicates with the distal end of the guiding tube and includes a distal opening; A first electrode, arranged on the main body; and A second electrode, arranged on the main body, the first electrode is spaced apart from the second electrode, both the first electrode and the second electrode are cylindrical, and the first electrode is sleeved outside the second electrode.

[0005] In some embodiments, the tool head further includes: An insulating member, which is cylindrical and includes: A proximal part, sleeved on the main body; and A distal part, the second electrode is sleeved outside the main body, the distal part is sleeved outside the second electrode, and the first electrode is sleeved outside the distal part.

[0006] In some embodiments, the proximal part of the insulating member includes: A first step structure, located outside the distal end of the proximal part, and the first electrode is located at the distal end of the first step structure; and A second step structure, located inside the distal end of the proximal part, and the second electrode is located at the distal end of the second step structure.

[0007] In some embodiments, the main body is cylindrical and includes: A proximal end portion, the proximal end of the proximal end portion is connected to the distal end of the arm body; and The distal end portion, the insulating member, and the second electrode are disposed outside the distal end portion.

[0008] In some embodiments, the proximal end portion of the main body includes: A third stepped structure located at the distal end of the proximal end portion, and the insulating member is located at the distal end of the third stepped structure.

[0009] In some embodiments, the surgical tool further includes: A first wire that penetrates the arm body, and the distal end of the first wire is connected to the first electrode to transmit energy to the first electrode; and A second wire that penetrates the arm body, and the distal end of the second wire is connected to the second electrode to transmit energy to the second electrode.

[0010] In some embodiments, the proximal end portion of the main body includes: A first through hole for allowing the first wire to pass through to the distal end; and A first groove provided at the distal end of the first through hole, the first groove being located outside the proximal end portion and extending to the distal end of the proximal end portion; The proximal end portion of the insulating member includes: A second groove located outside the proximal end portion of the insulating member and extending to the distal end of the proximal end portion, the second groove communicating with the first groove, and the first groove and the second groove being used to accommodate at least a part of the distal end of the first wire.

[0011] In some embodiments, the proximal end portion of the main body includes: A second through hole for allowing the second wire to pass through to the distal end; and A third groove provided at the distal end of the second through hole, the third groove being located outside the proximal end portion and extending to the distal end of the proximal end portion; The proximal end portion of the insulating member includes: A fourth groove extending through the proximal end portion of the insulating member in the length direction and extending to the second stepped structure, the fourth groove communicating with the third groove, and the third groove and the fourth groove being used to accommodate at least a part of the distal end of the second wire.

[0012] In some embodiments, the main body, or the main body and the insulating member further include at least one suction hole that penetrates the main body, or the insulating member and the main body in the radial direction, and the at least one suction hole communicates with the internal cavity.

[0013] In some embodiments, the arm body includes: A first continuous structure, and the first continuous structure includes: A first base plate, a first fixing plate, a plurality of first spacer plates, and a plurality of first structural bones. The plurality of first structural bones pass through the first base plate and the plurality of first spacer plates, and the distal ends of the plurality of first structural bones are fixedly connected to the first fixing plate. The proximal ends of the plurality of first structural bones are configured to receive pushing or pulling driving forces to drive the movement of the first continuum structure.

[0014] In some embodiments, the arm body further includes: A second continuum structure, which includes: A second base plate, a second fixing plate, a plurality of second spacer plates, and a plurality of second structural bones. The plurality of second structural bones pass through the second base plate and the plurality of second spacer plates, and the distal ends of the plurality of second structural bones are fixedly connected to the second fixing plate. The proximal ends of the plurality of second structural bones are configured to receive pushing or pulling driving forces to drive the movement of the second continuum structure. The first continuum structure is located at the distal end of the second continuum structure, and the plurality of first structural bones pass through the plurality of second spacer plates and the second base plate.

[0015] In some embodiments, the surgical tool further includes: A proximal suction tube. The proximal end of the guiding tube extends out of the arm body and is in communication with the proximal suction tube. The proximal end of the proximal suction tube is in communication with the first end of a first solenoid valve, and the second end of the first solenoid valve is configured to be in communication with a negative pressure device and a waste liquid collection device.

[0016] In some embodiments, the surgical tool further includes: A proximal flushing tube. The proximal end of the guiding tube is in communication with the proximal flushing tube. The proximal end of the proximal flushing tube is in communication with the first end of a second solenoid valve, and the second end of the second solenoid valve is configured to be in communication with a pressure pump and a cleaning liquid storage tank.

[0017] In some embodiments, the present invention further provides a surgical robot system, including: A surgical trolley, including: At least one robotic arm; and A surgical tool as described in any one of some embodiments of the present invention, and the surgical tool is disposed at the distal end of at least one robotic arm.

[0018] In some embodiments, the surgical robot system further includes: A main control trolley, which is communicatively connected to the surgical trolley. The main control trolley includes at least one main operator, and the at least one main operator is configured to receive user operations.

[0019] In some embodiments, the surgical tool further includes a proximal suction tube. The proximal end of the guiding tube of the surgical tool extends out of the arm body and is in communication with the proximal suction tube. The proximal end of the proximal suction tube is in communication with the first end of a first solenoid valve, and the second end of the first solenoid valve is in communication with a negative pressure device and a waste liquid collection device. The main control trolley further includes: The first control pedal is communicatively connected to the first electromagnetic valve. The first control pedal is configured to receive user operations and generate control signals based on the user operations to control the on / off state of the first electromagnetic valve.

[0020] In some embodiments, the surgical tool further includes a proximal flushing tube. The proximal end of the guiding tube is also connected to the proximal flushing tube. The proximal end of the proximal flushing tube is connected to the first end of the second electromagnetic valve. The second end of the second electromagnetic valve is connected to a pressure pump and a cleaning fluid storage tank. The surgical robot system further includes: The second control pedal is communicatively connected to the second electromagnetic valve. The second control pedal is configured to receive user operations and generate control signals based on the user operations to control the on / off state of the second electromagnetic valve.

[0021] In some embodiments, the surgical robot system further includes: The equipment trolley includes a power source. The power source is configured to be connected to the first electrode and the second electrode of the surgical tool to supply energy to the first electrode and the second electrode.

[0022] Some embodiments of the present invention have one or more of the following technical effects: The surgical tool provided by the present invention can perform electrocoagulation operations and suction operations on blood and smoke; it can reduce the switching of surgical tools required during the operation, thereby helping to shorten the operation time and improve the operation efficiency; it is beneficial to improve the flexibility of the surgical tool in performing surgical operations in the body and helps to improve the operation experience; it can flush the guiding tube, thereby avoiding blockage of the guiding tube; the user can issue control instructions by operating the control pedal on the main control trolley side to conveniently trigger the surgical tool to perform electrocoagulation, suction, and flushing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. The drawings described below only show some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other embodiments can be obtained based on the content of the embodiments of the present invention and these drawings.

[0024] Figure 1 A schematic structural diagram of a surgical tool according to some embodiments of the present invention is shown; Figure 2 A schematic structural diagram of the tool head of a surgical tool according to some embodiments of the present invention is shown; Figure 3 A schematic structural diagram of the second electrode of a surgical tool according to some embodiments of the present invention is shown; Figure 4 A schematic structural diagram of the insulating member of a surgical tool according to some embodiments of the present invention is shown; Figure 5 A cross-sectional schematic view of the tool head of a surgical tool according to some embodiments of the present invention is shown; Figure 6 A structural schematic view of the arm body of a surgical tool according to some embodiments of the present invention is shown; Figure 7 A structural schematic view of a first continuum structure according to some embodiments of the present invention is shown; Figure 8 A structural schematic view of a driving device according to some embodiments of the present invention is shown; Figure 9 A structural schematic view of a proximal suction tube and a proximal irrigation tube according to some embodiments of the present invention is shown; Figure 10 A structural schematic view of a surgical robot system according to some embodiments of the present invention is shown. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the detailed implementation manners of the present invention with reference to the accompanying drawings. Although the accompanying drawings show exemplary embodiments of the present invention, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0027] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means more than two, unless otherwise specifically defined.

[0028] In the present invention, unless otherwise clearly defined or limited, terms such as "installed", "connected", "joined", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral one; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication between two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In the present invention, unless otherwise clearly defined or limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0030] In the description of this specification, the descriptions with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0031] In the present invention, the end close to the operator (such as a doctor) is defined as the proximal end, proximal part, rear end, or rear portion, and the end close to the surgical patient is defined as the distal end, distal part, front end, or front portion. The end opposite to the proximal end, proximal part, rear end, or rear portion is the distal end, distal part, front end, or front portion. Alternatively, the end close to the person being operated on (such as the surgical patient) is defined as the distal end, distal part, front end, or front portion, and the end opposite to the distal end, distal part, front end, or front portion is the proximal end, proximal part, rear end, or rear portion. Those skilled in the art can understand that the embodiments of the present invention can be used in medical devices or surgical robots, and can also be used in other non-medical devices.

[0032] Some embodiments of the present invention provide a surgical tool 100. Figure 1FIG. 0 shows a schematic structural view of a surgical tool 100 according to some embodiments of the present invention. The surgical tool 100 can be used in a surgical robot system, such as a suitable surgical robot system like a laparoscopic surgical robot system. In some embodiments, the surgical robot system can include at least one robotic arm, and the surgical tool 100 can be mounted on the distal end of the robotic arm. A user can issue control instructions through the surgical robot system (such as the main control console of the surgical robot system) to control the surgical tool 100 to perform surgical operations.

[0033] As Figure 1 shown, the surgical tool 100 can include an arm body 110, a guide tube 120, and a tool head 130. The guide tube 120 can penetrate through the arm body 110. The proximal end of the guide tube 120 can extend out of the surgical tool 100. In some embodiments, the proximal end of the guide tube 120 can be connected to a negative pressure device (not shown in the figure) to create a negative pressure environment inside the guide tube 120. The tool head 130 can be disposed at the distal end of the arm body 110. Figure 2 FIG. 7 shows a schematic structural view of the tool head 130 of the surgical tool 100 according to some embodiments of the present invention. As Figure 2 shown, the tool head 130 can include a main body 131, a first electrode 132, and a second electrode 133.

[0034] As Figure 2 shown, the main body 131 can include an internal cavity 1311. The proximal end of the internal cavity 1311 can communicate with the distal end of the guide tube 120 and can include a distal opening. In some embodiments, the main body 131 can be disposed at the distal end of the arm body 110 in any suitable manner, such as by adhesion, etc. The distal end of the guide tube 120 can extend to the distal end of the arm body 110 or extend out of the distal end of the arm body 110 to communicate with the internal cavity 1311 of the main body 131. Those skilled in the art can understand that during surgery, the arm body 110, the distal part of the guide tube 120, and the tool head 130 can extend into the patient's body to perform surgical operations. Performing surgical operations such as cutting and electrocoagulation on patient tissues will generate blood, exudates, smoke, etc., which may block the surgical field of view and affect subsequent surgical operations, etc. The surgical tool 100 can suck the blood generated during surgery in the patient's body through the distal opening. Under the action of the negative pressure device, the blood, etc. can flow to the proximal end through the internal cavity 1311 and the guide tube 120, and be discharged out of the patient's body through the proximal opening of the guide tube 120.

[0035] As Figure 2As shown, the first electrode 132 and the second electrode 133 can both be disposed on the main body 131, and the first electrode 132 and the second electrode 133 can be spaced apart to avoid electrical conduction with each other. In some embodiments, the first electrode 132 and the second electrode 133 can be respectively configured as an active electrode and a return electrode, so that electrified operations, such as electrocoagulation operations, can be performed. Based on this, surgical operations of electrocoagulation and aspiration can be performed through the surgical tool 100, and the switching of the surgical tool during the operation can be reduced.

[0036] In some embodiments, both the first electrode 132 and the second electrode 133 can be cylindrical, and the first electrode 132 can be sleeved outside the second electrode 133. Those skilled in the art can understand that in the present invention, the outside refers to the outside along the radial direction, and the inside refers to the inside along the radial direction.

[0037] As Figure 2 shown, in some embodiments, the tool head 130 can further include an insulating member 134, and the insulating member 134 can be cylindrical. Figure 3 Schematic structural diagram of the second electrode 132 of the surgical tool 100 according to some embodiments of the present invention. Figure 4 Schematic structural diagram of the insulating member 134 of the surgical tool 100 according to some embodiments of the present invention. Figure 5 Schematic cross-sectional view of the tool head of the surgical tool 100 according to some embodiments of the present invention. As Figures 3 to 5 shown, the insulating member 134 can include a proximal portion 1341 and a distal portion 1342. The proximal portion 1341 and the distal portion 1342 can be fixedly connected by a suitable method, such as integrally formed or bonded, etc. The proximal portion 1341 can be sleeved on the main body 131. For example, the inner surface of the proximal portion 1341 can be connected to the outer surface of the main body 131 by a suitable method, such as bonding, fitting, etc. The second electrode 133 can be sleeved outside the main body 131, and the distal portion 1342 of the insulating member 134 can be sleeved outside the second electrode 133. The first electrode 132 can be sleeved outside the distal portion 1342. In some embodiments, the inner surface of the first electrode 132 can be connected to the outer surface of the distal portion 1342 by a suitable method (such as bonding, fitting, etc.), and the outer surface of the second electrode 133 can be connected to the inner surface of the distal portion 1342 by a suitable method (such as bonding, fitting, etc.). Based on this, the distal portion 1342 of the insulating member 134 can space apart the first electrode 132 and the second electrode 133 to avoid electrical conduction between the first electrode 132 and the second electrode 133.

[0038] As Figure 4 and Figure 5As shown, in some embodiments, the proximal portion 1341 of the insulating member 134 may further include a first step structure 13411 and a second step structure 13412. The first step structure 13411 is located outside the distal end of the proximal portion 1341, and the first electrode 132 is located at the distal end of the first step structure 13411. The second step structure 13412 is located inside the distal end of the proximal portion 1341, and the second electrode 133 is located at the distal end of the second step structure 13412.

[0039] In some embodiments, as Figure 5 shown, the radial dimension of the proximal portion 1341 of the insulating member 134 is greater than the radial dimension of the distal portion 1342. The radial dimension of the first electrode 132 may be matched with the radial dimension of the first step structure 13411, and the radial dimension of the second electrode 133 may be matched with the radial dimension of the second step structure 13412. Based on this, the insulating member 134, the first electrode 132, and the second electrode 133 can form a compact, overall cylindrical structure, facilitating the movement of the surgical tool 100 within the patient's body.

[0040] As Figures 3 to 5 shown, in some embodiments, the main body 131 may be cylindrical. In some embodiments, the main body 131 may be insulating to avoid conducting electricity with the first electrode 132 or the second electrode 133. Based on this, during the electrocoagulation operation, the main body 131 will not cause burning to the tissues within the patient's body. The main body 131 may include a proximal end portion 1312 and a distal end portion 1313, and the proximal end portion 1312 and the distal end portion 1313 may be fixedly connected by a suitable method, such as integral molding or adhesion, etc. The proximal end of the proximal end portion 1312 may be connected to the distal end of the arm body 110, for example, connected to the distal end of the arm body 110 by a suitable method, such as adhesion, etc. The distal end portion 1313 may be disposed at the distal end of the proximal end portion 1312, and the insulating member 134 and the second electrode 133 may be disposed outside the distal end portion 1313. The inner surface of the second electrode 133 may be connected to the outer surface of the distal end portion 1313 by a suitable method (e.g., adhesion, etc.), and the inner surface of the proximal portion 1341 of the insulating member 134 may be connected to the outer surface of the distal end portion 1313 by a suitable method (e.g., adhesion, etc.).

[0041] In some embodiments, as Figure 3 or Figure 5 shown, the proximal end portion 1312 of the main body 131 may include a third step structure 13121. The third step structure 13121 may be located at the distal end of the proximal end portion 1312, and the insulating member 134 may be located at the distal end of the third step structure 13121. In some embodiments, the radial dimension of the insulating member 134 may be matched with the radial dimension of the third step structure 13121 to form a compact, overall cylindrical structure.

[0042] In some embodiments, as Figure 5 shown, the tool head 130 may further include a base 135. The base 135 may be cylindrical and may include an intermediate cavity 1351, which communicates with the internal cavity 1311 of the main body 131 and the guide tube 120. The proximal end of the base 135 may extend into the distal end of the arm body 110, such as the distal end of the arm body housing 111. The base 135 may include a proximal segment 1352 with a smaller radial dimension at the proximal end and a distal segment 1353 with a larger radial dimension. The proximal segment 1352 may be connected to the distal end of the guide tube 120. For example, the proximal segment 1352 may be connected to the guide tube 120 by means such as adhesion or clamping. For example, the proximal segment 1352 may be sleeved outside the distal end of the guide tube 120, or the distal end of the guide tube 120 may be sleeved outside the proximal segment 1352 and adhered to the guide tube 120. The proximal end portion 1312 of the main body 131 may further include a fourth step structure 13122, which may be located inside the proximal end portion 1312. The base 135 may be disposed at the proximal end of the fourth step structure 13122, and the inner surface of the proximal end portion 1312 of the main body 131 may be connected to the outer surface of the distal segment 1353 of the base 135 by a suitable means such as adhesion or clamping. The distal segment 1353 of the base 135 may be connected to the arm body 110. For example, the distal segment 1353 may be connected to the mounting disk at the distal end of the arm body 110 by means such as adhesion.

[0043] In some embodiments, the surgical tool 100 may further include a first wire and a second wire (not shown in the figure). The first wire may pass through the arm body 110, and the distal end of the first wire may be connected to the first electrode 132 to transmit energy to the first electrode 132. The second wire may pass through the arm body 110, and the distal end of the second wire may be connected to the second electrode 133 to transmit energy to the second electrode 133. The proximal ends of the first wire and the second wire may extend out of the surgical tool 100 and be connected to a power source (such as a high-frequency energy generator), so as to transmit the energy of the power source to the first electrode 132 and the second electrode 133 to perform surgical operations such as electrocoagulation during the operation.

[0044] In some embodiments, the guide tube 120 may be a multi-lumen tube (not shown in the figure), which may include a main lumen and a plurality of sub-lumens. The main lumen may be used for blood, smoke, etc. in the patient's body to pass through. The first wire and the second wire may pass through the arm body 110 through the sub-lumens of the multi-lumen tube. In some embodiments, the first wire, the second wire, and the guide tube 120 may all pass through the arm body 110 through the intermediate channel of the arm body.

[0045] As Figure 2 and Figure 5As shown, in some embodiments, the proximal end portion 1312 of the main body 131 may further include a first through hole 13123 and a first groove 13124. The first through hole 13123 may be located at the proximal end of the proximal end portion 1312 of the main body 131. The first through hole 13123 may be used for the first wire to pass through to the distal end. The first groove 13124 is provided at the distal end of the first through hole 13123. The first groove 13124 may be located outside the proximal end portion 1312 and extend to the distal end of the proximal end portion 1312. The proximal end portion 1341 of the insulating member 134 may include a second groove 13413. The second groove 13413 may be located outside the proximal end portion 1341 of the insulating member 134 and extend to the distal end of the proximal end portion 1341. The second groove 13413 communicates with the first groove 13124. The first groove 13124 and the second groove 13413 are used to accommodate at least a part of the distal end of the first wire. Based on this, the distal end of the first wire may extend out of the arm body 110 through the first through hole 13123 and be guided by the first groove 13124 and the second groove 13413 to the first electrode 132. The distal end of the first wire may be connected to the first electrode 132 to transmit energy to the first electrode 132.

[0046] As Figure 3 and Figure 5 shown, in some embodiments, the proximal end portion 1312 of the main body 131 may include a second through hole 13125 and a third groove 13126. The second through hole 13125 may be located at the proximal end of the proximal end portion 1312. The second through hole 13125 is used for the second wire to pass through to the distal end. The third groove 13126 may be provided at the distal end of the second through hole 13125. The third groove 13126 may be located outside the proximal end portion 1312 and extend to the distal end of the proximal end portion 1312. The proximal end portion 1341 of the insulating member 134 may include a fourth groove 13414. The fourth groove 13414 may extend through the proximal end portion 1341 of the insulating member 134 in the length direction and extend to the second step structure 13412 of the proximal end portion 1341. And the fourth groove 13414 communicates with the third groove 13126. In some embodiments, as Figure 5 shown, the fourth groove 13414 may include a longitudinal portion extending in the length direction and an oblique portion located at the distal end of the longitudinal portion and obliquely extending to the second step structure 13412. As an alternative embodiment, the fourth groove 13414 may obliquely extend from the proximal end of the proximal end portion 1341 to the second step structure 13412.

[0047] The third groove 13126 and the fourth groove 13414 may be used to accommodate at least a part of the distal end of the second wire. As Figure 5As shown, the distal end of the fourth groove 13414 can communicate with the second electrode 133. Based on this, the distal end of the second wire can extend out of the arm body 110 through the second through hole 13125 and be guided to the second electrode 133 by the third groove 13126 and the fourth groove 13414. The distal end of the second wire can be connected to the second electrode 133 to transmit energy to the second electrode 133.

[0048] In some embodiments, in addition to the distal opening of the main body 131 serving as the main suction hole, the surgical tool 100 may further include other suction holes provided on the tool head 130 to improve the suction efficiency and prevent the distal opening of the main body 131 from being blocked, which may affect the suction operation. In some embodiments, the main body 131 and the insulating member 134 may include at least one suction hole. The at least one suction hole may penetrate the main body 131 and the insulating member 134 radially, respectively, and the at least one suction hole may communicate with the internal cavity 1311. As Figure 3 and Figure 4 shown, the main body 131 may include at least one suction hole H1 provided on its distal end portion 1313, and the insulating member 134 may include at least one suction hole H2 provided on its proximal portion 1341. The positions of the suction hole H1 and the suction hole H2 may cooperate with each other to facilitate sucking blood, smoke, etc. in the patient's body into the internal cavity 1311 of the surgical tool 100. In some embodiments, the main body 131 and the insulating member 134 may respectively include a plurality of suction holes, and the plurality of suction holes may be uniformly arranged circumferentially on the main body 131 and the insulating member 134. In some embodiments, the proximal end portion 1312 of the main body 131 may include at least one suction hole provided radially and communicating with the internal cavity 1311.

[0049] In some embodiments, the arm body 110 may be a flexible arm to increase the degree of freedom of the surgical tool 100 and improve the flexibility of the surgical tool 100 when moving in the patient's body.

[0050] Figure 6 The schematic structural diagram of the arm body 110 of the surgical tool 100 according to some embodiments of the present invention is shown. As Figure 6 shown, in some embodiments, the arm body 110 may include a first continuous body structure 111. Figure 7 The schematic structural diagram of the first continuous body structure 111 of the arm body 110 according to some embodiments of the present invention is shown. As Figure 7 shown, the first continuous body structure 111 may include a first base plate 1111, a plurality of first spacer plates 1112, and a plurality of first structural bones 1113. The plurality of first structural bones 1113 pass through the plurality of first spacer plates and the first base plate 1111. The proximal ends of the plurality of first structural bones 1113 are used to receive pushing or pulling driving to drive the movement of the first continuous body structure 111. In some embodiments, as Figure 7As shown, the first continuum structure 111 may further include a first fixing disk 1114. The distal ends of multiple first structural bones 1113 are fixedly connected to the first fixing disk 1114.

[0051] As Figure 7 shown, multiple first spacer disks 1112 may be arranged at intervals to enhance the stability of multiple first structural bones 1113 when being pushed or pulled. Figure 7 The first continuum structure 111 shown in [reference] includes three first spacer disks 1112. Those skilled in the art can understand that the number of first spacer disks 1112 included in the first continuum structure 111 is not limited to three, and the first continuum structure 111 may include any suitable number of first spacer disks 1112.

[0052] In some embodiments, the shapes of the first base disk 1111, the first spacer disks 1112, and the first fixing disk 1114 may be suitable structures such as annular structures, disk-shaped structures, etc., and the cross-section may be various shapes such as circular, rectangular, polygonal, and so on.

[0053] In some embodiments, as Figure 6 shown, the arm body 110 may further include a second continuum structure 112. The structure of the second continuum structure 112 may be similar to the structure of the first continuum structure 111 as Figure 7 shown. As Figure 6 shown, the second continuum structure may include a second base disk 1121, multiple second spacer disks 1122, and multiple second structural bones 1123. Multiple second structural bones 1123 pass through multiple second spacer disks 1122 and the second base disk 1121, and the proximal ends of multiple second structural bones 1123 are used to receive the driving force of pushing or pulling to drive the movement of the second continuum structure 112.

[0054] As Figure 6 shown, the first continuum structure 111 may be located at the distal end of the second continuum structure 112, and multiple first structural bones 1113 pass through multiple second spacer disks 1122 and the second base disk 1121. In some embodiments, as Figure 6 shown, the second continuum structure 112 may further include a second fixing disk 1124. The distal ends of multiple second structural bones 1123 may be fixedly connected to the second fixing disk 1124.

[0055] As Figure 6 shown, multiple second spacer disks 1122 may be arranged at intervals to enhance the stability of multiple second structural bones 1123 when being pushed or pulled. Those skilled in the art can understand that the second continuum structure may include any suitable number of second spacer disks 1122.

[0056] In some embodiments, the shapes of the second base plate 1121, the second spacer plate 1122, and the second fixing plate 1124 may be suitable structures such as an annular structure, a disc structure, etc., and the cross-section may be various shapes such as circular, rectangular, polygonal, and so on.

[0057] In some embodiments, the arm body 110 may further include a first straight rod section 113 disposed between the first continuous body structure 111 and the second continuous body structure 112. In some embodiments, as Figure 6 shown, the second fixing plate 1124 of the second continuous body structure 112 may be fixedly connected to the proximal end of the first straight rod section 113. In some embodiments, the arm body 110 may further include a second straight rod section 114 connected to the proximal end of the second continuous body structure 112. For example, during a surgery, the surgical tool 100 may extend into the body through an opening (such as an incision or a natural opening, etc.) on the patient's body, and the second straight rod section 114 may pass through the opening.

[0058] Those skilled in the art can understand that the structures for increasing the degrees of freedom of the arm body 110 are not limited to the continuous body structure, and may also be suitable structures such as a snake bone structure, a combined structure of rods and joints, etc.

[0059] The proximal ends of multiple first structural bones 1113 and multiple second structural bones 1123 may be connected to a driving device. Figure 8 The structural schematic diagram of a driving device 1000 according to some embodiments of the present invention is shown. In some embodiments, the driving device 1000 may include a first driving mechanism 1010. As Figure 8 shown, the first driving mechanism 1010 may be connected to the proximal end of the surgical tool 100. In some embodiments, multiple first structural bones ( Figure 8 not shown, for example Figure 6 the first structural bone 1113 shown) and / or multiple second structural bones ( Figure 8 not shown, for example Figure 6 the second structural bone 1123 shown) pass through multiple second spacer plates 1122 and the second base plate 1121 to connect to the first driving mechanism 1010. The first driving mechanism 1010 drives the first continuous body structure 111 to bend in different directions in space by pushing and pulling multiple first structural bones 1113, and drives the second continuous body structure 112 to bend in different directions in space by pushing and pulling multiple second structural bones 1123.

[0060] In some embodiments, the first driving mechanism 1010 may include a plurality of double-headed screw assemblies. Each double-headed screw assembly may include a double-headed screw and a pair of sliders threadedly connected to two threaded segments of the double-headed screw. The double-headed screw can be driven to rotate, thereby driving a pair of sliders to move in opposite directions at the same speed. A pair of sliders may be connected to a pair of symmetric first structural bones 1113 or second structural bones 1123, thereby pushing and pulling the pair of symmetric first structural bones 1113 or second structural bones 1123, and driving the bending of the first continuum structure 111 or the second continuum structure 112.

[0061] In some embodiments, the first driving mechanism 1010 may further include a proximal continuum. The first continuum structure 111 or the second continuum structure 112 may be connected to the proximal continuum to form a linked dual continuum. The proximal continuum can be driven to bend by the double-headed screw assembly, thereby driving the bending of the first continuum structure 111 or the second continuum structure 112.

[0062] In some embodiments, as Figure 8 shown, the driving device may further include a second driving mechanism 1020. The second driving mechanism 1020 is connected to the arm body 110 through the first driving mechanism 1010 and is used to drive the arm body 110 to feed or retreat, so as to realize the feeding or retreating of the surgical tool 100 in the patient's body, or to realize the entry or exit of the surgical tool 100 into or out of the patient's body. In some embodiments, the second driving mechanism 1020 may be a linear driving mechanism for driving the linear movement of the arm body 110.

[0063] In some embodiments, the second driving mechanism 1020 may include a pedestal and a driving part. The pedestal may be used to support the first driving mechanism 1010, and the driving part is used to drive the pedestal to move forward or backward. In some embodiments, the second driving mechanism 1020 may include a bracket 1021 with a chute. A lead screw 1022 is rotatably arranged on the bracket 1021. A slider 1023 is sleeved on the lead screw 1022 as the pedestal. The slider 1023 is in threaded cooperation with the lead screw 1022 and is slidably arranged in the chute of the bracket 1021. A motor 1024 as the second driving unit may be arranged at one end of the bracket 1021. The output shaft of the motor 1024 may be fixedly connected to the lead screw 1022 through a coupling 1025.

[0064] In some embodiments, the slider 1023 further includes a sleeve 10231 for mounting the continuum frame 211. The sleeve 10231 can be mounted on the slider 1023, or the sleeve 10231 can be integrally formed with the slider 1023. The motor 1024 drives the lead screw 1022, thereby driving the slider 1023 and the sleeve 10231 to linearly move along the chute, whereby the feeding and retracting of the surgical tool 100 can be realized. Those skilled in the art can understand that the second driving mechanism 1020 is not limited to the above structure, as long as it can realize the feeding movement of the surgical tool, it does not deviate from the scope of the present invention.

[0065] In some embodiments, as Figure 7 shown, the first base plate 1111, the plurality of first spacer plates 1112, and the first fixing plate 1114 of the first continuum structure 111 may include intermediate through holes. The second base plate 1121, the plurality of second spacer plates 1122, and the second fixing plate 1124 of the second continuum structure 1112 may include intermediate through holes. The guiding tube 120 may extend proximally through the intermediate through holes and extend out of the arm body 110 to discharge the aspirated blood and the like to the outside of the patient's body. The first wire and the second wire for transmitting energy to the first electrode 132 and the second electrode 133 may extend proximally through the intermediate through holes and extend out of the arm body 110 to connect to a high-frequency energy generator for providing energy.

[0066] Figure 9 FIG. shows a schematic structural diagram of the proximal suction tube 140 and the proximal irrigation tube 150 according to some embodiments of the present invention. As Figure 9 shown, in some embodiments, the surgical tool 100 may further include a proximal suction tube 140. The proximal end of the guiding tube 120 may extend out of the arm body 110 and communicate with the proximal suction tube 140. The proximal end of the proximal suction tube 140 may communicate with the first end of the first solenoid valve 31, and the second end of the first solenoid valve 31 may be used to communicate with a negative pressure device and a waste liquid collection device (not shown in the figure). Those skilled in the art can understand that the negative pressure device can create a negative pressure environment inside the guiding tube 120 and the proximal suction tube 140 for suction. Based on this, the blood, smoke, etc. aspirated by the surgical tool 100 can flow from the distal opening of the surgical tool 100 proximally, flow through the guiding tube 120 and the proximal suction tube 140, and then be collected into the waste liquid collection device. In some embodiments, the first solenoid valve 31 may be a normally closed solenoid valve. During the operation, the user can control the first solenoid valve 31, for example, control it through the surgical robot, to connect the proximal suction tube 140 and the negative pressure device, so that the surgical tool 100 can start to perform the suction operation.

[0067] In some embodiments, the surgical tool 100 may further include a proximal flushing tube 150. The proximal end of the guiding tube 120 may also be in communication with the proximal flushing tube 150. In some embodiments, the proximal end of the guiding tube 120 may be connected to the proximal suction tube 140 and the proximal flushing tube 150 through a suitable connecting device such as a three-way connecting device. The proximal end of the proximal flushing tube 150 may be in communication with the first end of the second solenoid valve 32, and the second end of the second solenoid valve 32 may be used to communicate with a pressure pump and a cleaning liquid storage tank (not shown in the figure). Those skilled in the art can understand that the pressure pump can pump the cleaning liquid (e.g., normal saline) stored in the cleaning liquid storage tank into the proximal flushing tube 150 and the guiding tube 120, so as to flush the tool head 130 or other instruments of the guiding tube 120, and can also prevent the guiding tube 120 from being blocked. In some embodiments, the second solenoid valve 32 may be a normally closed solenoid valve. During the operation, the user can control the second solenoid valve 32, for example, through the surgical robot, to connect the proximal flushing tube 150 with the pressure pump and the cleaning liquid storage tank, so as to flush the tool head 130.

[0068] Some embodiments of the present invention also provide a surgical robot system 200. Figure 10 The structural schematic diagram of the surgical robot system 200 according to some embodiments of the present invention is shown. As Figure 10 shown, the surgical robot system 200 may include a surgical trolley 210. The surgical trolley 210 may include at least one robotic arm 211, and a surgical tool (e.g., the surgical tool 100) as in some embodiments of the present invention. The surgical tool 100 may be disposed at the distal end of at least one robotic arm 211. Those skilled in the art can understand that other surgical instruments, such as an endoscope, a surgical clamp, a surgical curved scissors, etc., may also be carried at the distal end of at least one robotic arm 211. During the operation, the surgical trolley 210 may be located on the patient side to facilitate performing surgical operations on the patient.

[0069] In some embodiments, the surgical robot system 200 may further include a main control trolley 220. The main control trolley 220 may be communicatively connected to the surgical trolley 210. The main control trolley 220 may include at least one master operator 221, and at least one master operator 221 may be used to receive user operations. In some embodiments, the master operator 221 may include a left master operator for receiving the user's left hand operation and a right master operator for receiving the user's right hand operation. During the operation, the main control trolley 220 may be located on the user side to facilitate receiving user operations.

[0070] In some embodiments, the surgical tool 100 may further include a proximal suction tube 140 (see Figure 9), the proximal end of the guide tube 120 of the surgical tool 100 can extend out of the arm body 110 and communicate with the proximal suction tube 140. The proximal end of the proximal suction tube 140 can communicate with the first end of the first electromagnetic valve 31, and the second end of the first electromagnetic valve 31 can communicate with a negative pressure device and a waste liquid collection device. The main control cart 220 can further include a first control pedal 222. The first control pedal 222 can be communicatively connected to the first electromagnetic valve 31, and the first control pedal 222 can be configured to receive user operations (e.g., stepping on, releasing, etc.) and generate control signals based on the user operations to control the on / off of the first electromagnetic valve 31. For example, the first electromagnetic valve 31 is a normally closed electromagnetic valve. When the user steps on the first control pedal 222, the first control pedal 222 can send out a control signal to control the first electromagnetic valve 31 to conduct, so as to trigger the surgical tool 100 to perform a suction operation. In some embodiments, the first control pedal 222 can be disposed on the base of the main control cart 220 to facilitate the user's operation of the first control pedal 222.

[0071] In some embodiments, a user (e.g., a doctor) can trigger the surgical tool 100 to start performing a suction operation by stepping on the first control pedal 222. The user can keep stepping on the first control pedal 222 to make the surgical tool 100 continuously perform a suction operation. The user can release the first control pedal 222 to make the surgical tool 100 stop suction. In other embodiments, the user can trigger the surgical tool 100 to start performing a suction operation and continuously suction for a preset duration by stepping on the first control pedal 222.

[0072] In some embodiments, the surgical tool 100 can further include a proximal flushing tube 150, and the proximal end of the guide tube 120 of the surgical tool 100 can further communicate with the proximal flushing tube 150. The proximal end of the proximal flushing tube 150 can communicate with the first end of the second electromagnetic valve 32, and the second end of the second electromagnetic valve 32 can communicate with a pressure pump and a cleaning liquid storage tank. The surgical robot system can further include a second control pedal 23. The second control pedal 23 can be communicatively connected to the second electromagnetic valve 32, and the second control pedal 23 can be configured to receive user operations (e.g., stepping on, releasing, etc.) and generate control signals based on the user operations to control the on / off of the second electromagnetic valve 32. For example, the second electromagnetic valve 32 is a normally closed electromagnetic valve. When the user steps on the second control pedal 23, the second control pedal 23 can send out a control signal to control the second electromagnetic valve 32 to conduct, so as to trigger the surgical tool 100 to perform a flushing operation.

[0073] In some embodiments, the second control pedal 23 can be disposed on the main control cart 220 to facilitate the user (e.g., a doctor) in front of the main control cart 220 to operate the second control pedal 23. In some embodiments, such as Figure 10As shown, the second control pedal 23 can be arranged outside the main control trolley 220 to facilitate operation of the second control pedal 23 by other users (e.g., assistants). The second control pedal 23 can be communicatively connected to the main control trolley 220 to transmit signals to the surgical trolley 210 via the main control trolley 220. In some embodiments, the second control pedal 23 can be communicatively connected to the surgical trolley 210 to facilitate control of the second electromagnetic valve 32.

[0074] In some embodiments, a user (e.g., an assistant) can trigger the surgical tool 100 to start performing a flushing operation by stepping on the second control pedal 23. The user can keep stepping on the second control pedal 23 to make the surgical tool 100 continuously perform the flushing operation. The user can stop the flushing of the surgical tool 100 by releasing the second control pedal 23. In other embodiments, the user can trigger the surgical tool 100 to start performing a flushing operation and continuously flush for a preset duration by stepping on the second control pedal 23.

[0075] In some embodiments, as Figure 10 shown, the second control pedal 23 can include a base 231, a stepping portion 232 arranged on the base 231 and used for user operation, and a protection portion 233 arranged on the stepping portion. Those skilled in the art can understand that the structure of the second control pedal 23 is not limited to the above structure and can also be any suitable structure.

[0076] In some embodiments, similar to the second control pedal 23, the first control pedal 222 can also be arranged outside the main control trolley 220 to facilitate operation of the first control pedal 222 by other users (e.g., assistants). The first control pedal 222 can also adopt a structure similar to that of the second control pedal 23 as Figure 10 shown.

[0077] As Figure 10 shown, in some embodiments, the surgical robot system 200 can further include an equipment trolley 230. The equipment trolley 230 can include a power source, such as a high-frequency energy generator. The power source can be used to connect to the first electrode 132 and the second electrode 133 of the surgical tool 100 to supply energy to the first electrode 132 and the second electrode 133.

[0078] In some embodiments, the master trolley 220 may further include a third control pedal 224. The third control pedal 224 may be communicatively connected to the power supply. The third control pedal 224 may be configured to receive a user operation (e.g., pressing or releasing) and generate a control signal based on the user operation to control the power supply on and off. Based on this, a user (e.g., a doctor) may energize the first electrode 132 and the second electrode 133 by pressing the third control pedal 224, so as to perform operations such as bipolar electrocoagulation. In some embodiments, the third control pedal 224 may be disposed on the base of the master trolley 220 for easy user operation.

[0079] In some embodiments, a user (e.g., a doctor) in front of the master trolley 220 may simultaneously perform a suction operation and an electrocoagulation operation by pressing the first control pedal 222 and the third control pedal 224 simultaneously, so as to quickly suck away the smoke generated by the electrocoagulation operation.

[0080] Those skilled in the art can understand that the surgical robot system 200 may be any suitable surgical robot system including a laparoscopic surgical robot system.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be covered by the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A surgical tool, characterized in that, Comprising: An arm body; A guiding tube penetrating through the arm body; And A tool head provided at the distal end of the arm body, the tool head comprising: A main body, the main body comprising an internal cavity, the proximal end of the internal cavity communicating with the distal end of the guiding tube and comprising a distal opening; A first electrode provided on the main body; and A second electrode provided on the main body, the first electrode being spaced apart from the second electrode, both the first electrode and the second electrode being cylindrical, and the first electrode being sleeved outside the second electrode.

2. The surgical tool according to claim 1, wherein The tool head further comprises: An insulating member, which is cylindrical and comprises: A proximal portion sleeved on the main body; and A distal portion, the second electrode being sleeved outside the main body, the distal portion being sleeved outside the second electrode, and the first electrode being sleeved outside the distal portion.

3. The surgical tool according to claim 2, characterized in that, The proximal portion of the insulating member comprises: A first stepped structure located outside the distal end of the proximal portion, the first electrode being located at the distal end of the first stepped structure; and A second stepped structure located inside the distal end of the proximal portion, the second electrode being located at the distal end of the second stepped structure.

4. The surgical tool according to claim 3, wherein The main body is cylindrical and comprises: A proximal end portion, the proximal end of the proximal end portion being connected to the distal end of the arm body; and A distal end portion, the insulating member and the second electrode being provided outside the distal end portion.

5. The surgical tool according to claim 4, wherein The proximal end portion of the main body comprises: A third stepped structure located at the distal end of the proximal end portion, the insulating member being located at the distal end of the third stepped structure.

6. The surgical tool according to claim 4, characterized in that, Further comprising: A first wire, the first wire penetrating through the arm body, the distal end of the first wire being connected to the first electrode to transmit energy to the first electrode; And A second wire, the second wire penetrating through the arm body, the distal end of the second wire being connected to the second electrode to transmit energy to the second electrode.

7. The surgical tool according to claim 6, wherein The proximal end portion of the main body comprises: A first through hole for allowing the first wire to pass through distally; and A first groove provided at the distal end of the first through hole, the first groove being located outside the proximal end portion and extending to the distal end of the proximal end portion; The proximal portion of the insulating member comprises: A second groove located outside the proximal portion of the insulating member and extending to the distal end of the proximal portion, the second groove communicating with the first groove, the first groove and the second groove being used for accommodating at least a part of the distal end of the first wire.

8. The surgical tool according to claim 6, wherein The proximal end portion of the main body comprises: A second through hole for allowing the second wire to pass through distally; and A third groove provided at the distal end of the second through hole, the third groove being located outside the proximal end portion and extending to the distal end of the proximal end portion; The proximal portion of the insulating member comprises: The fourth groove runs through the proximal part of the insulating member in the longitudinal direction and extends to the second step structure. The fourth groove communicates with the third groove, and the third groove and the fourth groove are used to accommodate at least a part of the distal end of the second wire.

9. The surgical tool according to claim 4, wherein The main body, or the main body and the insulating member, further includes at least one suction hole that penetrates the main body, or the insulating member and the main body, in the radial direction, and the at least one suction hole communicates with the internal cavity.

10. The surgical tool according to any one of claims 1 to 9, characterized in that, The arm body includes: A first continuous body structure, which includes: A first base plate, a first fixing plate, a plurality of first spacer plates, and a plurality of first structural bones. The plurality of first structural bones pass through the first base plate and the plurality of first spacer plates, and the distal ends of the plurality of first structural bones are fixedly connected to the first fixing plate. The proximal ends of the plurality of first structural bones are used to receive pushing or pulling drives to drive the movement of the first continuous body structure.

11. The surgical tool according to claim 10, wherein, The arm body further includes: A second continuous body structure, which includes: A second base plate, a second fixing plate, a plurality of second spacer plates, and a plurality of second structural bones. The plurality of second structural bones pass through the second base plate and the plurality of second spacer plates, and the distal ends of the plurality of second structural bones are fixedly connected to the second fixing plate. The proximal ends of the plurality of second structural bones are used to receive pushing or pulling drives to drive the movement of the second continuous body structure. The first continuous body structure is located at the distal end of the second continuous body structure, and the plurality of first structural bones pass through the plurality of second spacer plates and the second base plate.

12. The surgical tool according to claim 1, characterized in that, The surgical tool further includes: A proximal suction tube. The proximal end of the guiding tube extends out of the arm body and communicates with the proximal suction tube. The proximal end of the proximal suction tube communicates with the first end of a first electromagnetic valve, and the second end of the first electromagnetic valve is used to communicate with a negative pressure device and a waste liquid collection device.

13. The surgical tool according to claim 12, characterized in that, The surgical tool further includes: A proximal flushing tube. The proximal end of the guiding tube communicates with the proximal flushing tube. The proximal end of the proximal flushing tube communicates with the first end of a second electromagnetic valve, and the second end of the second electromagnetic valve is used to communicate with a pressure pump and a cleaning liquid storage tank.

14. A surgical robot system, characterized in that, Includes: A surgical trolley, which includes: At least one robotic arm; And The surgical tool according to any one of claims 1 to 13, and the surgical tool is arranged at the distal end of the at least one robotic arm.

15. The surgical robot system according to claim 14, wherein Further includes: A main control trolley, which is communicatively connected to the surgical trolley. The main control trolley includes at least one main operator, and the at least one main operator is used to receive user operations.

16. The surgical robot system according to claim 15, wherein The surgical tool further includes a proximal suction tube. The proximal end of the guiding tube of the surgical tool extends out of the arm body and communicates with the proximal suction tube. The proximal end of the proximal suction tube communicates with the first end of a first electromagnetic valve, and the second end of the first electromagnetic valve communicates with a negative pressure device and a waste liquid collection device. The main control trolley further includes: A first control pedal, which is communicatively connected to the first electromagnetic valve, and the first control pedal is used to receive user operations and generate control signals based on the user operations to control the on / off of the first electromagnetic valve.

17. The surgical robot system according to claim 16, wherein The surgical tool further includes a proximal flushing tube. The proximal end of the guiding tube is also connected to the proximal flushing tube. The proximal end of the proximal flushing tube is connected to the first end of a second electromagnetic valve. The second end of the second electromagnetic valve is connected to a pressure pump and a cleaning liquid storage tank. The surgical robot system further includes: A second control pedal, which is communicatively connected to the second electromagnetic valve. The second control pedal is used to receive user operations and generate control signals based on the user operations to control the on / off of the second electromagnetic valve.

18. The surgical robot system according to claim 14, characterized in that, It further includes: An equipment trolley, including a power supply, which is used to connect to the first electrode and the second electrode of the surgical tool to provide energy to the first electrode and the second electrode.

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