Lateral access device, surgical robot and surgical medical system

Abstract

The application provides a beside operation device, a surgical robot and a surgical medical system. The beside operation device comprises a base, a position adjusting mechanism, a posture adjusting mechanism and a holding mechanism connected in sequence. The position adjusting mechanism is used for moving the posture adjusting mechanism and the holding mechanism. The holding mechanism is used for installing a surgical instrument. The holding mechanism has a pitch joint rotating around a pitch axis, and the pitch axis is perpendicular to the extension direction of the surgical instrument. The posture adjusting mechanism has a first deflection joint rotating around a first deflection axis and a second deflection joint rotating around a second deflection axis. The first deflection axis is perpendicular to the second deflection axis, and at least one of the first deflection axis and the second deflection axis is perpendicular to the pitch axis. The beside operation device can be used for uterine lifting operation and abdominal surgery operation respectively, has strong versatility and flexibility, and can meet the needs of different types of operations.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and more specifically to a patient-side operating device, a surgical robot, and a surgical medical system. Background Technology

[0002] Surgical robots, as a medical assistive system, offer significant advantages such as reduced incisions and improved surgical success rates, and are increasingly being used in clinical medicine. Surgical robots include patient-side surgical devices that perform procedures alongside the patient. In some scenarios, these devices have multiple robotic arms that can operate independently. Before or during surgery, the posture and position of these arms need to be adjusted to achieve the desired state for the surgical procedure. However, these multi-arm patient-side surgical devices suffer from drawbacks such as large size and insufficient flexibility in preoperative positioning, making them unsuitable for use in confined surgical spaces. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed embodiments section. This summary section is not intended to limit the key features and essential technical features of the claimed technical solutions, nor is it intended to determine the scope of protection of the claimed technical solutions.

[0004] To at least partially solve the above problems, the first aspect of this application provides a patient-side operating device for a medical system, comprising a base, a positioning adjustment mechanism, a posture adjustment mechanism, and a device holding mechanism connected in sequence: The positioning adjustment mechanism is used to move the posture adjustment mechanism and the holding mechanism; The instrument holding mechanism is used to mount surgical instruments, and the instrument holding mechanism has a first pitch joint that rotates about a first pitch axis, the first pitch axis being perpendicular to the extension direction of the surgical instruments; The attitude adjustment mechanism has a first deflection joint that rotates about a first deflection axis and a second deflection joint that rotates about a second deflection axis. The first deflection axis is perpendicular to the second deflection axis, and at least one of the first deflection axis and the second deflection axis is perpendicular to the first pitch axis.

[0005] Optionally, the positioning adjustment mechanism is used to translate the posture adjustment mechanism and the holding mechanism in a first direction and / or a second direction, wherein the first direction is at an angle to the second direction.

[0006] Optionally, at least one of the first deflection axis and the second deflection axis is perpendicular to the first direction; and / or The attitude adjustment mechanism also has a third deflection joint that rotates about a third deflection axis, which is perpendicular to the second direction.

[0007] Optionally, at least one of the first deflection axis and the second deflection axis is perpendicular to the second direction.

[0008] Optionally, the positioning adjustment mechanism includes a first positioning arm connected to the base, the first positioning arm having a first linear joint that translates along the first translation axis, the first translation axis being parallel to the first direction.

[0009] Optionally, the positioning adjustment mechanism further includes a second positioning arm and a first rotary joint. The second positioning arm connects the first positioning arm and the posture adjustment mechanism. The second positioning arm is rotatably connected to the first positioning arm around a first rotation axis to form the first rotary joint. The first rotation axis is parallel to the first direction, and the length of the second positioning arm along the second direction is adjustable, or the length along the first direction and the length along the second direction are both adjustable.

[0010] Optionally, the second swing arm has a third linear joint that translates along a third translation axis parallel to the second direction.

[0011] Optionally, the second swing arm has a second rotary joint that rotates about a second rotation axis and a third rotary joint that rotates about a third rotation axis, wherein the second rotation axis and the third rotation axis are parallel to each other and each is perpendicular to the second direction.

[0012] Optionally, the attitude adjustment mechanism further includes a fourth deflection joint that rotates about a fourth deflection axis, the fourth deflection axis being parallel to the second rotation axis and the third rotation axis.

[0013] Optionally, the second swing arm includes a third arm, a first arm, and a second arm connected in sequence; The third arm is pivotally connected to the first positioning arm about a first rotation axis, the first arm is pivotally connected to the third arm about a second rotation axis, and the second arm is pivotally connected to the first arm about a third rotation axis; the second arm is connected to the attitude adjustment mechanism. The second axis of rotation and the third axis of rotation are parallel to each other; The second axis of rotation and the third axis of rotation are respectively perpendicular to the first direction; The second axis of rotation and the third axis of rotation are perpendicular to the second direction, respectively.

[0014] Optionally, the attitude adjustment mechanism includes: The second arm is pivotally connected to the positioning adjustment mechanism about the second deflection axis; A first arm, pivotally connected about a first deflection axis to a second arm, and the first arm is connected to the holding mechanism; The second deflection axis is perpendicular to the first deflection axis; One of the first deflection axis and the second deflection axis is perpendicular to the first direction, and the other of the first deflection axis and the second deflection axis is perpendicular to the second direction.

[0015] Optionally, the attitude adjustment mechanism includes: The third arm is pivotally connected to the position adjustment mechanism about a third deflection axis; The second arm is pivotally connected to the third arm about a second deflection axis; The first arm is pivotally connected to the second arm about a first deflection axis, and the first arm is connected to the holding mechanism; wherein... The third deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The third deflection axis is perpendicular to the second direction.

[0016] Optionally, the attitude adjustment mechanism includes: The fourth arm is pivotally connected to the positioning adjustment mechanism about a fourth deflection axis; The second arm is pivotally connected to the fourth arm about a second deflection axis; A first arm, pivotally connected about a first deflection axis to a second arm, is connected to the holding mechanism; wherein... The fourth deflection axis is perpendicular to the third deflection axis; The third deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The fourth deflection axis is perpendicular to both the second direction and the first direction.

[0017] Optionally, the attitude adjustment mechanism includes: The fourth arm is pivotally connected to the positioning adjustment mechanism about a fourth deflection axis; The third arm is pivotally connected to the fourth arm about a third deflection axis; The second arm is pivotally connected to the third arm about a second deflection axis; A first arm, pivotally connected about a first deflection axis to a second arm, is connected to the holding mechanism; wherein... The third deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The third deflection axis is perpendicular to the second direction; The fourth deflection axis is perpendicular to both the second direction and the first direction.

[0018] Optionally, the holding mechanism further has a second linear joint that translates along a second translation axis, the second translation axis being perpendicular to the first pitch axis.

[0019] Optionally, the weapon-holding mechanism includes: A first connector is fixed to the attitude adjustment mechanism; A second connector is pivotally connected to the first connector about a first pitch axis; A third connector is used to connect the surgical instrument, and the third connector is movably disposed on the second connector along the second translation axis.

[0020] Optionally, the holding mechanism further includes a second pitch joint that rotates about a second pitch axis, wherein the first pitch joint and the second pitch joint can rotate synchronously and in opposite directions.

[0021] Optionally, the weapon-holding mechanism includes: A first connector, which is pivotally connected to the attitude adjustment mechanism about a second pitch axis; A second connector is pivotally connected to the first connector about a first pitch axis; A third connector is used to connect the surgical instrument, and the third connector is movably disposed on the second connector along a third translation axis.

[0022] A second aspect of this application provides a surgical robot, including a doctor's console, an imaging device, and at least one patient-side operating device as described in the first aspect of this application.

[0023] A third aspect of this application provides a surgical medical system, comprising: Multiple operating devices; and The master operating device is capable of communicating with multiple slave operating devices, enabling the master operating device to simultaneously control at least one of the multiple slave operating devices.

[0024] Optionally, the surgical medical system includes multiple control modes that can be switched between each other. The multiple control modes include at least one single-use control mode and at least one combined single-use control mode. In the single-use control mode, the master operating device controls only one of the multiple slave operating devices. In the combined control mode, the master operating device controls at least one of the multiple slave operating devices.

[0025] Optionally, the main operating device includes two first operating components, each of which is used to receive user interaction operations to control one of the multiple slave operating devices; when the surgical medical system is in single-use control mode, the two first operating components are used to control the instruments of the same slave operating device; when the surgical medical system is in combined control mode, each first operating component is used to control any one of the instruments of the multiple slave operating devices.

[0026] Optionally, the plurality of operating devices include at least one single-arm assistive robot and at least one single-port laparoscopic robot or multi-port laparoscopic robot, wherein the single-arm assistive robot is configured as the patient-side operating device according to the first aspect of this application. Attached Figure Description

[0027] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings, Figure 1 This is a perspective view of the patient-side operating device according to the first embodiment of this application; Figure 2 This is a perspective view of the patient-side operating device according to the first embodiment of this application; Figure 3 This is a perspective view of the patient-side operating device according to the second embodiment of this application; Figure 4 This is a perspective view of the patient-side operating device according to the second embodiment of this application; Figure 5 This is a perspective view of the patient-side operating device according to the third embodiment of this application; Figure 6 This is a perspective view of the patient-side operating device according to the third embodiment of this application; Figure 7 This is a perspective view of the patient-side operating device according to the fourth embodiment of this application; Figure 8 This is a perspective view of the patient-side operating device according to the fourth embodiment of this application; Figure 9This is a perspective view of the patient-side operating device according to the fifth embodiment of this application; Figure 10 This is a perspective view of the patient-side operating device according to the sixth embodiment of this application; Figure 11 This is a perspective view of the patient-side operating device according to the sixth embodiment of this application; Figure 12 For orthopedic surgical operation modules; Figure 13 This is a schematic diagram illustrating the application scenario of the surgical medical system according to an embodiment of this application.

[0028] Explanation of reference numerals in the attached figures 100. Base; 110. First swing arm; 111. Column; 112. Lifting platform; 120. Second swing arm; 121. First support arm; 122. Second arm; 123. Third arm; 210. First arm; 220. Second arm; 230. Third arm; 240. Fourth arm; 310. First connecting member; 320. Second connecting member; 330. Third connecting member DX1, First deflection axis; DX2, Second deflection axis; DX3, Third deflection axis; DX4, fourth deflection axis; AX1, first rotation axis; AX2, second rotation axis; AX3, third axis of rotation; TX1, first axis of translation; TX2, second axis of translation; TX3, third translation axis; PR1, first pitch joint; PR2, second pitch joint; DR1, First deflection joint; DR2, Second deflection joint; DR3, Third deflection joint; DR4, fourth deflection joint; TR1, first linear joint; TR2, second linear joint; TR3, third linear joint; PX1, first pitch axis; PX2, second pitch axis; AR1, First Rotational Joint; AR2, Second Rotational Joint; AR3, Third Rotational Joint; D1, First Direction; D2, Second Direction Detailed Implementation

[0029] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0030] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0031] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0032] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0033] The terms “parallel” / “perpendicular” and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by -5° to +5°), and have equivalent effects.

[0034] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0035] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0036] The surgical robot according to embodiments of this application is a robot capable of remotely controlling surgery. The surgical robot may include a doctor's console, a robotic arm system, and a vision system.

[0037] The surgeon's control console is the core component of the surgical robot, allowing surgeons to remotely operate it. The console typically features a high-definition display screen, enabling surgeons to monitor the surgical area in real time. It also includes various buttons and handles for precise control of the robot's movements and the motion of surgical instruments, facilitating human-machine interaction.

[0038] The imaging system is the "eyes" of the surgical robot. It transmits real-time images of the surgical area to a display screen on the surgeon's console, allowing the surgeon to clearly see the situation in the surgical area. An imaging system typically includes a camera and an image transmission device. The camera captures images of the surgical area, while the image transmission device transmits the images to the console in real time.

[0039] A robotic arm system, typically a surgical cart equipped with a robotic arm, is an important component of a surgical robot. The robotic arm is the core mechanical structure of the surgical cart, used to hold surgical instruments and perform surgical procedures from the patient's side; therefore, the robotic arm system is also called a patient-side surgical device. A robotic arm system may include at least one robotic arm, which has several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm to achieve multi-degree-of-freedom movement. The end effector of the robotic arm is equipped with a holding arm, on which surgical instruments are detachably mounted. Surgical instruments can be replaced and used as needed for the surgery. Surgical instruments can be instruments used to perform surgical procedures, such as electrocautery devices, clamps, and vascular occluders; cameras used for image acquisition of the surgical area, such as endoscopes; or other auxiliary surgical instruments, such as uterine manipulators. A cannula may be provided on the holding arm, which is operably attached to the holding arm. The surgical instruments pass through the cannula into the patient's body; therefore, the cannula provides some support for the axis of the surgical instruments. In the initial stage of the surgery, the position of the cannula relative to the human body is determined first, that is, the direction in which the surgical instruments enter the human body is determined first, and then the instrument holding mechanism is dragged to dock with the cannula.

[0040] The movements of several connecting arms of a robotic arm can be coupled mechanically or via software control, enabling the robotic arm to move surgical instruments mounted on the holding arms around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is selected as the port through which the surgical instruments enter the patient's abdominal cavity during the procedure. During the surgery, the surgical instruments enter the patient's body through this port and can perform movements such as pitch, yaw, insertion, and rotation around the central point. This ensures that the movement of the surgical instruments does not deviate from the preset trajectory, thereby avoiding unnecessary harm to the patient.

[0041] In common application scenarios, patient-side operating devices are usually configured with multiple arms. Generally, a surgical cart is equipped with 3 to 4 robotic arms. This has problems such as large size and insufficient flexibility in preoperative positioning, which is not conducive to application in environments with relatively small surgical operating spaces.

[0042] For example, in some laparoscopic surgical applications, the robotic arm end effector of the patient-side manipulation device can be used to attach electrocautery devices, clamps, vascular occluders, etc., to perform surgical procedures, or to attach an endoscope to provide a view of the patient's abdominal cavity. During surgery, surgical instruments are usually inserted into the patient's abdominal cavity through a pre-drilled incision in the abdomen. Therefore, surgical instruments are typically inserted into the abdominal cavity from the upper or lateral sides. Due to the complexity of the human anatomy, surgical instruments need to avoid various unrelated internal organs to reach the lesion, thus requiring sufficient flexibility and controllability. For some more complex procedures, to obtain a larger surgical operating space, it is necessary to enter the abdominal cavity from different directions. These directions span a large area, and the robotic arm needs to be positioned on different sides of the patient's body, meaning that at least two patient-side manipulation devices are required. Because there are several other medical auxiliary facilities around the patient, such as monitors and surgical instrument carts, and space needs to be reserved for medical staff to perform some auxiliary operations and observe the patient at any time, the space available for placing patient-side operating equipment and for robotic arm operation is limited. Collisions can easily occur between robotic arms or with surrounding medical instruments.

[0043] For example, in gynecological surgery, a uterine manipulator is needed as an auxiliary tool. The robotic arm of a patient-side manipulation device can be used to mount the manipulator. During surgery, the manipulator is typically inserted into the uterus through the vagina between the patient's legs in a roughly horizontal direction. The uterus is supported by a cup at the end of the manipulator. By manipulating the manipulator, the position and angle of the uterus can be adjusted, thus assisting the surgical procedure. In this application scenario, the maneuverability of the manipulator is maximized, and the patient-side manipulation device is suitable for placement between the patient's legs. However, because the space between the legs is usually quite narrow, there are certain requirements for the size of the patient-side manipulation device and the flexibility of the robotic arm; otherwise, interference between the robotic arm and the legs or other instruments may occur.

[0044] The patient-side operating device of this application can improve or overcome the above-mentioned problems and enhance the ease of operation in confined environments.

[0045] The patient-side operating device of this application includes a base 100, a positioning adjustment mechanism, a posture adjustment mechanism, and a device holding mechanism connected in sequence.

[0046] The base 100 is primarily used for preoperative positioning of the surgical device near the patient, thus achieving initial preoperative positioning of the instrument-holding mechanism. In one example, the base 100 can be placed on the ground, for example, the bottom of the base 100 can be equipped with wheels for easy movement. In another example, the base can also be suspended from a wall or ceiling, for example, the base can be mounted on a wall or ceiling via guide rails for easy movement. In yet another example, the base can also be mounted on or integrated into the operating table.

[0047] The positioning adjustment mechanism is installed on the base 100. The positioning adjustment mechanism is mainly used for precise positioning of the instrument-holding mechanism before surgery and for moving the instrument-holding mechanism around the RCM point during surgery, together with the posture adjustment mechanism. Through the base 100 and the positioning adjustment mechanism, the instrument-holding mechanism holding the surgical instruments can be precisely positioned in the area where the surgical operation needs to be performed, ensuring the accuracy and precision of subsequent surgical operations. Specifically, the positioning adjustment mechanism is used to translate the posture adjustment mechanism and the instrument-holding mechanism in a first direction D1 and / or a second direction D2. The first direction D1 is at an angle to the second direction D2. Optionally, the first direction D1 is perpendicular to the second direction D2. Optionally, the first direction D1 is a vertical direction, and the second direction D2 is a horizontal direction.

[0048] In one example, the positioning adjustment mechanism has a first linear joint that translates along a first translation axis parallel to a first direction D1, for translating the posture adjustment mechanism and the holding mechanism in the first direction D1. In another example, the first linear joint can be replaced by three sequentially connected rotary joints, all with rotation axes perpendicular to the first direction D1.

[0049] In one example, the positioning adjustment mechanism has a second linear joint that translates along a second translation axis parallel to a second direction D2, for translating the posture adjustment mechanism and the holding mechanism in the second direction D2. In another example, the second linear joint can be replaced by three sequentially connected rotary joints, all with rotation axes perpendicular to the second direction D2.

[0050] In one example, the positioning adjustment mechanism has a first rotary joint that rotates about a first rotation axis parallel to a first direction D1, for adjusting the orientation of the posture adjustment mechanism and the holding mechanism relative to the base in a plane perpendicular to the first direction D1.

[0051] The posture adjustment mechanism is installed on the positioning adjustment mechanism. The posture adjustment mechanism is used to adjust the posture of the instrument-holding mechanism before surgery and, during surgery, works with the positioning adjustment mechanism to move the instrument-holding mechanism around the RCM point. The posture adjustment mechanism can flexibly and precisely adjust the posture of the instrument-holding mechanism according to surgical needs, allowing the surgeon to accurately control the posture of the surgical instruments for precise surgical operation. Specifically, the posture adjustment mechanism has a first deflection joint DR1 that rotates about a first deflection axis DX1 and a second deflection joint DR2 that rotates about a second deflection axis DX2, with the first deflection axis DX1 perpendicular to the second deflection axis DX2. Therefore, this posture adjustment mechanism has at least two rotational degrees of freedom.

[0052] The instrument holding mechanism is mounted to the posture adjustment mechanism. The instrument holding mechanism is used to mount surgical instruments for securing and manipulating them. The instrument holding mechanism has a first pitch joint PR1 that rotates about a first pitch axis PX1, which is perpendicular to the extension direction of the surgical instrument. The first pitch axis PX1 is perpendicular to a first deflection axis DX1 and / or a second deflection axis DX2. Thus, the instrument holding mechanism has at least one rotational degree of freedom.

[0053] Through the posture adjustment mechanism and the instrument holding mechanism, the surgical instruments installed in the instrument holding mechanism have at least three rotational degrees of freedom, which can meet the requirements for posture adjustment of surgical instruments.

[0054] Through the posture adjustment mechanism and the instrument holding mechanism, the surgical instruments mounted on the instrument holding mechanism have at least three rotational degrees of freedom, meeting the needs for posture adjustment of surgical instruments during surgical operations. Especially in laparoscopic surgery, surgeons can manipulate surgical instruments at multiple angles and in complex postures to meet the needs of different surgical procedures.

[0055] The patient-side manipulation device of this application can achieve translation of surgical instruments in at least two dimensions and posture adjustment in three dimensions, satisfying the need for precise adjustment of the position and posture of surgical instruments before surgery and meeting the flexibility requirements of surgical instruments during surgery. Simultaneously, the patient-side manipulation device of this application limits the movable space of surgical instruments to a plane symmetrical with respect to the first and second directions. This facilitates the placement and operation of the patient-side manipulation device in confined spaces, ensuring the range of motion of surgical instruments while also helping to avoid interference between the robotic arm and other objects.

[0056] In one example, the instrument holding mechanism also includes an instrument driving module (not labeled), which is connected to the surgical instruments. During the operation, the instrument driving module is used to drive the end effector of the surgical instruments to perform actions such as clamping, cutting, scissing, and hooking.

[0057] In one example, the instrument holding mechanism is also equipped with a linear drive module (not shown), which allows the surgical instruments to move along a straight line. During the operation, the linear drive module is used to drive the surgical instruments to insert or retract along their extension direction.

[0058] The following describes various possible embodiments of the patient-side operation device and explains its beneficial effects in conjunction with application requirements.

[0059] It should be noted that, in the embodiments described below, it is preferred to implement the two axes as being perpendicular to each other. Two axes being perpendicular to each other means either intersecting perpendicularly or perpendicularly at opposite angles. Two axes that intersect but are not perpendicular, or two axes that are at opposite angles and whose included angle is not a right angle, are also within the scope of protection of this application.

[0060] like Figure 1-2 The first embodiment is shown. In this embodiment, the patient-side operating device can be used to perform laparoscopic surgery by being positioned beside the patient, or it can be used to perform uterine manipulation by being positioned between the patient's legs. The patient-side operating device includes a base 100, a positioning adjustment mechanism, a posture adjustment mechanism, and a holding mechanism connected in sequence.

[0061] The positioning adjustment mechanism includes a first positioning arm 110 and a second positioning arm 120, which can be movably connected by a first rotary joint AR1.

[0062] The first positioning arm 110 has a first linear joint TR1 that translates along a first translation axis TX1. The first translation axis TX1 is parallel to the height direction (i.e., the first direction D1), therefore, the height of the holding mechanism can be adjusted according to the patient's position or the height of the operating table, while the posture of the posture adjustment mechanism remains unchanged. Exemplarily, the first positioning arm 110 includes a column 111 and a lifting platform 112, which can be connected by a sliding joint. For example, the sliding joint may include a slide rail and a slider, with the slider slidably connected to the slide rail along the first translation axis TX1. The slide rail extends along the first direction D1.

[0063] The second positioning arm 120 includes a third arm 123, a first arm 121, and a second arm 122. The third arm 123 is connected to the first positioning arm 110. Specifically, the first end of the third arm 123 is pivotally connected to the first positioning arm 110 about a first rotation axis AX1 to form a first rotary joint AR1 that rotates about the first rotation axis AX1. Therefore, the positioning adjustment mechanism can swing relative to the base 100 about the first rotation axis AX1. In use, while ensuring that the holding mechanism is in an area where surgical operations can be performed, the base 100 of the patient-side operating device can be flexibly positioned according to the environment of the operating room, avoiding other medical auxiliary devices beside the patient. Optionally, the first rotation axis AX1 is parallel to the first direction D1. The first rotation axis AX1 is parallel to or coincides with the first translation axis TX1.

[0064] The first arm 121 is connected to the third arm 123. Specifically, the first end of the first arm 121 is pivotally connected to the second end of the third arm 123 about the second rotation axis AX2, forming a second rotary joint AR2 that rotates about the second rotation axis AX2. The second arm 122 is connected to the first arm 121. Specifically, the first end of the second arm 122 is pivotally connected to the second end of the first arm 121 about the third rotation axis AX3, forming a third rotary joint AR3 that rotates about the third rotation axis AX3. The second swing arm 120 can change its dimension (height) along the first direction D1 and / or its dimension (length) along the second direction by changing the angle between the first arm 121 and the second arm 122. Optionally, the second rotation axis AX2 is parallel to the third rotation axis AX3. Optionally, the second rotation axis AX2 is perpendicular to the first rotation axis AX1. The third arm 123 can be positioned above the first swing arm 110 to reduce its horizontal dimension. The third arm 123 and the second arm 122 can be located on the same side of the first arm 121 along the thickness direction to reduce the horizontal dimension.

[0065] In some applications, the height of the holding mechanism can be adjusted by the cooperation of the first positioning arm 110 and the second positioning arm 120 before the surgical procedure. The position of the holding mechanism relative to the base 100 in the horizontal direction can be adjusted by the first rotary joint AR1 and the second positioning arm 120.

[0066] In some applications, during surgical procedures, both the first positioning arm 110 and the second positioning arm 120 can assist the posture adjustment mechanism in driving the holding mechanism to move around the RCM point.

[0067] In some applications, during surgical procedures, the first positioning arm 110 may not participate in the coordination of the RCM point movement; that is, it is locked after being adjusted to a suitable height before the surgical procedure.

[0068] In some applications, the second positioning arm 120 may not be involved in the height adjustment of the holding mechanism before the surgical procedure; that is, the height adjustment of the holding mechanism can be performed solely through the first positioning arm 110.

[0069] In this embodiment, the second direction D2 is the direction from the first end of the first arm 121 to the second end of the second arm 122, or the horizontal component of that direction. Therefore, the second direction D2 changes in a plane perpendicular to the first rotation axis AX1 as the second positioning arm 120 rotates. In some applications, the direction of the second direction D2 is adjusted by the first rotary joint AR1 before the surgical procedure. In other applications, the first rotary joint AR1 can be locked to maintain the second direction D2. In still other applications, the first rotary joint AR1 can also assist the posture adjustment mechanism in driving the holding mechanism to move around the RCM point.

[0070] In some applications, before and during surgery, the collaboration of the second rotary joint AR2 and the third rotary joint AR3 ensures that the direction from the first end of the first arm 121 to the second end of the second arm 122 is always perpendicular to the first direction D1. This means that the second positioning arm 120 does not participate in the height adjustment of the holding mechanism, thereby simplifying control.

[0071] In this embodiment, the second positioning arm 120 achieves the movement of the holding mechanism in the second direction D2 through the cooperation of two rotary joints, which improves the flexibility of the patient-side operation device. At the same time, in conjunction with the first positioning arm 120 and the first rotary joint AR1, the patient-side operation device can be applied to a variety of application scenarios to meet different surgical requirements and different environmental requirements.

[0072] In some examples, the first linear joint TR1, the first rotary joint AR1, the second rotary joint AR2, and the third rotary joint AR3 can be configured as active joints, that is, each joint is equipped with its own drive motor.

[0073] In other examples, the first linear joint TR1, the first rotary joint AR1, and the second rotary joint AR2 can be configured as active joints, and the third rotary joint AR3 can be configured as a passive joint. The third rotary joint AR3 is connected to the second rotary joint AR2 through a transmission mechanism. The rotation of the second rotary joint AR2 drives the rotation of the third rotary joint AR3, so that the two are mechanically coupled.

[0074] The attitude adjustment mechanism includes a first arm 210, a second arm 220, and a fourth arm 240. The first end of the fourth arm 240 is pivotally connected to the positioning adjustment mechanism about a fourth deflection axis DX4. The fourth deflection axis DX4 is perpendicular to a first direction D1 and a second direction D2. The first end of the second arm 220 is pivotally connected to the second end of the fourth arm 240 about a second deflection axis DX2. The second deflection axis DX2 is at an angle to the fourth deflection axis DX4. Optionally, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4. The first end of the first arm 210 is pivotally connected to the second end of the second arm 220 about a first deflection axis DX1. The second deflection axis DX2 is at an angle to the first deflection axis DX1. Optionally, the second deflection axis DX2 is perpendicular to the first deflection axis DX1.

[0075] The fourth arm 240 is connected to the free end of the positioning adjustment mechanism. Specifically, the first end of the fourth arm 240 is connected to the second support arm 122. The fourth arm 240 and the second support arm 122 are pivotally connected to form a fourth deflection joint DR4 that rotates about a fourth deflection axis DX4. Optionally, the fourth deflection axis DX4 is parallel to the second rotation axis AX2 and the third rotation axis AX3. The first end of the second arm 220 is connected to the second end of the fourth arm 240. The second arm 220 and the fourth arm 240 are pivotally connected to form a second deflection joint DR2 that rotates about a second deflection axis DX2. The first end of the first arm 210 is connected to the second end of the second arm 220. The first arm 210 and the second arm 220 are pivotally connected to form a first deflection joint DR1 that rotates about a first deflection axis DX1. The first arm 210 is connected to the holding mechanism.

[0076] In some applications, the fourth deflection joint DR4 is used to maintain the angle of the second deflection axis DX2 of the second deflection joint DR2 relative to the first direction D1 when the second positioning arm 120 is in motion, for example, to keep the second deflection axis DX2 perpendicular to the first direction D1. For example, when the posture of the second arm 122 changes, it will cause the second deflection axis DX2 to change angle relative to the first direction D1. At this time, the fourth deflection joint DR4 can cooperate with the third rotation joint AR3 to maintain this angle.

[0077] In this embodiment, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4 and the first deflection axis DX1, respectively.

[0078] For example, the second arm 220 can be configured as a bent structure, so that the entire attitude adjustment mechanism is bent. When the second deflection joint DR2 rotates, the orientation of the second end of the second arm 220 relative to the fourth arm 240 can be changed, thereby changing the orientation of the first arm 210 relative to the fourth arm 240. For example, the first end of the second arm 220 extends along the second deflection axis DX2, and the second end of the second arm 220 extends along the first deflection axis DX1. The first arm 210 extends along the first deflection axis DX1.

[0079] With the aforementioned posture adjustment mechanism, the instrument holding mechanism can be easily operated from a high position, facilitating abdominal surgical procedures. The instrument holding mechanism can also be operated in a horizontal position, facilitating uterine manipulation. The positioning and posture adjustment mechanisms work together to achieve the movement of the instruments around the RCM point.

[0080] In some examples, the first deflection joint DR1, the second deflection joint DR2, and the fourth deflection joint DR4 can be configured as active joints, meaning that each joint has its own corresponding drive motor.

[0081] The instrument-holding mechanism includes a first connector 310, a second connector 320, and a third connector 330 connected in sequence. The first connector 310 is connected to a posture adjustment mechanism. The second connector 320 and the third connector 330 are used to mount surgical instruments. A sleeve 340 is provided at the distal end of the second connector 320, and the sleeve is operably connected to the second connector 320. When the surgical instrument is connected to the third connector 330, the surgical instrument passes through the sleeve 340, thus the sleeve 340 provides a certain degree of support for the surgical instrument.

[0082] Specifically, the first end of the first connector 310 is fixed relative to the first arm 210. The second connector 320 is pivotally connected to the second end of the first connector 310 about the first pitch axis PX1. That is, the first connector 310 and the second connector 320 are pivotally connected to form a first pitch joint PR1 that rotates about the first pitch axis PX1. Optionally, the first pitch axis PX1 is perpendicular to the extension direction of the surgical instrument. Optionally, connecting the first connector 310 to the middle of the second connector 320 can reduce the influence of gravitational torque on the first pitch joint PR1, thereby effectively reducing the vibration and wobbling of the second connector 320 and the surgical instrument, making the entire holding mechanism more stable.

[0083] The third connector 330 is movably connected to the second connector 320 along the second translation axis TX2 to form a second linear joint TR2 that translates along the second translation axis TX2. The second translation axis TX2 is perpendicular to the first pitch axis PX1. The surgical instrument is movable relative to the second connector 320 along the second translation axis TX2 with the third connector 330. Optionally, the second translation axis TX2 is parallel to the extension direction of the surgical instrument, so the third connector 330 can move the surgical instrument closer to or away from the operating position.

[0084] Optionally, the third connector 330 is provided with an instrument drive module for driving the surgical instrument to rotate about its own axis (i.e., the second translation axis TX2).

[0085] With the aforementioned instrument-holding mechanism, surgical instruments can be used for surgical operations at different angles and lengths. Therefore, the working angle and working distance of the surgical instruments can be changed to adapt to the needs of different types, locations, and depths of surgical operations.

[0086] In some examples, the first pitch joint PR1 and the second linear joint TR2 can be configured as active joints, meaning that each joint has its own corresponding drive motor.

[0087] Generally, in laparoscopic surgery, the RCM point is selected at the small incision made in the patient's abdomen. The cannula 340 is inserted into the incision to support the surgical instruments; therefore, the RCM point is set at an appropriate position on the cannula 340. In uterine maneuvers, the RCM point is selected at the vaginal opening. The cannula 340 is usually operated externally; therefore, the RCM point is set in front of the cannula 340 (front refers to the insertion direction of the uterine maneuver). Based on the location of the RCM point and the requirements of different operations, positioning and posture adjustment mechanisms are needed to work together to manipulate the movement of the surgical instruments around the RCM point.

[0088] In some application scenarios, when the patient-side operating device performs a uterine lifting operation, such as Figure 2 As shown, the first deflection axis DX1 remains parallel to the first direction D1. On one hand, the first pitch axis PX1 is perpendicular to the first direction D1, so the pitch motion of the uterine lifter around the RCM point can be achieved through the cooperation of the first pitch joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110, thereby enabling the uterine lifter to move the uterus up and down. On the other hand, the first deflection axis DX1 is parallel to the first rotation axis AX1, so the yaw motion of the uterine lifter around the RCM point can be achieved through the cooperation of the first deflection joint DR1, the first rotation joint AR1, and the second positioning arm 120, thereby enabling the uterus to move left and right. Throughout the operation, the second deflection joint DR2 usually does not participate in the movement of the RCM point, that is, it remains stationary.

[0089] In some applications, when the patient-side manipulation device is used for laparoscopic surgery, the surgical instruments are positioned higher and have more varied movements compared to uterine manipulation. The introduction of the second yaw joint DR2 can improve the flexibility of the surgical instrument manipulation, meeting the requirements of laparoscopic surgery. Throughout the operation, the first rotation joint AR1, the second positioning arm 120, the first yaw joint DR1, the second yaw joint DR2, the fourth yaw joint DR4, the first pitch joint PR1, and the optional first positioning arm 110 all participate in the coordinated manipulation of the surgical instrument's movement around the RCM point. For example, the pitch movement of the surgical instrument around the RCM point can be achieved through the coordination of the first pitch joint PR1, the second yaw joint DR2, the fourth yaw joint DR4, the second positioning arm 120, and the optional first positioning arm 110; simultaneously, the yaw movement of the surgical instrument around the RCM point can be achieved through the coordination of the first yaw joint DR1, the second yaw joint DR2, the first rotation joint AR1, and the second positioning arm 120.

[0090] In some applications, the movement of the second linear joint TR2 is used to guide surgical instruments into and / or out of the patient's body. Because the direction of movement of the second linear joint TR2 aligns with the extension direction of the surgical instrument, control is simplified, unnecessary harm to the patient is reduced, and surgical safety is improved.

[0091] like Figure 3-4 The second embodiment is shown. In this embodiment, the patient-side operating device can be used to perform abdominal surgical procedures and also to perform uterine manipulation. The positioning and adjustment mechanism and the instrument holding mechanism are similar to those in the first embodiment, and will not be described in detail here for the sake of brevity.

[0092] The second embodiment differs from the first embodiment in that the attitude adjustment mechanism is different.

[0093] like Figure 3-4As shown, the attitude adjustment mechanism includes a first arm 210, a second arm 220, and a fourth arm 240. The first end of the fourth arm 240 is pivotally connected to the positioning adjustment mechanism about a fourth deflection axis DX4. The fourth deflection axis DX4 is perpendicular to the first direction D1 and the second direction D2. The first end of the second arm 220 is pivotally connected to the second end of the fourth arm 240 about a second deflection axis DX2. The second deflection axis DX2 is at an angle to the fourth deflection axis DX4. Optionally, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4. The first end of the first arm 210 is pivotally connected to the second end of the second arm 220 about a first deflection axis DX1 to form a first deflection joint DR1 that rotates about the first deflection axis DX1. The second deflection axis DX2 is at an angle to the first deflection axis DX1. Optionally, the second deflection axis DX2 is perpendicular to the first deflection axis DX1.

[0094] The fourth arm 240 is connected to the free end of the positioning adjustment mechanism. Specifically, the first end of the fourth arm 240 is connected to the second support arm 122. The fourth arm 240 and the second support arm 122 are pivotally connected to form a fourth deflection joint DR4 that rotates about a fourth deflection axis DX4. Optionally, the fourth deflection axis DX4 is parallel to the second rotation axis AX2 and the third rotation axis AX3. The first end of the second arm 220 is connected to the second end of the fourth arm 240. The second arm 220 and the fourth arm 240 are pivotally connected to form a second deflection joint DR2 that rotates about a second deflection axis DX2. The first end of the first arm 210 is connected to the second end of the second arm 220. The first arm 210 and the second arm 220 are pivotally connected to form a first deflection joint DR1 that rotates about a first deflection axis DX1. The first arm 210 is connected to the holding mechanism. In this embodiment, the second deflection axis DX2 is perpendicular to both the fourth deflection axis DX4 and the first deflection axis DX1.

[0095] Unlike the bent structure of the first embodiment, the attitude adjustment mechanism of the second embodiment is arranged in a straight line, that is, the fourth deflection joint DR4, the second deflection joint DR2, the first deflection joint DR1, and the first pitch joint PR1 are arranged sequentially along the first deflection axis DX1. Therefore, in different application scenarios, the second deflection axis DX2 can be set to be perpendicular to the first direction D1 in the first embodiment; while in the second embodiment, the direction of the second deflection axis DX2 needs to be adjusted according to different application scenarios, which can be done through the fourth deflection joint DR4.

[0096] With the aforementioned posture adjustment mechanism, the instrument holding mechanism can be easily operated from a high position, facilitating abdominal surgical procedures. The instrument holding mechanism can also be operated in a horizontal position, facilitating uterine manipulation. The positioning and posture adjustment mechanisms work together to achieve the movement of the instruments around the RCM point.

[0097] Figure 3 An initial positioning of the robotic arm is shown, in which the second deflection axis DX2 is parallel to the first direction D1 and perpendicular to the second direction D2, and the first deflection axis DX1 is perpendicular to the first direction D1. This positioning arranges the fourth deflection joint DR4, the second deflection joint DR2, the first deflection joint DR1, and the first pitch joint PR1 in a horizontal sequence, facilitating operation of surgical instruments from a high position, suitable for laparoscopic surgery. In some applications, when the patient-side operating device performs laparoscopic surgery, the second deflection axis DX2 remains parallel to the first direction D1. On the other hand, the first pitch axis PR1 is perpendicular to the first direction D1, so the pitch movement of the surgical instruments around the RCM point can be achieved through the cooperation of the first pitch joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110. On the other hand, the second deflection axis DX2 is parallel to the first rotation axis AX1, and the first deflection axis DX1 is perpendicular to the first rotation axis AX1. Therefore, the yaw motion of the surgical instrument around the RCM point can be achieved through the cooperation of the first deflection joint DR1, the second deflection joint DR2, the first rotation joint AR1, and the second positioning arm 120.

[0098] Figure 4 Another initial positioning of the robotic arm is shown, in which the second deflection axis DX2 is parallel to the second direction D2 and perpendicular to the first direction D1, and the first deflection axis DX1 is parallel to the first direction D1 and perpendicular to the second direction D2. This positioning arranges the fourth deflection joint DR4, the second deflection joint DR2, the first deflection joint DR1, and the first pitch joint PR1 in a vertical sequence, facilitating the entry of the uterine lifter into the uterus in a roughly horizontal direction, suitable for uterine lift operations. On one hand, the first pitch axis PX1 is perpendicular to the first direction D1, so the uterine lifter can achieve pitch movement around the RCM point through the cooperation of the first pitch joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110, thereby enabling the uterine lifter to move the uterus up and down. On the other hand, the first deflection axis DX1 is parallel to the first rotation axis AX1, so the uterine lifter can achieve yaw movement around the RCM point through the cooperation of the first deflection joint DR1, the first rotation joint AR1, and the second positioning arm 120, thereby enabling the uterine lifter to move the uterus left and right. Throughout the operation, the second deflection joint DR2 typically does not participate in the movement of the RCM point, i.e., it remains stationary.

[0099] like Figures 5-6 The third embodiment is shown. In this embodiment, the patient-side operating device can be used to perform abdominal surgical procedures and also to perform uterine manipulation. The positioning and adjustment mechanism and the instrument holding mechanism are similar to those in the first embodiment and will not be described in detail here.

[0100] The third embodiment differs from the first embodiment in that the attitude adjustment mechanism is different. The attitude adjustment mechanism of the third embodiment adds a redundant degree of freedom compared to the attitude adjustment mechanism of the first embodiment.

[0101] The posture adjustment mechanism in this embodiment includes a fourth arm 240, a third arm 230, a second arm 220, and a first arm 210. Based on the first embodiment, a rotary joint is added between the fourth arm 240 and the second arm 220.

[0102] The third arm 230 is connected to the fourth arm 240. Specifically, the first end of the third arm 230 is connected to the second end of the fourth arm 240. The third arm 230 and the fourth arm 240 are pivotally connected to form a third deflection joint DR3 that rotates about a third deflection axis DX3. Optionally, the third deflection axis DX3 is perpendicular to the fourth deflection axis DX4. The first end of the second arm 220 is pivotally connected to the second end of the third arm 230 about a second deflection axis DX2. The first end of the first arm 210 is pivotally connected to the second end of the second arm 220 about a first deflection axis DX1. The fourth deflection axis DX4 is angled to the third deflection axis DX3. Optionally, the fourth deflection axis DX4 is perpendicular to the third deflection axis DX3. The third deflection axis DX3 is angled to the second deflection axis DX2. Optionally, the third deflection axis DX3 is perpendicular to the second deflection axis DX2. The first deflection axis DX1 is angled to the second deflection axis DX2. Optionally, the first deflection axis DX1 is perpendicular to the second deflection axis DX2. The structure of the fourth arm 240 and its connection with the second arm 122, as well as the connection and structure of the first arm 210 and the second arm 220, are the same as in the first embodiment, and will not be described in detail here.

[0103] In this embodiment, the specific structure of the third arm 230 is similar to that of the second arm 220 in the second embodiment. The fourth deflection joint DR4, the third deflection joint DR3, the second deflection joint DR2 and the first deflection joint DR1 are arranged sequentially along the second deflection axis DX2, and the first deflection joint DR1 and the first pitch joint PR1 are arranged sequentially along the first deflection axis DX1. Therefore, the attitude adjustment mechanism as a whole has a bent structure.

[0104] In some applications, when the fourth deflection joint DR4 and the third rotation joint AR3 cooperate to maintain the posture of the holding mechanism, the third deflection axis DX3 is always parallel to the first direction.

[0105] In this embodiment, the arrangement of the third arm 230, the second arm 220, and the first arm 210 provides the posture adjustment mechanism with three degrees of freedom, enabling more diverse posture adjustments for the robotic arm and reducing interference with other instruments. Furthermore, while ensuring that the degrees of freedom of the holding mechanism meet the requirements for performing surgical procedures, the base 100 of the patient-side operating device can be flexibly positioned according to the operating room environment, avoiding other medical auxiliary equipment beside the patient.

[0106] In some examples, the first deflection joint DR1, the second deflection joint DR2, the third deflection joint DR3, and the fourth deflection joint DR4 can be configured as active joints, that is, each joint is equipped with its own drive motor.

[0107] In some application scenarios, when the patient-side operating device performs a uterine lifting operation, such as Figure 6 As shown, the first deflection axis DX1 remains parallel to the first direction D1. On one hand, the first pitch axis PX1 is perpendicular to the first direction D1, so the pitch motion of the uterine lifter around the RCM point can be achieved through the cooperation of the first pitch joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110, thereby enabling the uterine lifter to move the uterus up and down. On the other hand, the first deflection axis DX1, the third deflection axis DX3, and the first rotation axis AX1 are parallel, so the yaw motion of the uterine lifter around the RCM point can be achieved through the cooperation of the first deflection joint DR1, the third deflection joint DR3, the second positioning arm 120, and the optional first rotation joint AR1, thereby enabling the uterine lifter to move the uterus left and right. Throughout the operation, the second deflection joint DR2 usually does not participate in the movement of the RCM point, that is, it remains stationary.

[0108] In some applications, when patient-side operating devices are used to perform laparoscopic surgery, compared to... Figure 1The embodiment provides redundant degrees of freedom for rotation about the third deflection axis DX3. This allows for adaptive adjustments to the position of the base 100 of the patient-side operating device before surgery based on the patient's surrounding environment, and also helps the surgical instrument avoid other instruments positioned above the patient. Throughout the operation, the first rotational joint AR1, the second positioning arm 120, the first deflection joint DR1, the second deflection joint DR2, the third deflection joint DR3, the first pitch joint PR1, and the optional first positioning arm 110 all cooperate in manipulating the movement of the surgical instrument around the RCM point. For example, the pitch movement of the surgical instrument around the RCM point can be achieved through the cooperation of the first pitch joint PR1, the second deflection joint DR2, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110; simultaneously, the yaw movement of the surgical instrument around the RCM point can be achieved through the cooperation of the first deflection joint DR1, the second deflection joint DR2, the third deflection joint DR3, the first rotational joint AR1, and the second positioning arm 120.

[0109] like Figures 7-8 The fourth embodiment is shown. In this embodiment, the patient-side operating device can be used to perform abdominal surgical procedures and also to perform uterine manipulation. The first positioning arm 110, the first rotational joint AR1, the posture adjustment mechanism, and the holding mechanism are similar to those in the first embodiment, and will not be described in detail here for the sake of brevity.

[0110] The fourth embodiment differs from the first embodiment in that the second swing arm is different. In this embodiment, the second swing arm 120 includes a first arm 121 and a second arm 122.

[0111] The first arm 121 is connected to the first positioning arm 110. Specifically, the first arm 121 extends along a second direction, and one end of the first arm 121 along the second direction is pivotally connected to the first positioning arm 110 about a first rotation axis AX1 to form a first rotary joint AR1 that rotates about the first rotation axis AX1. Optionally, the first rotation axis AX1 is parallel to the first direction. The first rotation axis AX1 is parallel to or coincides with the first translation axis TX1.

[0112] The second arm 122 is connected to the first arm 121. Specifically, the second arm 122 also extends along the second direction and is movably connected to the first arm 121 along the third translation axis TX3 to form a third linear joint TR3 that translates along the third translation axis TX3. Optionally, the third translation axis TX3 is parallel to the second direction D2. Optionally, the second direction D2 is the length direction of the second swing arm 120. The end of the second arm 122 away from the first swing arm 110 along the second direction is connected as a free end to the attitude adjustment mechanism.

[0113] In some cases, the third linear joint TR3 can be configured as an active joint.

[0114] Unlike the first embodiment, since the second swing arm 120 in this embodiment only has a horizontal degree of freedom of movement, the first swing arm 110 is required when the height of the holding mechanism is adjusted.

[0115] The fourth embodiment differs from the first embodiment in that it omits the fourth deflection joint DR4. Therefore, unlike the first embodiment, the first positioning arm 110 is required when assisting the pitching motion of surgical instruments around the RCM point.

[0116] In some application scenarios, when the patient-side operating device performs a uterine lifting operation, such as Figure 8 As shown, the first deflection axis DX1 remains parallel to the first direction D1. On one hand, the first pitch axis PX1 is perpendicular to the first direction D1, so the pitch motion of the uterine lifter around the RCM point can be achieved through the cooperation of the first pitch joint PR1, the second positioning arm 120, and the first positioning arm 110, thereby enabling the uterine lifter to move the uterus up and down. On the other hand, the first deflection axis DX1 is parallel to the first rotation axis AX1, so the yaw motion of the uterine lifter around the RCM point can be achieved through the cooperation of the first deflection joint DR1, the first rotation joint AR1, and the second positioning arm 120, thereby enabling the uterus to move left and right. Throughout the operation, the second deflection joint DR2 usually does not participate in coordinating the movement of the RCM point, that is, it remains stationary.

[0117] In some applications, when the patient-side manipulation device performs laparoscopic surgery, the first positioning arm 110, the first rotational joint AR1, the second positioning arm 120, the first yaw joint DR1, the second yaw joint DR2, and the first pitch joint PR1 all cooperate in manipulating the movement of the surgical instrument around the RCM point. For example, the pitch movement of the surgical instrument around the RCM point can be achieved through the cooperation of the first pitch joint PR1, the second yaw joint DR2, the second positioning arm 120, and the first positioning arm 110; simultaneously, the yaw movement of the surgical instrument around the RCM point can be achieved through the cooperation of the first yaw joint DR1, the second yaw joint DR2, the first rotational joint AR1, and the second positioning arm 120.

[0118] like Figure 9 The fifth embodiment is shown. In this embodiment, the patient-side operating device can be used to perform uterine manipulation. The positioning and adjustment mechanism and the holding mechanism are similar to those in the fourth embodiment and will not be described in detail here.

[0119] Based on the fourth embodiment, the attitude adjustment mechanism omits one rotational degree of freedom, namely, the second deflection joint DR2. The attitude adjustment mechanism includes a first arm 210. The first arm 210 is connected to the free end of the positioning adjustment mechanism. Specifically, the first arm 210 is pivotally connected to the second support arm 122 to form a first deflection joint DR1 that rotates about a first deflection axis DX1.

[0120] The joints involved in the uterine lifting operation of the device beside the affected area in this embodiment are similar to those in the fourth embodiment, and will not be described in detail here for the sake of brevity.

[0121] like Figures 10-11 The sixth embodiment is shown. In this embodiment, the patient-side operating device can be used to perform uterine lifting operations. The positioning adjustment mechanism and posture adjustment mechanism are similar to those in the fifth embodiment, and will not be described in detail here for the sake of brevity.

[0122] The instrument-holding mechanism includes a first connector 310, a second connector 320, and a third connector 330. Based on the aforementioned embodiment, the instrument-holding mechanism adds a joint. The first connector 310 is connected to the posture adjustment mechanism. The third connector 330 is used to connect surgical instruments. Specifically, the first connector 310 is pivotally connected to the free end of the posture adjustment mechanism about a second pitch axis PX2. That is, the first end of the first connector 310 is pivotally connected to the first arm 210 to form a second pitch joint PR2 that rotates about the second pitch axis PX2. The second end of the first connector 310 is pivotally connected to the second connector 320 to form a first pitch joint PR1 that rotates about a first pitch axis PX1. Optionally, the second pitch axis PX2 is parallel to the first pitch axis PX1.

[0123] In some applications, the motion coupling of the first pitch joint PR1 and the second pitch joint PR2 allows them to rotate synchronously in opposite directions at the same rate to maintain the posture of the second connector 320. This motion coupling can be achieved through mechanical structures or software control. This allows for adjusting the distance between the first connector 310 and the free end of the posture adjustment mechanism while keeping the posture of the second connector 320 unchanged. In other words, it enables adjustment of the overall thickness of the posture adjustment mechanism and the holding mechanism at the distal end. Therefore, it allows the holding mechanism to face the patient at a suitable angle, avoiding other surgical instruments, depending on the operating environment.

[0124] In some examples, the first pitch joint PR1 and the second pitch joint PR2 can be configured as active joints. In other examples, the first pitch joint PR1 can be configured as an active joint, the second pitch joint PR2 can be configured as a passive joint, and the second pitch joint PR2 is connected to the first pitch joint PR1 through a transmission mechanism, so that the two are mechanically kinematically coupled.

[0125] The second connecting member 320 and the third connecting member 330 of the weapon-holding mechanism have a second linear joint TR2. The third connecting member 330 and the second linear joint TR2 are similar to those in the previous embodiment and will not be described in detail again.

[0126] The patient-side operating devices in the first to sixth embodiments of this application are all constructed as single-arm robots. Their compact structure results in a small overall size, and the flexible positioning of the base (100°) allows for greater flexibility in preoperative positioning, significantly improving operational convenience in confined environments. The patient-side operating devices provided by this application offer a wide range of motion angles when performing surgery around a distal fixed point, providing surgeons with greater flexibility and operational space, and are suitable for various types of surgical procedures. Furthermore, the multiple degrees of freedom not only effectively prevent interference with obstacles within the operating room but also facilitate precise preoperative positioning.

[0127] Understandably, in addition to the uterine manipulation and laparoscopic surgery procedures described above, the patient-side manipulation device of this application can also be used for other surgical procedures, such as orthopedic surgery. In some examples, the structure of the holding mechanism in the foregoing embodiments can be replaced with, for example... Figure 12 The orthopedic surgical operation module shown is connected to the free end of the posture adjustment mechanism.

[0128] The patient-side operating device of this application can be connected to the same surgical medical system as other patient-side robots (such as laparoscopic robots) to realize the joint use of multiple robots.

[0129] The surgical medical system of this application embodiment may include a master operating device and multiple slave operating devices. The master operating device is capable of communicating with the multiple slave operating devices, enabling the master operating device to simultaneously control at least one of the multiple operating devices. The multiple slave operating devices may be at least two slave operating devices, for example, they may include any two or more of single-port, single-arm, multi-port, flexible, and other patient-side operating devices. The master operating device may be configured as a doctor's console as described in the previous embodiment.

[0130] The surgical medical system may include multiple switchable control modes. These multiple control modes include at least one single-use control mode and at least one combined control mode. In the single-use control mode, the system can control only one slave actuator. In the combined control mode, depending on the complexity of the surgery or specific needs, the system may use one slave actuator alone or at least two slave actuators in combination.

[0131] The system can select a default control mode when a slave device is connected, for example, by matching the type of slave device with information pre-stored in the system and selecting the corresponding control mode. Alternatively, the system can trigger the main operating device's interactive interface when a slave device is connected, allowing the doctor to select the desired control mode.

[0132] Doctors can also manually switch control modes according to the needs of the surgical procedure. Specific switching methods include, but are not limited to, specific actions of the main hand controller of the main operating device or its buttons or sensors, physical triggers or sensor triggers such as pedals on the main operating device, interactive operations on the display interface of the main operating device (such as using the main hand controller as a mouse on the surgical scene display interface, or operating on a touchscreen on the armrest), or a combination of the above methods according to logical configuration. Furthermore, the system can automatically determine the appropriate control mode based on specific surgical process information and remind the doctor, for example, through text reminders on the surgical scene display interface or through voice announcements.

[0133] Furthermore, the main operating device includes two first operating components, each of which is used to receive user interaction operations to control one of a plurality of slave operating devices.

[0134] In single-use control mode, the two first operating components are used only to control the same instrument of the same slave operating device, or to control two different instruments of the same slave operating device respectively.

[0135] In the combined control mode, each first operating component can be used to control any one of the instruments from multiple slave operating devices. Two first operating components can control the same instrument or control two different instruments. The two different instruments can be mounted on the same slave operating device or on two different slave operating devices.

[0136] For example, the first operating component can be a device operated by the doctor's hands, controlled by the doctor's left and right hands respectively. In the combined control mode, for each first operating component, the corresponding control object can be freely selected from the instruments on multiple combined slave operating devices. For example, the system includes a first slave operating device and a second slave operating device. The doctor can operate an instrument on the first slave operating device with their left hand and an instrument on the second slave operating device with their right hand, or they can operate an instrument on either the first or second slave operating device with both hands, or they can operate two different instruments on the first or second slave operating device with their left and right hands respectively.

[0137] Furthermore, in the combined control mode, further restrictions or constraints can be imposed according to the doctor's guidance and teaching needs or special surgical scenarios, such as restricting the two first operating devices to control different instruments of the slave operating devices respectively.

[0138] Furthermore, in the joint control mode, possible faults include: depending on the location of the fault, they can include cross-system faults between multiple surgical robots and handling faults within the individual systems of each surgical robot; depending on the nature of the fault, they can include handling recoverable faults and handling unrecoverable faults. The main operating device can control and respond to faults based on current mature robot technologies to ensure patient surgical safety.

[0139] In an application scenario, such as Figure 1 As shown, T1 is the operating table, P1 is the patient on the operating table T1, and the multiple manipulation devices may include a single-port laparoscopic robot 10 and at least one single-arm assistive robot 20. The single-arm assistive robot 20 may be configured as a patient-side manipulation device as described in the foregoing embodiments.

[0140] Single-port laparoscopic robots 10 offer advantages such as fewer incisions and simpler positioning. A single-port laparoscopic robot 10 typically includes a multi-degree-of-freedom endoscope mounted through a cannula and multiple surgical instruments. The surgical instruments used in a single-port laparoscopic robot 10 usually have 6 to 7 degrees of freedom for manipulating the end effector, primarily achieved by the elbow joint for positional movement and the wrist joint for directional changes. Due to the large number of joints and complex structure of the surgical instruments, their output force and stiffness are often limited, rendering them ineffective in situations requiring high output force. Furthermore, due to their high complexity, instruments suitable for single-port laparoscopic robots, such as ultrasonic scalpels, vascular closure devices, and anastomotic devices, often fail to meet the needs of certain surgical procedures.

[0141] To adapt to certain specific surgical procedures or more complex surgical scenarios and improve the flexibility and convenience of surgical operations, a single-arm assistive robot 20 can be introduced before or during surgery. The single-arm surgical robot 20 can be equipped with multi-port surgical instruments, achieve greater output force, and is compatible with instruments such as ultrasonic scalpels, vascular closure devices, and anastomosing devices to meet a wider range of clinical needs.

[0142] Generally, for flexible positioning, the two robots are set up separately; that is, the base 12 of the single-port laparoscopic robot 10 and the single-arm auxiliary robot 22 can move independently of each other. In this way, it is more convenient for doctors and operating room assistants to handle intraoperative problems without interfering with other surgical procedures, which can improve surgical efficiency and safety, while reducing the burden on doctors and operating room assistants.

[0143] In this application scenario, the system can include a single-hole control mode, a single-arm control mode, and a single-hole-single-arm combined control mode, and the three can be switched between each other.

[0144] In single-port control mode, the main operating device 30 can only control the single-port laparoscopic robot 10. The main operating device 30 can control the single-port laparoscopic robot 10 to perform surgical instrument movements, such as controlling the robotic arm 11 of the single-port laparoscopic robot 10 to move surgical instruments, or controlling the wrist or end effector of the surgical instruments to perform movements. In this control mode, the system can also switch between preset sub-modes corresponding to the surgical scenario based on the status of the cannula, endoscope, and surgical instruments, such as a preset mode for adjusting the endoscope to the optimal field of view, or a mode for retracting instruments.

[0145] In single-arm control mode, the main operating device 30 can only control the single-arm assistive robot 20. The single-arm assistive robot 20 can carry a single endoscope for the entire system, or additional endoscopes, uterine manipulators, ultrasonic scalpels, and other energy instruments, as well as advanced instruments such as staplers. The main operating device 30 can control the single-arm assistive robot 20 to perform surgical instrument movements, such as controlling the robotic arm 21 of the single-arm assistive robot 20 to move surgical instruments. It is understood that in single-arm control mode, the single-arm assistive robot 20 can also be used in conjunction with traditional manual instruments for complementary surgical procedures.

[0146] In the single-port-single-arm combined control mode, the main operating device 30 can control only the single-port laparoscopic robot 10, only the single-arm auxiliary robot 20, or simultaneously control both the single-port laparoscopic robot 10 and the single-arm auxiliary robot 20. For each first operating component of the main operating device 30, the corresponding control object can be freely selected from the instruments on the single-port laparoscopic robot 10 and the single-arm auxiliary robot 20. For example, one first operating component can be used to control a certain instrument of the single-port laparoscopic robot 10, and another first operating component can be used to control an instrument of the single-arm auxiliary robot 20; or both first operating components can jointly operate the same instrument of the single-port laparoscopic robot 10; or both first operating components can operate two different instruments of the single-port laparoscopic robot 10 respectively; or both first operating components can jointly operate an instrument of the single-arm auxiliary robot 20.

[0147] In another application scenario, multiple manipulators may include a multi-port laparoscopic robot and at least one single-arm assistive robot. The single-arm assistive robot may be configured as the patient-side manipulator as described in the foregoing embodiments. In this application scenario, the system may include a multi-port control mode, a single-arm control mode, and a multi-port-single-arm control mode. The system's operation in various control modes and the switching methods for control modes are similar to those in the foregoing application scenarios and will not be repeated here.

[0148] The selection and switching process for the control mode of the surgical medical system is as follows: Upon system startup, the corresponding control mode is automatically selected based on the type of robot connected. For example, when both a single-port laparoscopic robot and a single-arm assistive robot are connected simultaneously, the single-port-single-arm combined mode is selected. During system operation, the control mode switching function is activated when a relevant interactive operation is detected; otherwise, the current control mode is maintained. Interactive operations can include, for example, pressing a pedal or pressing a button on the main hand controller. When the control mode switching function is activated, the surgeon can switch control modes according to surgical needs. For example, the surgeon can manually select the mode through interactive physical operations on a specific main operating device or through an interactive interface displayed on the main operating device's display. For instance, the interactive interface can be overlaid on the visual surgical scene interface. The surgeon can scroll or slide through the options on the interactive interface using the main hand controller. When the desired control mode is selected, confirmation is made by double-clicking a button on the main hand controller or through other physical or interactive methods, thus completing the control mode switch.

[0149] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0150] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A patient-side operating device for use in a medical system, characterized in that, It includes a base, a positioning adjustment mechanism, a posture adjustment mechanism, and a weapon-holding mechanism connected in sequence: The positioning adjustment mechanism is used to translate the posture adjustment mechanism and the holding mechanism in a first direction and / or a second direction, wherein the first direction is at an angle to the second direction. The holding mechanism is used to mount surgical instruments. The holding mechanism has a first pitch joint that rotates about a first pitch axis, a second pitch joint that rotates about a second pitch axis, and a second linear joint that translates along a second translation axis. The first pitch axis is perpendicular to the extension direction of the surgical instrument, the second translation axis is perpendicular to the first pitch axis, and the first pitch joint and the second pitch joint can rotate synchronously and in opposite directions. The attitude adjustment mechanism has a first deflection joint that rotates about a first deflection axis and a second deflection joint that rotates about a second deflection axis. The first deflection axis is perpendicular to the second deflection axis, and at least one of the first deflection axis and the second deflection axis is perpendicular to the first pitch axis.

2. The patient-side operating device according to claim 1, characterized in that, At least one of the first deflection axis and the second deflection axis is perpendicular to the first direction; and / or The attitude adjustment mechanism also has a third deflection joint that rotates about a third deflection axis, which is perpendicular to the second direction.

3. The patient-side operating device according to claim 1, characterized in that, At least one of the first deflection axis and the second deflection axis is perpendicular to the second direction.

4. The patient-side operating device according to any one of claims 1 to 3, characterized in that, The positioning adjustment mechanism includes a first positioning arm connected to the base. The first positioning arm has a first linear joint that translates along a first translation axis, which is parallel to the first direction.

5. The patient-side operating device according to claim 4, characterized in that, The positioning adjustment mechanism further includes a second positioning arm and a first rotary joint. The second positioning arm connects the first positioning arm and the posture adjustment mechanism. The second positioning arm is rotatably connected to the first positioning arm around a first rotation axis to form the first rotary joint. The first rotation axis is parallel to the first direction, and the length of the second positioning arm along the second direction is adjustable.

6. The patient-side operating device according to claim 5, characterized in that, The second swing arm has a third linear joint that translates along a third translation axis, which is parallel to the second direction.

7. The patient-side operating device according to claim 5, characterized in that, The second swing arm has a second rotational joint that rotates about a second rotational axis and a third rotational joint that rotates about a third rotational axis. The second rotational axis and the third rotational axis are parallel to each other and each is perpendicular to the second direction.

8. The patient-side operating device according to claim 7, characterized in that, The length of the second swing arm along the first direction and the length along the second direction are both adjustable.

9. The patient-side operating device according to claim 7, characterized in that, The attitude adjustment mechanism also has a fourth deflection joint that rotates about a fourth deflection axis, the fourth deflection axis being parallel to the second rotation axis and the third rotation axis.

10. The patient-side operating device according to claim 5, characterized in that, The second swing arm includes a third arm, a first arm, and a second arm connected in sequence; The third arm is pivotally connected to the first positioning arm about a first rotation axis, the first arm is pivotally connected to the third arm about a second rotation axis, and the second arm is pivotally connected to the first arm about a third rotation axis; the second arm is connected to the attitude adjustment mechanism. The second axis of rotation and the third axis of rotation are parallel to each other; The second axis of rotation and the third axis of rotation are respectively perpendicular to the first direction; The second axis of rotation and the third axis of rotation are perpendicular to the second direction, respectively.

11. The patient-side operating device according to any one of claims 1 to 3, characterized in that, The attitude adjustment mechanism includes: The second arm is pivotally connected to the positioning adjustment mechanism about the second deflection axis; A first arm, pivotally connected about a first deflection axis to a second arm, and the first arm is connected to the holding mechanism; The second deflection axis is perpendicular to the first deflection axis; One of the first deflection axis and the second deflection axis is perpendicular to the first direction, and the other of the first deflection axis and the second deflection axis is perpendicular to the second direction.

12. The patient-side operating device according to any one of claims 1 to 3, characterized in that, The attitude adjustment mechanism includes: The third arm is pivotally connected to the position adjustment mechanism about a third deflection axis; The second arm is pivotally connected to the third arm about a second deflection axis; A first arm, pivotally connected about a first deflection axis to a second arm, is connected to the holding mechanism; wherein... The third deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The third deflection axis is perpendicular to the second direction.

13. The patient-side operating device according to any one of claims 1 to 3, characterized in that, The attitude adjustment mechanism includes: The fourth arm is pivotally connected to the positioning adjustment mechanism about a fourth deflection axis; The second arm is pivotally connected to the fourth arm about a second deflection axis; A first arm, pivotally connected about a first deflection axis to a second arm, is connected to the holding mechanism; wherein... The fourth deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The fourth deflection axis is perpendicular to both the second direction and the first direction.

14. The patient-side operating device according to any one of claims 1 to 3, characterized in that, The attitude adjustment mechanism includes: The fourth arm is pivotally connected to the positioning adjustment mechanism about a fourth deflection axis; The third arm is pivotally connected to the fourth arm about a third deflection axis; The second arm is pivotally connected to the third arm about a second deflection axis; A first arm, pivotally connected about a first deflection axis to a second arm, is connected to the holding mechanism; wherein... The fourth deflection axis is perpendicular to the third deflection axis; The third deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The third deflection axis is perpendicular to the second direction; The fourth deflection axis is perpendicular to both the second direction and the first direction.

15. The patient-side operating device according to claim 1, characterized in that, The weapon-holding mechanism includes: A first connector is fixed to the attitude adjustment mechanism; A second connector is pivotally connected to the first connector about a first pitch axis; A third connector is used to connect the surgical instrument, and the third connector is movably disposed on the second connector along the second translation axis.

16. The patient-side operating device according to claim 1, characterized in that, The weapon-holding mechanism includes: A first connector, which is pivotally connected to the attitude adjustment mechanism about a second pitch axis; A second connector is pivotally connected to the first connector about a first pitch axis; A third connector is used to connect the surgical instrument, and the third connector is movably disposed on the second connector along a third translation axis.

17. A surgical robot, characterized in that, include: Doctor's console; Imaging equipment; as well as At least one patient-side operation device according to any one of claims 1 to 16.

18. A surgical medical system, characterized in that, include: A plurality of manipulatory devices, the plurality of manipulatory devices including at least one single-arm assistive robot, the single-arm assistive robot being configured as a patient-side manipulatory device according to any one of claims 1 to 16; and The master operating device is capable of communicating with multiple slave operating devices, enabling the master operating device to simultaneously control at least one of the multiple slave operating devices.

19. The surgical medical system according to claim 18, characterized in that, The surgical medical system includes multiple control modes that can be switched between each other. The multiple control modes include at least one single control mode and at least one combined control mode. In the single control mode, the master operating device controls only one of the multiple slave operating devices. In the combined control mode, the master operating device controls at least one of the multiple slave operating devices.

20. The surgical medical system according to claim 19, characterized in that, The main operating device includes two first operating components, each of which is used to receive user interaction operations to control one of the plurality of slave operating devices; When the surgical medical system is in single-use control mode, the two first operating components are used to control the instruments of the same slave operating device; When the surgical medical system is in a combined control mode, each of the first operating components is used to control any one of the instruments from a plurality of slave operating devices.

21. The surgical medical system according to any one of claims 18 to 20, characterized in that, The plurality of operating devices also include at least one single-port laparoscopic robot or a multi-port laparoscopic robot.

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