Endoscopic surgery system

Abstract

The invention discloses an endoscopic surgery system, which relates to the field of surgical equipment and comprises a multi-axis surgical robot and a surgical instrument, the multi-axis surgical robot comprises a base and a joint assembly, the base is installed in the area where the operating table is located, the head end of the joint assembly is connected with the base, and the tail end is connected with a surgical instrument; the surgical instrument comprises a main shell, a first fingerstall, a second fingerstall, a transmission wheel mechanism and a clamping jaw. The first fingerstall and the second fingerstall are rotationally connected to one end of the main shell and are in transmission connection with the input end of the transmission wheel mechanism through a traction assembly. The clamping jaw is connected to the other end of the main shell in an opening and closing mode and is in transmission connection with the output end of the transmission wheel mechanism. The joint assembly is driven by the main shell to passively move; when the first fingerstall and the second fingerstall get away from each other or get close to each other, the traction assembly drives the transmission wheel mechanism to rotate according to different rotation modes, so that the clamping jaw is opened or closed. According to the scheme, the problem that an existing operation system is difficult to achieve rapid and intuitive instrument adjustment and accurate clamping can be solved.

Description

Technical Field

[0001] This invention relates to the field of surgical equipment technology, and in particular to a laparoscopic surgical system. Background Technology

[0002] In surgical procedures, taking laparoscopic surgery as an example, a tiny channel needs to be created on the patient's body surface and a slender surgical instrument is delivered to the surgical field through this channel; the end of the surgical instrument is equipped with a gripper or other mechanism for holding human tissue and performing other surgical operations.

[0003] To ensure stable handling and precise adjustment of surgical instruments, robotic arms are often used clinically as instrument-holding devices. Traditional methods generally employ actively driven robotic arms, where each joint of the robotic arm is driven by motors in real time. The surgeon issues commands through a remote control console to manipulate the robotic arm to move along a predetermined trajectory. While this mode can achieve high-precision positioning, it significantly disrupts the surgical procedure from the "handheld instrument, bedside operation" habit of laparoscopy. Once the actively driven robotic arm is powered on, its joints are in a continuously controlled state. The surgeon cannot directly grasp the end of the surgical instrument for quick, intuitive adjustments during the operation, but must rely on multiple command inputs, thus increasing the complexity of the operation. In addition, traditional surgical instruments typically employ a combination of a rigid lever and grippers, with the surgeon's hand movements transmitted to the distal grippers via a lever mechanism at the proximal handle. While this design enables the basic opening and closing of the grippers, there is a significant difference in the consistency between the surgeon's action of driving the lever mechanism and the opening and closing of the grippers. Specifically, when the surgeon operates the lever mechanism, their actions do not directly correspond to the clamping or opening of the grippers. This discrepancy does not conform to intuitive operating habits, thus increasing the difficulty of the surgeon's operation.

[0004] The aforementioned problems make the surgical procedure more complex, making it difficult for surgeons to make quick and intuitive adjustments and precise clamping of instruments. This not only affects the overall efficiency of the surgery but may also increase surgical risks. Summary of the Invention

[0005] The main objective of this invention is to propose a laparoscopic surgical system that addresses the technical problem that existing surgical systems struggle to achieve rapid, intuitive instrument adjustment and precise clamping, thereby affecting overall surgical efficiency and increasing surgical risks.

[0006] To achieve the above objectives, the present invention provides a laparoscopic surgical system comprising:

[0007] A multi-axis surgical robot includes a base and a joint assembly; the base is used for mounting in the area of ​​the operating table, and the joint assembly includes multiple connecting arms with relative degrees of freedom of movement, the head end of the joint assembly being connected to the base;

[0008] A surgical instrument includes a main housing, a first finger sleeve, a second finger sleeve, a transmission wheel mechanism, and a gripper; the main housing is connected to the end of the joint assembly, the first finger sleeve and the second finger sleeve are rotatably connected to the first end of the main housing, the input end of the transmission wheel mechanism is driven by the rotating shaft of the first finger sleeve and the rotating shaft of the second finger sleeve through a traction assembly, and the gripper is openably connected to the second end of the main housing, and the gripper is driven by the output end of the transmission wheel mechanism;

[0009] The joint assembly is used to move passively under the drive of the main housing; when the first finger sleeve and the second finger sleeve rotate in a direction away from each other, the traction assembly drives the transmission wheel mechanism to rotate in a first rotation mode, thereby causing the gripper to open; when the first finger sleeve and the second finger sleeve rotate in a direction close to each other, the traction assembly drives the transmission wheel mechanism to rotate in a second rotation mode, thereby causing the gripper to close.

[0010] In one embodiment, the joint assembly includes a first arm body, a second arm body, a third arm body, a fourth arm body, a fifth arm body, and a sixth arm body; a first end of the first arm body is rotatably connected to the base about a first central axis; a first end of the second arm body is connected to a second end of the first arm body; a first end of the third arm body is pivotally connected to a second end of the second arm body about a second central axis; a first end of the fourth arm body is rotatably connected to a second end of the third arm body about a third central axis; a first end of the fifth arm body is pivotally connected to a second end of the fourth arm body about a fourth central axis; and a first end of the sixth arm body is rotatably connected to a second end of the fifth arm body about a fifth central axis. The second end of the sixth arm body is used to connect to the surgical instrument; the first central axis is perpendicular to the second central axis, the second central axis is perpendicular to the third central axis, the third central axis is perpendicular to the fourth central axis, and the fourth central axis is perpendicular to the fifth central axis.

[0011] In one embodiment, two adjacent connecting arms are connected by a servo motor, which operates in torque mode to make the connecting arms move passively under the action of external force.

[0012] In one embodiment, the first end of the second arm is telescopically connected to the second end of the first arm along a first straight path, the first straight path being parallel to the first central axis.

[0013] In one embodiment, the multi-axis surgical robot further includes a trigger and a control module. The control module is electrically connected to the trigger and the servo motor. When the control module does not receive a start signal from the trigger, the control module controls the servo motor to enter a braking state so that the corresponding two connecting arms are locked together. When the control module receives a start signal from the trigger, the control module releases the braking state of the servo motor.

[0014] In one embodiment, the multi-axis surgical robot further includes a control module and a force feedback module, the force feedback module being disposed at the end of the joint assembly; the control module pre-stores a critical force threshold, and the control module is electrically connected to the force feedback module and the servo motor; the force feedback module is used to output the measured external force as a detection signal to the control module; when the external force reaches the critical force threshold, the control module is used to control the servo motor to enter a braking state, so that the corresponding two connecting arms are locked together.

[0015] In one embodiment, the transmission wheel mechanism includes a first wheel group and a second wheel group, the first wheel group and the second wheel group being connected to the first finger sleeve and the second finger sleeve via an opening and closing traction member; the gripper includes a first claw body and a second claw body, the first claw body being connected to the first wheel group via a first output traction member, and the second claw body being connected to the second wheel group via a second output traction member;

[0016] When the first finger sleeve and the second finger sleeve rotate in a direction away from each other, the opening and closing traction member drives the first wheel set to rotate in the forward direction and the second wheel set to rotate in the reverse direction, so that the first wheel set drives the first claw body to rotate in a direction away from the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction away from the first claw body through the second output traction member;

[0017] When the first finger sleeve and the second finger sleeve rotate in a direction that brings them closer to each other, the opening and closing traction member drives the first wheel set to rotate in the opposite direction and the second wheel set to rotate in the forward direction, so that the first wheel set drives the first claw body to rotate in a direction that brings it closer to the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction that brings it closer to the first claw body through the second output traction member.

[0018] In one embodiment, the main housing includes a connecting seat and a handle. The connecting seat is connected to the end of the joint assembly. The first wheel set and the second wheel set are rotatably connected to the connecting seat. The gripper is openably and closably connected to the connecting seat. The handle is rotatably connected to the connecting seat about a vertical axis. The handle is driven by the first wheel set and the second wheel set through a horizontal swing traction member. The first finger sleeve and the second finger sleeve are rotatably connected to the handle.

[0019] When the handle rotates to the left relative to the connecting seat, it drives the first wheel set to rotate in the forward direction and the second wheel set to rotate in the forward direction through the horizontal swing traction member, so that the first wheel set drives the first claw body to rotate in a direction away from the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction close to the first claw body through the second output traction member.

[0020] When the handle rotates to the right relative to the connecting seat, it drives the first wheel set to rotate in the opposite direction and the second wheel set to rotate in the opposite direction through the horizontal swing traction member, so that the first wheel set drives the first claw body to rotate in a direction close to the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction away from the first claw body through the second output traction member.

[0021] In one embodiment, the first wheel set includes a first transmission wheel and a second transmission wheel, and the second wheel set includes a third transmission wheel and a fourth transmission wheel; the first transmission wheel and the third transmission wheel are connected to the first finger sleeve, the second transmission wheel and the fourth transmission wheel are connected to the second finger sleeve, the first claw body is connected to the fourth transmission wheel through the first output traction member, and the second claw body is connected to the second transmission wheel through the second output traction member;

[0022] When the first finger sleeve rotates in a direction away from the second finger sleeve, it drives the first transmission wheel to rotate in the forward direction and the third transmission wheel to rotate in the reverse direction. The first transmission wheel drives the second transmission wheel to rotate in the reverse direction through the first transmission traction member. The third transmission wheel drives the fourth transmission wheel to rotate in the forward direction through the second transmission traction member. Thus, the second finger sleeve is driven to rotate in a direction away from the first finger sleeve through the second transmission wheel and the fourth transmission wheel. The fourth transmission wheel drives the first claw body to rotate in a direction away from the second claw body through the first output traction member. The second transmission wheel drives the second claw body to rotate in a direction away from the first claw body through the second output traction member.

[0023] When the first finger sleeve rotates in the direction close to the second finger sleeve, it causes the first transmission wheel to rotate in the opposite direction and the third transmission wheel to rotate in the forward direction. The first transmission wheel drives the second transmission wheel to rotate in the forward direction through the first transmission traction member, and the third transmission wheel drives the fourth transmission wheel to rotate in the opposite direction through the second transmission traction member. Thus, the second finger sleeve is driven to rotate in the direction close to the first finger sleeve through the second transmission wheel and the fourth transmission wheel. The fourth transmission wheel drives the first claw body to rotate in the direction close to the second claw body through the first output traction member, and the second transmission wheel drives the second claw body to rotate in the direction close to the first claw body through the second output traction member.

[0024] In one embodiment, the main housing includes a connecting seat and a handle. The connecting seat is connected to the end of the joint assembly. The first drive wheel, the second drive wheel, the third drive wheel, and the fourth drive wheel are rotatably connected to the connecting seat. The gripper is detachably connected to the connecting seat. The handle is rotatably connected to the connecting seat about a vertical axis. The handle is driven by the first drive traction member to the first drive wheel and the second drive wheel. The handle is driven by the second drive traction member to the third drive wheel and the fourth drive wheel.

[0025] When the handle rotates to the left relative to the connecting seat, it drives the first transmission wheel, the second transmission wheel, the third transmission wheel, and the fourth transmission wheel to rotate in the forward direction through the first transmission traction member and the second transmission traction member, so that the fourth transmission wheel drives the first claw body to rotate in a direction away from the second claw body through the first output traction member, and causes the second transmission wheel to drive the second claw body to rotate in a direction close to the first claw body through the second output traction member;

[0026] When the handle rotates to the right relative to the connecting seat, it drives the first transmission wheel, the second transmission wheel, the third transmission wheel, and the fourth transmission wheel to rotate in the opposite direction through the first transmission traction member and the second transmission traction member. This causes the fourth transmission wheel to drive the first claw body to rotate in a direction close to the second claw body through the first output traction member, and causes the second transmission wheel to drive the second claw body to rotate in a direction away from the first claw body through the second output traction member.

[0027] In one embodiment, the connecting seat includes a fixed base and a transfer platform. The fixed base is connected to the end of the joint assembly, and the transfer platform is rotatably connected to the fixed base about a horizontal axis. The first wheel set and the second wheel set are rotatably connected to the transfer platform, and the handle is rotatably connected to the transfer platform about a vertical axis.

[0028] The surgical instrument further includes an adapter block and a vertical swing traction component; the adapter block is rotatably connected to the fixed base about a horizontal axis, and the gripper is openably connected to the adapter block; one end of the vertical swing traction component is drivenly connected to the central turntable, and the other end of the vertical swing traction component is drivenly connected to the adapter block.

[0029] When the transfer platform rotates upward relative to the fixed base, it drives the vertical swing traction member to move forward, thereby driving the adapter block to rotate upward relative to the fixed base; when the transfer platform rotates downward relative to the fixed base, it drives the vertical swing traction member to move in the opposite direction, thereby driving the adapter block to rotate downward relative to the fixed base.

[0030] In one embodiment, the handle has a grip portion and an extension portion. The grip portion extends vertically, with its upper end connected to the lower part of the extension portion and located on the rear side of the extension portion. The lower end of the grip portion is connected to the connecting seat. The first finger sleeve has a first ring body and a first connecting portion. The upper side of the first ring body is connected to the front end of the first connecting portion. The first ring body is used for horizontal insertion of a finger. The rear end of the first connecting portion is rotatably connected to the front side of the extension portion about a vertical axis. The second finger sleeve has a second ring body and a second connecting portion. The upper side of the second ring body is connected to the front end of the second connecting portion. The second ring body is used for horizontal insertion of a finger. The rear end of the second connecting portion is rotatably connected to the front side of the extension portion about a vertical axis.

[0031] In one embodiment, the surgical instrument further includes an extension rod, one end of which is connected to the connecting seat, and the gripper is detachably connected to the other end of the extension rod.

[0032] In one embodiment, the surgical instrument further includes a plurality of tensioning rollers, which are connected to at least one of the first output traction member and the second output traction member.

[0033] The laparoscopic surgical system provided by this invention features a multi-axis surgical robot whose base is mounted on the operating table. A joint assembly is mounted on the base, connected in series via multiple connecting arms. Each joint assembly has multiple degrees of freedom of spatial motion relative to the base, and surgical instruments are mounted at its ends. During actual surgery, the surgeon can grasp the surgical instruments and apply external force, which is transmitted to the joint assembly through the instruments. This causes the multiple connecting arms of the joint assembly to passively follow the surgeon's movements. The entire joint assembly can instantly adjust its position through translation, rotation, and oscillation. Furthermore, the main housing of the surgical instrument is equipped with a rotatable first and second finger sleeve. When the surgeon grasps the main housing and inserts corresponding fingers into the first and second finger sleeves, the surgeon can drive the first and second finger sleeves to rotate relative to the main housing through the opening and pinching motions of the thumb and other fingers, causing the first and second finger sleeves to move away from or closer to each other. Based on the opening and closing motions of the first and second finger sleeves, a traction component can drive a transmission wheel mechanism to rotate in either a first or second rotation mode, thereby causing the grippers to open or close. Based on the above solution, surgeons can directly drag surgical instruments to the target area for intuitive bedside operation without additional input commands to control the multi-axis surgical robot. This simplifies the interaction between the surgeon and the multi-axis surgical robot, reduces operational difficulty, and lowers costs through a simplified structure. It allows surgeons to return to bedside hand-held operation habits while still enjoying the multi-degree-of-freedom positioning and stable position holding of the multi-axis surgical robot. Furthermore, it ensures that the surgeon's finger opening and pinching movements correspond to the opening and closing movements of the grippers, which is more intuitive and reduces the difficulty of operation. In addition, the belt drive between the traction component and the transmission wheel mechanism has stronger linear control capabilities compared to the traditional lever mechanism-driven gripper opening and closing method. This ensures that the gripper opening and closing movements precisely correspond to the finger opening and closing movements, avoiding to some extent the over-opening or over-closing of the grippers due to leverage, thereby improving the control precision of the surgical instruments.

[0034] The above solutions collectively reduce the difficulty of operation for surgeons, enabling rapid and intuitive instrument adjustments and precise clamping, thereby improving the overall efficiency of the surgery and reducing surgical risks. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0036] Figure 1 This is a three-dimensional structural diagram of an embodiment of the laparoscopic surgical system provided by the present invention;

[0037] Figure 2 A three-dimensional structural schematic diagram of a multi-axis surgical robot in one embodiment of the laparoscopic surgical system provided by the present invention;

[0038] Figure 3 A schematic diagram of the module connection of a multi-axis surgical robot in one embodiment of the laparoscopic surgical system provided by the present invention;

[0039] Figure 4 This is a three-dimensional structural diagram of the surgical instruments in one embodiment of the laparoscopic surgical system provided by the present invention;

[0040] Figure 5 A schematic diagram of the internal transmission structure of surgical instruments in an embodiment of the laparoscopic surgical system provided by the present invention;

[0041] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0042] Figure 7 This is a partial structural diagram of the surgical instruments in one embodiment of the laparoscopic surgical system provided by the present invention;

[0043] Figure 8 This is a schematic diagram illustrating the opening and closing operation of the grippers of surgical instruments in one embodiment of the laparoscopic surgical system provided by the present invention.

[0044] Figure 9 This is a schematic diagram illustrating the horizontal oscillation operation of the gripper of the surgical instrument in one embodiment of the laparoscopic surgical system provided by the present invention.

[0045] Figure 10 This is a schematic diagram illustrating the up-and-down swinging operation of the gripper of the surgical instrument in one embodiment of the laparoscopic surgical system provided by the present invention.

[0046] Explanation of icon numbers:

[0047] 100. Multi-axis surgical robot;

[0048] 1. Base;

[0049] 2. Joint assembly; 21. First arm body; 22. Second arm body; 23. Third arm body; 24. Fourth arm body; 25. Fifth arm body; 26. Sixth arm body;

[0050] 3. Servo motor; 4. Trigger; 5. Control module; 6. Force feedback module;

[0051] 200. Surgical instruments;

[0052] 8. Main housing; 801. Connecting seat; 802. Handle; 8011. Fixed base; 8012. Transfer platform; 8021. Grip part; 8022. Extension part;

[0053] 9. First finger sleeve; 901. First ring body; 902. First connecting part;

[0054] 10. Second finger sleeve; 1001. Second ring body; 1002. Second connecting part;

[0055] 11. Transmission wheel mechanism; 1101. First wheel group; 1102. Second wheel group; 11011. First transmission wheel; 11012. Second transmission wheel; 11021. Third transmission wheel; 11022. Fourth transmission wheel;

[0056] 12. Traction assembly; 1201. Opening and closing traction component; 1202. First output traction component; 1203. Second output traction component; 1204. Horizontal swing traction component; 1205. Vertical swing traction component; 12041. First transmission traction component; 12042. Second transmission traction component;

[0057] 13. Gripper; 1301. First claw body; 1302. Second claw body;

[0058] 14. Adapter block; 15. Extension rod; 16. Tensioner wheel.

[0059] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0061] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0062] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0063] In surgical procedures, taking laparoscopic surgery as an example, a tiny channel needs to be created on the patient's body surface and a slender surgical instrument is delivered to the surgical field through this channel; the end of the surgical instrument is equipped with a gripper or other mechanism for holding human tissue and performing other surgical operations.

[0064] To ensure stable handling and precise adjustment of surgical instruments, robotic arms are often used clinically as instrument-holding devices. Traditional methods generally employ actively driven robotic arms, where each joint of the robotic arm is driven by motors in real time. The surgeon issues commands through a remote control console to manipulate the robotic arm to move along a predetermined trajectory. While this mode can achieve high-precision positioning, it significantly disrupts the surgical procedure from the "handheld instrument, bedside operation" habit of laparoscopy. Once the actively driven robotic arm is powered on, its joints are in a continuously controlled state. The surgeon cannot directly grasp the end of the surgical instrument for quick, intuitive adjustments during the operation, but must rely on multiple command inputs, thus increasing the complexity of the operation. In addition, traditional surgical instruments typically employ a combination of a rigid lever and grippers, with the surgeon's hand movements transmitted to the distal grippers via a lever mechanism at the proximal handle. While this design enables the basic opening and closing of the grippers, there is a significant difference in the consistency between the surgeon's action of driving the lever mechanism and the opening and closing of the grippers. Specifically, when the surgeon operates the lever mechanism, their actions do not directly correspond to the clamping or opening of the grippers. This discrepancy does not conform to intuitive operating habits, thus increasing the difficulty of the surgeon's operation.

[0065] The aforementioned problems make the surgical procedure more complex, making it difficult for surgeons to make quick and intuitive adjustments and precise clamping of instruments. This not only affects the overall efficiency of the surgery but may also increase surgical risks.

[0066] To address the aforementioned issues, this invention provides a laparoscopic surgical system that utilizes a multi-axis surgical robot as the instrument-holding device. This system offers multi-degree-of-freedom positioning and allows the surgeon to directly drag the surgical instruments for passive posture adjustments, simplifying interaction, reducing costs, and restoring bedside handheld operation habits. Furthermore, the surgical instruments feature two rotatable finger sleeves on the main housing. When the surgeon grasps the main housing and inserts their thumb and other fingers into the two finger sleeves, the surgeon can transmit power to the traction component through the opening and closing motions of their thumb and other fingers. This traction component then drives the transmission wheel mechanism to rotate, thereby causing the gripper to open and close. This ensures that the surgeon's finger opening and closing motions correspond to the gripper's opening and closing motions, aligning with intuitive operating habits and reducing the surgeon's operational difficulty. It enables rapid, intuitive instrument adjustment and precise clamping, thereby improving overall surgical efficiency and reducing surgical risks.

[0067] Please see Figures 1 to 8 The laparoscopic surgical system provided by the present invention includes:

[0068] A multi-axis surgical robot 100 includes a base and a joint assembly 2; the base is used to be installed in the area where the operating table is located, and the joint assembly 2 includes multiple connecting arms with relative degrees of freedom of movement, with the head end of the joint assembly 2 connected to the base;

[0069] Surgical instrument 200 includes a main housing 8, a first finger sleeve 9, a second finger sleeve 10, a transmission wheel mechanism 11, and a gripper 13. The main housing 8 is connected to the end of the joint assembly 2. The first finger sleeve 9 and the second finger sleeve 10 are rotatably connected to the first end of the main housing 8. The input end of the transmission wheel mechanism 11 is connected to the rotating shaft of the first finger sleeve 9 and the rotating shaft of the second finger sleeve 10 through a traction assembly 12. The gripper 13 is detachably connected to the second end of the main housing 8 and is connected to the output end of the transmission wheel mechanism 11.

[0070] The joint assembly 2 is used to move passively under the drive of the main housing 8; when the first finger sleeve 9 and the second finger sleeve 10 rotate in a direction away from each other, the traction assembly 12 drives the transmission wheel mechanism 11 to rotate in a first rotation mode, thereby causing the gripper 13 to open; when the first finger sleeve 9 and the second finger sleeve 10 rotate in a direction close to each other, the traction assembly 12 drives the transmission wheel mechanism 11 to rotate in a second rotation mode, thereby causing the gripper 13 to close.

[0071] In this embodiment, the base can refer to the outer shell, base, and other parts of the multi-axis surgical robot 100 that provide a mounting foundation. A base plate structure or connecting ears can be provided on the base. Connecting through holes can be provided on the base plate structure and connecting ears, allowing bolts, pins, and other connecting components to pass through, so that the base can be connected and fixed to areas such as the operating table side rails, the operating table side floor pillars, and the trolley table surface via connecting components; wherein the operating table side rails, the operating table side floor pillars, and the trolley table surface are all areas where the operating table is located.

[0072] The joint assembly 2 is composed of multiple connecting arms connected in series. The first connecting arm forms the head end of the joint assembly 2, and the last connecting arm forms the tail end. Adjacent connecting arms can be connected by a rotary joint or a linear joint, so that the joint assembly 2 forms at least three spatial degrees of freedom. Specifically, the tail end of the joint assembly 2 has at least a degree of freedom of movement along a first path relative to the base, and at least a degree of freedom of rotation about a first axis and a degree of freedom of swinging about a second axis relative to the base, the second axis being perpendicular to the first axis. The first path can be set in a vertical direction to realize the lifting displacement of the tail end of the joint assembly 2. The first axis can be set to have a vertical component to realize the rotation of the tail end of the joint assembly 2 in the horizontal plane, which can refer to continuous rotation within a 360° range. The second axis can be set to have a horizontal component to realize the swinging of the tail end of the joint assembly 2 in the vertical plane, which can refer to reciprocating swinging within a 180° range.

[0073] Understandably, "first path" can refer to a single path or a combination of multiple different paths. For example, if one connecting arm moves relative to an adjacent connecting arm along path A, and another connecting arm moves relative to an adjacent connecting arm along path B, then both path A and path B can be collectively referred to as the first path. Similarly, "first axis" and "second axis" can also refer to a single axis or a combination of multiple different axes. For example, if one connecting arm rotates relative to an adjacent connecting arm around axis A, and another connecting arm rotates relative to an adjacent connecting arm around axis B, then both axis A and axis B can be collectively referred to as the first axis. Likewise, if one connecting arm swings relative to an adjacent connecting arm around axis C, and another connecting arm rotates relative to an adjacent connecting arm around axis D, then both axis C and axis D can be collectively referred to as the second axis.

[0074] The end of the joint assembly 2 can be provided with a standard quick-release interface for quick insertion into the main housing 8 of the surgical instrument 200, and also for easy disassembly and replacement; the center of the standard quick-release interface can be reserved with a wire through hole for the cable of the surgical instrument 200 to pass through.

[0075] The main shell 8 can refer to an outer shell structure of a certain length formed by sequentially connecting different components. The first end of the main shell 8 can be used for the surgeon to hold, and the second end of the main shell 8 is connected to the gripper 13. The second end of the main shell 8 and the gripper 13 are used to enter the human body through the tiny channels established on the patient's body surface. The middle part of the main shell 8 is connected to the multi-axis surgical robot 100. The multi-axis surgical robot 100 adopts a passive following form, that is, the multi-axis surgical robot 100 only provides torque to the main shell 8 to overcome gravity and resistance. The surgeon drags the main shell 8 to the target position. The multi-axis surgical robot 100 will passively follow the main shell 8 during its movement, and after the main shell 8 moves into place, it will fix the main shell 8 in the current target position by locking the motors at each joint of the multi-axis surgical robot 100.

[0076] The pivots of the first finger sleeve 9 and the second finger sleeve 10 can be arranged side by side on a horizontal plane to ensure that when the surgeon holds the first end of the main shell 8, the surgeon's thumb can be inserted into the first finger sleeve 9, and several of the surgeon's other fingers can be inserted into the second finger sleeve 10. In this way, the surgeon can control the first finger sleeve 9 and the second finger sleeve 10 to rotate in a direction away from each other or in a direction close to each other by opening and pinching the thumb and other fingers.

[0077] The transmission wheel mechanism 11 can be integrated inside the main housing 8. The transmission wheel mechanism 11 may include multiple transmission wheels combined in a preset manner, and the multiple transmission wheels can be driven by belt drive. When belt drive is used, the conveyor belt is sleeved on the corresponding transmission wheels. At this time, the multiple transmission wheels can also act as guide pulleys, guiding the conveyor belt to the gripper 13 at the second end of the main housing 8 along a preset path. The traction component 12 includes several flexible transmission elements, such as steel wires, that can be sleeved on the aforementioned transmission wheels and rotate with the transmission wheels, providing traction transmission during rotation. The input end of the transmission wheel mechanism 11 may refer to the several transmission wheels located at the beginning for connecting the traction component 12; the output end of the transmission wheel mechanism 11 may refer to the several transmission wheels located at the end. The several transmission wheels at the output end can be directly connected to the two claws of the gripper 13, or they can be connected to the two claws of the gripper 13 through flexible transmission elements, which is not limited here.

[0078] Based on the above settings, in practical applications, when the surgeon grasps the main housing 8 and applies external force, the external force is transmitted to the joint assembly 2 through the main housing 8, causing the multiple connecting arms of the joint assembly 2 to passively follow under human intervention. The entire joint assembly 2 can instantly adjust its position through translation, rotation, and swing. When the external force is removed, the mechanical locking structure or electromagnetic braking unit inside the joint assembly 2 can provide a holding force to fix the joint assembly 2 as a whole, thereby allowing the surgical instrument 200 to remain stably in the current spatial position. Then, the surgeon can operate the surgical instrument 200 in the current position to perform surgical operations such as clamping.

[0079] Specifically, the operator can control the first finger sleeve 9 and the second finger sleeve 10 to rotate in a direction away from each other by opening the thumb and other fingers. At this time, the first finger sleeve 9 and the second finger sleeve 10 can drive the corresponding transmission wheels in the transmission wheel mechanism 11 to rotate in a first clockwise direction through the traction component 12. The transmission wheels rotating in the first clockwise direction drive the two claws of the gripper 13 to rotate in a direction away from each other, thereby realizing the opening action of the gripper 13. It can be understood that the corresponding transmission wheels in the transmission wheel mechanism 11 rotating in the first clockwise direction can mean that all transmission wheels rotate in a clockwise or counterclockwise direction, or it can mean that some transmission wheels rotate in a clockwise direction while others rotate in a counterclockwise direction. At this time, the rotation mode of each transmission wheel constitutes the first rotation mode of the transmission wheel mechanism 11.

[0080] Similarly, the operator can control the rotation of the first finger sleeve 9 and the second finger sleeve 10 in a direction of mutual approach by pinching the thumb with other fingers. At this time, the first finger sleeve 9 and the second finger sleeve 10 can drive the corresponding transmission wheels in the transmission wheel mechanism 11 to rotate in a second clockwise direction through the traction component 12. This rotation of the transmission wheels in the second clockwise direction drives the two claws of the gripper 13 to rotate in a direction of mutual approach, thereby realizing the closing action of the gripper 13. It can be understood that the second clockwise direction is opposite to the first clockwise direction mentioned above; the transmission wheel that rotates clockwise in the first rotation mode should rotate counterclockwise at this time; the transmission wheel that rotates counterclockwise in the second rotation mode should rotate clockwise at this time; the rotation mode of each transmission wheel at this time constitutes the second rotation mode of the transmission wheel mechanism 11.

[0081] Therefore, in the laparoscopic surgical system provided in this embodiment, the base of the multi-axis surgical robot 100 is installed in the area where the operating table is located. A joint assembly 2 is mounted on the base, and the joint assembly 2 is connected in series via multiple connecting arms. The end of the joint assembly 2 has multiple degrees of freedom of spatial motion relative to the base, and a surgical instrument 200 is mounted at the end of the joint assembly 2. During actual surgery, the surgeon can grasp the surgical instrument 200 and apply external force. This external force is transmitted to the joint assembly 2 through the surgical instrument 200, causing the multiple connecting arms of the joint assembly 2 to passively follow under human intervention. The entire joint assembly 2 can instantly adjust its posture through translation, rotation, and swing. Step by step, the main housing 8 of the surgical instrument 200 is provided with a rotatable first finger sleeve 9 and a second finger sleeve 10. When the surgeon holds the main housing 8 and inserts the corresponding fingers into the first finger sleeve 9 and the second finger sleeve 10, the surgeon can drive the first finger sleeve 9 and the second finger sleeve 10 to rotate relative to the main housing 8 by opening and pinching the thumb and other fingers, so that the first finger sleeve 9 and the second finger sleeve 10 move away from each other or move closer to each other. Based on the opening and closing action of the first finger sleeve 9 and the second finger sleeve 10, the transmission wheel mechanism 11 can be driven to rotate in the first rotation mode or the second rotation mode by the traction component 12, and then the gripper 13 can be opened or closed by the transmission wheel mechanism 11. Based on the above scheme, the surgeon can directly drag the surgical instrument 200 to the target area for intuitive bedside operation without additional input of commands to control the multi-axis surgical robot 100. This simplifies the interaction between the surgeon and the multi-axis surgical robot 100, reduces the difficulty of operation, and reduces costs through a simple structural form. It allows the surgeon to return to the habit of bedside hand operation while obtaining the multi-degree-of-freedom positioning and stable position holding of the multi-axis surgical robot 100. In addition, it ensures that the surgeon's finger opening and pinching actions correspond to the opening and closing actions of the gripper 13, which is more in line with the intuitive operation habits and reduces the difficulty of operation for the surgeon. Furthermore, the belt drive between the traction component 12 and the transmission wheel mechanism 11 has stronger linear control capability than the traditional method of driving the gripper 13 to open and close through a lever mechanism. It can ensure that the opening and closing actions of the gripper 13 correspond precisely to the opening and closing actions of the fingers, and to a certain extent avoids the situation of the gripper 13 being over-opened or over-closed due to the lever effect, thereby improving the control accuracy of the surgical instrument 200.

[0082] The above solutions collectively reduce the difficulty of operation for surgeons, enabling rapid and intuitive instrument adjustments and precise clamping, thereby improving the overall efficiency of the surgery and reducing surgical risks.

[0083] In one embodiment, refer to Figure 2The joint assembly 2 includes a first arm 21, a second arm 22, a third arm 23, a fourth arm 24, a fifth arm 25, and a sixth arm 26. The first end of the first arm 21 is rotatably connected to the base about a first central axis J1. The first end of the second arm 22 is connected to the second end of the first arm 21. The first end of the third arm 23 is pivotally connected to the second end of the second arm 22 about a second central axis J3. The first end of the fourth arm 24 is rotatably connected to the third arm 23 about a third central axis J4. The first end of the fifth arm 25 is rotatably connected to the second end of the fourth arm 24 around the fourth central axis J5, and the first end of the sixth arm 26 is rotatably connected to the second end of the fifth arm 25 around the fifth central axis J6. The second end of the sixth arm 26 is used to connect the surgical instrument 200. The first central axis J1 is perpendicular to the second central axis J3, the second central axis J3 is perpendicular to the third central axis J4, the third central axis J4 is perpendicular to the fourth central axis J5, and the fourth central axis J5 is perpendicular to the fifth central axis J6.

[0084] In one embodiment, refer to Figure 2 The first end of the second arm 22 is retractably connected to the second end of the first arm 21 along the first straight path J2, and the first straight path J2 is parallel to the first central axis J1.

[0085] It is understood that the first arm 21, the second arm 22, the third arm 23, the fourth arm 24, the fifth arm 25, and the sixth arm 26 can all correspond to the connecting arms in the previous embodiment; the first central axis J1, the third central axis J4, and the fifth central axis J6 can be collectively referred to as the first axis in the previous embodiment, the second central axis J3 and the fourth central axis J5 can be collectively referred to as the second axis in the previous embodiment, and the first straight path J2 can refer to the first path in the previous embodiment.

[0086] In this embodiment, as Figure 2 As shown, the first central axis J1 can be set vertically to achieve continuous rotation of each arm body in the horizontal plane; the first straight path J2 can extend vertically to achieve vertical lifting and lowering of the second arm body 22, the third arm body 23, the fourth arm body 24, the fifth arm body 25, and the sixth arm body 26 relative to the first arm body 21; the second central axis J3 can be set horizontally to achieve reciprocating swing of the third arm body 23, the fourth arm body 24, the fifth arm body 25, and the sixth arm body 26 in the vertical plane; the third central axis J4 is perpendicular to the second central axis J3 and can achieve continuous rotation of the fourth arm body 24, the fifth arm body 25, and the sixth arm body 26 relative to the third arm body 23; the fourth central axis J5 is perpendicular to the third central axis J4 and can achieve reciprocating swing of the fifth arm body 25 and the sixth arm body 26 relative to the fourth arm body 24; the fifth central axis J6 is perpendicular to the fourth central axis J5 and can achieve connected rotation of the sixth arm body 26 relative to the fifth arm body 25.

[0087] Based on the above settings, the surgical instrument 200 connected to the sixth arm 26 can have three rotational degrees of freedom, two swinging degrees of freedom and one translational degree of freedom relative to the base, thereby improving the motion flexibility of the joint assembly 2, enabling the joint assembly 2 to more smoothly and autonomously adjust its posture to better adapt to the real-time position of the surgical instrument 200, reducing jamming, and improving the passive following effect of the multi-axis surgical robot 100.

[0088] In one embodiment, refer to Figure 2 and Figure 3 The two adjacent connecting arms are connected by a servo motor 3, which operates in torque mode so that the connecting arms move passively under the action of external force.

[0089] In this embodiment, a servo motor 3 replaces the mechanical locking structure between two adjacent connecting arms. A servo motor 3 is installed between any two adjacent connecting arms. The servo motor 3 is electrically connected to the force feedback module 6 (which may include a multi-axis force / torque sensor) through the control module 5. When the servo motor 3 is running in torque mode, when the surgeon drags the surgical instrument 200 and causes the connecting arms to move relative to each other, the system can estimate the traction torque applied by the surgeon based on the detection signal of the force feedback module 6 and the corresponding algorithm. Then, the system drives the servo motor 3 to output the corresponding auxiliary torque through impedance control, so that the corresponding connecting arm provides assistance and helps the surgeon complete the dragging action of the surgical instrument 200.

[0090] The stator of the servo motor 3 can be integrated with an encoder to provide real-time feedback on the joint angle for subsequent trajectory recording or safety monitoring. The rotor of the servo motor 3 can be connected to the connecting arm via a harmonic reducer. During the dragging of the surgical instrument 200, it can work with the encoder to achieve a fast and stable posture when stopping based on an algorithm, so that the surgeon can smoothly and accurately drag the surgical instrument 200 to the target position.

[0091] In one embodiment, refer to Figure 2 and Figure 3 The multi-axis surgical robot 100 also includes a trigger 4 and a control module 5. The control module 5 is electrically connected to the trigger 4 and the servo motor 3. When the control module 5 does not receive a start signal from the trigger 4, the control module 5 controls the servo motor 3 to enter a braking state so that the corresponding two connecting arms are locked together. When the control module 5 receives a start signal from the trigger 4, the control module 5 releases the braking state of the servo motor 3.

[0092] In this embodiment, the control module 5 may include an MCU (Microcontroller Unit) and its associated components, which have basic signal input / output, data storage, program calling, logic judgment, and calculation functions. The trigger 4 may include a button, switch, touch screen, or other device that can be manually triggered to send external commands to the control module 5; the start signal sent by the trigger 4 to the control module 5 may be set as a PWM pulse signal.

[0093] Taking trigger 4 as an example, such as Figure 2 and Figure 3 As shown, when the button is not pressed, the control module 5 does not receive a start signal. At this time, the control module 5 does not receive the detection signal from the force feedback module 6, so the control module 5 will not control the servo motor 3 to output auxiliary torque, making the connecting arms interlocked and keeping the joint assembly 2 in a fixed state. When the surgeon presses the button, the control module 5 receives the start signal sent by the button. At this time, the control module 5 starts to receive the detection signal from the force feedback module 6 and controls the servo motor 3 to output the corresponding auxiliary torque, making the connecting arms follow the movement of the surgical instrument 200. When the surgical instrument 200 is moved to the target area, the surgeon can stop pressing the button, causing the control module 5 to stop receiving the detection signal from the force feedback module 6, thereby stopping the control of the servo motor 3 to output auxiliary torque, so that the connecting arms re-enter the interlocked state, thus keeping the surgical instrument 200 stably in the current position.

[0094] In one embodiment, refer to Figure 2 and Figure 3 The multi-axis surgical robot 100 also includes a control module 5 and a force feedback module 6. The force feedback module 6 is located at the end of the joint assembly 2. The control module 5 has a pre-stored critical force threshold. The control module 5 is electrically connected to the force feedback module 6 and the servo motor 3. The force feedback module 6 is used to output the measured external force as a detection signal to the control module 5. When the external force reaches the critical force threshold, the control module 5 is used to control the servo motor 3 to enter the braking state so that the corresponding two connecting arms are locked together.

[0095] The force feedback module 6 may include a multi-axis force / torque sensor. When the surgeon drags or pushes the surgical instrument 200, the external force is converted into an electrical signal by the sensor, and the electrical signal is sent to the control module 5 through a shielded wire harness. The control module 5 can estimate the traction torque applied by the surgeon based on the electrical signal and the corresponding algorithm, and then drive the servo motor 3 to output the corresponding auxiliary torque through impedance control, so that the corresponding connecting arm can provide assistance, enabling the surgeon to smoothly and accurately drag or push the surgical instrument 200 to the target position.

[0096] In practical applications, the force feedback module 6 continuously transmits the detection signal used to characterize the external force to the control module 5 through the shielded wire harness. The control module 5 can compare the specific force value in the detection signal with the pre-stored critical force threshold at fixed intervals. When the external force in any direction or its combined amount reaches the critical force threshold, it indicates that the external force applied by the surgeon is too large or there is jamming between the corresponding connecting arms. The control module 5 can immediately output braking commands to all servo motors 3 to control all servo motors 3 to lose power and stop rotating, so that each connecting arm is in a fixed state. This ensures that the position of the surgical instrument 200 does not change, thereby realizing the emergency stop operation of the joint component 2 under abnormal conditions.

[0097] Based on the above settings, immediate safety protection can be obtained through closed-loop force feedback, preventing the surgeon from continuing to apply external force to the surgical instrument 200 under abnormal conditions, which could cause damage to related devices and personal injury, thereby improving the safety and reliability of the multi-axis surgical robot 100.

[0098] In one embodiment, refer to Figures 4 to 8 The transmission wheel mechanism 11 includes a first wheel set 1101 and a second wheel set 1102. The first wheel set 1101 and the second wheel set 1102 are connected to the first finger sleeve 9 and the second finger sleeve 10 through the opening and closing traction member 1201. The gripper 13 includes a first claw body 1301 and a second claw body 1302. The first claw body 1301 is connected to the first wheel set 1101 through the first output traction member 1202, and the second claw body 1302 is connected to the second wheel set 1102 through the second output traction member 1203.

[0099] When the first finger sleeve 9 and the second finger sleeve 10 rotate in a direction away from each other, the opening and closing traction member 1201 drives the first wheel group 1101 to rotate in the forward direction and the second wheel group 1102 to rotate in the reverse direction. This causes the first wheel group 1101 to drive the first claw body 1301 to rotate in a direction away from the second claw body 1302 through the first output traction member 1202, and causes the second wheel group 1102 to drive the second claw body 1302 to rotate in a direction away from the first claw body 1301 through the second output traction member 1203.

[0100] When the first finger sleeve 9 and the second finger sleeve 10 rotate in a direction that brings them closer to each other, the opening and closing traction member 1201 drives the first wheel group 1101 to rotate in the opposite direction and the second wheel group 1102 to rotate in the forward direction. This causes the first wheel group 1101 to drive the first claw body 1301 to rotate in a direction that brings it closer to the second claw body 1302 through the first output traction member 1202, and causes the second wheel group 1102 to drive the second claw body 1302 to rotate in a direction that brings it closer to the first claw body 1301 through the second output traction member 1203.

[0101] The first wheel group 1101 and the second wheel group 1102 can refer to two wheel groups in the transmission wheel mechanism 11 that are divided according to different rotation directions. The first wheel group 1101 and the second wheel group 1102 each include several transmission wheels that are combined in a preset manner. These multiple transmission wheels can be transmitted to each other by belt drive.

[0102] The forward rotation of the first gear group 1101 and the second gear group 1102 can refer to clockwise or counterclockwise rotation, and the reverse rotation of the first gear group 1101 and the second gear group 1102 can also refer to clockwise or counterclockwise rotation. The direction of forward rotation is opposite to the direction of reverse rotation. Specifically, when multiple transmission wheels in the first gear group 1101 rotate clockwise, multiple transmission wheels in the second gear group 1102 rotate counterclockwise; similarly, when multiple transmission wheels in the first gear group 1101 rotate counterclockwise, multiple transmission wheels in the second gear group 1102 rotate clockwise.

[0103] The opening and closing traction component 1201 may include several flexible transmission components, such as steel wires, that can be sleeved on the rotating shaft of the first finger sleeve 9, the rotating shaft of the second finger sleeve 10, the corresponding transmission wheel of the first wheel set 1101, and the corresponding transmission wheel of the second wheel set 1102. These flexible transmission components can rotate with the rotating shaft and the transmission wheel, providing traction transmission during rotation. Similarly, the first output traction component 1202 and the second output traction component 1203 may also include several flexible transmission components, such as steel wires, that can be sleeved on the corresponding transmission wheel of the first wheel set 1101, the corresponding transmission wheel of the second wheel set 1102, the rotating shaft of the first claw body 1301, and the rotating shaft of the second claw body 1302. These flexible transmission components can rotate with the transmission wheel and the rotating shaft, providing traction transmission during rotation.

[0104] Based on the above configuration, the rotation of the first claw body 1301 in the gripper 13 is controlled by the first wheel assembly 1101, and the rotation of the second claw body 1302 in the gripper 13 is controlled by the second wheel assembly 1102. When the first wheel assembly 1101 rotates in the forward direction, it drives the first claw body 1301 to rotate away from the second claw body 1302 via the first output traction member 1202. When the first wheel assembly 1101 rotates in the reverse direction, it drives the first claw body 1301 to rotate towards the second claw body 1302 via the first output traction member 1202. When the second wheel assembly 1102 rotates in the reverse direction, it drives the second claw body 1302 to rotate away from the first claw body 1301 via the second output traction member 1203. When the second wheel assembly 1102 rotates in the forward direction, it drives the second claw body 1302 to rotate towards the first claw body 1301 via the second output traction member 1203.

[0105] In practical applications, the operator can control the rotation of the first finger sleeve 9 and the second finger sleeve 10 in a direction away from each other by opening the thumb and other fingers. At this time, the first finger sleeve 9 and the second finger sleeve 10 can drive the first wheel group 1101 to rotate forward and the second wheel group 1102 to rotate in the opposite direction through the opening and closing traction member 1201. This causes the first wheel group 1101 to drive the first claw body 1301 to rotate in a direction away from the second claw body 1302 through the first output traction member 1202, and causes the second wheel group 1102 to drive the second claw body 1302 to rotate in a direction away from the first claw 1301 through the second output traction member 1203. Thus, the opening and closing of the gripper 13 can be achieved. Similarly, the operator can control the first finger sleeve 9 and the second finger sleeve 10 to rotate in a direction that brings them closer together by pinching the thumb and other fingers. At this time, the first finger sleeve 9 and the second finger sleeve 10 can drive the first wheel group 1101 to rotate in the opposite direction and the second wheel group 1102 to rotate in the forward direction through the opening and closing traction member 1201. This allows the first wheel group 1101 to drive the first claw body 1301 to rotate in a direction that brings it closer to the second claw body 1302 through the first output traction member 1202, and the second wheel group 1102 to drive the second claw body 1302 to rotate in a direction that brings it closer to the first claw body 1301 through the second output traction member 1203, thereby achieving the closing of the gripper 13.

[0106] In one embodiment, refer to Figures 4 to 9 The main housing 8 includes a connecting seat 801 and a handle 802. The connecting seat 801 is connected to the end of the joint assembly 2. The first wheel set 1101 and the second wheel set 1102 are rotatably connected to the connecting seat 801. The gripper 13 is rotatably connected to the connecting seat 801. The handle 802 is rotatably connected to the connecting seat 801 about a vertical axis. The handle 802 is connected to the first wheel set 1101 and the second wheel set 1102 through a horizontal swing traction member 1204. The first finger sleeve 9 and the second finger sleeve 10 are rotatably connected to the handle 802.

[0107] When the handle 802 rotates to the left relative to the connecting seat 801, it drives the first wheel set 1101 to rotate in the forward direction and the second wheel set 1102 to rotate in the forward direction through the horizontal swing traction member 1204. This causes the first wheel set 1101 to drive the first claw body 1301 to rotate away from the second claw body 1302 through the first output traction member 1202, and causes the second wheel set 1102 to drive the second claw body 1302 to rotate in the direction close to the first claw body 1301 through the second output traction member 1203.

[0108] When the handle 802 rotates to the right relative to the connecting seat 801, it drives the first wheel set 1101 to rotate in the opposite direction and the second wheel set 1102 to rotate in the opposite direction through the horizontal swing traction member 1204. This causes the first wheel set 1101 to drive the first claw body 1301 to rotate in the direction close to the second claw body 1302 through the first output traction member 1202, and causes the second wheel set 1102 to drive the second claw body 1302 to rotate in the direction away from the first claw body 1301 through the second output traction member 1203.

[0109] In this embodiment, when the multi-axis surgical robot 100 is locked, the connecting seat 801 is fixed in space, and the handle 802 has rotational freedom about a vertical axis relative to the connecting seat 801. The handle 802 is a hollow structure, with the first wheel group 1101 and the second wheel group 1102 located inside the handle 802. A guide wheel structure can be installed inside the handle 802, and the guide wheel structure is connected to the first wheel group 1101 and the second wheel group 1102 via a horizontal swing traction member 1204. The horizontal swing traction member 1204 may include several flexible transmission members, such as steel wires, that can be sleeved on the guide wheel structure of the handle 802, the corresponding transmission wheels of the first wheel group 1101, and the corresponding transmission wheels of the second wheel group 1102. These flexible transmission members can rotate with the guide wheel structure and the transmission wheels and provide traction transmission during rotation.

[0110] Based on the above setup, taking the first claw body 1301 located on the left and the second claw body 1302 located on the right as an example, during the operation, when it is necessary to deflect the entire gripper 13 to the left, the surgeon can hold the handle 802 and rotate it to the left relative to the connecting seat 801. Since the first wheel group 1101 and the second wheel group 1102 on the connecting seat 801 do not translate, the guide wheel structure on the handle 802 can drive the first wheel group 1101 and the second wheel group 1102 to rotate in the same direction through the horizontal swing traction member 1204, that is, drive the first wheel group 1101 and the second wheel group 1102 to rotate in the forward direction. As can be seen from the previous embodiment, when the first wheel assembly 1101 rotates in the forward direction, it can drive the first claw body 1301 to rotate in a direction away from the second claw body 1302 through the first output traction member 1202. When the second wheel assembly 1102 rotates in the forward direction, it can drive the second claw body 1302 to rotate in a direction close to the first claw body 1301 through the second output traction member 1203. In this way, the first claw body 1301 and the second claw body 1302 can rotate to the left at the same time, thereby realizing the overall leftward deflection of the gripper 13.

[0111] Similarly, during the operation, when it is necessary to deflect the gripper 13 to the right, the operator can hold the handle 802 and rotate it to the right relative to the connecting seat 801. Since the first wheel group 1101 and the second wheel group 1102 on the connecting seat 801 do not translate, the guide wheel structure on the handle 802 can drive the first wheel group 1101 and the second wheel group 1102 to rotate in the same direction through the horizontal swing traction member 1204, that is, drive the first wheel group 1101 and the second wheel group 1102 to rotate in the opposite direction. As can be seen from the previous embodiment, when the first wheel assembly 1101 rotates in the opposite direction, it can drive the first claw body 1301 to rotate in the direction close to the second claw body 1302 through the first output traction member 1202. When the second wheel assembly 1102 rotates in the opposite direction, it can drive the second claw body 1302 to rotate in the direction away from the first claw body 1301 through the second output traction member 1203. In this way, the first claw body 1301 and the second claw body 1302 can rotate to the right at the same time, thereby realizing the overall rightward deflection of the gripper 13.

[0112] It should be noted that during the rotation of the handle 802 to the left or right, the first finger sleeve 9 and the second finger sleeve 10 move synchronously with the handle 802. After the gripper 13 is fully deflected into position, the operator can drive the first finger sleeve 9 and the second finger sleeve 10 to rotate in a direction away from each other, so that at the current deflection position, the opening and closing traction member 1201, the first output traction member 1202, and the second output traction member 1203 can drive the first claw body 1301 and the second claw body 1302 to rotate in a direction away from each other, thereby realizing the opening action of the gripper 13 at the current deflection position; similarly, the operator can drive the first finger sleeve 9 and the second finger sleeve 10 to rotate in a direction closer to each other, so that at the current deflection position, the opening and closing traction member 1201, the first output traction member 1202, and the second output traction member 1203 can drive the first claw body 1301 and the second claw body 1302 to rotate in a direction closer to each other, thereby realizing the closing action of the gripper 13 at the current deflection position.

[0113] Based on the solution of this embodiment, the operator can simultaneously realize the opening and closing operation and horizontal swing operation of the gripper 13 by opening and closing the fingers and rotating the wrist left and right. This can increase the degree of freedom of movement of the gripper 13 and improve the driving flexibility of the gripper 13, thereby better coping with complex surgical scenarios.

[0114] In one embodiment, refer to Figures 4 to 8The first wheel assembly 1101 includes a first transmission wheel 11011 and a second transmission wheel 11012, and the second wheel assembly 1102 includes a third transmission wheel 11021 and a fourth transmission wheel 11022. The first transmission wheel 11011 and the third transmission wheel 11021 are connected to the first finger sleeve 9, the second transmission wheel 11012 and the fourth transmission wheel 11022 are connected to the second finger sleeve 10, the first claw body 1301 is connected to the fourth transmission wheel 11022 through the first output traction member 1202, and the second claw body 1302 is connected to the second transmission wheel 11012 through the second output traction member 1203.

[0115] When the first finger sleeve 9 rotates in a direction away from the second finger sleeve 10, it drives the first transmission wheel 11011 to rotate in the forward direction and the third transmission wheel 11021 to rotate in the reverse direction. The first transmission wheel 11011 drives the second transmission wheel 11012 to rotate in the reverse direction through the first transmission traction member 12041. The third transmission wheel 11021 drives the fourth transmission wheel 11022 to rotate in the forward direction through the second transmission traction member 12042. Thus, the second finger sleeve 10 is driven to rotate in a direction away from the first finger sleeve 9 through the second transmission wheel 11012 and the fourth transmission wheel 11022. The fourth transmission wheel 11022 drives the first claw body 1301 to rotate in a direction away from the second claw body 1302 through the first output traction member 1202. The second transmission wheel 11012 drives the second claw body 1302 to rotate in a direction away from the first claw body 1301 through the second output traction member 1203.

[0116] When the first finger sleeve 9 rotates in the direction close to the second finger sleeve 10, it drives the first transmission wheel 11011 to rotate in the opposite direction and the third transmission wheel 11021 to rotate in the forward direction. The first transmission wheel 11011 drives the second transmission wheel 11012 to rotate in the forward direction through the first transmission traction member 12041, and the third transmission wheel 11021 drives the fourth transmission wheel 11022 to rotate in the opposite direction through the second transmission traction member 12042. Thus, the second finger sleeve 10 is driven to rotate in the direction close to the first finger sleeve 9 through the second transmission wheel 11012 and the fourth transmission wheel 11022. The fourth transmission wheel 11022 drives the first claw body 1301 to rotate in the direction close to the second claw body 1302 through the first output traction member 1202, and the second transmission wheel 11012 drives the second claw body 1302 to rotate in the direction close to the first claw body 1301 through the second output traction member 1203.

[0117] This embodiment further specifies the exact distribution of the transmission wheels included in the first wheel group 1101 and the second wheel group 1102. For example... Figure 5 and Figure 6As shown, the second transmission wheel 11012, the third transmission wheel 11021, and the fourth transmission wheel 11022 are coaxially arranged and arranged sequentially from top to bottom. The first transmission wheel 11011 is connected to the upper end of the rotating shaft of the first finger sleeve 9 through the first set of opening and closing traction members 1201. The second transmission wheel 11012 is connected to the upper end of the rotating shaft of the second finger sleeve 10 through the second set of opening and closing traction members 1201. The third transmission wheel 11021 is connected to the lower end of the rotating shaft of the first finger sleeve 9 through the third set of opening and closing traction members 1201. The fourth transmission wheel 11022 is connected to the lower end of the rotating shaft of the second finger sleeve 10 through the fourth set of opening and closing traction members 1201.

[0118] The two ends of the first transmission traction member 12041 are respectively sleeved on the first transmission wheel 11011 and the second transmission wheel 11012. A corresponding guide wheel structure can be provided in the middle of the first transmission traction member 12041 to change the transmission direction, thereby ensuring that the rotation direction of the first transmission wheel 11011 is always opposite to the rotation direction of the second transmission wheel 11012 under the drive of the first transmission traction member 12041. Similarly, the two ends of the second transmission traction member 12042 are respectively sleeved on the third transmission wheel 11021 and the fourth transmission wheel 11022. A corresponding guide wheel structure can be provided in the middle of the second transmission traction member 12042 to change the transmission direction, thereby ensuring that the rotation direction of the third transmission wheel 11021 is always opposite to the rotation direction of the fourth transmission wheel 11022 under the drive of the second transmission traction member 12042. The first transmission traction member 12041 and the second transmission traction member 12042 can be flexible transmission members capable of rotating with the transmission wheels and providing traction transmission during rotation, such as steel wire.

[0119] Based on the above setup, the operator can control the first finger sleeve 9 and the second finger sleeve 10 to rotate in a direction away from each other by opening the thumb and other fingers. At this time, the first finger sleeve 9 drives the first transmission wheel 11011 to rotate forward through the first set of opening and closing traction members 1201, and the first finger sleeve 9 drives the third transmission wheel 11021 to rotate in the opposite direction through the third set of opening and closing traction members 1201. The forward-rotating first transmission wheel 11011 drives the second transmission wheel 11012 to rotate in the opposite direction through the first transmission traction member 12041. The reverse-rotating second transmission wheel 11012 can drive the second finger sleeve 10 to rotate in a direction away from the first finger sleeve 10 through the second set of opening and closing traction members 1201. The first finger sleeve 10 rotates in the direction of rotation of the first finger sleeve 9; the third transmission wheel 11021, rotating in the opposite direction, drives the fourth transmission wheel 11022 to rotate in the forward direction via the second transmission traction member 12042. The forward-rotating fourth transmission wheel 11022 can drive the second finger sleeve 10 to rotate in a direction away from the first finger sleeve 9 via the fourth set of opening and closing traction members 1201; the forward-rotating fourth transmission wheel 11022 can drive the first claw body 1301 to rotate in a direction away from the second claw body 1302 via the first output traction member 1202, and the reverse-rotating second transmission wheel 11012 can drive the second claw body 1302 to rotate in a direction away from the first claw body 1301 via the second output traction member 1203. Through the above transmission process, the opening operation of the gripper 13 can be realized.

[0120] Similarly, the operator can control the first finger sleeve 9 and the second finger sleeve 10 to rotate in a direction closer to each other by pinching the thumb with the other fingers. At this time, the first finger sleeve 9 drives the first transmission wheel 11011 to rotate in the opposite direction through the first set of opening and closing traction members 1201, and the first finger sleeve 9 drives the third transmission wheel 11021 to rotate in the forward direction through the third set of opening and closing traction members 1201. The first transmission wheel 11011 rotating in the opposite direction drives the second transmission wheel 11012 to rotate in the forward direction through the first transmission traction member 12041. The second transmission wheel 11012 rotating in the forward direction can drive the second finger sleeve 10 to rotate closer to the first finger sleeve 9 through the second set of opening and closing traction members 1201. The first gear rotates in the direction of rotation; the forward-rotating third transmission wheel 11021 drives the fourth transmission wheel 11022 to rotate in the opposite direction via the second transmission traction member 12042. The reverse-rotating fourth transmission wheel 11022 can drive the second finger sleeve 10 to rotate in the direction closer to the first finger sleeve 9 via the fourth set of opening and closing traction members 1201; the reverse-rotating fourth transmission wheel 11022 can drive the first claw body 1301 to rotate in the direction closer to the second claw body 1302 via the first output traction member 1202, and the forward-rotating second transmission wheel 11012 can drive the second claw body 1302 to rotate in the direction closer to the first claw body 1301 via the second output traction member 1203. Through the above transmission process, the closing operation of the gripper 13 can be realized.

[0121] Based on the transmission structure provided in this embodiment, a coupling linkage relationship can be established between the first finger sleeve 9 and the second finger sleeve 10 when the gripper 13 is opened and closed normally by the operator's finger movements, so as to ensure that the first finger sleeve 9 and the second finger sleeve 10 can open or close synchronously with the same amplitude.

[0122] In one embodiment, refer to Figures 4 to 9 The main housing 8 includes a connecting seat 801 and a handle 802. The connecting seat 801 is connected to the end of the joint assembly 2. The first transmission wheel 11011, the second transmission wheel 11012, the third transmission wheel 11021, and the fourth transmission wheel 11022 are rotatably connected to the connecting seat 801. The gripper 13 is rotatably connected to the connecting seat 801. The handle 802 is rotatably connected to the connecting seat 801 about a vertical axis. The handle 802 is connected to the first transmission wheel 11011 and the second transmission wheel 11012 through the first transmission traction member 12041. The handle 802 is connected to the third transmission wheel 11021 and the fourth transmission wheel 11022 through the second transmission traction member 12042.

[0123] When the handle 802 rotates to the left relative to the connecting seat 801, it drives the first transmission wheel 11011, the second transmission wheel 11012, the third transmission wheel 11021, and the fourth transmission wheel 11022 to rotate in the forward direction through the first transmission traction member 12041 and the second transmission traction member 12042. This causes the fourth transmission wheel 11022 to drive the first claw body 1301 to rotate away from the second claw body 1302 through the first output traction member 1202, and causes the second transmission wheel 11012 to drive the second claw body 1302 to rotate closer to the first claw body 1301 through the second output traction member 1203.

[0124] When the handle 802 rotates to the right relative to the connecting seat 801, it drives the first transmission wheel 11011, the second transmission wheel 11012, the third transmission wheel 11021, and the fourth transmission wheel 11022 to rotate in the opposite direction through the first transmission traction member 12041 and the second transmission traction member 12042. This causes the fourth transmission wheel 11022 to drive the first claw body 1301 to rotate in a direction close to the second claw body 1302 through the first output traction member 1202, and causes the second transmission wheel 11012 to drive the second claw body 1302 to rotate in a direction away from the first claw body 1301 through the second output traction member 1203.

[0125] In this embodiment, when the multi-axis surgical robot 100 is locked, the connecting seat 801 is fixed in space, and the handle 802 has rotational freedom about a vertical axis relative to the connecting seat 801. The handle 802 is a hollow structure, and the first transmission wheel 11011, the second transmission wheel 11012, the third transmission wheel 11021, and the fourth transmission wheel 11022 are all located inside the handle 802 and are coaxially arranged with the rotation axis of the handle 802. Figure 5 and Figure 6 As shown, the handle 802 can be equipped with two guide wheel structures, left and right. The middle part of the first transmission traction member 12041 is fitted onto the left guide wheel structure, and the middle part of the second transmission traction member 12042 is fitted onto the right guide wheel structure.

[0126] Based on the above configuration, the transmission direction of the first transmission traction member 12041 and the transmission direction of the second transmission traction member 12042 can be changed by using the guide wheel structure of the handle 802. This ensures that when the first transmission wheel 11011 rotates, it can drive the second transmission wheel 11012 to rotate in the opposite direction through the first transmission traction member 12041, and also ensures that when the third transmission wheel 11021 rotates, it can drive the fourth transmission wheel 11022 to rotate in the opposite direction through the second transmission traction member 12042.

[0127] Furthermore, based on the above settings, during the operation, when it is necessary to deflect the gripper 13 to the left, the surgeon can hold the handle 802 and rotate it to the left relative to the connecting seat 801. At this time, the guide wheel structure on the left side of the handle 802 can drive the first transmission wheel 11011 and the second transmission wheel 11012 to rotate in the forward direction through the first transmission traction member 12041, and the guide wheel structure on the right side of the handle 802 can drive the third transmission wheel 11021 and the fourth transmission wheel 11022 to rotate in the forward direction through the second transmission traction member 12042. As can be seen from the previous embodiment, when the fourth transmission wheel 11022 rotates in the forward direction, it can drive the first claw body 1301 to rotate in a direction away from the second claw body 1302 through the first output traction member 1202. When the second transmission wheel 11012 rotates in the forward direction, it can drive the second claw body 1302 to rotate in a direction close to the first claw body 1301 through the second output traction member 1203. In this way, the first claw body 1301 and the second claw body 1302 can rotate to the left at the same time, thereby realizing the overall leftward deflection of the gripper 13.

[0128] Similarly, during the operation, when it is necessary to deflect the gripper 13 to the right, the surgeon can hold the handle 802 and rotate it to the right relative to the connecting seat 801. At this time, the guide wheel structure on the left side of the handle 802 can drive the first transmission wheel 11011 and the second transmission wheel 11012 to rotate in the opposite direction through the first transmission traction member 12041, and the guide wheel structure on the right side of the handle 802 can drive the third transmission wheel 11021 and the fourth transmission wheel 11022 to rotate in the opposite direction through the second transmission traction member 12042. As can be seen from the previous embodiment, when the fourth transmission wheel 11022 rotates in the opposite direction, it can drive the first claw body 1301 to rotate in the direction close to the second claw body 1302 through the first output traction member 1202. When the second transmission wheel 11012 rotates in the opposite direction, it can drive the second claw body 1302 to rotate in the direction away from the first claw body 1301 through the second output traction member 1203. In this way, the first claw body 1301 and the second claw body 1302 can rotate to the right at the same time, thereby realizing the overall rightward deflection of the gripper 13.

[0129] It should be noted that during the rotation of the handle 802 to the left or right, the first finger sleeve 9 and the second finger sleeve 10 move synchronously with the handle 802. After the gripper 13 is fully deflected into position, the operator can drive the first finger sleeve 9 and the second finger sleeve 10 to rotate in a direction away from each other, so that at the current deflection position, the opening and closing traction member 1201, the first output traction member 1202, and the second output traction member 1203 can drive the first claw body 1301 and the second claw body 1302 to rotate in a direction away from each other, thereby realizing the opening action of the gripper 13 at the current deflection position; similarly, the operator can drive the first finger sleeve 9 and the second finger sleeve 10 to rotate in a direction closer to each other, so that at the current deflection position, the opening and closing traction member 1201, the first output traction member 1202, and the second output traction member 1203 can drive the first claw body 1301 and the second claw body 1302 to rotate in a direction closer to each other, thereby realizing the closing action of the gripper 13 at the current deflection position.

[0130] Based on the solution of this embodiment, the operator can simultaneously realize the opening and closing operation and horizontal swing operation of the gripper 13 by opening and closing the fingers and rotating the wrist left and right. This can increase the degree of freedom of movement of the gripper 13 and improve the driving flexibility of the gripper 13, thereby better coping with complex surgical scenarios.

[0131] In one embodiment, refer to Figures 4 to 10 The connecting seat 801 includes a fixed seat 8011 and a turntable 8012. The fixed seat 8011 is connected to the end of the joint assembly 2. The turntable 8012 is rotatably connected to the fixed seat 8011 about a horizontal axis. The first wheel set 1101 and the second wheel set 1102 are rotatably connected to the turntable 8012. The handle 802 is rotatably connected to the turntable 8012 about a vertical axis.

[0132] The surgical instrument 200 also includes a transition block 14 and a vertical swing traction member 1205; the transition block 14 is rotatably connected to the fixed base 8011 about a horizontal axis, and the gripper 13 is openably connected to the transition block 14; one end of the vertical swing traction member 1205 is connected to the central turntable 8012, and the other end of the vertical swing traction member 1205 is connected to the transition block 14.

[0133] When the transfer platform 8012 rotates upward relative to the fixed base 8011, it drives the vertical swing traction member 1205 to move forward, thereby driving the transfer block 14 to rotate upward relative to the fixed base 8011; when the transfer platform 8012 rotates downward relative to the fixed base 8011, it drives the vertical swing traction member 1205 to move in the opposite direction, thereby driving the transfer block 14 to rotate downward relative to the fixed base 8011.

[0134] In this embodiment, when the multi-axis surgical robot 100 is locked, the fixed base 8011 is in a fixed state in space, the turntable 8012 has a degree of rotational freedom about the horizontal axis relative to the fixed base 8011, the handle 802 has a degree of rotational freedom about the vertical axis relative to the turntable 8012, the first transmission wheel 11011, the second transmission wheel 11012, the third transmission wheel 11021, and the fourth transmission wheel 11022 are all disposed on the turntable 8012 and located inside the handle 802; the adapter block 14 has a degree of rotational freedom about the horizontal axis relative to the fixed base 8011.

[0135] One end of the vertical swing traction component 1205 is fitted onto the rotating shaft of the transfer platform 8012 relative to the fixed base 8011, and the other end of the vertical swing traction component 1205 is fitted onto the rotating shaft of the adapter block 14 relative to the fixed base 8011. The vertical swing traction component 1205 can move with the rotation of the transfer platform 8012 and provide traction transmission for the adapter block 14 during the movement, so as to drive the adapter block 14 to rotate upward or downward relative to the fixed base 8011. The vertical swing traction component 1205 can be a flexible transmission component such as steel wire.

[0136] Based on the above setup, during the operation, when it is necessary to swing the gripper 13 upward as a whole, the surgeon can hold the handle 802 and rotate it upward. This will cause the transfer platform 8012 to rotate upward relative to the fixed base 8011. At this time, the transfer platform 8012 will drive the vertical swing traction component 1205 to move forward. The forward-moving vertical swing traction component 1205 will drive the adapter block 14 to rotate upward relative to the fixed base 8011, thereby causing the gripper 13 on the adapter block 14 to swing upward relative to the fixed base 8011 as a whole.

[0137] Similarly, during the operation, when it is necessary to swing the gripper 13 downwards as a whole, the surgeon can hold the handle 802 and rotate it downwards, which will cause the transfer platform 8012 to rotate downwards relative to the fixed seat 8011. At this time, the transfer platform 8012 will drive the vertical swing traction member 1205 to move in the opposite direction. The vertical swing traction member 1205 moving in the opposite direction will drive the adapter block 14 to rotate downwards relative to the fixed seat 8011, thereby causing the gripper 13 on the adapter block 14 to swing downwards relative to the fixed seat 8011 as a whole.

[0138] Based on the solution of this embodiment, the operator can simultaneously realize the opening and closing operation, horizontal swinging operation and vertical swinging operation of the gripper 13 by opening and closing the fingers, rotating the wrist left and right, and rotating the wrist up and down. This can further increase the degree of freedom of movement of the gripper 13 and further improve the driving flexibility of the gripper 13, so as to better cope with complex surgical scenarios.

[0139] In one embodiment, refer to Figure 4 and Figure 5 The handle 802 has a grip portion 8021 and an extension portion 8022. The grip portion 8021 extends vertically, and its upper end is connected to the lower part of the extension portion 8022. The grip portion 8021 is located behind the extension portion 8022, and its lower end is connected to the connecting seat 801. The first finger sleeve 9 has a first ring body 901 and a first connecting portion 902. The upper side of the first ring body 901 is connected to the front end of the first connecting portion 902. The ring 901 is for horizontal insertion of the finger, and the rear end of the first connecting part 902 is rotatably connected to the front side of the extension 8022 about a vertical axis; the second finger sleeve 10 has a second ring 1001 and a second connecting part 1002, the upper side of the second ring 1001 is connected to the front end of the second connecting part 1002, the second ring 1001 is for horizontal insertion of the finger, and the rear end of the second connecting part 1002 is rotatably connected to the front side of the extension 8022 about a vertical axis.

[0140] like Figure 5 As shown, both the first connecting portion 902 and the second connecting portion 1002 extend horizontally. The rotation axis of the first connecting portion 902 and the rotation axis of the second connecting portion 1002 are spaced apart in the left-right direction on the horizontal plane. One end of the first connecting portion 902 is located inside the extension portion 8022 and rotates around the vertical axis, while the other end of the first connecting portion 902 is located outside the extension portion 8022 and connected to the upper side of the first ring body 901. One end of the second connecting portion 1002 is located inside the extension portion 8022 and rotates around the vertical axis, while the other end of the second connecting portion 1002 is located outside the extension portion 8022 and connected to the upper side of the second ring body 1001.

[0141] Based on the structure of the handle 802 in this embodiment, it facilitates the surgeon's grip on the holding portion 8021. The front side of the extension portion 8022 extends forward to the position of the surgeon's fingers. The first ring 901 of the first finger sleeve 9 and the second ring 1001 of the second finger sleeve 10 are both located on the front side of the extension portion 8022. This facilitates the surgeon's insertion of the thumb into the left first ring 901 and the insertion of the index finger or other fingers into the right second ring 1001. Based on the above configuration, while ensuring the surgeon's stable grip on the handle 802, it also facilitates the surgeon's opening and closing control of the first finger sleeve 9 and the second finger sleeve 10, and also facilitates the surgeon's control of the handle 802 to rotate left and right and up and down.

[0142] In one embodiment, refer to Figure 4 The surgical instrument 200 also includes an extension rod 15, one end of which is connected to a connecting seat 801, and a gripper 13 is detachably connected to the other end of the extension rod 15.

[0143] Specifically, when the connecting seat 801 includes a fixed seat 8011 and a turntable 8012, and the surgical instrument 200 includes an adapter block 14, one end of the extension rod 15 can be connected to the fixed seat 8011, and the adapter block 14 can be rotatably connected to the other end of the extension rod 15 about a horizontal axis. The extension rod 15 can be configured as a hollow, flexible structure, and the inner cavity of the extension rod 15 is used for the passage of the first output traction member 1202, the second output traction member 1203, and the vertical swing traction member 1205.

[0144] In this embodiment, the extension rod 15 can pass through a tiny channel established on the patient's body surface, thereby allowing the gripper 13 at the end of the extension rod 15 to be conveniently delivered to the surgical field through the channel.

[0145] In one embodiment, refer to Figure 5 The surgical instrument 200 also includes a plurality of tensioning rollers 16, which are connected to at least one of the first output traction member 1202 and the second output traction member 1203.

[0146] By setting the tension wheel 16, the tension of the first output traction member 1202 and the second output traction member 1203 can be maintained, thereby ensuring that the first output traction member 1202 and the second output traction member 1203 can perform their transmission function normally. Preferably, when the gripper 13 is configured to swing up and down, the tension wheel 16 can also be connected to at least one point on the vertically swinging traction member 1205 to maintain the tension of the vertically swinging traction member 1205, thereby ensuring that the vertically swinging traction member 1205 can perform its transmission function normally.

[0147] It should be noted that other aspects of the laparoscopic surgical system disclosed in this invention can be found in the prior art, and will not be repeated here.

[0148] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A laparoscopic surgical system, characterized in that, The laparoscopic surgical system includes: A multi-axis surgical robot includes a base and a joint assembly; the base is used for mounting in the area of ​​the operating table, and the joint assembly includes multiple connecting arms with relative degrees of freedom of movement, the head end of the joint assembly being connected to the base; A surgical instrument includes a main housing, a first finger sleeve, a second finger sleeve, a transmission wheel mechanism, and a gripper; the main housing is connected to the end of the joint assembly, the first finger sleeve and the second finger sleeve are rotatably connected to the first end of the main housing, the input end of the transmission wheel mechanism is driven by the rotating shaft of the first finger sleeve and the rotating shaft of the second finger sleeve through a traction assembly, and the gripper is openably connected to the second end of the main housing, and the gripper is driven by the output end of the transmission wheel mechanism; The joint assembly is used to move passively under the drive of the main housing; when the first finger sleeve and the second finger sleeve rotate in a direction away from each other, the traction assembly drives the transmission wheel mechanism to rotate in a first rotation mode, thereby causing the gripper to open; when the first finger sleeve and the second finger sleeve rotate in a direction close to each other, the traction assembly drives the transmission wheel mechanism to rotate in a second rotation mode, thereby causing the gripper to close.

2. The laparoscopic surgical system as described in claim 1, characterized in that, The joint assembly includes a first arm body, a second arm body, a third arm body, a fourth arm body, a fifth arm body, and a sixth arm body; a first end of the first arm body is rotatably connected to the base about a first central axis; a first end of the second arm body is connected to the second end of the first arm body; a first end of the third arm body is pivotally connected to the second end of the second arm body about a second central axis; a first end of the fourth arm body is rotatably connected to the second end of the third arm body about a third central axis; a first end of the fifth arm body is pivotally connected to the second end of the fourth arm body about a fourth central axis; and a first end of the sixth arm body is rotatably connected to the second end of the fifth arm body about a fifth central axis. The second end of the sixth arm body is used to connect the surgical instrument; the first central axis is perpendicular to the second central axis, the second central axis is perpendicular to the third central axis, the third central axis is perpendicular to the fourth central axis, and the fourth central axis is perpendicular to the fifth central axis. And / or, two adjacent connecting arms are connected by a servo motor, which operates in torque mode to make the connecting arms move passively under the action of external force.

3. The laparoscopic surgical system as described in claim 2, characterized in that, The first end of the second arm is telescopically connected to the second end of the first arm along a first straight path, the first straight path being parallel to the first central axis; And / or, the multi-axis surgical robot further includes a trigger and a control module, the control module being electrically connected to the trigger and the servo motor; when the control module does not receive a start signal from the trigger, the control module controls the servo motor to enter a braking state, so that the corresponding two connecting arms are locked together; when the control module receives a start signal from the trigger, the control module releases the braking state of the servo motor; Alternatively, the multi-axis surgical robot further includes a control module and a force feedback module, the force feedback module being disposed at the end of the joint assembly; the control module pre-stores a critical force threshold, and the control module is electrically connected to the force feedback module and the servo motor; the force feedback module is used to output the measured external force as a detection signal to the control module; when the external force reaches the critical force threshold, the control module is used to control the servo motor to enter a braking state, so that the corresponding two connecting arms are locked together.

4. The laparoscopic surgical system as described in claim 1, characterized in that, The transmission wheel mechanism includes a first wheel group and a second wheel group. The first wheel group and the second wheel group are connected to the first finger sleeve and the second finger sleeve through an opening and closing traction member. The gripper includes a first claw body and a second claw body. The first claw body is connected to the first wheel group through a first output traction member, and the second claw body is connected to the second wheel group through a second output traction member. When the first finger sleeve and the second finger sleeve rotate in a direction away from each other, the opening and closing traction member drives the first wheel set to rotate in the forward direction and the second wheel set to rotate in the reverse direction, so that the first wheel set drives the first claw body to rotate in a direction away from the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction away from the first claw body through the second output traction member; When the first finger sleeve and the second finger sleeve rotate in a direction that brings them closer to each other, the opening and closing traction member drives the first wheel set to rotate in the opposite direction and the second wheel set to rotate in the forward direction, so that the first wheel set drives the first claw body to rotate in a direction that brings it closer to the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction that brings it closer to the first claw body through the second output traction member.

5. The laparoscopic surgical system as described in claim 4, characterized in that, The main housing includes a connecting seat and a handle. The connecting seat is connected to the end of the joint assembly. The first wheel set and the second wheel set are rotatably connected to the connecting seat. The gripper is detachably connected to the connecting seat. The handle is rotatably connected to the connecting seat about a vertical axis. The handle is driven by the first wheel set and the second wheel set through a horizontal swing traction member. The first finger sleeve and the second finger sleeve are rotatably connected to the handle. When the handle rotates to the left relative to the connecting seat, it drives the first wheel set to rotate in the forward direction and the second wheel set to rotate in the forward direction through the horizontal swing traction member, so that the first wheel set drives the first claw body to rotate in a direction away from the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction close to the first claw body through the second output traction member. When the handle rotates to the right relative to the connecting seat, it drives the first wheel set to rotate in the opposite direction and the second wheel set to rotate in the opposite direction through the horizontal swing traction member, so that the first wheel set drives the first claw body to rotate in a direction close to the second claw body through the first output traction member, and the second wheel set drives the second claw body to rotate in a direction away from the first claw body through the second output traction member.

6. The laparoscopic surgical system as described in claim 4, characterized in that, The first wheel set includes a first transmission wheel and a second transmission wheel, and the second wheel set includes a third transmission wheel and a fourth transmission wheel; the first transmission wheel and the third transmission wheel are connected to the first finger sleeve, the second transmission wheel and the fourth transmission wheel are connected to the second finger sleeve, the first claw body is connected to the fourth transmission wheel through the first output traction member, and the second claw body is connected to the second transmission wheel through the second output traction member; When the first finger sleeve rotates in a direction away from the second finger sleeve, it drives the first transmission wheel to rotate in the forward direction and the third transmission wheel to rotate in the reverse direction. The first transmission wheel drives the second transmission wheel to rotate in the reverse direction through the first transmission traction member. The third transmission wheel drives the fourth transmission wheel to rotate in the forward direction through the second transmission traction member. Thus, the second finger sleeve is driven to rotate in a direction away from the first finger sleeve through the second transmission wheel and the fourth transmission wheel. The fourth transmission wheel drives the first claw body to rotate in a direction away from the second claw body through the first output traction member. The second transmission wheel drives the second claw body to rotate in a direction away from the first claw body through the second output traction member. When the first finger sleeve rotates in the direction close to the second finger sleeve, it causes the first transmission wheel to rotate in the opposite direction and the third transmission wheel to rotate in the forward direction. The first transmission wheel drives the second transmission wheel to rotate in the forward direction through the first transmission traction member, and the third transmission wheel drives the fourth transmission wheel to rotate in the opposite direction through the second transmission traction member. Thus, the second finger sleeve is driven to rotate in the direction close to the first finger sleeve through the second transmission wheel and the fourth transmission wheel. The fourth transmission wheel drives the first claw body to rotate in the direction close to the second claw body through the first output traction member, and the second transmission wheel drives the second claw body to rotate in the direction close to the first claw body through the second output traction member.

7. The laparoscopic surgical system as described in claim 6, characterized in that, The main housing includes a connecting seat and a handle. The connecting seat is connected to the end of the joint assembly. The first transmission wheel, the second transmission wheel, the third transmission wheel, and the fourth transmission wheel are rotatably connected to the connecting seat. The gripper is detachably connected to the connecting seat. The handle is rotatably connected to the connecting seat about a vertical axis. The handle is connected to the first transmission wheel and the second transmission wheel via the first transmission traction member. The handle is also connected to the third transmission wheel and the fourth transmission wheel via the second transmission traction member. When the handle rotates to the left relative to the connecting seat, it drives the first transmission wheel, the second transmission wheel, the third transmission wheel, and the fourth transmission wheel to rotate in the forward direction through the first transmission traction member and the second transmission traction member, so that the fourth transmission wheel drives the first claw body to rotate in a direction away from the second claw body through the first output traction member, and causes the second transmission wheel to drive the second claw body to rotate in a direction close to the first claw body through the second output traction member; When the handle rotates to the right relative to the connecting seat, it drives the first transmission wheel, the second transmission wheel, the third transmission wheel, and the fourth transmission wheel to rotate in the opposite direction through the first transmission traction member and the second transmission traction member. This causes the fourth transmission wheel to drive the first claw body to rotate in a direction close to the second claw body through the first output traction member, and causes the second transmission wheel to drive the second claw body to rotate in a direction away from the first claw body through the second output traction member.

8. The laparoscopic surgical system as described in claim 5 or 7, characterized in that, The connecting seat includes a fixed seat and a transfer platform. The fixed seat is connected to the end of the joint assembly. The transfer platform is rotatably connected to the fixed seat about a horizontal axis. The first wheel set and the second wheel set are rotatably connected to the transfer platform. The handle is rotatably connected to the transfer platform about a vertical axis. The surgical instrument further includes an adapter block and a vertical swing traction component; the adapter block is rotatably connected to the fixed base about a horizontal axis, and the gripper is openably connected to the adapter block; one end of the vertical swing traction component is drivenly connected to the central turntable, and the other end of the vertical swing traction component is drivenly connected to the adapter block. When the transfer platform rotates upward relative to the fixed base, it drives the vertical swing traction member to move forward, thereby driving the adapter block to rotate upward relative to the fixed base; when the transfer platform rotates downward relative to the fixed base, it drives the vertical swing traction member to move in the opposite direction, thereby driving the adapter block to rotate downward relative to the fixed base.

9. The laparoscopic surgical system as described in claim 5 or 7, characterized in that, The handle has a grip portion and an extension portion. The grip portion extends vertically, and its upper end is connected to the lower part of the extension portion, with the grip portion located on the rear side of the extension portion. The lower end of the grip portion is connected to the connecting seat. The first finger sleeve has a first ring body and a first connecting portion. The upper side of the first ring body is connected to the front end of the first connecting portion. The first ring body is used for horizontal insertion of the finger. The rear end of the first connecting portion is rotatably connected to the front side of the extension portion about a vertical axis. The second finger sleeve has a second ring body and a second connecting portion. The upper side of the second ring body is connected to the front end of the second connecting portion. The second ring body is used for horizontal insertion of the finger. The rear end of the second connecting portion is rotatably connected to the front side of the extension portion about a vertical axis. And / or, the surgical instrument further includes an extension rod, one end of which is connected to the connecting seat, and the gripper is detachably connected to the other end of the extension rod.

10. The laparoscopic surgical system as described in claim 4, characterized in that, The surgical instrument also includes a plurality of tensioning rollers, which are connected to at least one of the first output traction member and the second output traction member.

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