Surgical robot with distal center

Abstract

The surgical robot with the far-end center comprises a surgical platform and an operating mechanism, and the operating mechanism comprises two sets of operating assemblies and instrument assemblies; each operation assembly comprises a rotating frame and a driving component which are connected with each other, and the first driving component comprises a first connecting part which moves in a first restraining surface; the second driving component comprises a second connecting part which moves in a second restraining surface; the first rotating axis of the first rotating frame is located in the first restraining face. A second rotating axis of the second rotating frame is positioned in the second restraining surface; the first rotating axis intersects with the second rotating axis, and a far-end center point is formed at the intersection point; the first constraint surface intersects with the second constraint surface; the instrument assembly is connected with the first connecting part and the second connecting part, and the instrument center line is located in the first restraining face and the second restraining face simultaneously. The surgical robot has the far-end center point, the safety and accuracy of the surgery can be improved, and the operation difficulty of the surgery is reduced.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to a surgical robot with a distal center. Background Technology

[0002] Minimally invasive surgery is widely used in surgical procedures due to its advantages such as smaller incisions, less pain, less bleeding, and faster healing. Minimally invasive surgery not only requires the robotic end effector to have sufficient degrees of freedom to perform the surgical operation, but also demands precision and safety. The surgical robot must have a distal center of motion (RCM). The distal center of motion (RCM) is the fixed point around which the surgical robot's end effector moves. This ensures that the movement of the surgical instrument at the incision site is limited to rotation and axial movement around this point, avoiding tangential linear motion and thus preventing damage to the patient's wound.

[0003] Most existing minimally invasive surgical robots establish a distal center point by connecting a multi-degree-of-freedom scalpel tip to the end effector, requiring the entire scalpel tip to be inserted into the wound during surgery. However, due to the limited space in the human body, this method places extremely high demands on the robot's transmission design, instrument placement, and operation. Existing technologies also employ externally driven, programmable robots to achieve a distal center point, but this method carries the risk of robot malfunction and damage to the patient's wound. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to provide a surgical robot with a distal center, aiming to solve the problems of complex internal drive structures and high difficulty in external drive control inherent in existing surgical robots with distal centers.

[0005] This invention proposes a surgical robot with a distal center. The surgical robot includes a surgical platform and an operating mechanism. The surgical platform is equipped with a movable mobile platform. The operating mechanism is disposed on the mobile platform and includes a first operating component, a second operating component, and an instrument component. The first operating component includes a first rotating frame and a first driving member. The first rotating frame is rotatably disposed on the mobile platform about a first rotation axis. The first driving member is connected to the first rotating frame to be adapted to rotate with the first rotating frame. The first driving member includes a first connecting portion and is adapted to drive the first connecting portion to move within a first constraint surface. The second operating component includes a second rotating frame and a second driving member. The second rotating frame is rotatably disposed on the mobile platform about a second rotation axis. On a mobile platform; a second driving member is connected to a second rotating frame to be adapted to rotate with the second rotating frame; the second driving member includes a second connecting portion, and the second driving member is adapted to drive the second connecting portion to move within a second constraint surface; wherein, a first rotation axis is located within a first constraint surface; a second rotation axis is located within a second constraint surface; the first rotation axis intersects with the second rotation axis, and the intersection point forms a distal center point; the first constraint surface intersects with the second constraint surface, and the intersection line forms an operation center line passing through the distal center point; an instrument assembly is connected to the first connecting portion and the second connecting portion, and is adapted to change its state when the first connecting portion and the second connecting portion move relative to each other, so as to be suitable for performing surgical operations; the instrument center line of the instrument assembly is located simultaneously within the first constraint surface and the second constraint surface.

[0006] According to the surgical robot of the present invention, the instrument centerline of the instrument assembly always passes through the distal center point, which can ensure that it does not deviate from the center of the wound during the operation, thereby improving the safety and precision of the operation. At the same time, the instrument assembly is driven externally by the drive component, and the drive structure is all rear-mounted, which can reduce the difficulty of drive control, avoid the risk of runaway of digital drive, reduce the end load of the instrument assembly, simplify the structure of the instrument assembly extending into the wound, and achieve lightweight design. The instrument assembly can rotate and move radially around the distal center, with four degrees of freedom, which provides high operational freedom and improves the flexibility and convenience of surgical operation.

[0007] According to some embodiments of the present invention, the instrument assembly includes a sliding sleeve, a sliding rod, and an end effector; the sliding rod is slidably connected to the sliding sleeve, and the sliding sleeve is connected to a first connecting portion; the sliding rod is connected to a second connecting portion; the end effector includes two hinged arm segments, one end of which is connected to the sliding sleeve via a connecting rod, and the hinge point of the two arm segments is rotatably connected to the sliding rod; when the sliding rod moves relative to the sliding sleeve, it drives the two arm segments to rotate relative to each other around the hinge point via the two connecting rods respectively.

[0008] According to some embodiments of the present invention, the first driving component includes a first operating driving rod, a second operating driving rod, a first operating transmission rod, and a second operating transmission rod; one end of the first operating driving rod is hinged to a first rotating frame, and a first driving motor adapted to drive the first operating driving rod to rotate is provided at the hinge; one end of the second operating driving rod is hinged to the first rotating frame, and a second driving motor adapted to drive the second operating driving rod to rotate is provided at the hinge; one end of the first operating transmission rod is hinged to one end of the second operating transmission rod, and the other end of the first operating transmission rod is hinged to the other end of the first operating driving rod, and the other end of the second operating transmission rod is hinged to the other end of the second operating driving rod; wherein, a first connecting portion is provided at the hinge of the first operating transmission rod and the second operating transmission rod; when the first operating driving rod and / or the second operating driving rod rotate, the first connecting portion moves within a first constraint surface through the first operating transmission rod and the second operating transmission rod.

[0009] According to some embodiments of the present invention, the first connecting part is coaxially hinged with the first operating transmission rod and the second operating transmission rod.

[0010] According to some embodiments of the present invention, the surgical robot further includes a first displacement component and a second displacement component. The first displacement component is disposed on the surgical platform and includes a movable block movable along the X direction. The second displacement component is disposed on the movable block, and the mobile platform is disposed on the second displacement component. The second displacement component is adapted to drive the mobile platform to move in a displacement plane perpendicular to the X direction.

[0011] According to some embodiments of the present invention, the second displacement assembly includes a drive rod group, which includes a first displacement drive rod, a first displacement transmission rod, a second displacement transmission rod, and a second displacement drive rod that are sequentially hinged together; wherein, the first displacement drive rod is hinged to the moving block at a first connection center, and a third drive motor adapted to drive the first displacement drive rod to rotate is provided at the hinge point; the second displacement drive rod is hinged to the moving block at a first connection center, and a fourth drive motor adapted to drive the second displacement drive rod to rotate is provided at the hinge point; one end of the first displacement transmission rod is hinged to the moving platform at a second connection center; when the first displacement drive rod and / or the second displacement drive rod rotate, the moving platform is driven to translate within the displacement plane through the first displacement transmission rod.

[0012] According to some embodiments of the present invention, the second displacement assembly further includes a displacement attitude rod group, which includes a first displacement attitude rod, a second displacement attitude rod, a third displacement attitude rod, and a fourth displacement attitude rod; one end of the first displacement attitude rod is hinged to the moving block at a third connection center; one end of the second displacement attitude rod is hinged to the other end of the first displacement attitude rod, and the other end of the second displacement attitude rod is hinged to the first displacement drive rod; one end of the third displacement attitude rod is hinged to the first displacement drive rod; one end of the fourth displacement attitude rod is hinged to the moving platform at a fourth connection center, and the other end of the fourth displacement attitude rod is hinged to the other end of the third displacement attitude rod; wherein, the line connecting the first connection center and the third connection center, together with the second displacement attitude rod, the third displacement attitude rod, and the first displacement drive rod, forms a parallelogram mechanism; the line connecting the second connection center and the fourth connection center, together with the third displacement attitude rod, the fourth displacement attitude rod, and the first displacement transmission rod, forms a parallelogram mechanism; and the second displacement attitude rod and the third displacement attitude rod are integrally connected.

[0013] According to some embodiments of the present invention, the first displacement assembly further includes a lead screw and a guide rod; the lead screw extends along the X direction and is disposed on the surgical platform, and one end of the lead screw is provided with a lead screw drive motor suitable for driving the lead screw to rotate; the guide rod is disposed parallel to the lead screw; the moving block is threadedly connected to the lead screw, and the moving block is slidably connected to the guide rod, and when the lead screw rotates, it drives the moving block to move relative to the surgical platform along the X direction.

[0014] According to some embodiments of the present invention, the first rotating frame and the second rotating frame are symmetrically arranged about the displacement plane.

[0015] According to some embodiments of the present invention, part of the mobile platform is arc-shaped, and rotating supports are respectively provided at both ends of the arc-shaped part. The first rotating frame and the second rotating frame are respectively provided on a rotating support.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a schematic diagram of the structure of a surgical robot according to some embodiments of the present invention;

[0019] Figure 2 This is an assembly schematic diagram of a first shifting component and a second shifting component according to some embodiments of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the operating mechanism according to some embodiments of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of a device assembly according to some embodiments of the present invention;

[0022] Figure 5 This is a cross-sectional view of an instrument assembly according to some embodiments of the present invention.

[0023] Figure label:

[0024] Surgical platform 100; Mobile platform 310;

[0025] First constraint surface A; Second constraint surface B; First rotation axis P; Second rotation axis Q; Instrument centerline M; Distal center O;

[0026] First shifting assembly 210; lead screw drive motor 211; guide rod 212; lead screw 213; moving block 214;

[0027] Second shifting component 220; third drive motor 221; first shifting drive rod 222; second shifting drive rod 223; second shifting transmission rod 224; fourth drive motor 225; first shifting attitude rod 226; attitude connector 227; first shifting transmission rod 228; fourth shifting attitude rod 229;

[0028] First operating component 320; first drive motor 321; first rotating frame 322; first operating drive rod 323; second operating drive rod 324; second drive motor 325; first operating transmission rod 326; second operating transmission rod 327; first connecting part 328;

[0029] Second operating component 330; fifth drive motor 331; second rotating frame 332; third operating drive rod 333; fourth operating drive rod 334; sixth drive motor 335; third operating transmission rod 336; fourth operating transmission rod 337; second connecting part 338;

[0030] Instrument assembly 340; sliding sleeve 341; first connecting cap 342; connecting rod 343; end instrument 344; instrument housing 345; sliding rod 346; second connecting cap 347. Detailed Implementation

[0031] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0032] The following is for reference. Figures 1-5A surgical robot with a distal center according to an embodiment of the present invention is described.

[0033] This invention proposes a surgical robot with a distal center. The surgical robot includes a surgical platform 100 and an operating mechanism. The surgical platform 100 is provided with a movable mobile platform 310. The operating mechanism is disposed on the mobile platform 310 and includes a first operating component 320, a second operating component 330, and an instrument component 340. The first operating component 320 includes a first rotating frame 322 and a first driving member. The first rotating frame 322 is rotatably disposed on the mobile platform 310 about a first rotation axis P. The first driving member is connected to the first rotating frame 322 to be adapted to rotate with the first rotating frame 322. The first driving member includes a first connecting portion 328 and is adapted to drive the first connecting portion 328 to move within a first constraint surface A. The second operating component 330 includes a second rotating frame 332 and a second driving member. The second rotating frame 332 is rotatable about a second rotation axis Q. The instrument assembly 340 is dynamically mounted on the mobile platform 310; the second drive component is connected to the second rotating frame 332 to be adapted to rotate with the second rotating frame 332; the second drive component includes a second connecting part 338, and the second drive component is adapted to drive the second connecting part 338 to move within the second constraint surface B; wherein, the first rotation axis P is located within the first constraint surface A; the second rotation axis Q is located within the second constraint surface B; the first rotation axis P and the second rotation axis Q intersect, and the intersection point forms a distal center point O; the first constraint surface A and the second constraint surface B intersect, and the intersection line forms an operation center line passing through the distal center point O; the instrument assembly 340 is connected to the first connecting part 328 and the second connecting part 338, and is adapted to change its state when the first connecting part 328 and the second connecting part 338 move relative to each other, so as to be suitable for performing surgical operations; the instrument center line M of the instrument assembly 340 is located simultaneously within the first constraint surface A and the second constraint surface B.

[0034] According to the surgical robot of the present invention, when the mobile platform 310 moves relative to the surgical platform 100, it can drive the operating mechanism to the position to be operated on. The surgical platform 100 can be placed within the surgical space, serving as the surgeon's main operating platform. In the operating mechanism, the instrument assembly 340 is used to perform surgical operations, and the first operating assembly 320 and the second operating assembly 330 are used to control the movement of the instrument assembly 340 and to control the posture changes of the instrument assembly 340 to perform specific surgical operations. During surgery, the end of the instrument assembly 340 extends into the wound, while the first operating assembly 320 and the second operating assembly 330 remain outside the body.

[0035] Furthermore, such as Figure 1As shown, in the first operating component 320, when the first rotating frame 322 rotates relative to the moving platform 310 about the first rotation axis P, it synchronously drives the first driving component to rotate, causing the first connecting part 328 to rotate around the first rotation axis P. When the first driving component is running, it drives the first connecting part 328 to move within the first constraint surface A. The first constraint surface A is the constraint plane through which the first driving component drives the first connecting part 328 to move; this constraint plane passes through the first rotation axis P. When the first rotating frame 322 rotates, the first constraint surface A rotates synchronously with the first driving component around the first rotation axis P. Similarly, in the second operating component 330, the second constraint surface B is the constraint plane through which the second driving component drives the second connecting part 338 to move; this constraint plane passes through the second rotation axis Q. When the second rotating frame 332 rotates, the second constraint surface B rotates synchronously with the second driving component around the second rotation axis Q. Based on this, and because the first rotation axis P and the second rotation axis Q intersect, the first constraint surface A and the second constraint surface B always intersect during rotation, forming an intersection line. This intersection line always passes through the intersection point of the first rotation axis P and the second rotation axis Q. In this invention, this intersection point is defined as the distal center point O of the surgical robot, and this intersection line is defined as the operation center line. At the determined surgical position, the distal center point O and the moving platform 310 always maintain a fixed relative position, and the operation center line always rotates around the distal center O.

[0036] Furthermore, since the instrument assembly 340 is connected to one end of the first connecting portion 328 and the second connecting portion 338, and the instrument centerline M is simultaneously located within the first constraint surface A and the second constraint surface B, the instrument centerline M coincides with the operation centerline and passes through the distal center O. The instrument centerline M is positioned within the first constraint surface A / second constraint surface B by restricting the connection method / direction between the instrument assembly 340 and the first connecting portion 328 / second connecting portion 338. During surgical operations, the instrument assembly 340 of this invention is fixedly rotated around the distal center O or moves radially, which improves the accuracy and safety of the surgical operation.

[0037] According to the surgical robot of the present invention, the instrument centerline M of the instrument assembly 340 always passes through the distal center point O, which can ensure that it does not deviate from the center of the wound during the operation, thereby improving the safety and precision of the operation and reducing patient pain. At the same time, the instrument assembly 340 is driven externally by the drive component, and the drive structure is all external and rear-mounted, which can reduce the difficulty of drive control, avoid the risk of loss of control of digital drive, reduce the end load of the instrument assembly 340, simplify the structure of the instrument assembly 340 extending into the wound, and achieve lightweight design. The instrument assembly 340 can rotate and move radially around the distal center O, with four degrees of freedom, which improves the flexibility and convenience of surgical operation.

[0038] According to some embodiments of the present invention, the instrument assembly 340 includes a sliding sleeve 341, a sliding rod 346, and an end effector 344; the sliding rod 346 is slidably connected to the sliding sleeve 341, and the sliding sleeve 341 is connected to a first connecting portion 328; the sliding rod 346 is connected to a second connecting portion 338; the end effector 344 includes two hinged arm segments, one end of which is connected to the sliding sleeve 341 via a connecting rod 343, and the hinge point of the two arm segments is rotatably connected to the sliding rod 346; when the sliding sleeve 341 moves relative to the sliding rod 346, the two arm segments are respectively driven to rotate relative to each other around the hinge point via the two connecting rods 343.

[0039] In this embodiment, the two ends of the connecting rod 343 are hinged to the boom section and the sliding sleeve 341, respectively. When the sliding sleeve 341 slides relative to the sliding rod 346, the distance between the sliding sleeve 341 and the hinge point of the boom section changes. Through the transmission of the connecting rod 343, the boom section can rotate relative to the hinge point. Figure 4 , 5 As shown, when the sliding sleeve 341 moves up and down with the first connecting part 328, its relative sliding with the sliding rod 346 drives the two arm segments to rotate symmetrically around the hinge point through the connecting rod 343, realizing a scissor-like opening and closing motion for specific surgical operations. The end instrument 344 can be constructed as scissors, a needle holder, or surgical forceps such as curved hemostats or right-angle forceps, and the arm segments can be correspondingly constructed as scissor arms, forceps arms, etc.

[0040] It should be noted that, due to structural limitations, the sliding sleeve 341 and the sliding rod 346 can only slide relative to each other, and cannot rotate relative to each other; however, when the first rotating frame 322 and / or the second rotating frame 323 rotate, the included angle between the first constraint surface A and the second constraint surface B will change. Therefore, the first connecting part 328 is rotatably connected to the sliding sleeve 341, and the second connecting part 338 is fixedly connected to the sliding rod 346; or the first connecting part 328 is fixedly connected to the sliding sleeve 341, and the second connecting part 338 is rotatably connected to the sliding rod 346; thus, the instrument assembly 340 and the first driving member and the second driving member have a certain degree of freedom.

[0041] Specifically, such as Figure 1As shown, in some embodiments, one end of the first connecting portion 328 has a first connecting hole, and the center line passing through the first connecting hole is located within the first constraint surface A; one end of the second connecting portion 338 has a second connecting hole, and the center line passing through the second connecting hole is located within the second constraint surface B. The sliding sleeve 341 is provided with a first connecting cap 342, which is used to connect with the first connecting portion 328; the sliding rod 346 is provided with a second connecting cap 347, which is used to connect with the second connecting portion 338. The instrument centerline M of the instrument assembly 340 coincides with the centerline of both the first and second connecting holes; therefore, due to the limitations of the connection method / direction between the instrument assembly 340 and the first connecting portion 328 / second connecting portion 338, the instrument centerline is simultaneously located within the first constraint surface A and the second constraint surface B.

[0042] In some embodiments, an instrument housing 345 is also provided on the outer periphery of the sliding sleeve 341 to provide protection for the instrument assembly 340. The instrument housing 345 is integrally connected with the sliding rod 346. The bottom of the instrument housing 345 extends downward and the extended end is hinged to the middle hinge point of the two arm segments.

[0043] In some embodiments, the sliding sleeve 341 has an extension, and the two arms of the end device 344 are coaxially hinged to the extension of the sliding sleeve 341.

[0044] According to some embodiments of the present invention, the first driving component includes a first operating driving rod 323, a second operating driving rod 324, a first operating transmission rod 326, and a second operating transmission rod 327; one end of the first operating driving rod 323 is hinged to the first rotating frame 322, and a first driving motor 321 adapted to drive the first operating driving rod 323 to rotate is provided at the hinge; one end of the second operating driving rod 324 is hinged to the first rotating frame 322, and a second driving motor 325 adapted to drive the second operating driving rod 324 to rotate is provided at the hinge; one end of the first operating transmission rod 326... One end of the first operating transmission rod 326 is hinged to the second operating transmission rod 327, and the other end of the first operating transmission rod 326 is hinged to the other end of the first operating drive rod 323. The other end of the second operating transmission rod 327 is hinged to the other end of the second operating drive rod 324. A first connecting part 328 is provided at the hinge point between the first operating transmission rod 326 and the second operating transmission rod 327. When the first operating drive rod 323 and / or the second operating drive rod 324 rotate, the first connecting part 328 moves within the first constraint surface A through the first operating transmission rod 326 and the second operating transmission rod 327.

[0045] In this embodiment, as Figure 1 , 3As shown, ignoring the structure's own thickness and necessary connection thickness, the four-bar linkage consisting of the first operating drive rod 323, the second operating drive rod 324, the first operating transmission rod 326, and the second operating transmission rod 327 is located within the first constraint surface A. One end of the first operating drive rod 323 and the second operating drive rod 324 is fixed and equipped with a drive motor. When the first operating drive rod 323 and / or the second operating drive rod 324 rotates, the first connecting part 328 can be stably moved within the first constraint surface A through the transmission action of the first operating transmission rod 326 and the second operating transmission rod 327.

[0046] Furthermore, the first rotating frame 322 has two protrusions, and the first operating drive rod 323 and the second operating drive rod 324 are rotatably connected to the two protrusions and are coaxially arranged. The first operating drive rod 323, the first operating transmission rod 326, the second operating transmission rod 327, and the second operating drive rod 324 form a first parallelogram mechanism. The transmission process of the parallelogram mechanism is more stable and the control is simpler. It should be noted that, due to the connection with the two protrusions, the first operating drive rod 323 and the second operating drive rod 324 are not both located within the first constraint surface A. However, when the first parallelogram mechanism is running, the hinge point of the first operating transmission rod 326 and the second operating transmission rod 327 is always within the first constraint surface A, thus ensuring that the first connecting part 328 always moves within the first constraint surface A.

[0047] Furthermore, when the first rotating frame 322 rotates, the first driving component rotates with the first rotating frame 322, causing the first connecting part 328 and the second constraint surface A to rotate synchronously around the first rotation axis P.

[0048] Similar to the above embodiments, the second driving component includes a third operating driving rod 333, a fourth operating driving rod 334, a third operating transmission rod 336, and a fourth operating transmission rod 337; one end of the third operating driving rod 333 is hinged to the second rotating frame 332, and a fifth driving motor 331 suitable for driving the third operating driving rod 333 to rotate is provided at the hinge; one end of the fourth operating driving rod 334 is hinged to the second rotating frame 332, and a sixth driving motor 335 suitable for driving the fourth operating driving rod 334 to rotate is provided at the hinge; one end of the third operating transmission rod 336 is... One end of the fourth operating transmission rod 337 is hinged, and the other end of the third operating transmission rod 336 is hinged to the other end of the third operating drive rod 333, and the other end of the fourth operating transmission rod 337 is hinged to the other end of the fourth operating drive rod 334; wherein, a second connecting part 338 is provided at the hinge point of the third operating transmission rod 336 and the fourth operating transmission rod 337; when the third operating drive rod 333 and / or the fourth operating drive rod 334 rotate, the second connecting part 338 is driven to move within the second constraint surface B through the third operating transmission rod 336 and the fourth operating transmission rod 337.

[0049] In this embodiment, as Figure 1 , 3 As shown, ignoring the thickness of the structure, the four-bar linkage consisting of the third operating drive rod 333, the fourth operating drive rod 334, the third operating transmission rod 336, and the fourth operating transmission rod 337 is located within the second constraint surface B. One end of the third operating drive rod 333 and the fourth operating drive rod 334 is fixed and equipped with a drive motor. When the third operating drive rod 333 and / or the fourth operating drive rod 334 rotates, the second connecting part 338 can be stably moved within the second constraint surface B through the transmission action of the third operating transmission rod 336 and the fourth operating transmission rod 337. Furthermore, the second rotating frame 332 has two protrusions, and the third operating drive rod 333 and the fourth operating drive rod 334 are rotatably connected to the two protrusions respectively, and are coaxially arranged. The third operating drive rod 323, the third operating transmission rod 336, the fourth operating transmission rod 337, and the fourth operating drive rod 334 form a second parallelogram mechanism. The transmission process of the parallelogram mechanism is more stable and the control is simpler. It should also be noted that the third operating drive rod 333 and the fourth operating drive rod 334 are not both located within the second constraint surface B, but the second parallelogram mechanism can ensure that the second connecting part 338 always moves within the second constraint surface B when it deforms.

[0050] Furthermore, when the second rotating frame 332 rotates, the second driving component rotates with the second rotating frame 332, causing the second connecting part 338 and the second constraint surface B to rotate synchronously around the second rotation axis Q.

[0051] In conjunction with the above embodiments, the first operating component 320, the instrument component 340, and the second operating component 330 form a spatial parallel mechanism. Based on the natural motion constraint characteristics of this spatial parallel mechanism, the present invention achieves the movement of the instrument component 340 around its distal center point O through mechanism constraint configuration, ensuring that the instrument does not deviate from the center of the wound when entering or exiting the human body, thus improving surgical safety. The parallel mechanism naturally possesses characteristics such as high stiffness, fast response, strong anti-interference ability, and high precision, making it particularly suitable for high-precision surgical operations and providing a solid foundation for future surgical robots to perform more complex surgeries. Simultaneously, all drive motors are rear-mounted, completely avoiding the arm-end load problem of the instrument component 340, significantly improving lightweight design and the robot's rapid response capability.

[0052] In the spatial parallel mechanism formed by the first operating component 320, the instrument component 340, and the second operating component 330, the structures restrict each other, so that the first connecting part 328 and the second connecting part 338 can only move along the instrument centerline M. When the distance between the first connecting part 328 and the second connecting part 338 on the instrument centerline M changes, it drives the sliding sleeve 341 and the sliding rod 346 to move relative to each other, thereby realizing the opening and closing of the end instrument 344 and performing surgical operations.

[0053] It should be noted that, due to the structural constraints between the first operating component 320, the second operating component 330 and the instrument component 340, when the first driving component and the second driving component are in operation, the first connecting part 328 will rotate adaptively relative to the first driving component, and the second connecting part 338 will rotate adaptively relative to the second driving component.

[0054] According to some embodiments of the present invention, the first connecting portion 328 is coaxially hinged to the first operating transmission rod 326 and the second operating transmission rod 327. This embodiment, on the one hand, restricts the rotation direction of the first connecting portion 328 relative to the first operating transmission rod 326 / second operating transmission rod 327, so that the first connecting portion 328 can only rotate adaptively within the first constraint surface A; on the other hand, it simplifies the connection method of the structure and improves the lightweight design of the operating mechanism. Similarly, the second connecting portion 338 is coaxially hinged to the third operating transmission rod 336 and the fourth operating transmission rod 337.

[0055] According to some embodiments of the present invention, the surgical robot further includes a first displacement component 210 and a second displacement component 220. The first displacement component 210 is disposed on the surgical platform 100 and includes a movable block 214 movable along the X direction. The second displacement component 220 is disposed on the movable block 214, and the moving platform 310 is disposed on the second displacement component 220. The second displacement component 220 is adapted to drive the moving platform 310 to translate in a displacement plane perpendicular to the X direction. In this embodiment, as... Figure 2As shown, the first displacement component 210 enables the movement of the mobile platform 310 in the X direction, and the second displacement component 220 enables the movement of the mobile platform 310 within a displacement plane perpendicular to the X direction. The second displacement component 220 can also enable the movement of the mobile platform 310 in the Y and Z directions. This embodiment allows the mobile platform 310 to be translated to any surgical position, so that the distal center point O moves to the center of the wound; the spatial configuration of the mobile platform 310 and the operating mechanism remains unchanged during the movement.

[0056] According to some embodiments of the present invention, the second shifting assembly 220 includes a drive rod group, which includes a first shifting drive rod 222, a first shifting transmission rod 228, a second shifting transmission rod 224, and a second shifting drive rod 223 connected in sequence by hinges; wherein, the first shifting drive rod 222 is hinged to the moving block 214 at the first connection center, and a third drive motor 221 adapted to drive the first shifting drive rod 222 to rotate is provided at the hinge; the second shifting drive rod 223 is hinged to the moving block 214 at the first connection center, and a fourth drive motor 225 adapted to drive the second shifting drive rod 223 to rotate is provided at the hinge; one end of the first shifting transmission rod 228 is hinged to the moving platform 310 at the second connection center; when the first shifting drive rod 222 and / or the second shifting drive rod 223 rotate, the moving platform 310 is moved in the shifting plane through the first shifting transmission rod 228.

[0057] In this embodiment, one end of the first shifting drive rod 222 and the second shifting drive rod 223 is fixed and equipped with a drive motor. The first shifting drive rod 222 and the second shifting drive rod 223 have rotational degrees of freedom, and the first shifting transmission rod 228 and the second shifting transmission rod 224 have the ability to move with two degrees of freedom. When the first shifting drive rod 222 and / or the second shifting drive rod 223 rotates, the moving platform 310 can be driven to move stably within the shifting plane through the transmission action of the first shifting transmission rod 228 and the second shifting transmission rod 224. The shifting plane is the plane on which the drive rod assembly is set, and it is also the deformation plane of the drive rod assembly.

[0058] In some embodiments, two protrusions are formed on the movable block 214, and the first shift drive rod 222 and the second shift drive rod 223 are rotatably connected to the two protrusions and are coaxially arranged; the first connection center refers to the corresponding position of the axis on the movable block 214.

[0059] Furthermore, in some embodiments, the first displacement drive rod 222, the first displacement transmission rod 228, the second displacement transmission rod 224, and the second displacement drive rod 223 form a third parallelogram mechanism. When the first displacement drive rod 222 and / or the second displacement drive rod 223 rotate, they can drive the third parallelogram mechanism to undergo stable deformation in the displacement plane, thereby enabling efficient and precise movement of the control platform.

[0060] like Figure 2 As shown, in some embodiments, a hinge hole is formed in the middle of the first displacement transmission rod 228, dividing the first displacement transmission rod 228 into a first rod segment and a second rod segment. The outer end of the first rod segment is hinged to the second displacement transmission rod 224, and the outer end of the second rod segment is connected to the moving platform 310; the middle hinge hole is hinged to the first displacement drive rod 222.

[0061] It should be noted that the angle between the first displacement drive rod 222 and the surgical platform 100 will change during the movement. If the moving platform 310 and the first displacement drive rod 222 maintain a fixed relative angle, the spatial posture (angle) of the moving platform 310 cannot be fixed, such as maintaining a horizontal position during surgery. If the moving platform 310 and the first displacement drive rod 222 rotate relative to each other, the moving platform 310 cannot be limited to achieve a fixed position.

[0062] To address the aforementioned problems, according to some embodiments of the present invention, the second shifting assembly 220 further includes a shifting attitude rod group, which includes a first shifting attitude rod 226, a second shifting attitude rod, a third shifting attitude rod, and a fourth shifting attitude rod 229; one end of the first shifting attitude rod 226 is hinged to the moving block 214 at a third connection center; one end of the second shifting attitude rod is hinged to the other end of the first shifting attitude rod 226, and the other end of the second shifting attitude rod is hinged to the first shifting drive rod 222; one end of the third shifting attitude rod is hinged to the first shifting drive rod 222; the fourth shifting attitude rod 229... One end of the fourth shifting attitude rod 229 is hinged to the moving platform 310 at the fourth connection center, and the other end of the fourth shifting attitude rod 229 is hinged to the other end of the third shifting attitude rod. The line connecting the first and third connection centers, along with the second, third, and first shifting drive rods 222, forms a fourth parallelogram mechanism. The line connecting the second and fourth connection centers, along with the third, fourth, and first shifting attitude rods 229, forms a fifth parallelogram mechanism. The second and third shifting attitude rods are integrally connected. The hinge centers of the first shifting attitude rod 226 and the moving block 214, and the first shifting drive rod 222 and the moving block 214, are not coaxial; that is, the first and third connection centers do not coincide.

[0063] In this embodiment, when the first displacement drive rod 222 and / or the second displacement drive rod 223 rotate, they cause the third parallelogram mechanism to deform, and simultaneously cause the fourth and fifth parallelogram mechanisms to deform, thereby realizing the movement control of the moving platform 310. The line connecting the first and third connecting centers remains parallel to the second displacement posture rod; the line connecting the second and fourth connecting centers remains parallel to the third displacement posture rod, and the second and third displacement posture rods are integrally connected. Based on this, this embodiment can maintain a fixed relative angle between the second and third displacement posture rods, thus keeping their spatial posture unchanged. During the deformation of the drive rod group and the displacement posture rod group, the line connecting the second and fourth connecting centers can maintain a fixed extension direction, thereby ensuring that the spatial posture (angle) of the moving platform 310 remains unchanged during movement, allowing the operating mechanism to be set at a preset angle at any surgical position. In this embodiment, based on the aforementioned drive linkage, the rotational degree of freedom of the moving platform 310 is constrained by the shifting attitude linkage; the drive linkage and the shifting attitude linkage are connected in parallel, so that the moving platform 310 obtains two translational motion degrees of freedom in the shifting plane.

[0064] Compared to the Cartesian motion stage, which more directly realizes two-degree-of-freedom translation, the two-degree-of-freedom parallel translation mechanism (i.e., the second shifting component 220) proposed in this invention has advantages such as small footprint, high flexibility, lightweight, rear-mounted motor, and strong load-bearing capacity, making it more suitable for application in surgical robots.

[0065] In some embodiments, the second and third shift attitude levers are constructed as a single integral structure, as described above. Figure 2 The attitude connector 227 shown is coaxially hinged to the first displacement drive rod 222 and the first displacement transmission rod 228.

[0066] It should be noted that the fifth parallelogram mechanism described above only includes a portion of the first displacement transmission rod 228; in some embodiments, this portion is constructed as a second segment of the first displacement transmission rod 228.

[0067] According to some embodiments of the present invention, the first displacement assembly 210 further includes a lead screw 213 and a guide rod 212; the lead screw 213 extends along the X direction and is disposed on the surgical platform 100, and one end of the lead screw 213 is provided with a lead screw drive motor 211 adapted to drive the lead screw 213 to rotate; the guide rod 212 is disposed parallel to the lead screw 213; the moving block 214 is threadedly connected to the lead screw 213, and the moving block 214 is slidably connected to the guide rod 212, and when the lead screw 213 rotates, it drives the moving block 214 to move relative to the surgical platform 100 along the X direction. In this embodiment, the movement of the moving block 214 along the X direction is achieved through the cooperation of the lead screw 213, the guide rod 212, and the moving block 214, so as to drive the second displacement assembly 220, the moving platform 310, and the operating mechanism to move in the X direction. This embodiment has a simple structure, high load-bearing capacity, convenient operation, and high stability.

[0068] In conjunction with the above embodiments, this invention, through the combination of a one-degree-of-freedom linear motion mechanism (i.e., the first displacement component 210) with mutually perpendicular motion spaces and a two-degree-of-freedom parallel translational mechanism (i.e., the second displacement component 220), can stably fix the surgical robot while simultaneously enabling translational motion of the surgical robot in three directions to adjust the position of the distal center O and flexibly match the position of the minimally invasive surgical incision. Furthermore, utilizing the characteristic that opposite sides of a parallelogram always remain parallel, the spatial posture of the moving platform 310 can be kept constant during the operation of the two-degree-of-freedom parallel translational mechanism.

[0069] According to some embodiments of the present invention, the first rotating frame 322 and the second rotating frame 332 are symmetrically arranged about the displacement plane. In this embodiment, by symmetrically arranging the first rotating frame 322 and the second rotating frame 332 about the displacement plane, the overall symmetry of the operating mechanism can be improved, making the operation process more coordinated and helping to improve the accuracy of operation. Furthermore, the symmetrical arrangement of each drive motor of the first operating component 320 and each drive motor of the second operating component 330 about the displacement plane makes the mass distribution of the operating mechanism more even and improves the stability of the structure.

[0070] According to some embodiments of the present invention, a portion of the mobile platform 310 is arc-shaped, with rotating supports at both ends of the arc-shaped portion. The first rotating frame 322 and the second rotating frame 332 are respectively mounted on one rotating support. In this embodiment, the first rotating frame 322 and the second rotating frame 332 are rotatably mounted by providing rotating supports. The arc-shaped concave portion of the mobile platform 310 can effectively avoid obstructing the operating mechanism.

[0071] In some embodiments, such as Figures 1-4As shown, the first rotation axis P and the second rotation axis Q are inclined about the X, Y and Z directions, respectively. The intersection point, i.e. the distal center point O, is located on the concave side of the moving platform 310, which can be smoothly moved to the center of the wound.

[0072] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0073] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0074] In the description of this invention, "a plurality of" means two or more.

[0075] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0076] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0077] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A surgical robot with a distal center, characterized in that, include: The surgical platform is equipped with a movable mobile platform; An operating mechanism is disposed on the mobile platform; the operating mechanism includes a first operating component, a second operating component, and an instrument component. The first operating component includes a first rotating frame and a first driving member. The first rotating frame is rotatably disposed on the moving platform about a first rotation axis. The first driving member is connected to the first rotating frame to be adapted to rotate with the first rotating frame. The first driving member includes a first connecting portion and is adapted to drive the first connecting portion to move within a first constraint surface. The second operating component includes a second rotating frame and a second driving component, wherein the second rotating frame is rotatably mounted on the moving platform about a second rotation axis; The second driving member is connected to the second rotating frame to be adapted to rotate with the second rotating frame; the second driving member includes a second connecting portion, and the second driving member is adapted to drive the second connecting portion to move within a second constraint surface; wherein... The first rotation axis is located within the first constraint surface; the second rotation axis is located within the second constraint surface; the first rotation axis and the second rotation axis intersect, and the intersection point forms the distal center point; the first constraint surface and the second constraint surface intersect, and the intersection line forms the operation center line passing through the distal center point; The instrument assembly connects the first connecting part and the second connecting part, and is adapted to change its state when the first connecting part and the second connecting part move relative to each other in order to perform surgical operations; the instrument centerline of the instrument assembly is located simultaneously within the first constraint surface and the second constraint surface.

2. The surgical robot with a distal center according to claim 1, characterized in that, The device assembly includes: A sliding sleeve and a sliding rod, wherein the sliding rod is slidably connected to the sliding sleeve, and the sliding sleeve is connected to the first connecting part; the sliding rod is connected to the second connecting part; An end effector includes two hinged arm sections, one end of which is connected to a sliding sleeve via a connecting rod, and the hinge point of the two arm sections is rotatably connected to the sliding rod; when the sliding rod moves relative to the sliding sleeve, it drives the two arm sections to rotate relative to each other around the hinge point via the two connecting rods respectively.

3. The surgical robot with a distal center according to claim 1, characterized in that, The first driving component includes: A first operating drive rod, one end of which is hinged to the first rotating frame, and a first drive motor suitable for driving the first operating drive rod to rotate is provided at the hinge point; The second operating drive rod has one end hinged to the first rotating frame, and a second drive motor suitable for driving the second operating drive rod to rotate is provided at the hinge point. A first operating transmission rod and a second operating transmission rod are provided. One end of the first operating transmission rod is hinged to one end of the second operating transmission rod, and the other end of the first operating transmission rod is hinged to the other end of the first operating drive rod. The other end of the second operating transmission rod is hinged to the other end of the second operating drive rod. The first connecting part is provided at the hinge joint between the first operating transmission rod and the second operating transmission rod; when the first operating drive rod and / or the second operating drive rod rotate, the first connecting part is driven to move within the first constraint surface through the first operating transmission rod and the second operating transmission rod.

4. The surgical robot with a distal center according to claim 3, characterized in that, The first connecting part is coaxially hinged to the first operating transmission rod and the second operating transmission rod.

5. The surgical robot with a distal center according to claim 1, characterized in that, Also includes: A first displacement assembly is disposed on the surgical platform, and the first displacement assembly includes a movable block movable in the X direction; A second shifting component is disposed on the moving block, and the moving platform is disposed on the second shifting component; the second shifting component is adapted to drive the moving platform to translate in a shifting plane perpendicular to the X direction.

6. The surgical robot with a distal center according to claim 5, characterized in that, The second shift component includes: A drive rod assembly, comprising a first displacement drive rod, a first displacement transmission rod, a second displacement transmission rod, and a second displacement drive rod, which are sequentially hinged together; wherein... The first shifting drive rod is hinged to the moving block at the first connection center, and a third drive motor suitable for driving the first shifting drive rod to rotate is provided at the hinge point; the second shifting drive rod is hinged to the moving block at the first connection center, and a fourth drive motor suitable for driving the second shifting drive rod to rotate is provided at the hinge point. One end of the first displacement transmission rod is hinged to the moving platform at the second connection center; When the first shifting drive rod and / or the second shifting drive rod rotate, the moving platform is moved within the shifting plane via the first shifting transmission rod.

7. The surgical robot with a distal center according to claim 6, characterized in that, The second shifting component further includes a shifting attitude lever group, the shifting attitude lever group comprising: A first shifting attitude rod, one end of which is hinged to the moving block at a third connection center; The second shifting attitude rod has one end hinged to the other end of the first shifting attitude rod, and the other end of the second shifting attitude rod is hinged to the first shifting drive rod. The third shifting attitude rod, one end of which is hinged to the first shifting drive rod; A fourth shifting attitude rod, one end of which is hinged to the moving platform at a fourth connection center, and the other end of which is hinged to the other end of the third shifting attitude rod; wherein... The line connecting the first connection center and the third connection center, together with the second shifting posture rod, the third shifting posture rod, and the first shifting drive rod, forms a parallelogram mechanism; the line connecting the second connection center and the fourth connection center, together with the third shifting posture rod, the fourth shifting posture rod, and the first shifting transmission rod, forms a parallelogram mechanism; and the second shifting posture rod and the third shifting posture rod are integrally connected.

8. The surgical robot with a distal center according to claim 5, characterized in that, The first shift component further includes: A lead screw, which extends along the X direction and is disposed on the surgical platform, and a lead screw drive motor suitable for driving the lead screw to rotate is disposed at one end of the lead screw; A guide rod, which is arranged parallel to the lead screw; The movable block is threadedly connected to the lead screw, and the movable block is slidably connected to the guide rod. When the lead screw rotates, it drives the movable block to move relative to the surgical platform in the X direction.

9. The surgical robot with a distal center according to claim 5, characterized in that, The first rotating frame and the second rotating frame are symmetrically arranged about the displacement plane.

10. The surgical robot with a distal center according to claim 1, characterized in that, The mobile platform has an arc-shaped structure, with rotating supports at both ends of the arc-shaped portion. The first rotating frame and the second rotating frame are respectively mounted on one of the rotating supports.

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