Surgical robot system

Abstract

The invention relates to a surgical robotic system. The surgical robot system comprises a first connecting rod, a second connecting rod, a third connecting rod and a surgical execution unit which are sequentially connected from the near-end side to the far-end side. The operation execution unit is used for bearing an operation instrument and enabling the operation instrument to move around a fixed point; the second connecting rod is slidably connected to the first connecting rod, so that the second connecting rod can rotate relative to the first fixed shaft axis which passes through the fixed point; the third connecting rod is slidably connected to the second connecting rod, so that the third connecting rod can rotate relative to the first fixed shaft axis and extends to the outer side of the second connecting rod relative to the first fixed shaft axis. The surgical robot system is small in occupied space.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to surgical robot systems. Background Technology

[0002] When using robots for minimally invasive surgery, it is desirable for instruments and cameras to precisely reach the surgical site along the required path. During the procedure, the instruments are inside the patient's body, while an external robotic arm is outside. The external robotic arm needs to move the instruments, and to avoid pulling on the patient's wound, this movement must always revolve around a fixed point. The external robotic arm needs to provide degrees of freedom for posture adjustment around the fixed point, as well as degrees of freedom for adjusting the spatial position of the fixed point for preoperative positioning.

[0003] Common multi-degree-of-freedom (DOF) robotic arms consist of multiple joints, which combine to achieve different instrument postures. To perform these movements, multi-DOF robotic arms often require a significant amount of space; the surgical execution unit that drives multiple instruments has a large load and size, and also demands a certain range of motion for posture adjustment. The limited space above the operating table greatly restricts the structural design of robotic arms used to adjust the posture of fixed points. Summary of the Invention

[0004] This application provides a surgical robot system, which includes: a first link, a second link, a third link, and a surgical execution unit connected sequentially from the proximal side to the distal side; the surgical execution unit is used to carry surgical instruments and move the surgical instruments around a fixed point; the second link is slidably connected to the first link, allowing the second link to rotate relative to a first fixed axis, the first fixed axis passing through the fixed point; the third link is slidably connected to the second link, allowing the third link to rotate relative to the first fixed axis, the third link extending to the outside of the second link relative to the first fixed axis.

[0005] By sequentially connecting the first, second, and third links, the posture of the surgical execution unit can be controlled, thereby enabling the surgical instruments to achieve different postures at their fixed points. The second and third links achieve a relatively long range of motion with their shorter dimensions. The third link helps to achieve a better instrument posture while ensuring the movement.

[0006] Surgical robot systems occupy little space, reducing structural size while achieving sufficient range of motion; through flexible control of two-stage circular arc transmission, they can avoid equipment next to the bedside and also avoid instruments when disassembly or assembly is required.

[0007] In some embodiments, the surgical robot system further includes: an arcuate first slide rail about a first fixed axis, through which a first link and a second link are slidably connected; and an arcuate second slide rail about the first fixed axis, through which a second link and a third link are slidably connected.

[0008] This configuration allows the slide to accurately constrain the motion paths of the second and third links.

[0009] In some embodiments, both the first slide and the second slide are disposed on the second link; the surgical robot system also includes a first slider disposed on the first link and a second slider disposed on the third link, the first slider being slidably connected to the first slide and the second slider being slidably connected to the second slide.

[0010] With this configuration, the second link moves flexibly, and its position can be adjusted as needed.

[0011] In some implementations, the two ends of the first slide extend to the two ends of the second link, allowing the second link to be offset relative to the first link.

[0012] This design ensures the stroke of the second link, allowing it to be fully offset to one side within its sliding surface during use; it also prevents the second link from interfering with bedside equipment and from obstructing the disassembly and assembly of instruments.

[0013] In some embodiments, the surgical robot system further includes: a first drive mechanism for driving the second link to slide relative to the first link and a second drive mechanism for driving the third link to slide relative to the second link; along a first fixed axis, a first slide rail and a second slide rail are disposed on both sides of the second link; relative to the first fixed axis, the first slide rail is located inside the first drive mechanism and the second slide rail is located inside the second drive mechanism.

[0014] This design ensures both the power transmission of the surgical robot and stable movement, as well as reliable connection, through a compact structure.

[0015] In some embodiments, the surgical robot system further includes a telescopic boom and a lifting column connected sequentially from the distal end to the proximal end to the first link; the first link is rotatably connected to the telescopic boom about a second fixed axis passing through a fixed point, and the telescopic boom is rotatably connected to the lifting column.

[0016] This configuration allows for the setting of fixed points within the space, resulting in a compact surgical robot system with concentrated space occupation and providing ample space for maneuvering.

[0017] In some embodiments, the first link includes a first arm and a second arm connected sequentially from the proximal side to the distal side, the first arm and the second arm being deflected relative to each other; the second link is slidably connected to the second arm, the second link and the first arm are located on the same side of the second arm along the first fixed axis and are spaced apart along the second fixed axis, the second link is located between the first arm and the first fixed axis; the surgical execution unit and the third link are arranged side by side in the vertical plane of the first fixed axis.

[0018] With this configuration, the first link is designed to partially enclose the second and third links and the surgical execution unit, while still allowing the surgical execution unit sufficient space to move.

[0019] In some embodiments, the surgical robot system further includes a linkage loop and a first constraint guide rail; the first constraint guide rail is disposed on the second link, the extension path of the first constraint guide rail is parallel to the sliding path of the second link, and the first constraint guide rail is used to open the linkage loop; a first connector of the linkage loop is fixed to the first link, and a second connector of the linkage loop is fixed to the third link.

[0020] This configuration enables the linkage between the second and third links, and allows for the use of a single drive mechanism to drive both links, simplifying control.

[0021] In some embodiments, the surgical robot system further includes a first drive mechanism for driving the second link to slide relative to the first link, the first drive mechanism including a drive shaft disposed on the first link and a drive rope wound around the drive shaft and fixed to the second link.

[0022] This configuration ensures that the third link slides around the first fixed axis; the first drive mechanism is easy to install and debug.

[0023] In some embodiments, the surgical robot system further includes a second drive mechanism for driving the third link to slide relative to the second link. The second drive mechanism includes an arcuate rack disposed on the second link about a first fixed axis and a drive gear disposed on the third link and meshing with the arcuate rack.

[0024] This configuration ensures that the third link slides around the first fixed axis; the second link has a compact structural layout.

[0025] For example, the surgical robot system further includes a slide rail, which is fixed to the third link and slidably connected to the second link about a first fixed axis, and a second connector is slidably connected to the slide rail radially along the first fixed axis.

[0026] With this configuration, the slide rail and the linkage rope loop can work together, making the slide rail easy to manufacture, install, and debug.

[0027] For example, the surgical robot system further includes a balancing mechanism, which is disposed on the first link or the third link. The balancing mechanism includes a balancing elastic element, a fixed pulley, a movable pulley, and a balancing rope. The fixed end of the balancing elastic element is positioned relative to the fixed pulley, the movable pulley is disposed on the spring end of the balancing elastic element, and the balancing rope is wound around the fixed pulley and the movable pulley. One end of the balancing rope is fixed to the fixed end, and the other end of the balancing rope is fixed to the second link.

[0028] This configuration allows for the control of the spatial position of the fixed points; enables flexible movement based on a compact layout; reduces drive load and improves joint safety, thus facilitating the stable and reliable operation of the surgical robot system.

[0029] In some embodiments, the balancing mechanism further includes a guide slider and two guide blocks, the guide slider being disposed at the spring-loaded end and the two guide blocks restricting the guide slider from sliding in the direction opposite to the spring-loaded end and the fixed end.

[0030] This configuration helps prevent the balancing elastic element from becoming unstable. Attached Figure Description

[0031] Figure 1 This is a structural schematic diagram of a surgical robot system in a first pose according to one or more embodiments;

[0032] Figure 2 This is a structural schematic diagram of a second pose of a surgical robot system according to one or more embodiments;

[0033] Figure 3 This is a schematic diagram of the pitch joint according to one or more embodiments;

[0034] Figure 4 This is a schematic structural diagram of the first link according to one or more embodiments;

[0035] Figure 5 This is a schematic structural diagram of the second link according to one or more embodiments;

[0036] Figure 6 This is a schematic structural diagram of the third link according to one or more embodiments;

[0037] Figure 7 This is a structural schematic diagram of a surgical robot system in a third pose according to one or more embodiments;

[0038] Figure 8 This is a structural schematic diagram of the fourth pose of a surgical robot system according to one or more embodiments;

[0039] Figure 9 A schematic structural diagram of a balancing mechanism according to one or more embodiments;

[0040] Figure 10 for Figure 9 The left view;

[0041] Figure 11 This is a schematic diagram of the balancing mechanism according to one or more embodiments;

[0042] Figure 12A schematic structural diagram of a balancing mechanism according to one or more embodiments;

[0043] Figure 13 A schematic structural diagram of a balancing mechanism according to one or more embodiments;

[0044] Figure 14 This is a bottom view schematic diagram of a balancing mechanism according to one or more embodiments;

[0045] Figure 15 This is a right-side schematic view of a balancing mechanism according to one or more embodiments;

[0046] Figure 16 A schematic structural diagram of a balancing mechanism according to one or more embodiments;

[0047] Figure 17 This is a schematic structural diagram of a cable chain according to one or more embodiments;

[0048] Figure 18 This is a schematic diagram of the pitch joint according to one or more embodiments;

[0049] Figure 19 A schematic structural diagram of a first link according to one or more embodiments;

[0050] Figure 20 A schematic structural diagram of a second link according to one or more embodiments;

[0051] Figure 21 A schematic structural diagram of a third link according to one or more embodiments;

[0052] Figure 22 A schematic structural diagram of a first drive mechanism according to one or more embodiments;

[0053] Figure 23 This is a schematic structural diagram of a linkage rope loop according to one or more embodiments;

[0054] Figure 24 This is a schematic structural diagram of a slide rail according to one or more embodiments;

[0055] Figure 25 This is a schematic diagram of the structure of a cable chain according to one or more embodiments;

[0056] Figure 26 This is a schematic diagram of the pitch joint according to one or more embodiments;

[0057] Figure 27 A schematic structural diagram of a first link according to one or more embodiments;

[0058] Figure 28A schematic structural diagram of a second link according to one or more embodiments;

[0059] Figure 29 A schematic structural diagram of a third link according to one or more embodiments;

[0060] Figure 30 This is a schematic structural diagram of a second drive mechanism according to one or more embodiments;

[0061] Figure 31 This is a schematic diagram of the structure of the linkage rope loop according to one or more embodiments;

[0062] Figure 32 This is a schematic diagram of the structure of a first connector according to one or more embodiments;

[0063] Figure 33 This is a schematic diagram of the structure of a second connector according to one or more embodiments;

[0064] Figure 34 A schematic structural diagram of a first guide wheel according to one or more embodiments;

[0065] Figure 35 This is a schematic structural diagram of a guide member according to one or more embodiments;

[0066] Figure 36 A schematic structural diagram of a third guide wheel according to one or more embodiments;

[0067] Figure 37 This is a schematic diagram of the structure of a cable chain according to one or more embodiments.

[0068] Explanation of reference numerals in the attached drawings: 1. First link; 2. Second link; 210. First end; 220. Second end; 3. Third link; 4. Surgical execution unit; 5. Linkage rope loop; 6. First drive mechanism; 7. Second drive mechanism; 8. Cable chain; 9. Lifting column; 10. Telescopic boom; 11. Balancing mechanism;

[0069] 101. First arm; 102. Second arm; 103. First slide rail; 104. First slider; 105. Second slide rail; 106. Second slider; 107. First guide wheel; 108. Second guide wheel; 109. First constraint guide rail; 110. First connector; 111. Second connector; 112. Slide rail; 113. First drive rope; 114. Second drive rope; 115. Drive shaft; 116. Second constraint guide rail; 117. First drive gear; 118. First circular arc rack; 119. Guide component; 120. Third guide wheel; 121. Flat 122. Elastic element; 123. Springing end; 124. Fixed end; 125. Fixed pulley; 126. Movable pulley; 127. Balance rope; 128. Third arm; 129. Fourth arm; 130. Fifth arm; 131. Sixth arm; 132. Base; 133. Seventh arm; 134. Eighth arm; 135. Second arc rack; 136. Second drive gear; 137. Support mechanism; 138. Arc-shaped mounting plate; 149. Guide block; 140. First groove; 141. Second groove; 142. Cable; 143. Guide wheel bracket; 144. Guide slider;

[0070] 1000. Surgical robot system; 1100. Surgical instruments; 1200. Pitch joint. Detailed Implementation

[0071] To make the above-mentioned objects, features, and advantages of the embodiments of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the embodiments of this application. However, the embodiments of this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the embodiments of this application. Therefore, the embodiments of this application are not limited to the specific embodiments disclosed below.

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

[0073] In embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0074] Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. For example, a first direction may also be referred to as a second direction, and a second direction may also be referred to as a first direction. In the description of embodiments of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0075] In the embodiments of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a flexible connection or a rigid connection along at least one direction; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or a direct connection with an intermediate medium present; they can also refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. The terms "installed," "set," "fixed," etc., can be broadly understood as connection. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0076] It should be noted that, in this application, the terms "distal" and "proximal" are used with the operator as the reference point. The end closer to the operator is called the proximal end or proximal portion, and the end farther from the operator is called the distal end or distal portion. The side facing the operator is called the proximal side or proximal side, and the side away from the operator is called the distal side or distal side. In addition, "distal direction" and "proximal direction" represent two directions; the proximal-distal direction is parallel to the distal direction and the proximal direction, and the proximal-distal direction does not specifically refer to forward or reverse directions.

[0077] Figure 1A surgical robot system according to an embodiment of this application is illustrated. In an exemplary embodiment, the surgical robot system 1000 includes a pitch joint 1200, which enables the surgical instrument 1100 to move about a fixed point N. The surgical robot system 1000 can be placed on a surface or hung on a wall, ceiling, or other frame.

[0078] For example, the surgical robot system 1000 includes a base 131, a lifting column 9, and a telescopic boom 10. The telescopic boom 10, the lifting column 9, and the base 131 are connected in sequence, and the telescopic boom 10 is perpendicular to the lifting column 9, and the lifting column 9 is perpendicular to the base 131. Figure 1 As shown, a rectangular coordinate system XYZ is defined, where the X-axis is parallel to the telescopic boom direction and the Z-axis is parallel to the lifting column direction. For example, the surgical robot system 1000 includes a first link 1, a second link 2, a third link 3, and a surgical execution unit 4. The first link 1, second link 2, and third link 3 can be used to form a pitch joint 1200. The first link 1, second link 2, and third link 3 are connected sequentially from the proximal end to the distal end. The surgical execution unit 4 is connected to the distal end of the third link 3, which is also connected to the distal end of the pitch joint 1200.

[0079] For example, the surgical robot system 1000 may include surgical instruments 1100. For example, the surgical instruments 1100 are detachably connected to the surgical execution unit 4. The surgical execution unit 4 may connect to multiple surgical instruments 1100 and perform surgical operations on patient tissues by controlling the movement of the ends of the surgical instruments 1100.

[0080] During surgery, the surgical robot system 1000 controls the surgical instrument 1100. To avoid pulling on the patient's wound, the movement of the surgical instrument 1100 must always revolve around a fixed point N, which is the position where the surgical instrument 1100 passes through the patient's body surface. When the surgical execution unit 4 is equipped with the surgical instrument 1100, the movement of the pitch joint 1200 ensures that the surgical instrument 1100 always moves around the fixed point N. The fixed point N can be a specific position relative to the first link 1. Once the position of the first link 1 in space is set, for example, its position relative to the patient is set, the position of the fixed point N in space is also set, for example, corresponding to the patient's surgical position.

[0081] The second link 2 is slidably connected to the first link 1, and its sliding path is an arc around the first fixed axis L1. The first fixed axis L1 passes through the fixed point N. When the second link 2 slides, it can also be considered as rotating relative to the first fixed axis L1. That is, the first fixed axis L1 is the axis of rotation of the second link 2. Through this arrangement, the movement of the first link 1 and the second link 2 ensures that the surgical instrument 1100 always moves around the fixed point N.

[0082] For example, based on the connection relationships of the components in the surgical robot system 1000, the proximal and distal ends of the second link 2 are located along the X-axis direction. Specifically, its proximal end is connected to the distal end of the first link 1, and its distal end is connected to the proximal end of the third link 3. Furthermore, the second link 2 has an overall arc shape, with two arc-shaped ends in the YZ plane, specifically a first end 210 and a second end 220. Figure 3 As shown in the projection, on the one hand, the second link 2 is presented as the far end used to connect the third link 3; on the other hand, the first end 210 can be referred to as the left end and the second end 220 can be referred to as the right end.

[0083] The third link 3 is slidably connected to the second link 2, and its sliding path is an arc around the first fixed axis L1, allowing the third link 3 to rotate relative to the first fixed axis L1. The motion path of the third link 3 is parallel to the motion path of the second link 2. The third link 3 extends to the outside of the second link 2 relative to the first fixed axis L1. The second link 2 and the third link 3 achieve a relatively long range of motion with a relatively short length.

[0084] The structure of the first link 1, the second link 2, and the third link 3 enables control over the posture of the surgical execution unit 4, thereby allowing the surgical instrument 1100 to move around the fixed point N to different surgical postures. For example... Figure 1 As shown, the surgical instrument 1100 in this posture can extend approximately parallel to the Z-axis direction, wherein the first end 210 of the second link 2 is located at the first link 1, and the third link 3 is located at the second end 220. Figure 2 and Figure 3 As shown, the surgical execution unit 4 changed its posture along the YZ plane, wherein the second end 220 of the second link 2 is located at the first link 1, and the third link 3 is located at the first end 210. The surgical robot system 1000 consists of... Figure 1 The posture change shown is Figure 2 During the process of the posture shown, or by Figure 2 The posture change shown is Figure 1 During the process shown in the posture: the first link 1 can remain stationary, the surgical execution unit 4 is fixed to the third link 3 and moves with the movement of the third link 3, and the surgical instrument 1100 can always move around the stationary point N.

[0085] The second link 2 and the third link 3 can rotate around the same axis, allowing for flexible movement during surgery. The smaller link size also reduces the risk of interference. The Surgical Robot System 1000 occupies less space, achieving a sufficient range of motion while minimizing structural dimensions. Through flexible control of the two-stage circular arc transmission, it can avoid equipment near the bedside and also avoid instruments when disassembling or assembling them.

[0086] Furthermore, in the pitch joint 1200, the first link 1 and the second link 2 form an arc revolute joint, and the second link 2 and the third link 3 form another arc revolute joint. The pitch joint 1200 includes two coaxial arc revolute joints, resulting in a larger joint travel. The pitch joint 1200 may also include two drive mechanisms for controlling the relative motion between the first link 1 and the second link 2, and the relative motion between the second link 2 and the third link 3, respectively. Alternatively, motion control can be achieved using one drive mechanism and one linkage mechanism.

[0087] Combination Figures 2 to 6 As shown, in some embodiments, the first link 1 includes a first arm 101 and a second arm 102 connected sequentially from the proximal end to the distal end, with the first arm 101 and the second arm 102 bent relative to each other. Figure 1 As shown, the XYZ Cartesian coordinate system is a spatial Cartesian coordinate system. In this posture, the extension direction of the first arm 101 of the surgical robot system 1000 can be parallel to the X-axis direction, and the extension direction of the second arm 102 can be parallel to the Z-axis direction. The posture of the first link 1 in space can be adjusted.

[0088] For example, the second link 2 is connected to the second arm 102. Figure 1 In the surgical robot system 1000 in the shown posture, the second link 2 and the first arm 101 are located on the same side of the second arm 102 along the X-axis direction, for example, referred to as the front side; the second link 2 and the first arm 101 are spaced apart. Figure 1 In the middle, the first arm 101 is in a corner position parallel to the Y-axis; the arc-shaped second link 2 faces away from the first arm 101.

[0089] The third link 3 can be spaced apart from the first arm 101 or in sliding contact with it in different postures, and their arrangement is roughly parallel to the Z-axis. The structure of the first link 1 achieves a semi-enclosure of the second link 2, the third link 3, and the surgical execution unit 4. (Reference) Figure 3 The third link 3 includes a third arm 127 and a fourth arm 128. For example, as shown... Figure 1 In the surgical robot system 1000 in the shown posture, the surgical execution unit 4 is arranged approximately along the Z-axis direction, the third arm 127 of the third link 3 extends approximately along the Z-axis direction, and the surgical execution unit 4 and the third arm 127 of the third link 3 are arranged side by side along the Y-axis direction and may have a gap.

[0090] like Figures 3 to 6 As shown. In an exemplary embodiment, the surgical robot system 1000 further includes a first slide 103, a first slider 104, a second slide 105, and a second slider 106, and multiple second sliders 106 or multiple first sliders 104 can be provided. (See reference...) Figure 5The first slide rail 103 and the second slide rail 105 are located on both sides of the second connecting rod 2 along the first fixed axis L1. The first slider 104 is slidably connected to the first slide rail 103 and connected to the second arm 102. The second slider 106 is slidably connected to the second slide rail 105 and connected to the third connecting rod 3. The second connecting rod 2 moves flexibly, and its position can be adjusted as needed.

[0091] Combination Figure 7 and Figure 8 As shown, the second link 2, when not at its limit travel, can be flexibly adjusted in the YZ plane, as needed. The third link 3 can be fixed in space relative to the first link 1. The limit travel of the second link 2 is as follows... Figure 1 and Figure 2 As shown.

[0092] In some embodiments, the two ends of the first slide 103 extend to the two ends of the second link 2, allowing the second link 2 to be offset relative to the first link 1. This ensures the stroke of the second link 2 and, during use, helps the second link 2 to be completely offset to one side within its sliding surface. It also prevents the second link 2 from interfering with other equipment, such as preventing it from obstructing instruments and affecting the assembly and disassembly of surgical instruments 1100. Figure 7 As shown, the second end 220 of the second link 2 is located between the first link 1 and the third link 3. The second link 2 is generally offset to the left relative to the first link 1, leaving the right side of the first link 1 unoccupied. This facilitates avoiding the risk of the second link 2 scraping the equipment or personnel when the first link 1 of the surgical robot system 1000 is rotated and adjusted around the second fixed axis L2. The second fixed axis L2 can pass through the fixed point N. Combined with... Figure 8 As shown, Figure 8 The position of the third link 3 relative to the first link 1 and Figure 7 The third link 3 has the same pose relative to the first link 1 in the surgical robot system 1000. Figure 7 The third posture becomes Figure 8 During the fourth posture, the third link 3 may remain stationary. However, the first end 210 of the second link 2 is located between the first link 1 and the third link 3, and the second link 2 is generally offset to the right relative to the first link 1, leaving the left side of the first link 1 unobstructed. This ensures that the installation and removal of the surgical instrument 1100 are not obstructed and also facilitates auxiliary work by the assistant physician in the left-side space. Exemplarily, both ends of the second slide 105 may also extend to both ends of the second link 2.

[0093] In some embodiments, the surgical robot system 1000 includes an arcuate first slide rail 103 about a first fixed axis L1 and an arcuate second slide rail 105 about the first fixed axis L1. A first link 1 and a second link 2 are slidably connected via the first slide rail 103. Optionally, referring to… Figure 4 , Figure 5 The first slide rail 103 is located on the second connecting rod 2; or refer to Figure 18 , Figure 19 , Figure 27 The first slide rail 103 can be disposed on the first connecting rod 1. The second connecting rod 2 and the third connecting rod 3 are slidably connected via the second slide rail 105. Optionally, refer to Figure 20 The second slide rail 105 is located on the second connecting rod 2; or refer to Figure 29 The second slide rail 105 can be set on the third link 3.

[0094] For example, such as Figures 4 to 6 As shown, the surgical robot system 1000 includes a first drive mechanism 6 and a second drive mechanism 7. The first drive mechanism 6 is used to drive the relative movement of the second link 2 and the first link 1, and the second drive mechanism 7 is used to drive the relative movement of the third link 3 and the second link 2. The first drive mechanism 6 and the second drive mechanism 7 can be controlled relatively independently.

[0095] refer to Figure 4 and Figure 5 The first drive mechanism 6 includes a first drive gear 117 disposed on the first connecting rod 1 and a first arc rack 118 disposed on the second connecting rod 2. The first arc rack 118 is disposed along the second connecting rod 2 and can be considered to form a concentric arc shape. The first drive gear 117 meshes with the first arc rack 118. The controlled rotation or stopping of the first drive gear 117 can control the movement or stopping of the second connecting rod 2 relative to the first connecting rod 1. The first arc rack 118 may be located on the outer ring of the first slide rail 103.

[0096] refer to Figure 5 and Figure 6 The second drive mechanism 7 includes a second drive gear 135 disposed on the third link 3 and a second arc rack 134 disposed on the second link 2. The second arc rack 134 is disposed along the second link 2 and can be considered to form a concentric arc shape. The second drive gear 135 meshes with the second arc rack 134. The controlled rotation or stopping of the second drive gear 135 can control the movement or stopping of the third link 3 relative to the second link 2.

[0097] In other embodiments, the transmission between the first link 1 and the second link 2, or between the second link 2 and the third link 3, can be achieved using zero-backlash roller gears.

[0098] For example, the third link 3 includes a third arm 127 and a fourth arm 128 connected sequentially from the proximal end to the distal end. The fourth arm 128 is used to mount the surgical execution unit 4. The third arm 127 extends a certain length to support the fourth arm 128 away from the second link 2, leaving sufficient space for the surgical execution unit 4.

[0099] For example, the surgical execution unit 4 is rotatably connected to the fourth arm 128 via a first rotating platform. The stator of the first rotating platform can be fixed to the third connecting rod 3, and the rotor is connected to the surgical execution unit 4.

[0100] Combination Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown. In some embodiments, the surgical robot system 1000 may include a lifting column 9 and a telescopic boom 10, with the first link 1, the telescopic boom 10, and the lifting column 9 connected sequentially from the distal end to the proximal end. The telescopic boom 10 is connected to the proximal end of the first link 1 via a second rotary table. The rotation axis of this second rotary table passes through a fixed point N and can be referred to as the second fixed axis L2. Figure 1 The second fixed-axis line L2 can be parallel to the Z-axis direction. Exemplarily, the surgical execution unit 4 defines a third fixed-axis line L3, which passes through the fixed point N. The surgical robot system 1000, from... Figure 1 The changes in posture are Figure 2 When in the correct posture, the third fixed axis L3 oscillates in the vertical plane in the X-axis direction.

[0101] Exemplarily, the telescopic boom 10 can be rotatably connected to the lifting column 9 via a third rotating platform. The stator of the third rotating platform is fixed to the lifting column 9, and the rotor is connected to the telescopic boom 10. The lifting column 9 may include a fifth arm 129 and a sixth arm 130. The fifth arm 129 can move up and down relative to the sixth arm 130 to drive the telescopic boom 10 and the pitch joint 1200 to move up and down. The surgical robot system 1000 may also include a base 131. In some embodiments, the base 131 may be an integral structure with the sixth arm 130. The telescopic boom 10 may include a seventh arm 132 and an eighth arm 133. The seventh arm 132 can extend and retract relative to the eighth arm 133 to drive the pitch joint 1200 to move.

[0102] The surgical robot system 1000 can adjust the spatial position of the fixed point N via the lifting column 9 and the telescopic boom 10. Furthermore, as... Figure 1In the surgical robot system 1000 in the shown posture, the first fixed-axis line L1, passing through the fixed point N, is approximately parallel to the X-axis direction; the second fixed-axis line L2, passing through the fixed point N and perpendicular to the first fixed-axis line L1, is approximately parallel to the Z-axis direction; and the third fixed-axis line L3, passing through the fixed point N, is parallel to the second fixed-axis line L2 at this time. When the posture of the surgical robot system 1000 changes, each fixed-axis line still passes through the fixed point N, but the spatial pose may change.

[0103] refer to Figures 9 to 16 The surgical robot system 1000 also includes a balancing mechanism 11, which is disposed on the first link 1 or the third link 3. The surgical robot system 1000 may have two balancing mechanisms 11, which may be referred to as the first balancing mechanism and the second balancing mechanism. (Reference) Figures 9 to 15 The balancing mechanism 11 includes a balancing elastic element 121, a fixed pulley 124, and a balancing rope 126. Exemplarily, it may also include a movable pulley 125. Multiple fixed pulleys 124 and movable pulleys 125 may be provided to form a pulley block.

[0104] Taking the balancing mechanism 11, used to balance the movement between the first link 1 and the second link 2, as an example, the balancing elastic element 121 is a gas spring, but it can also be other types such as a constant force spring, compression spring, tension spring, or spiral spring. The fixed end 123 of the balancing elastic element 121 is positioned relative to the fixed pulley 124, and the movable pulley 125 is located at the spring end 122 of the balancing elastic element 121. The balancing rope 126 is wound around the fixed pulley 124 and the movable pulley 125 to realize the movement of the pulley group. One end of the balancing rope 126 is fixed relative to the fixed end 123, and the other end of the balancing rope 126 is fixed to the second link 2. The balancing mechanism 11 can reduce the driving load and improve joint safety, which is beneficial to the stable and reliable operation of the surgical robot system 1000.

[0105] For example, the third link 3 is typically biased to the left, so the balancing rope 126 can be connected to the first end 210 of the second link 2. The balancing rope 126 can be connected to the outer circular stepped surface of the second link 2 via an end rope connection mechanism (not shown). The balancing rope 126 is rotatably connected to the second link 2, with the axis of rotation parallel to the first fixed axis L1. The specific installation position of the end rope connection mechanism is determined by balancing force calculations. The balancing rope 126 can be a steel wire rope, possessing good strength and toughness.

[0106] When the second link 2 slides around the first fixed axis L1, the end rope connection mechanism pulls the balance rope 126. The balance rope 126 is in close contact with the outer circular step surface of the second link 2. As the second link 2 slides, the wrap angle of the balance rope 126 on the outer circular step surface of the second link 2 increases or decreases. The corresponding change in rope length is transmitted to the inside of the balancing mechanism 11, causing the balancing elastic element 121 to compress or spring. As the amount of compression of the balancing elastic element 121 changes, the tension of the balance rope 126 changes accordingly.

[0107] Because the radius of the outer circular stepped surface of the second link 2 is relatively large, the length of the balancing rope 126 output from the balancing mechanism 11 is also relatively large. To achieve a more compact balancing mechanism 11, refer to... Figure 11 , Figure 14 and Figure 15 For example, two movable pulleys 125 are provided at the spring-loaded end 122 of the balancing elastic element 121. Through the mechanism of the double movable pulleys, the required compression amount of the balancing elastic element 121 is reduced to one-quarter, correspondingly increasing the spring force required by the balancing elastic element 121 by four times. For example, other numbers of movable pulleys 125 can be configured, such as one, three, etc., or no movable pulleys 125 may be provided, depending on the required balancing force and the available compression stroke of the balancing elastic element 121. (Reference) Figure 12 Correspondingly, the fixed pulleys 124 are increased or decreased according to the number of movable pulleys 125 to ensure the number of times the balance rope 126 is wound and turned; the fixed pulleys 124 also ensure that the movement path of the balance rope 126 is appropriate.

[0108] refer to Figure 11 and Figure 13 The balancing mechanism 11 also includes a support mechanism 136, which is located at the middle of the balancing elastic member 121. Exemplarily, it is fixed to the fixed end 123. The support mechanism 136 helps prevent the balancing elastic member 121 from becoming unstable during compression. The end of the balancing rope 126 can also be fixed to the support mechanism 136, and tensioning of the balancing rope 126 can be achieved through a support block supported by four small set screws.

[0109] refer to Figure 14 and Figure 15The balancing mechanism 11 also includes a guide slider 143 and two guide blocks 138. The guide slider 143 is disposed at the spring-loaded end 122, which is opposite to the fixed end 123 along the Z-axis. The two guide blocks 138 can be disposed opposite each other along the Y-axis and form a groove extending along the Z-axis. The guide slider 143 can be a cylindrical slider or a bearing. The guide slider 143 is restricted to move within the groove by the two guide blocks 138, which also helps to prevent the pressure bar from becoming unstable. Alternatively, the simple two guide blocks 138 can be replaced with guide rails or linear bearings to guide the spring-loaded end 122. In other embodiments, the balancing elastic element 121 is disposed in other directions, and the spring-loaded end 122 and the fixed end 123 are opposite each other in other directions; consequently, the groove defined by the two guide blocks 138 can also extend in that direction.

[0110] refer to Figure 16 The surgical robot system 1000 may include another balancing mechanism 11 for balancing the movement between the third link 3 and the second link 2. The second link 2 and the third link 3 have large masses and moments of inertia, resulting in significant variations in the output torque of the drive mechanism during movement, which is detrimental to servo control and drag control. Therefore, a balancing mechanism 11 is provided between the first link 1 and the second link 2, and another balancing mechanism 11 is provided between the second link 2 and the third link 3 to reduce the drive load and improve joint safety. The balancing mechanism 11 at the third link 3 is similar to the balancing mechanism 11 at the first link 1, and the direction of its balancing rope 126 can be adjusted by configuring the fixed pulley 124 in the third link 3.

[0111] refer to Figure 17 The surgical robot system 1000 also includes a cable chain 8, which connects to a first link 1 and a third link 3. The cables within the cable chain can be used for power supply or signal transmission. The cable chain 8 is positioned around the outer circular boss of the second link 2, and the cable chain 8 is capable of bending motion. (Reference) Figure 1 The second link 2 is provided with a housing, and the drag chain 8 can be constrained within the housing.

[0112] refer to Figures 18 to 24 ,as well as Figures 26 to 31In an exemplary embodiment, the surgical robot system 1000 further includes a linkage loop 5 and a first constraint guide rail 109. The first constraint guide rail 109 is disposed on the second link 2, and the extension path of the first constraint guide rail 109 is parallel to the sliding path of the second link 2. The first constraint guide rail 109 is used to open the linkage loop 5, and the two together form a linkage mechanism. Optionally, the surgical robot system 1000 includes a first drive mechanism 6 connected to the first link 1 or a second drive mechanism 7 connected to the third link 3, realizing a drive form of one drive mechanism plus one linkage mechanism. Exemplarily, the surgical robot system 1000 includes a drive mechanism disposed on the second link 2, which cooperates with the linkage mechanism to realize the control of the pitch joint 1200.

[0113] In other embodiments, a synchronous belt, hydraulic circuit, or other means can be used in conjunction with a drive mechanism to drive the pitch joint 1200. In still other embodiments, a gearbox can be used to link the third link 3 with the second link 2. The linkage rope loop 5 is simple, lightweight, and has low motion inertia.

[0114] refer to Figure 20 and Figure 23 The surgical robot system 1000 also includes a first guide wheel 107 and a second guide wheel 108, which are rotatably connected to the second link 2. For example, the first guide wheel 107 is located at the first end 210, and the second guide wheel 108 is located at the second end 220. The axis of rotation can be parallel to the first fixed axis L1. A first constraint guide rail 109 is disposed between the first guide wheel 107 and the second guide wheel 108. The first guide wheel 107 and the second guide wheel 108 help to open the linkage rope loop 5. The first guide wheel 107 and the second guide wheel 108 are used to guide the circumferential movement of the linkage rope loop 5. The first constraint guide rail 109 is an arc-shaped guide rail around the first fixed axis L1. The first connecting member 110 of the linkage rope loop 5 is fixed to the first link 1, and the second connecting member 111 of the linkage rope loop 5 is fixed to the third link 3. It can achieve the linkage of the first link 1, the second link 2 and the third link 3, and can use a single drive mechanism to drive the first link 1, the second link 2 and the third link 3, making control simpler.

[0115] In some embodiments, the surgical robot system 1000 includes a first drive mechanism 6. (See reference...) Figure 18 , Figure 19 and Figure 22 The first drive mechanism 6 is used to drive the second link 2 to slide relative to the first link 1. For example, refer to... Figure 21 , Figure 23 and Figure 24The surgical robot system 1000 includes a slide rail 112, which is fixed to the third link 3 and slidably connected to the second link 2 around the first fixed axis L1. A second connector 111 is slidably connected to the slide rail 112 radially along the first fixed axis L1. The cooperation between the slide rail 112 and the linkage rope ring 5 ensures the sliding of the third link 3 around the first fixed axis L1. The first drive mechanism 6 is easy to install and debug, and the slide rail 112 is easy to manufacture, install, and debug.

[0116] refer to Figure 18 and Figure 19 The distal end of the first connecting rod 1 is an arc-shaped mounting plate 137, which has an arc shape approximately in the YZ plane around a first fixed axis L1. The arc-shaped mounting plate 137 may be provided with at least one first slide rail 103. The first drive mechanism 6 may be mounted on the arc-shaped mounting plate 137. The arc-shaped mounting plate 137 can stably support the second connecting rod 2, which may be connected to the first slider 104, or may be provided with a slide rail adapted to the first slide rail 103. Alternatively, the first slider 104 may be located on the arc-shaped mounting plate 137 and the first slide rail 103 may be located on the second connecting rod 2. The arc-shaped mounting plate 137 is approximately symmetrical about the second arm 102.

[0117] In some embodiments, the first drive mechanism 6 includes a drive shaft 115 disposed on the first connecting rod 1 and a drive rope wound around the drive shaft 115 and fixed to the second connecting rod 2. The drive rope may be fixed at both ends to the second connecting rod 2 and driven by the drive shaft 115 through friction.

[0118] For example, the first drive mechanism 6 includes a first drive rope 113, a second drive rope 114, and a drive shaft 115. (See reference...) Figure 22 One end of the first drive rope 113 is wound around the drive shaft 115, and the other end of the first drive rope 113 is fixed to one end of the second connecting rod 2 circumferentially around the first fixed axis L1, for example, the first end 210. One end of the second drive rope 114 is wound around the drive shaft 115, and the other end of the second drive rope 114 is fixed to the other end of the second connecting rod 2 circumferentially around the first fixed axis L1, for example, the second end 220. The winding direction of the second drive rope 114 is opposite to the winding direction of the first drive rope 113. Specifically, from the perspective of the outer extension of the first drive rope 113, when the first drive rope 113 is wound clockwise around the drive shaft 115, from the perspective of the outer extension of the second drive rope 114, the second drive rope 114 is wound counterclockwise around the drive shaft 115; and vice versa. When the drive shaft 115 rotates, if the first drive rope 113 is wound up, the second drive rope 114 is lengthened; if the second drive rope 114 is wound up, the first drive rope 113 is lengthened. Two-stage rope drive is achieved through the first drive mechanism 6 and the linkage rope loop 5, which occupies little space and is easy to assemble.

[0119] In other embodiments, the first drive rope 113 and the second drive rope 114 are two sections of the same rope. Rope pressing cylinders may be provided on both sides of the drive shaft 115 to press the first drive rope 113 and the second drive rope 114 down to fit close to the outer surface of the second connecting rod 2. The second connecting rod 2 may be equipped with a tension adjusting block. By tightening the screw against the tension adjusting block, the first drive rope 113 or the second drive rope 114 can be tightened, which helps improve transmission accuracy.

[0120] The linkage loop 5 can be arched, with the bowstring being a straight line. When the first drive mechanism 6 operates, for example, by winding the first drive rope 113 and lengthening the second drive rope 114, the second link 2 is pulled from left to right, causing the first guide wheel 107 and the second guide wheel 108 to move to the right. Since the first connector 110 of the linkage loop 5 is fixed to the first link 1, the second guide wheel 108 moves and circles the linkage loop 5 against it, causing the second connector 111 to move to the right relative to the second link 2; consequently, the slide rail 112 and the third link 3 also move to the right relative to the second link 2. During the movement of the second connector 111 along the bowstring, its distance relative to the first fixed axis L1 changes. The radial sliding between the second connector 111 and the slide rail 112 along the first fixed axis L1 absorbs this distance change. Relative to the first link 1, the second link 2 and the third link 3 are linked. The surgical robot system 1000 is simple and quick to control.

[0121] refer to Figure 25 The cable chain 8 includes a first cable groove 139, a second cable groove 140, and a cable 141. The first cable groove 139 is installed on the first connecting rod 1, and the second cable groove 140 is installed on the second connecting rod 2. A customized cable connector is provided between the two cable grooves, and a customized cable connector is provided between the second cable groove 140 and the third connecting rod 3. The cable 141 is customized as a flat, bendable cable and is placed in the U-shaped first cable groove 139 and the U-shaped second cable groove 140, allowing it to slide within the first cable groove 139 and the second cable groove 140 according to the movement of the second connecting rod 2 and the third connecting rod 3, ensuring power supply and communication to the surgical execution unit 4 from the proximal side.

[0122] refer to Figures 26 to 30 In an exemplary embodiment, the surgical robot system 1000 includes a second drive mechanism 7. The second drive mechanism 7 is used to drive the third link 3 to slide relative to the second link 2. The second drive mechanism 7, in conjunction with the linkage loop 5, can control the relative movement of the first link 1, the second link 2, and the third link 3. Exemplarily, the surgical robot system 1000 includes a second constraint guide rail 116, which is disposed on the second link 2. The second constraint guide rail 116 is centered on the first fixed axis L1 and is used to constrain the sliding path of the second connector 111, resulting in stable operation and a compact structural layout for the second link 2.

[0123] In some embodiments, the second drive mechanism 7 includes an arcuate rack and a drive gear; specifically, the arcuate rack is a second arcuate rack 134, and the drive gear is a second drive gear 135. For example... Figure 28 As shown, the second arc rack 134 is disposed on the second connecting rod 2, and the second arc rack 134 is centered on the first fixed axis L1. Figure 29 As shown, the second drive gear 135 is rotatably connected to the third link 3, for reference. Figure 26 The second drive gear 135 meshes with the second arc rack 134, and the second drive mechanism 7 can precisely drive the third link 3.

[0124] refer to Figure 30 The second drive mechanism 7 includes a driver, the output of which is connected to a second drive gear 135. The second drive mechanism 7 may be located near the end of the third link 3.

[0125] When the second drive mechanism 7 drives the third link 3 to slide along the second link 2, the second connecting member 111 will move along with the third link 3. Since the first connecting member 110 is fixed to the first link 1, the linkage rope ring 5 will pull the first guide wheel 107, which will cause the second link 2 to slide relative to the first connecting member 110. The second link 2 and the third link 3 are linked, and their sliding speeds always maintain a definite quantitative relationship.

[0126] In some embodiments, the second slider 106 of the third link 3 is slidably connected to the second slide rail 105 of the second link 2, and the second slide rail 105 is located inside the second constraint guide rail 116; the end of the second connector 111 facing away from the second constraint guide rail 116 is connected to the third link 3, and the second connector 111 is located inside the second arc rack 134, and the second link 2 has a compact layout.

[0127] like Figure 31 As shown, exemplarily, either the first constraint guide rail 109 or the second constraint guide rail 116 can be a guide rail based on roller network synthesis. Multiple rollers are arranged relatively densely along the sliding path of the second link 2. The linkage rope loop 5 may include multiple ropes arranged side-by-side along the first fixed axis L1. The first constraint guide rail 109 is located within the inner ring of the linkage rope loop 5, constraining the outer rope segment of the linkage rope loop 5 into an arc shape around the first fixed axis L1. The first connector 110 is located outside the first constraint guide rail 109. The second constraint guide rail 116 is located within the outer ring of the linkage rope loop 5, but relative to the first fixed axis L1, the second constraint guide rail 116 is located inside the linkage rope loop 5 as a whole, and constrains the inner rope segment of the linkage rope loop 5 into an arc shape around the first fixed axis L1. The linkage rope loop 5 is constrained to an approximately fan-shaped ring. The second connector 111 is located outside the second constraint guide rail 116.

[0128] refer to Figure 32 For example, the first connector 110 can adjust the tension of the rope end to control the overall tension of the linkage rope loop 5. The height of the tensioning block with the rope end fixed to it relative to the body of the first connector 110 can be adjusted by turning the screw. Strain gauges can be attached to the tensioning block to more precisely control the tension of each rope in the linkage rope loop 5.

[0129] refer to Figure 33 The second connector 111 can restrict the rope segment connected to it to an approximate geometric or Ω shape, and by clamping the rope segment, it can ensure the positioning accuracy of the second connector 111 and prevent it from shifting.

[0130] refer to Figure 34 For example, the first guide wheel 107 and the second guide wheel 108 can be adjusted relative to the second connecting rod 2. For instance, the first guide wheel 107 is connected to the second connecting rod 2 via a guide wheel bracket 142. The adjustable direction of the guide wheel bracket 142 is perpendicular to the first fixed axis L1. By turning the screw, the guide wheel bracket 142 can be lifted to achieve tensioning of the linkage rope ring 5.

[0131] refer to Figures 35 to 37 For example, the surgical robot system 1000 also includes a cable chain 8, a guide member 119, and a third guide wheel 120. The guide member 119 covers the first guide wheel 107, and the third guide wheel 120 is disposed at the first end 210 of the second link 2 where the first guide wheel 107 is located. The cable chain 8 is slidably wound around the guide member 119 and the third guide wheel 120. One end of the cable chain 8 is connected to the first link 1, and the other end of the cable chain 8 is connected to the third link 3. The cable chain 8 can be compactly disposed on the second link 2, ensuring control of the third link 3 and the surgical execution unit 4, while avoiding interference with the operation.

[0132] For example, the guide 119 and the third guide wheel 120 are made of low-friction, wear-resistant plastic.

[0133] The technical features of the above-disclosed embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0134] In the embodiments disclosed above, unless otherwise explicitly specified and limited, the execution order of each step is not restricted. For example, they can be executed in parallel or sequentially in different orders. The sub-steps of each step can also be executed alternately. Various forms of processes described above can be used, and steps can be reordered, added, or deleted, as long as the desired results of the technical solutions provided by the embodiments of this application can be achieved, and no limitations are imposed herein.

[0135] The embodiments disclosed above merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of patent protection claimed by this application. Therefore, the scope of patent protection of this application should be determined by the appended claims.

Claims

1. A surgical robot system, characterized in that, It includes a first link (1), a second link (2), a third link (3), and a surgical execution unit (4) connected sequentially from the proximal side to the distal side; The surgical execution unit (4) is used to carry the surgical instrument (1100) and to move the surgical instrument (1100) around the fixed point; The second link (2) is slidably connected to the first link (1), so that the second link (2) can rotate relative to the first fixed axis, which passes through the fixed point; The third link (3) is slidably connected to the second link (2), so that the third link (3) is rotatable relative to the first fixed axis, and the third link (3) extends to the outside of the second link (2) relative to the first fixed axis.

2. The surgical robot system according to claim 1, characterized in that, Also includes: An arc-shaped first slide rail (103) is formed around the first fixed axis, through which the first connecting rod (1) and the second connecting rod (2) are slidably connected; and The second slide rail (105) is arc-shaped around the first fixed axis, and the second connecting rod (2) and the third connecting rod (3) are slidably connected through the second slide rail (105).

3. The surgical robot system according to claim 2, characterized in that, Both the first slide rail (103) and the second slide rail (105) are located on the second connecting rod (2); The surgical robot system (1000) further includes a first slider (104) disposed on the first link (1) and a second slider (106) disposed on the third link (3). The first slider (104) is slidably connected to the first slide rail (103), and the second slider (106) is slidably connected to the second slide rail (105).

4. The surgical robot system according to claim 3, characterized in that, The two ends of the first slide (103) extend to the two ends of the second link (2), so that the second link (2) can be offset relative to the first link (1).

5. The surgical robot system according to claim 2, characterized in that, Also includes: A first drive mechanism (6) for driving the second link (2) to slide relative to the first link (1) and a second drive mechanism (7) for driving the third link (3) to slide relative to the second link (2); Along the first fixed axis, the first slide rail (103) and the second slide rail (105) are disposed on both sides of the second connecting rod (2); Relative to the first fixed axis, the first slide rail (103) is located inside the first drive mechanism (6), and the second slide rail (105) is located inside the second drive mechanism (7).

6. The surgical robot system according to claim 1, characterized in that, It also includes a telescopic boom (10) and a lifting column (9) that are sequentially connected to the first link (1) from the distal end to the proximal end; The first connecting rod (1) is rotatably connected to the telescopic boom (10) about the second fixed axis passing through the fixed point, and the telescopic boom (10) is rotatably connected to the lifting column (9).

7. The surgical robot system according to claim 6, characterized in that, The first link (1) includes a first arm (101) and a second arm (102) connected sequentially from the proximal end to the distal end, wherein the first arm (101) and the second arm (102) are bent toward each other; The second link (2) is slidably connected to the second arm (102). The second link (2) and the first arm (101) are located on the same side of the second arm (102) along the first fixed axis and are spaced apart along the second fixed axis. The second link (2) is located between the first arm (101) and the first fixed axis. The surgical execution unit (4) and the third link (3) are arranged side by side in the vertical plane of the first fixed axis.

8. The surgical robot system according to claim 1, characterized in that, It also includes a linkage rope loop (5) and a first constraint guide rail (109); the first constraint guide rail (109) is disposed on the second link (2), the extension path of the first constraint guide rail (109) is parallel to the sliding path of the second link (2), and the first constraint guide rail (109) is used to open the linkage rope loop (5); the first connector (110) of the linkage rope loop (5) is fixed to the first link (1), and the second connector (111) of the linkage rope loop (5) is fixed to the third link (3).

9. The surgical robot system according to claim 8, characterized in that, Also includes: A first drive mechanism (6) for driving the second link (2) to slide relative to the first link (1), the first drive mechanism (6) includes a drive shaft (115) disposed on the first link (1) and a drive rope wound around the drive shaft (115) and fixed to the second link (2); or, A second drive mechanism (7) for driving the third link (3) to slide relative to the second link (2), the second drive mechanism (7) includes an arc rack disposed on the second link (2) around the first fixed axis and a drive gear disposed on the third link (3) and meshing with the arc rack.

10. The surgical robot system according to claim 9, characterized in that, It also includes a slide rail (112), which is fixed to the third link (3) and slidably connected to the second link (2) about the first fixed axis. The second connector (111) is slidably connected to the slide rail (112) radially along the first fixed axis.

11. The surgical robot system according to any one of claims 1 to 10, characterized in that, It also includes a balancing mechanism (11), which is disposed on the first link (1) or the third link (3); the balancing mechanism (11) includes a balancing elastic element (121), a fixed pulley (124), a movable pulley (125) and a balancing rope (126), the fixed end (123) of the balancing elastic element (121) is positioned relative to the fixed pulley (124), the movable pulley (125) is disposed on the spring end (122) of the balancing elastic element (121), the balancing rope (126) is wound around the fixed pulley (124) and the movable pulley (125), one end of the balancing rope (126) is fixed to the fixed end (123), and the other end of the balancing rope (126) is fixed to the second link (2).

12. The surgical robot system according to claim 11, characterized in that, The balancing mechanism (11) further includes a guide slider (143) and two guide blocks (138). The guide slider (143) is disposed on the spring end (122), and the two guide blocks (138) restrict the guide slider (143) from sliding in the direction opposite to the spring end (122) and the fixed end (123).

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