Pareto optimal resource allocation

Abstract

This application provides a patient-side manipulation device and a surgical robot. The patient-side manipulation device includes a robotic arm and a cannula adapter. The robotic arm has at least one degree of freedom, and the cannula adapter is movably connected to the robotic arm between an extended position and a retracted position, allowing the cannula adapter to telescopically move relative to the robotic arm. By adjusting the position of the cannula adapter, it can be extended or retracted to adapt to different needs. Specifically, the overlap length between the cannula adapter and the robotic arm in the extended position is less than the overlap length in the retracted position. The overall volume of the cannula adapter and robotic arm in the retracted position is also smaller. This telescopic design reduces the overlap length with the robotic arm when the cannula adapter is in the retracted position, allowing the use of a smaller diameter sterile drape, thus reducing processing costs, assembly difficulty, and weight.

Description

Technical Field

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

[0002] When performing surgery on a patient-side mechanical system, a sterile curtain is used to isolate the patient from the system. Typically, the sterile curtain isolates the robotic arm of the patient-side mechanical system from the outside environment; correspondingly, the sterile curtain also needs to isolate the cannula adapter and the cannula.

[0003] For single-port surgical robots, surgical instruments are mounted on a holding arm, which is connected to the robotic arm via a large rotary joint. The axis of rotation of this joint passes through the remote motion center, resulting in a relatively large distance between the cannula and the robotic arm at this joint. Currently, most instrument cannula adapters are fixedly mounted on the surgical robot. Therefore, when installing a sterile drape, the drape must completely enclose the cannula adapter. To ensure the drape can pass through the adapter, its diameter needs to be sufficiently large, which is detrimental to the drape's manufacturing cost, assembly, and weight.

[0004] Therefore, there is a need to provide a patient-side operating device and a surgical robot to at least partially solve the above problems. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] To at least partially address the above-mentioned problems, a first aspect of this application provides a patient-side manipulation device, comprising:

[0007] A robotic arm, wherein the robotic arm has at least one degree of freedom; and

[0008] A cannula adapter, which is movably connected to the robotic arm between an extended position and a retracted position; wherein,

[0009] The overlap length between the sleeve adapter and the robotic arm in the extended position is less than the overlap length between the sleeve adapter and the robotic arm in the retracted position.

[0010] According to the patient-side manipulation device of the first aspect of this application, the position of the cannula adapter can be adjusted to extend or retract it, thereby adapting to different needs. The cannula adapter in the retracted position has a smaller overall volume with the robotic arm. The telescopic design allows for a reduced overlap length with the robotic arm when the cannula adapter is in the retracted position, enabling the use of a smaller diameter sterile curtain, thus reducing processing costs, assembly difficulty, and weight.

[0011] Optionally, the patient-side manipulation device further includes an extension locking mechanism, which has an extension locking state that locks the cannula adapter in the extension position and an extension unlocking state that allows the cannula adapter to move relative to the robotic arm.

[0012] Optionally, the extension locking mechanism includes a locking pin, the movement direction of which intersects with the movement direction of the sleeve adapter. The locking pin is disposed on one of the robotic arm and the sleeve adapter. The other of the robotic arm and the sleeve adapter is provided with a slotting component. The slotting component has a locking groove for the insertion of the locking pin. When the locking pin is inserted into the locking groove, the sleeve adapter is in the extended position and in an extended locked state. When the locking pin is disengaged from the locking groove, the sleeve adapter is in an extended unlocked state.

[0013] Optionally, the extension locking mechanism further includes

[0014] A power supply device, wherein the locking pin is connected to the power supply device, and the locking pin moves between a locked position and an unlocked position under the action of the power supply device;

[0015] The locking pin, located in the locking position, is situated on the movement path of the slotted component.

[0016] Optionally, the power supply device includes an electromagnet and an elastic element. When the electromagnet is energized, it pulls the locking pin so that the locking pin is in the unlocked position. When the electromagnet is de-energized, the elastic element drives the locking pin to move to the locked position.

[0017] Optionally, the patient-side operating device further includes a trigger button, which is used to control the energization and de-energization of the electromagnet.

[0018] Optionally, the locking pin is constructed as a ball-head pin.

[0019] Optionally, the slotted component has a wedge-shaped surface that guides the snap-fit ​​pin to engage with the locking groove as the sleeve adapter moves from the retracted position to the extended position.

[0020] Optionally, the slotted component is configured as a movable block, which is fixedly disposed relative to the main body of the sleeve adapter, the snap-fit ​​pin is located in the inner cavity of the robotic arm, and the movable block extends into the inner cavity of the robotic arm.

[0021] Optionally, the robotic arm has a groove, and at least a portion of the moving block extends through the groove into the inner cavity of the robotic arm. The moving block passes through the groove and moves along the extension direction of the groove, so that the sleeve adapter is movable relative to the robotic arm between an extended position and a retracted position.

[0022] Optionally, the movement path of the card pin intersects with the movement path of the moving block.

[0023] Optionally, the end of the robotic arm is provided with a guide rail, which is parallel to the slide groove, and the sleeve adapter is slidably connected to the guide rail.

[0024] Optionally, the patient-side manipulation device further includes a retraction locking mechanism, which has a retraction locking state that locks the cannula adapter in the retracted position and a retraction unlocking state that allows the cannula adapter to move relative to the robotic arm.

[0025] Optionally, the retraction locking mechanism includes a biasing element for applying a biasing force to the sleeve adapter to move toward the retracted position.

[0026] Optionally, the biasing element is constructed as a constant force spring, with its fixed end connected to the robotic arm and its free end connected to the moving block.

[0027] Optionally, the retraction locking mechanism further includes a damping element connected to the constant force spring, and the damping element is located on the extension path of the constant force spring.

[0028] Optionally, the damping element includes at least two opposing damping wheels, with the constant force spring located between the damping wheels and capable of sliding relative to the damping wheels.

[0029] Optionally, the damping wheel is constructed with a drum-shaped profile.

[0030] Optionally, the patient-side operating device further includes a sensor for determining the position information of the cannula adapter.

[0031] A second aspect of this application provides a surgical robot, including the aforementioned patient-side operating device. Attached Figure Description

[0032] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0033] Figure 1 This is a schematic diagram of the overall structure of a surgical robot according to a preferred embodiment of this application;

[0034] Figure 2 This is a schematic diagram of the overall structure of the patient-side operating device of a surgical robot according to a preferred embodiment of this application.

[0035] Figure 3 This is a partial schematic diagram of the patient-side operating device of a surgical robot according to a preferred embodiment of this application, in which the cannula adapter is in the extended position.

[0036] Figure 4 This is a partial schematic diagram from another perspective of the patient-side operating device of a surgical robot according to a preferred embodiment of this application. In the diagram, the cannula adapter is in the extended position and the extension locking mechanism is in the extended locked state.

[0037] Figure 5 This is a partial schematic diagram from another perspective of the patient-side operating device of a surgical robot according to a preferred embodiment of this application. In the figure, the cannula adapter is in the extended position and the extension locking mechanism is in the extended locked state.

[0038] Figure 6 This is a partial cross-sectional schematic diagram of the patient-side operating device of a surgical robot according to a preferred embodiment of this application, in which the cannula adapter is in the extended position and the extension locking mechanism is in the extended locked state.

[0039] Figure 7 This is a partial schematic diagram of the extension locking mechanism cooperating with the moving block. The extension locking mechanism is in the extension locked state.

[0040] Explanation of reference numerals in the attached figures

[0041] 1: Doctor's Control Panel

[0042] 2: Patient-side operating equipment

[0043] 2-1: Base

[0044] 2-2: Adjustment of the organization

[0045] 3: Imaging System

[0046] 100: Robotic Arm

[0047] 101: Slide

[0048] 110: Guide rail

[0049] 200: Sleeve adapter

[0050] 210: Moving Block

[0051] 211: Locking groove

[0052] 212: Wedge-shaped surface

[0053] 220: Slider

[0054] 300: Extending locking mechanism

[0055] 310: Power supply device

[0056] 311: Baffle

[0057] 312: Stop block

[0058] 313: Elastic component

[0059] 320: Card Reception

[0060] 400: Retraction Locking Mechanism

[0061] 410: Bias element

[0062] 420: Damping component

[0063] 500: Trigger button

[0064] 600: Sensor Detailed Implementation

[0065] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0066] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0067] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0068] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0069] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0070] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0071] Reference Figure 1 The surgical robot according to the embodiments of this application is a robot that can be remotely operated to complete surgery, and it may include a doctor's console 1, a patient-side operating device 2, and an imaging system 3.

[0072] The doctor's control console 1 is the main operating device, featuring a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 1 also has other control switches that are easily accessible by hand or foot for various functional operations and human-computer interaction.

[0073] The imaging system 3 includes a display screen, endoscope controller, system electronics, and image processor. The imaging system 3 can be set up independently or integrated into the doctor's console 1 or the patient-side operating device 2.

[0074] The patient-side operating device 2 is a slave operating device, which may include a base 2-1, an adjustment mechanism 2-2, and at least one robotic arm 100.

[0075] exist Figure 2 In the examples shown, the base 2-1 can be placed on the ground, for example, the bottom of the base 2-1 can be equipped with wheels for easy movement. In some examples not shown, the base 2-1 can also be suspended from a wall or ceiling, for example, the base 2-1 can be mounted on a wall or ceiling via a guide rail 110 for easy movement. In other examples not shown, the base 2-1 can also be mounted on an operating table, or integrated into an operating table.

[0076] Adjustment mechanism 2-2 is used to adjust the position and / or orientation of the operating mechanism before surgery.

[0077] The robotic arm 100 has several connecting arms, with adjacent connecting arms moving relative to each other with specific degrees of freedom. This allows the end effector of the robotic arm 100 to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the surgical instrument). The end effector of the robotic arm 100 is used to hold surgical instruments or endoscopes and to manipulate the surgical instruments for surgical operations. Optionally, the robotic arm 100 includes a deflection arm, a pitch arm, and an instrument arm connected in sequence. The deflection arm is used to drive the instrument arm to rotate around the deflection axis. The pitch arm is used to drive the instrument arm to rotate around the pitch axis. The instrument arm is used to mount one or more surgical instruments. Surgical instruments can be instruments used to perform surgical operations, such as electrocautery devices, clamps, and vascular occluders; they can also be cameras used to acquire images of the surgical area, such as endoscopes; or other surgical instruments.

[0078] Optionally, the robotic arm 100 is equipped with a cannula, which is used to be inserted into a small hole in the human body, through which surgical instruments enter the abdominal or thoracic cavity to perform surgical operations.

[0079] The cannula is mounted to the robotic arm 100 via a cannula adapter 200. The cannula adapter 200 ensures that the cannula is stably mounted on the robotic arm 100 and maintains the correct position and angle during surgery. The cannula adapter 200 includes a clamping structure, and the cannula has a clamped structure. The clamping structure of the cannula adapter 200 can clamp the clamped structure of the cannula to secure the cannula adapter 200 to the cannula.

[0080] The aforementioned deflection axis and pitch axis intersect at a predetermined position on the cannula to ensure that the operating mechanism never deviates from this predetermined position when moving the surgical instrument, i.e., pitching and / or yawing are centered on this point. When the cannula is inserted into the human body, this predetermined position is aligned with a small hole opened on the human body, thereby preventing non-surgical trauma to the human body. This predetermined position can also be called the remote center of motion (RCM). The robotic arm 100 may be equipped with a drive device (not shown) for driving the surgical instrument to perform insertion, rotation, and other actions, as well as for driving the end effector of the surgical instrument to perform pitching, yaw, and gripping actions.

[0081] Reference Figures 3 to 7In the patient-side surgical device 2 provided in this application, a cannula adapter 200 is movably connected to a robotic arm 100. The cannula adapter 200 is movable relative to the robotic arm 100 between an extended position and a retracted position, allowing the cannula adapter 200 to extend or retract relative to the robotic arm 100. By adjusting the position of the cannula adapter 200, it can be extended or retracted to adapt to different needs. Specifically, the overlap length of the cannula adapter 200 and the robotic arm 100 in the extended position is less than the overlap length in the retracted position. That is, the overall volume of the cannula adapter 200 and the robotic arm 100 in the retracted position is smaller. During the surgical procedure, the use of a sterile drape is crucial. Traditional fixed cannula adapters 200 require a larger drape diameter to ensure smooth passage. This retractable design allows for a reduction in the overlap length with the robotic arm 100 when the sleeve adapter 200 is in the retracted position, thereby enabling the use of a smaller diameter sterile curtain and reducing processing costs, assembly difficulty, and weight.

[0082] In some embodiments of this application, reference is made to Figure 6 The robotic arm 100 is fixedly equipped with a guide rail 110, and the sleeve adapter 200 is fixedly connected to a slider 220. The slider 220 can move on the guide rail 110 to realize the mechanical connection between the sleeve adapter 200 and the robotic arm 100, as well as the movement of the sleeve adapter 200 relative to the robotic arm 100. Furthermore, the guide rail 110 can be a linear guide rail or an arc-shaped guide rail.

[0083] In some embodiments of this application, the patient-side manipulation device 2 further includes an extension locking mechanism 300. The extension locking mechanism 300 has an extension locked state that locks the cannula adapter 200 in the extended position and an extension unlocked state that allows the cannula adapter 200 to move relative to the robotic arm 100. The extension locking mechanism 300 in the extension locked state ensures that the cannula adapter 200 is stably locked in the extended position, preventing movement due to misoperation or external factors, thereby ensuring the smooth progress of the surgery. The extension locking mechanism 300 in the extension unlocked state allows the cannula adapter 200 to move relative to the robotic arm 100, meeting the need to adjust the position of the cannula adapter 200 according to actual needs during the surgery, and allowing the cannula adapter 200 to retract when not needed.

[0084] Specifically, in some embodiments, the extension locking mechanism 300 may include a locking pin 320 and a slotted component. The slotted component has a locking groove 211 for the locking pin 320 to be inserted. The locking pin 320 may be disposed on one of the robotic arm 100 and the sleeve adapter 200, and the slotted component may be disposed on the other of the robotic arm 100 and the sleeve adapter 200. When the sleeve adapter 200 moves to a predetermined extension position, the locking groove 211 of the slotted component aligns with the locking pin 320. External force can be used to insert the locking pin 320 into the locking groove 211, so that when the locking pin 320 is inserted into the locking groove 211, the sleeve adapter 200 is in the extension position and is in an extension locked state, thereby preventing the sleeve adapter 200 from being moved. Correspondingly, external force can also be used to disengage the locking pin 320 from the locking groove 211, so that the sleeve adapter 200 is in the extension unlocked state, thereby allowing the sleeve adapter 200 to be moved. The moving direction of the card pin 320 intersects with the moving direction of the sleeve adapter 200.

[0085] In one embodiment, taking the slotted component as an example of being disposed in the sleeve adapter 200, the extension locking mechanism 300 can be disposed in the inner cavity of the robotic arm 100. The slotted component is configured as a movable block 210, and at least a portion of the movable block 210 extends into the inner cavity of the robotic arm 100 via a slide groove 101, while the remaining portion extends to the outer side of the robotic arm 100 and is fixedly disposed relative to the body of the sleeve adapter 200. For example, the movable block 210 can be fixedly connected to the slider 220, or the movable block 210 can be fixedly connected to the sleeve adapter 200, such that the movable block 210, the slider 220, and the sleeve adapter 200 all have the same motion state. The movable block 210 has a locking groove 211. When the locking pin 320 can be inserted into the locking groove 211, the movable block 210 and the sleeve adapter 200 are in an extended locked state and cannot be moved. When the locking pin 320 is disengaged from the locking groove 211, the movable block 210 and the sleeve adapter 200 are in an extended unlocked state and can be moved.

[0086] In an optional embodiment, the extension locking mechanism 300 includes a power supply device 310. A locking pin 320 is connected to the power supply device 310. The locking pin 320 moves between a locked position and an unlocked position under the action of the power supply device 310. The power supply device 310 provides power for the movement of the locking pin 320, enabling automated control so that the locking pin 320 can switch between the locked and unlocked positions, ensuring that the sleeve adapter 200 can be stably locked in the extension position when needed, and can be easily unlocked when adjustment is required. Alternatively, the locking pin 320 can also be manually switched between the locked and unlocked positions.

[0087] In this design, the locking pin 320 is positioned on the movement path of the moving block 210, thus preventing further movement of the moving block 210. This ensures the stability of the sleeve adapter 200 in the locked state and prevents positional changes in the sleeve adapter 200 caused by the movement of the moving block 210. In the unlocked position, the locking pin 320 avoids the movement path of the moving block 210, allowing the moving block 210 to move relative to the robotic arm 100. In this solution, the movement of the locking pin 320 is controlled by the power supply device 310, enabling remote operation or automatic control, thus improving operational safety and convenience.

[0088] Based on the above embodiments, the power supply device 310 includes an electromagnet. When the electromagnet is energized, it attracts the locking pin 320, causing the locking pin 320 to move to the unlocked position. The electromagnet has advantages such as controllable cavity and fast response speed. By controlling the on and off of the current, the attraction and release of the locking pin 320 by the electromagnet can be precisely and quickly controlled, thereby unlocking the moving block 210. The power supply device 310 also includes an elastic element 313. When the electromagnet is de-energized, the locking pin 320 can be moved to the locked position by the elastic element 313.

[0089] Optionally, the locking pin 320 is constructed as a movable iron core; or the locking pin 320 has an iron core at its end facing the electromagnet, and the locking pin 320 can move with the movement of the iron core. The power supply device 310 also includes a baffle 311, which is relatively fixed within the power supply device 310 and is designed with holes or channels to allow the iron core to slide freely inside it. The iron core is movably inserted through the holes or channels into the baffle 311, and can move to both sides of the baffle 311 under the action of the electromagnet. The iron core is provided with a stop block 312. The stop block 312 is spaced apart from the baffle 311, and an elastic member 313 is located between the stop block 312 and the baffle 311. The elastic member 313 can be configured as a compression spring. Optionally, the stop block 312 is located on the side of the baffle 311 away from the electromagnet. When the electromagnet is energized, the iron core moves towards the electromagnet, the locking pin 320 is in the unlocked position, and the elastic member 313 is compressed. When the electromagnet is de-energized, the elastic element 313 releases its stored energy, pushing the iron core away from the electromagnet and returning it to its initial position, while the locking pin 320 remains in the locked position. In this design, the elastic element 313 is a spring, which is sleeved around the outer periphery of the iron core.

[0090] In some embodiments of this application, the optional patient-side operating device 2 further includes a trigger button 500, which controls the energization and de-energization of the electromagnet. Optionally, at least a portion of the trigger button 500 is exposed on the surface of the cannula adapter 200. Pressing the trigger button 500 energizes the electromagnet. The trigger button 500 provides an intuitive and simple operation method; the user can control the energization and de-energization of the electromagnet simply by touching the button, thereby locking and unlocking the card connector 320, reducing operational difficulty and improving surgical efficiency.

[0091] In some embodiments of this application, the locking pin 320 is constructed as a ball-head pin. The ball-head pin, through its spherical connecting end, enables flexible connection in multiple directions and angles, while also being able to withstand certain radial and axial loads. Exemplarily, when the locking pin 320 is in the locked position, and the moving block 210 contacts and moves relative to the locking pin 320, the moving block 210 exerts radial and axial forces on the locking pin 320. While possessing the locking function, the locking pin 320 also allows for a certain range of relative movement with the moving block 210.

[0092] Optionally, the movable block 210 has a locking groove 211. When the cannula adapter 200 is in the extended position and the locking pin 320 is in the locked position, the locking pin 320 engages with the locking groove 211 to lock the cannula adapter 200 in the extended position. The engagement of the locking pin 320 with the locking groove 211 ensures that the cannula adapter 200 is stably held in the extended position, preventing accidental movement or detachment due to external force or vibration, thereby improving the safety and stability of the equipment. By adjusting the position of the locking groove 211, the extension length of the cannula adapter 200 can be precisely controlled to meet the needs of different surgeries or procedures.

[0093] Optionally, the movable block 210 has a wedge-shaped surface 212. During the movement of the sleeve adapter 200 from the retracted position to the extended position, the wedge-shaped surface 212 guides the locking pin 320 to engage with the locking groove 211. The design of the wedge-shaped surface 212 allows the locking pin 320 to slide naturally along the axial direction of the wedge-shaped surface 212 during the movement of the sleeve adapter 200 until it aligns with and engages with the locking groove 211. Optionally, the locking pin 320 compresses the elastic element 313 during the engagement process. When the locking pin 320 aligns with the locking groove 211, the elastic element 313 releases its stored energy, pushing the locking pin 320 into the locking groove 211. In this solution, the automatic guidance and positioning of the connection between the locking pin 320 and the movable block 210 are achieved through the wedge-shaped surface 212 of the movable block 210, simplifying the operation process. As can be seen from the above, the locking pin 320 can be a ball-head pin. As the locking pin 320 moves along the wedge-shaped surface 212, the ball head structure of the locking pin 320 can reduce friction and wear.

[0094] In addition, in some embodiments, the slotting component may be part of the robotic arm 100, and the extension locking mechanism 300 or the snap pin 320 may be provided on the sleeve adapter 200, so that the sleeve adapter 200 can be locked and unlocked in the extended position by manual operation.

[0095] In conjunction with the foregoing embodiments, the sleeve adapter 200 is fixedly provided with a movable block 210, and the robotic arm 100 has a sliding groove 101. At least a portion of the movable block 210 extends into the inner cavity of the robotic arm 100 through the sliding groove 101, while the remaining portion extends to the outer side of the robotic arm 100 and is fixedly disposed relative to the main body of the sleeve adapter 200. The extending direction of the sliding groove 101 can be parallel to the extending direction of the guide rail 110. The sliding groove 101 provides a track or path for the movable block 210 to move.

[0096] In some embodiments of this application, the patient-side manipulation device 2 further includes a retraction locking mechanism 400, which has a retraction locked state that locks the cannula adapter 200 in a retracted position and a retraction unlocked state that allows the cannula adapter 200 to move relative to the robotic arm 100. In the retraction unlocked state, the retraction locking mechanism 400 allows the cannula adapter 200 to perform necessary movements relative to the robotic arm 100. In the retraction locked state, the retraction locking mechanism 400 can reduce the overlap length with the robotic arm 100, thereby allowing the use of a smaller diameter sterile curtain while protecting the device from accidental damage to some extent.

[0097] Optionally, the retraction locking mechanism 400 includes a biasing element 410, which applies a biasing force to the sleeve adapter 200 to move it toward the retracted position. The biasing element 410 allows the sleeve adapter 200 to automatically return to the retracted position after unlocking, simplifying the operation and reducing operational difficulty. When the sleeve adapter 200 needs to be locked, the biasing element 410 can provide a stable force to maintain the locked state, increasing the reliability of the retraction locking mechanism 400. When unlocking is required, an external force can overcome the biasing force to move the sleeve adapter 200. In this solution, regardless of whether the sleeve adapter 200 is in the retracted or extended position, the biasing element 410 applies a biasing force to the sleeve adapter 200 to move it toward the retracted position, enabling the sleeve adapter 200 to automatically reset to the retracted position and remain in the retracted position.

[0098] Based on the above embodiments, the biasing element 410 is constructed as a constant force spring. Optionally, the constant force spring is constructed as a coiled strip of spring steel, such that the spring relaxes when fully coiled, and when it unfolds, the restoring force mainly comes from the portion of the strip closest to the coil. Since the geometry of this region remains almost unchanged when the spring unfolds, the resultant force is almost constant. The fixed end of the constant force spring is connected to the robotic arm 100, and the free end is connected to the moving block 210. The connection methods between the constant force spring and the robotic arm 100 and the moving block 210 include, but are not limited to, welding and bolting. In this embodiment, one extreme position of the moving block 210 within the slide groove 101 is the retracted position of the sleeve adapter 200. When the sleeve adapter 200 is in the retracted position, the constant force spring still provides a certain biasing force to the moving block 210, so that the sleeve adapter 200 is stable in the retracted position. The constant force spring freely extends and retracts when the sleeve adapter 200 moves, and can continuously and stably apply a biasing force toward the retracted position to the sleeve adapter 200, achieving efficient force transmission.

[0099] Optionally, the retraction locking mechanism 400 also includes a damping element 420, which is connected to the constant force spring and located on the extension path of the constant force spring. The main function of the damping element 420 is to adjust and control the extension speed of the constant force spring. When the sleeve adapter 200 moves from the retracted position to the extended position or in the opposite direction, the damping element 420 can absorb or release energy, thereby slowing down or accelerating this process, ensuring the smoothness and controllability of the movement, and making the movement of the sleeve adapter 200 more smooth and fluid.

[0100] In some embodiments of this application, the damping element 420 includes at least two opposing damping wheels, with a constant force spring located between the damping wheels and capable of sliding relative to the damping wheels. Optionally, the extension and retraction speed of the constant force spring can be adjusted by the coefficient of friction of the damping wheel surfaces and / or the clamping force between the two damping wheels.

[0101] In the above scheme, when the sleeve adapter 200 needs to move from the extended position to the retracted position, the constant force spring provides a continuous biasing force to push the moving block 210 and the sleeve adapter 200 to move towards the retracted position. Simultaneously, the damping element 420 uses friction to regulate and control the speed of this movement, ensuring smoothness and controllability. When the sleeve adapter 200 needs to be locked in the retracted position, the biasing force of the constant force spring provides a stable force to maintain the locked state. When unlocking is required, an external force can overcome the biasing force of the constant force spring to move the sleeve adapter 200.

[0102] Optionally, the damping wheel is constructed with a drum-shaped profile. During the extension and contraction of the constant force spring, various factors (such as load changes) may cause its position to deviate. The drum-shaped profile damping wheel can automatically adjust and reduce this positional deviation, ensuring that the constant force spring always remains in a centered position. The drum-shaped profile design allows the damping wheel to provide a more stable support force to the constant force spring during relative sliding.

[0103] In some embodiments of this application, the patient-side operating device 2 further includes a sensor 600 for determining the position information of the movable block 210. Optionally, the sensor 600 may be, but is not limited to, a proximity switch, a photoelectric switch, a Hall sensor 600, or a pull-wire encoder. Optionally, the sensor 600 may be a proximity switch. The proximity switch is located next to the movement path of the movable block 210. The proximity switch can monitor the position of the movable block 210 on the movement path in real time, thereby ensuring that the sleeve adapter 200 can move accurately and stably to the required position. The addition of the proximity switch enables the device to automatically sense the position of the movable block 210, thereby optimizing the operating process. For example, when the movable block 210 moves to a specific position, the device can automatically trigger the corresponding action or function, reducing manual intervention and operating steps.

[0104] Optionally, the sensor 600 is adapted to the power supply device 310. Optionally, the energization and de-energization of the electromagnet are controlled according to the position information of the moving block 210 provided by the sensor 600.

[0105] Reference Figure 6 In some embodiments of this application, a guide rail 110 is provided at the end of the robotic arm 100. The guide rail 110 is parallel to the slide groove 101, and the sleeve adapter 200 is slidably connected to the guide rail 110. That is, the sleeve adapter 200 is connected to the robotic arm 100 through the sliding block 210 and the slide groove 101, while simultaneously being connected to the robotic arm 100 through the guide rail 110. This dual connection method ensures the stability and accuracy of the sleeve adapter 200 during movement.

[0106] In this design, the retraction locking mechanism 400 and the extension locking mechanism 300 work together to ensure that the cannula adapter 200 can move stably and reliably between the extended and retracted positions, and to lock in both positions. The extension locking mechanism 300 is responsible for locking the cannula adapter 200 in the extended position to prevent accidental movement due to external forces or vibrations, ensuring the smooth progress of the surgery. The retraction locking mechanism 400 is responsible for locking the cannula adapter 200 in the retracted position, reducing the overlap length with the robotic arm 100, allowing the use of a smaller diameter sterile curtain, and protecting the equipment from accidental damage.

[0107] In actual operation, the extension locking mechanism 300 is usually operated by trigger button 500, while the retraction locking mechanism 400 achieves retraction and locking through the natural properties of the biasing element 410. When the sleeve adapter 200 moves from the retracted position to the extended position, it needs to overcome the biasing force of the biasing element 410; when the sleeve adapter 200 is stable in the extended position, it also needs to overcome the biasing force of the biasing element 410, and is held in this position by the cooperation of the locking pin 320 and the moving block 210.

[0108] The entire operation of the sleeve adapter 200 includes steps such as extension, extension position locking, unlocking, and retraction position locking.

[0109] The following is a detailed description of the action process:

[0110] Extension process:

[0111] In the initial state, the sleeve adapter 200 is in the retracted position and locked by the retraction locking mechanism 400. When it is necessary to extend the sleeve adapter 200, an external force is applied to the sleeve adapter 200 to overcome the biasing force of the biasing element 410, causing the sleeve adapter 200 to move toward the extended position.

[0112] Extension position locking process:

[0113] As the sleeve adapter 200 moves toward the extended position, the locking pin 320 in the extension locking mechanism 300 can be in the unlocked or locked position.

[0114] When the locking pin 320 in the extension locking mechanism 300 is in the unlocked position, the electromagnet is energized, and the locking pin 320 is outside the movement path of the moving block 210. When the sleeve adapter 200 moves to the extension position, the electromagnet is de-energized, the locking pin 320 moves to the locked position, and engages with the locking groove 211 of the moving block 210, thereby locking the sleeve adapter 200 in the extension position.

[0115] When the locking pin 320 in the extension locking mechanism 300 is in the locked position, the locking pin 320 is located on the movement path of the moving block 210. As the moving block 210 moves to the locking pin 320, its wedge-shaped surface 212 first abuts against the locking pin 320. As the moving block 210 continues to move, the elastic element 313 connected to the locking pin 320 is gradually compressed. When the locking pin 320 aligns with the locking groove 211 of the moving block 210, the elastic element 313 releases its stored energy, pushing the locking pin 320 back to the locked position. The locking pin 320 engages with the locking groove 211 of the moving block 210, locking the sleeve adapter 200 in the extended position.

[0116] Unlocking process:

[0117] If it is necessary to adjust the position of the sleeve adapter 200 or to retract it, the extension locking mechanism 300 must first be unlocked. Specifically, the electromagnet is energized to disengage the locking pin 320 from the locking groove 211.

[0118] The sleeve adapter 200 moves along the slide 101 to the retracted position under the biasing force of the biasing element 410.

[0119] Retraction position locking process:

[0120] When the sleeve adapter 200 reaches the retracted position, the biasing element 410 of the retraction locking mechanism 400 applies a continuous biasing force to the sleeve adapter 200, so that the sleeve adapter 200 is stably locked in the retracted position.

[0121] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0122] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A device for performing a side operation, characterized in that include: A robotic arm, wherein the robotic arm has at least one degree of freedom; as well as A cannula adapter, which is movably connected to the robotic arm between an extended position and a retracted position; wherein, The overlap length between the sleeve adapter and the robotic arm in the extended position is less than the overlap length between the sleeve adapter and the robotic arm in the retracted position.

2. The patient-side operating device according to claim 1, characterized in that, The patient-side operating device further includes an extension locking mechanism, which has an extension locking state that locks the cannula adapter in the extension position and an extension unlocking state that allows the cannula adapter to move relative to the robotic arm.

3. The patient-side operating device according to claim 2, characterized in that, The extension locking mechanism includes a locking pin, the movement direction of which intersects the movement direction of the sleeve adapter. The locking pin is disposed on one of the robotic arm and the sleeve adapter. The other of the robotic arm and the sleeve adapter is provided with a slotted component. The slotted component has a locking groove for the insertion of the locking pin. When the locking pin is inserted into the locking groove, the sleeve adapter is in the extended position and in an extended locked state. When the locking pin is disengaged from the locking groove, the sleeve adapter is in an extended unlocked state.

4. The patient-side operating device according to claim 3, characterized in that, The extension locking mechanism also includes A power supply device, wherein the locking pin is connected to the power supply device, and the locking pin moves between a locked position and an unlocked position under the action of the power supply device; The locking pin, located in the locking position, is situated on the movement path of the slotted component.

5. The patient-side operating device according to claim 4, characterized in that, The power supply device includes an electromagnet and an elastic element. When the electromagnet is energized, it pulls the locking pin so that the locking pin is in the unlocked position. When the electromagnet is de-energized, the elastic element drives the locking pin to move to the locked position.

6. The patient-side operating device according to claim 5, characterized in that, The patient-side operating device also includes a trigger button, which is used to control the energization and de-energization of the electromagnet.

7. The patient-side operating device according to claim 4, characterized in that, The locking pin is a ball-head pin.

8. The patient-side operating device according to claim 3, characterized in that, The slotted component has a wedge-shaped surface, which guides the snap-fit ​​pin to engage with the locking groove as the sleeve adapter moves from the retracted position to the extended position.

9. The patient-side operating device according to claim 3, characterized in that, The slotted component is configured as a movable block, which is fixedly disposed relative to the main body of the sleeve adapter. The snap-fit ​​pin is located in the inner cavity of the robotic arm, and the movable block extends into the inner cavity of the robotic arm.

10. The patient-side operating device according to claim 9, characterized in that, The robotic arm has a groove, and at least a portion of the moving block extends through the groove into the inner cavity of the robotic arm. The moving block passes through the groove and moves along the extension direction of the groove, so that the sleeve adapter is movable relative to the robotic arm between an extended position and a retracted position.

11. The patient-side operating device according to claim 10, characterized in that, The movement path of the card pin intersects with the movement path of the moving block.

12. The patient-side operating device according to claim 10, characterized in that, The end of the robotic arm is provided with a guide rail, which is parallel to the slide groove, and the sleeve adapter is slidably connected to the guide rail.

13. The patient-side operating device according to claim 1, characterized in that, The patient-side operating device further includes a retraction locking mechanism, which has a retraction locking state that locks the cannula adapter in the retracted position and a retraction unlocking state that allows the cannula adapter to move relative to the robotic arm.

14. The patient-side operating device according to claim 13, characterized in that, The retraction locking mechanism includes a biasing element for applying a biasing force to the sleeve adapter toward the retracted position.

15. The patient-side operating device according to claim 14, characterized in that, The biasing element is constructed as a constant force spring, with its fixed end connected to the robotic arm and its free end connected to the moving block.

16. The patient-side operating device according to claim 15, characterized in that, The retraction locking mechanism further includes a damping element connected to the constant force spring, and the damping element is located on the extension path of the constant force spring.

17. The patient-side operating device according to claim 16, characterized in that, The damping element includes at least two damping wheels arranged opposite each other, and the constant force spring is located between the damping wheels and is slidable relative to the damping wheels.

18. The patient-side operating device according to claim 17, characterized in that, The damping wheel has a drum-shaped profile.

19. The patient-side operating device according to claim 2, characterized in that, The patient-side operating device also includes a sensor for determining the position information of the cannula adapter.

20. A surgical robot, characterized in that, Includes the patient-side operation device according to any one of claims 1 to 19.

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