Surgical robot

Abstract

This application provides a surgical robot, including a rotary joint, a surgical arm, an instrument driver, and a control circuit assembly. The rotary joint includes a first rotating part and a second rotating part, the first rotating part being rotatably disposed relative to the second rotating part. A plurality of surgical arms are fixedly mounted to the first rotating part in a circular array. Each surgical arm has a linear drive module and a length parallel to the rotation axis of the first rotating part. The instrument driver is used to control surgical instruments and is mounted on the surgical arm, capable of linear reciprocating motion along the length of the surgical arm. The control circuit assembly is disposed in the rotary joint and electrically connected to the instrument driver to drive the surgical instruments to perform operations. This solution externalizes the control circuit assembly in the surgical arm, reducing the size and mass of the surgical arm, reducing the rotational inertia and diameter of the rotary joint, and improving flexibility and operational accuracy.

Description

Technical Field

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

[0002] Currently, surgical robots include a robotic arm, which is generally a rectangular prism with a relatively regular shape. The robotic arm rotates around an axis and is equipped with components such as drive modules and circuit boards. The overall mass of the robotic arm is relatively large, and the installation and layout of these components require a certain load-bearing volume to support them, which results in a large moment of inertia for the robotic arm.

[0003] Therefore, there is a need to provide a surgical robot that can at least partially solve the above problems. Summary of the Invention

[0004] 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.

[0005] To at least partially address the aforementioned problems, a first aspect of this application provides a surgical robot, comprising:

[0006] A rotary joint, the rotary joint including a first rotating part and a second rotating part, wherein the first rotating part is rotatably disposed relative to the second rotating part;

[0007] A plurality of mechanical arms are fixedly mounted to the first rotating part in a circular array. Each mechanical arm is provided with a linear drive module. Each mechanical arm has a length, and the length of the mechanical arm is parallel to the rotation axis of the first rotating part.

[0008] An instrument driver, used to control surgical instruments, is mounted on the instrument holding arm and is capable of linear reciprocating motion along the length of the instrument holding arm;

[0009] A control circuit assembly is disposed on the rotary joint and electrically connected to the instrument driver to drive the surgical instrument to perform operations.

[0010] According to the surgical robot of this application, the control circuit components in the surgical arm are externalized. Without affecting the control of the surgical instruments by the instrument driver and the transmission of the linear drive module inside the surgical arm, the volume and mass of the surgical arm are reduced, thereby achieving a smaller cross-section of the surgical arm, reducing the rotational inertia and diameter of the rotary joint, and improving flexibility and operational accuracy.

[0011] Optionally, the control circuit assembly is fixedly disposed on the first rotating part.

[0012] Optionally, one of the control circuit components is connected to multiple of the instrument drivers, or

[0013] Each instrument driver is connected to a separate control circuit assembly.

[0014] Optionally, multiple control circuit components and multiple instrument drivers are arranged at intervals.

[0015] Optionally, each of the robotic arms includes a travel segment, and the cross-section of the robotic arm is identical at any position within the travel segment.

[0016] Optionally, the holding arm is fixedly mounted on the first rotating part along the length direction of the holding arm.

[0017] Optionally, the surgical robot includes a drive component disposed at one end of the surgical arm near the rotary joint.

[0018] Optionally, the surgical robot includes:

[0019] A linear drive module includes a lead screw and a lead screw nut, the lead screw nut being attached to the lead screw and movable in the axial direction of the lead screw, the lead screw being located in the inner cavity of the holding arm and extending along the length direction of the holding arm;

[0020] A guide module, comprising a guide rail and a slider, wherein the slider is slidably connected to the guide rail, and the guide rail is fixedly disposed in the inner cavity of the holding arm and extends along the length direction of the holding arm;

[0021] The lead screw nut and the slider are both fixedly arranged relative to the instrument driver;

[0022] The lead screw and the guide rail are arranged circumferentially relative to the rotation axis of the first rotating part.

[0023] Optionally, the surgical robot further includes an adapter assembly, to which the lead screw nut, slider, and instrument driver are all connected.

[0024] Optionally, the adapter assembly includes a ring-like portion surrounding the periphery of the robotic arm.

[0025] Optionally, the first rotating part includes a docking end face, the orientation of which is parallel to the rotation axis of the second rotating part, and a plurality of the holding arms are fixedly installed on the docking end face.

[0026] A second aspect of this application provides a surgical robot, comprising:

[0027] A rotary joint, comprising a first rotating part and a second rotating part, wherein the first rotating part is rotatably disposed relative to the second rotating part, and the first rotating part includes a mating end face, the orientation of which is parallel to the rotation axis of the second rotating part;

[0028] A plurality of mechanical arms are fixedly mounted to the docking end face of the first rotating part in a circular array. Each mechanical arm is provided with a linear drive module and has a length that is parallel to the rotation axis of the first rotating part.

[0029] An instrument driver is used to control surgical instruments. The instrument driver is mounted on the instrument holding arm and is capable of linear reciprocating motion along the length of the instrument holding arm. Attached Figure Description

[0030] 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,

[0031] Figure 1 This is a schematic diagram of the overall structure of a surgical robot according to a preferred embodiment of this application;

[0032] Figure 2 This is a schematic diagram of the overall structure of the operating device of a surgical robot according to a preferred embodiment of this application;

[0033] Figure 3 This is a top view schematic diagram of the rotary joint, the instrument arm, and the instrument actuator in a surgical robot according to a preferred embodiment of this application.

[0034] Figure 4 This is a three-dimensional schematic diagram of the surgical robot, including the surgical arm, instrument driver, and adapter assembly, according to a preferred embodiment of this application.

[0035] Figure 5 for Figure 4 An enlarged schematic diagram of part A in the diagram;

[0036] Figure 6 for Figure 4 An enlarged schematic diagram of part B in the diagram;

[0037] Figure 7 This is an exploded view of the surgical robot, including the robotic arm, instrument driver, and adapter assembly, according to a preferred embodiment of this application.

[0038] Figure 8This is a cross-sectional schematic diagram of the surgical robot, including the surgical arm, instrument driver, and adapter assembly, according to a preferred embodiment of this application.

[0039] Figure 9 This is an exploded view of the surgical arm in a surgical robot according to a preferred embodiment of this application; and

[0040] Figure 10 This is an exploded view of the instrument actuator in a surgical robot according to a preferred embodiment of this application.

[0041] Explanation of reference numerals in the attached figures

[0042] 1: Main operating equipment

[0043] 2: From the operating equipment

[0044] 2-10: Base

[0045] 2-21: Vertical adjustment of the joint

[0046] 2-22: First rotation adjustment joint

[0047] 2-23: Horizontal adjustment of joints

[0048] 2-24: Second rotation adjustment joint

[0049] 2-31: Deflection Arm

[0050] 2-32: Pitching Arm

[0051] 2-321: First connecting arm

[0052] 2-322: Second connecting arm

[0053] 2-33: Instrument Arm

[0054] 2-331: Sleeve

[0055] 3: Imaging System

[0056] 10: Rotational joint

[0057] 11: First Rotating Part

[0058] 110: Dating end face

[0059] 111: First installation platform

[0060] 112: Second installation platform

[0061] 113: First mounting cavity

[0062] 114: Second mounting cavity

[0063] 20: Weapon-holding arm

[0064] 200: Travel segment

[0065] 201: Installation cavity

[0066] 2011: The Second Mezzanine

[0067] 202: First side

[0068] 203: Second side

[0069] 204: Slide

[0070] 2041: First Slide

[0071] 2042: Second Slide

[0072] 21: Lead screw

[0073] 22: Drive motor

[0074] 23: Slide rail

[0075] 24: Electrical connectors

[0076] 30: Instrument driver

[0077] 40: Adapter Component

[0078] 41: Part One

[0079] 411: Follower / lead screw nut

[0080] 412: Follower connection part

[0081] 413: Slider

[0082] 414: Slider connection part

[0083] 415: Transition Section

[0084] 42: Part Two

[0085] 421: Instrument driver connection part

[0086] 422: Insertion Hole

[0087] 4221: First insertion hole

[0088] 4222: Second insertion hole

[0089] 43: Part Three

[0090] 431: Opening

[0091] 432: Outer shell

[0092] 433: Inner shell

[0093] 434: First mezzanine

[0094] 435: Platform Structure

[0095] 44: Button

[0096] AX1: First axis of rotation Detailed Implementation

[0097] 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.

[0098] 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”.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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 master operating device 1, a slave operating device 2 and an imaging system 3.

[0104] The main operating device 1 is a doctor's console, which includes 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 console also has other control switches that are easily accessible by hand or foot for various functions and human-computer interaction.

[0105] The imaging system 3 includes a display screen, an endoscope controller, system electronics, and an image processor. The imaging system 3 can be set up independently, or integrated into the main operating device 1, or integrated into the slave operating device 2.

[0106] The operating device 2 may include a base 2-10, an adjustment mechanism, and an operating mechanism connected in sequence. The operating mechanism is used to mount surgical instruments or endoscopes and to manipulate the surgical instruments for surgical operations. The adjustment mechanism is used to adjust the position and / or orientation of the operating mechanism before surgery.

[0107] exist Figure 2 In the examples shown, the base 2-10 can be placed on the ground, for example, the bottom of the base 2-10 can be equipped with wheels for easy movement. In some examples not shown, the base 2-10 can also be suspended from a wall or ceiling, for example, the base 2-10 can be mounted on a wall or ceiling via guide rails for easy movement. In other examples not shown, the base 2-10 can also be mounted on an operating table, or integrated into an operating table.

[0108] exist Figure 2 In the illustrated example, the adjustment mechanism includes a vertical adjustment joint 2-21, a first rotary adjustment joint 2-22, a horizontal adjustment joint 2-23, and a second rotary adjustment joint 2-24 connected in sequence. The vertical adjustment joint 2-21 and the horizontal adjustment joint 2-23 can be constructed as linear joints, and their directions of movement can be mutually perpendicular. The rotation axes of the first rotary adjustment joint 2-22 and the second rotary adjustment joint 2-24 can be parallel to the direction of movement of the vertical adjustment joint 2-21. The movement of these adjustment joints can achieve adjustment of the position and / or orientation of the operating mechanism. In some examples not shown, the horizontal adjustment joint 2-23 can be replaced by at least one rotary adjustment joint. In other examples not shown, the adjustment mechanism may include more linear joints and / or rotary joints, or omit some joints.

[0109] exist Figure 2In the example shown, the operating mechanism is constructed as a robotic arm, including a deflection arm 2-31, a pitch arm 2-32, and an instrument arm 2-33 connected in sequence. The deflection arm 2-31 drives the instrument arm 2-33 to rotate around the deflection axis. The pitch arm 2-32 drives the instrument arm 2-33 to rotate around the pitch axis. The instrument arm 2-33 is used to mount one or more surgical instruments. Surgical instruments can be instruments used to perform surgical procedures, 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. The instrument arm 2-33 is equipped with a cannula 2-331, which is inserted into a small opening in the human body. The surgical instruments pass through the cannula 2-331 into the abdominal or thoracic cavity to perform surgical procedures. The aforementioned deflection axis and pitch axis intersect at a predetermined position on the cannula 2-331 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 2-331 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 referred to as the remote center of motion (RCM). The instrument arm 2-33 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 pitch, yaw, and clamping actions. In this application, a control circuit assembly is provided to control the operation of the drive device.

[0110] exist Figure 2 In the example shown, the deflection axis can be set as the rotation axis of the second rotation adjustment joint 2-24, which passes through a predetermined position of the sleeve 2-331. The deflection arm 2-31 is connected to the second rotation adjustment joint 2-24, so the deflection arm 2-31 can rotate about the rotation axis of the second rotation adjustment joint 2-24, thereby driving the instrument arm 2-33 to deflect about the rotation axis of the second rotation adjustment joint 2-24.

[0111] exist Figure 2In the example shown, the pitch arm 2-32 can be configured as a parallelogram motion mechanism. Specifically, the pitch arm 2-32 may include a first connecting arm 2-321 and a second connecting arm 2-322. The first connecting arm 2-321 is rotatably connected to the deflection arm 2-31, the second connecting arm 2-322 is rotatably connected to the first connecting arm 2-321, and the instrument arm 2-33 is rotatably connected to the second connecting arm 2-322. The first connecting arm 2-321, the second connecting arm 2-322, and the instrument arm 2-33 are linked through a transmission mechanism, such that when the first connecting arm 2-321 rotates relative to the deflection arm 2-31, the relative angle between the second connecting arm 2-322 and the deflection arm 2-31 remains unchanged, and simultaneously the relative angle between the instrument arm 2-33 and the first connecting arm 2-321 remains unchanged, thereby achieving parallelogram motion, allowing the instrument arm 2-33 to pitch around the pitch axis. The transmission mechanism can employ belt drive and / or linkage drive, etc. In some examples not shown, the rotary joints between the first connecting arm 2-321 and the second connecting arm 2-322, as well as the rotary joint between the second connecting arm 2-322 and the instrument arm 2-33, can be omitted. In this case, the rotation axis of the first connecting arm 2-321 about the yaw arm 2-31 is used as the pitch axis. In other examples not shown, the pitch arm 2-32 can be configured with mechanical decoupling of each joint, and the kinematic coupling between the joints can be achieved through software control, so that the instrument arm 2-33 can pitch about the pitch axis.

[0112] Reference Figures 1-2 The single-port surgical robot can have multiple controllable instrument arms 2-33, with the surgical instruments at their distal ends arranged in a constricted configuration. At least a portion of the surgical instruments have parallel axes to allow them to pass through the same cannula 2-331. This single-port surgical robot allows surgery to be performed through a single small incision, helping to reduce patient trauma and recovery time.

[0113] exist Figure 3 In the example shown, the surgical robot includes a rotary joint 10, several robotic arms 20, and several instrument actuators 30. Figure 3 The positional relationship between the rotary joint 10, the mechanical arm 20, and the mechanical actuator 30 is shown.

[0114] The rotary joint 10 includes a first rotating part 11 and a second rotating part (not shown in the figure). The first rotating part 11 is rotatable about a first rotation axis AX1 relative to the second rotating part. Figure 3 In the middle, the first rotation axis AX1 extends in a direction perpendicular to the plane of the paper.

[0115] In one example, both the first rotating part 11 and the second rotating part are hollow annular structures. The first rotating part 11 and the second rotating part are connected in the radial direction, for example, the first rotating part 11 is mounted to the inner circumference of the second rotating part. Optionally, the hollow portion of the first rotating part 11 is used to mount the weapon arm 20. The central axis of both the first rotating part 11 and the central axis of the second rotating part coincide with the first rotation axis AX1. The first rotating part 11 is connected to the weapon arm 20. The second rotating part is connected to the pitch arm 2-32. The weapon arm 20 and the first rotating part 11 of the rotary joint 10 can rotate together, and both rotate relative to the second rotating part. The weapon arm 20 and the first rotating part 11 of the rotary joint 10 do not rotate relative to each other.

[0116] In one example, the first rotating part 11 is a hollow annular structure. The first rotating part 11 and the second rotating part are connected axially, for example, the first rotating part 11 is mounted above or below the second rotating part. Optionally, the hollow portion of the first rotating part 11 is used to mount the weapon arm 20. The hollow portion of the second rotating part is used to mount the first rotating part 11. The central axis of both the first rotating part 11 and the central axis of the second rotating part coincide with the first rotation axis AX1. The first rotating part 11 is connected to the weapon arm 20. The second rotating part is connected to the pitch arm 2-32. The weapon arm 20 and the first rotating part 11 of the rotary joint 10 can rotate together, and both rotate relative to the second rotating part. The weapon arm 20 and the first rotating part 11 of the rotary joint 10 do not rotate relative to each other.

[0117] Figures 4 to 9 A single robotic arm 20 is shown, each robotic arm 20 having a length. (See diagram below.) Figure 4 As shown, the length direction of each mechanical arm 20 is parallel to the first rotation axis AX1. A plurality of mechanical arms 20 are evenly arranged on the first rotating part 11. Optionally, a plurality of mechanical arms 20 are mounted to the first rotating part 11 in a circular array.

[0118] The instrument driver 30 is used to control surgical instruments. The instrument driver 30 is mounted to the instrument holding arm 20. The number of instrument drivers 30 is the same as the number of instrument holding arms 20, with a one-to-one correspondence between a number of instrument drivers 30 and a number of instrument holding arms 20. Optionally, the instrument driver 30 is arranged on the side of the corresponding instrument holding arm 20 facing the first rotation axis AX1, that is, the instrument driver 30 is located radially inside the circumferentially arrayed instrument holding arms 20. The instrument driver 30 performs reciprocating linear motion on the instrument holding arm 20.

[0119] Optionally, each instrument arm 20 includes a travel segment 200, and the cross-section of the instrument arm 20 is identical at any position within the travel segment 200. Maintaining a consistent cross-sectional shape and size within the travel segment 200 provides a smooth path for the instrument actuator 30, reducing vibration and fluctuations during movement. This helps maintain the stability and reliability of the instrument actuator 30 during motion, thereby ensuring the precision of the surgical procedure.

[0120] The surgical arm 20 is equipped with a linear drive module to drive the movement of the instrument actuator 30. During surgery, the surgeon inputs control commands through the main operating device 1. These commands are processed by the controller and sent to the linear drive module. Upon receiving the control signal, the linear drive module drives the transmission mechanism, thereby causing the instrument actuator 30 to move linearly. Optionally, the linear drive module can control the instrument actuator 30 to move linearly along a predetermined trajectory and speed. Optionally, the surgical arm 20 is also equipped with sensors and other components. The sensors detect the movement status of the instrument actuator 30 in real time and feed it back to the controller, forming a closed-loop control system to ensure precise control of the surgical instruments.

[0121] A control circuit assembly is also required within the surgical arm 20. This control circuit assembly is electrically connected to the instrument driver 30 to transmit and control signals, thereby driving the surgical instruments to perform operations. During surgery, the surgeon inputs control commands through the main operating device 1. These commands are processed by the controller and then sent to the control circuit assembly. Upon receiving the commands, the control circuit assembly controls the drive mechanism to perform actions such as insertion and rotation of the surgical instruments, as well as to drive the end effector of the surgical instruments to perform actions such as pitch, yaw, and clamping.

[0122] As described above, the existing mechanical arm 20 needs to be equipped with components such as a linear drive module and a control circuit assembly. The overall mass of the mechanical arm 20 is relatively large, and the installation and layout of these components require a certain load-bearing volume to support them, which results in a large moment of inertia for the mechanical arm 20.

[0123] This application places the control circuit assembly within the rotary joint 10. According to this solution, by externalizing the control circuit assembly in the surgical arm 20, the volume and mass of the surgical arm 20 are reduced without affecting the control of the surgical instruments by the instrument driver 30 or the linear drive module transmission within the surgical arm 20, thereby achieving a smaller cross-section for the surgical arm 20. Furthermore, the rotational inertia and diameter of the rotary joint 10 can be reduced. The rotary joint 10 has a smaller rotational inertia, which can reduce the rotational inertia of the rear parallelogram of the pitch arms 2-32. In some embodiments, the linear drive module may include a lead screw and guide rails; by changing the arrangement of the lead screw and guide rails, the size of the rotary joint 10 ring can be further reduced. Based on the above, the flexibility and operational accuracy of the surgical arm 20 can be improved.

[0124] In one embodiment of this application, a control circuit assembly connects to multiple instrument drivers 30. That is, each instrument driver 30 has its own control circuit assembly, capable of independently receiving commands and executing actions without interference. The control logic is relatively simple, and each instrument driver 30 can achieve higher precision and faster response speed.

[0125] In another embodiment of this application, each instrument driver 30 is individually connected to a control circuit assembly. A single control circuit assembly can process signals from multiple instrument drivers 30. With fewer control circuit assemblies, the overall system complexity is correspondingly lower, wiring is easier, and maintenance costs are lower.

[0126] In some embodiments of this application, both the mechanical arm 20 and the control circuit assembly are mounted to the first rotating part 11. The first rotating part 11 has a first mounting part and a second mounting part, the first mounting part being used to mount the mechanical arm 20, and the second mounting part being used to mount the control circuit assembly.

[0127] Optionally, the first mounting portion and the second mounting portion are arranged at intervals along the circumference of the first rotating portion 11. The relative positions of the first mounting portion and the second mounting portion are arranged according to the relative positions of the holding arm 20 and the control circuit assembly.

[0128] Optionally, the instrument arm 20 is fixedly mounted to the first mounting portion along its length. That is, the first mounting portion is located above or below the instrument arm 20. Optionally, the first mounting portion is located below the instrument arm 20. As described above, the instrument actuator 30 performs reciprocating linear motion on the instrument arm 20. By fixing the instrument arm 20 to the first mounting portion along its length, interference with the instrument actuator 30 is avoided.

[0129] In some instances, the first mounting portion includes a first mounting platform 111 and a second mounting platform 112 disposed opposite to each other, with at least a portion of the mechanical arm 20 located between the first mounting platform 111 and the second mounting platform 112. Optionally, the mechanical arm 20 is fixedly connected to the first mounting platform 111 and the second mounting platform 112 by fasteners.

[0130] The first mounting section also includes a first mounting cavity 113 located between the first mounting platform 111 and the second mounting platform 112. The mechanical arm 20 is partially inserted into the first mounting cavity 113 and held by the first mounting platform 111 and the second mounting platform 112. This connection between the first mounting section and the mechanical arm 20 helps reduce vibration and displacement of the mechanical arm 20 during high-speed movement or under load, thereby ensuring the reliability of the connection between the mechanical arm 20 and the rotary joint 10 and the accuracy of operation. Furthermore, the first mounting section facilitates the replacement, maintenance, or upgrade of the mechanical arm 20, improving the system's flexibility and maintainability.

[0131] Optionally, the first rotating part 11 includes a mating end face 110, the orientation of which is parallel to the rotation axis of the first rotating part 11, i.e., the orientation of the mating end face is parallel to the first rotation axis AX1. A plurality of mechanical arms 20 are fixedly mounted on the mating end face 110. Specifically, a first mounting platform 111 and a second mounting platform 112 are located on the mating end face 110 of the first rotating part 11, and the mechanical arms 20 are mounted between the first mounting platform 111 and the second mounting platform 112. Mounting the mechanical arms 20 on the mating end face 110 of the first rotating part 11, relative to mounting them on the annular surface of the first rotating part 11, can reduce the outer radius of the rotating joint 10, reduce the sweep radius of the rotating joint 10, and thus also reduce the moment of inertia of the rotating joint.

[0132] In some instances, the second mounting portion is configured as a second mounting cavity 114 formed within the first rotating portion 11. The control circuit assembly is mounted into the second mounting cavity 114.

[0133] Optionally, the openings of the first mounting cavity 113 and the second mounting cavity 114 face the same direction, which facilitates the installation and operation of the mechanical arm 20 and the control circuit assembly.

[0134] In this application, the arrangement of the mechanical arm 20 and the control circuit assembly on the rotary joint 10 is reasonable, which is conducive to the miniaturization of the rotary joint 10. At the same time, due to the arrangement of the control circuit assembly, there is a reasonable interval between adjacent mechanical arms 20, which also takes into account the manual operation of a single instrument driver 30.

[0135] Based on the above, the surgical arm 20 can have a small cross-sectional area, and the rotary joint 10 can also have a small size. In some scenarios, it is necessary to manually move the instrument actuator 30 and surgical instruments to a certain position or area of ​​the surgical arm 20.

[0136] During manual operation, the instrument driver 30 and surgical instruments are located in the inner circle and are obstructed by the holding arm 20, making manual operation less user-friendly. Optionally, the operating part can be located on the side of the holding arm 20 away from the first rotation axis AX1, that is, the operating part is located on the radial outer side of the holding arms 20 arranged in a circumferential array.

[0137] The operating part of the instrument driver 30 extends to the outside of the instrument arm 20, thus facilitating manual operation of the instrument driver 30 and the surgical instruments.

[0138] In some embodiments, the operating unit is configured to accept external force, under which the operating unit and the instrument actuator 30 can move passively together. That is, the operating unit can be driven to move by an external force. Here, "passively" means that the movement of the operating unit and the instrument actuator 30 is driven only by the action of an external force, and the power component of the linear drive module does not provide power in this case. For example, in some embodiments, the operating unit is configured to be held by a hand and, under the action of a hand, drive the instrument actuator 30 to move along the length direction of the holding arm 20. Since the operating unit is located radially outside the holding arms 20 arranged in a circumferential array, it facilitates manual operation of the instrument actuator 30 and surgical instruments.

[0139] In other embodiments, the operating unit is configured to receive external force, under which the operating unit and the instrument driver 30 can be actively and controllably moved. That is, the operating unit can receive external force and generate a sensing signal, which the system can receive and control the power component of the linear drive module, thereby driving the movement of the operating unit and the instrument driver 30. The operating unit can receive continuous or instantaneous external force, and the sensing signal of the operating unit can be a continuous signal or a pulse signal. The system can drive the power component of the linear drive module based on the continuous signal, pulse signal, or transition signal. "Actively" means that the movement of the operating unit and the instrument driver 30 is mainly driven by the power component of the linear drive module; the external force received by the operating unit may or may not provide power.

[0140] The connection structure between the instrument driver 30 and the instrument arm 20 is described below with reference to specific embodiments.

[0141] like Figures 7 to 9As shown, each mechanical arm 20 has a mounting cavity 201, which extends along the length of the mechanical arm 20, and a linear drive module is installed inside the mounting cavity 201.

[0142] like Figure 4 , Figure 7 and Figure 9 The shown holding arm 20 is constructed as a rod-shaped mechanism. A rotary joint 10 is connected to the lower part of the holding arm 20. A drive component is located at one end of the holding arm 20 near the rotary joint 10. The power cable of the drive component can be arranged within the rotary joint 10. Simultaneously, since a control circuit assembly is housed within the rotary joint 10, the power cable of the control circuit assembly is also arranged within the rotary joint 10. This facilitates the centralized management of the power cables.

[0143] The mechanical arms 20 are circumferentially arrayed and mounted to the rotary joint 10. Each mechanical arm 20 has a first side 202 and a second side 203 arranged radially opposite to each other. The first side 202 is radially inward and faces the instrument driver 30. The first side 202 is provided with a groove 204 extending along its length and communicating with the mounting cavity 201. The groove 204 serves as a track for relative sliding between the instrument driver 30 and the mechanical arms 20. Optionally, two grooves 204 are provided; specifically, the grooves 204 include a first groove 2041 and a second groove 2042, both of which are generally oriented towards the first rotation axis AX1. That is, the first groove 2041 and the second groove 2042 are located between the instrument driver 30 and the mounting cavity 201 of the mechanical arms 20. The first slide groove 2041 and the second slide groove 2042 are spaced apart, and the first slide groove 2041 and the second slide groove 2042 extend in the same direction to achieve smooth sliding between the instrument driver 30 and the instrument arm 20.

[0144] Each instrument actuator 30 is connected to an adapter assembly 40 via an instrument arm 20. The adapter assembly 40 includes a ring-like portion surrounding the outer periphery of the instrument arm 20. The adapter assembly 40 is generally similar to a closed-loop shape, resembling a square or circular ring. The adapter assembly 40 fits snugly within the travel segment 200 of the instrument arm 20 with a small gap, thus securing the adapter assembly 40 firmly to the instrument arm 20.

[0145] The adapter assembly 40 includes a first portion 41 extending into the mounting cavity 201 of the holding arm 20 and connected to the linear drive module, a second portion 42 fixedly connected to the instrument driver 30, and a third portion 43 extending to the outside of the instrument driver 30 and / or the holding arm 20. All components of the adapter assembly 40 are fixedly connected or have a common motion state, such that the driven component connected to the first portion 41, the instrument driver 30 connected to the second portion 42, and the electrical components attached to the third portion 43 all have a common motion state. The third portion 43 is an exposed portion and is not obstructed by the holding arm 20, configured to facilitate manual operation.

[0146] Optionally, the third part 43 of the adapter assembly 40 is generally U-shaped. The U-shaped third part 43 is fitted onto the outside of the surgical arm 20 and also has an opening 431 facing the instrument driver 30. During the use of the surgical robot, a sterile environment is required for the surgical procedure; therefore, a sterile curtain is needed to cover the surgical arm 20. In this application, a sterile adapter can be provided between the instrument driver 30 and the surgical instruments, and the surgical instruments and the surgical arm 20 also need to be isolated by a sterile curtain. The third part 43 of the adapter assembly 40 is set as a U-shaped knot, which, combined with the second part 42, can form a circumferential enclosure around the surgical arm 20. Furthermore, the sterile curtain can be circumferentially fixed to the third part 43, thereby preventing the relatively large sterile curtain from drooping or interfering with the movement of the surgical instruments.

[0147] The operating part is located in the third part 43. The operating part can be located on the side of the holding arm 20 away from the first rotation axis AX1, that is, the operating part is located on the radial outer side of the holding arms 20 arranged in a circumferential array.

[0148] like Figure 6 and Figure 8 , Figure 10 As shown, the surgical robot also includes a button 44. At least a portion of the button 44 is located in the operating unit. In some embodiments, the button 44 may be used to disengage or release the actuator. For example, in some embodiments, the operating unit is configured to be grasped by a hand and, under the action of hand force, to move the instrument actuator 30 along the length of the holding arm 20. When the button 44 is triggered, the operating unit receives hand force and is able to move the instrument actuator 30. When the button 44 is not triggered, the operating unit cannot move even if hand force is applied. In some cases, the button 44 may be configured to allow the operating unit to be driven by external force while being continuously pressed; in other cases, the button 44 may be configured to allow manual operation of the movement of the operating unit with a momentary press.

[0149] In implementations where button 44 needs to be continuously pressed, the pressing direction of button 44 can be set along the length of the instrument arm 20. From a user's perspective, the pressing direction of button 44 is in the same straight line as the movement direction of the instrument driver 30, so that when the operator applies force, the pressing and dragging actions are consistent. The operator can more easily control the movement of the instrument driver 30 and can adjust the instrument position more precisely.

[0150] like Figure 8 and Figure 10 As shown, the third part 43 includes an outer shell 432 and an inner shell 433. At least a portion of the outer shell 432 and the inner shell 433 are spaced apart along a first direction to form a first interlayer 434. At least a portion of the button 44 is located in the first interlayer 434. Optionally, electrical components, such as circuit boards and indicator lights, are also arranged within the first interlayer 434. Optionally, the outer shell 432 is partially perforated, made of a semi-transparent material, or made of a transparent material to allow the light from the indicator lights to pass through.

[0151] Optionally, the number of buttons 44 corresponds one-to-one with the number of surgical arms 20. Since the buttons 44 are located on the second side 203 of the surgical arms 20, that is, on the radial outer side of the surgical arms 20 arranged in a circumferential array, the operator can easily press the buttons 44, improving the performance of the surgical robot in clinical applications and bringing a better user experience to doctors and patients.

[0152] The operating unit includes two platform structures 435 facing opposite directions along the length of the holding arm 20, with a button 44 protruding from one of the two platform structures 435. When the operator uses two fingers to press, one finger can press the button 44 while the other finger can support the platform structure 435. The platform structure 435 is also typically designed as a stable support surface, providing additional support and stability, allowing the operator to better control the force and direction of their hand when applying force, thereby achieving more precise operation.

[0153] Optionally, button 44 is configured as a clutch button. When button 44 is pressed, it can trigger or control the manual actuation movement or operation of the instrument driver 30; when button 44 is released, the instrument driver 30 cannot be manually controlled. The clutch button 44 has strong operational controllability and stability. In this application, when an external force is applied, button 44 is moved to the pressed state, and the instrument driver 30 and the adapter component 40 can be manually actuated together and move along the length of the holding arm 20; when the external force is removed, button 44 is released, and the instrument driver 30 and the adapter component 40 cannot be manually actuated. When button 44 is in the pressed state, the patient can control the movement direction and speed of the instrument driver 30 and the adapter component 40 as needed. At the same time, when the external force is removed, button 44 is released, the instrument driver 30 and the adapter component 40 stop moving and remain in their current positions, and the instrument driver 30 can resume remote control, enhancing operational controllability and stability. With button 44 released, the instrument driver 30 and the adapter assembly 40 cannot be manually actuated. This effectively prevents misoperation or accidental movement, ensuring the accuracy and safety of the surgical procedure. Button 44 has a simple structure, high reliability, and is not prone to failure or damage. It can continuously and stably support the operation of the surgical robot, ensuring the smooth progress of the surgical procedure and good performance.

[0154] The second part 42 of the adapter assembly 40 includes an instrument driver connection 421. The instrument driver connection 421 connects to the opening 431 of the third part 43. Optionally, the instrument driver connection 421 and the third part 43 are fixedly connected by a fastener. The third part 43 cooperates with the second part 42 to form a closed annular structure, thereby forming a covering structure for the holding arm 20. Optionally, the second part 42 is connected to the instrument driver 30 via the instrument driver connection 421. Thus, the instrument driver 30 can be stably connected to the holding arm 20 via the adapter assembly 40, improving the stability, flexibility, and ease of use of the instrument driver 30.

[0155] Optionally, the instrument driver connection part 421 has two insertion holes 422, specifically a first insertion hole 4221 and a second insertion hole 4222, which are spaced apart. The first insertion hole 4221 corresponds to the first slide groove 2041, and the second insertion hole 4222 corresponds to the second slide groove 2042.

[0156] Optionally, the linear drive module includes, but is not limited to, a lead screw drive mechanism, a slider-type linear guide drive mechanism, and a linear motor module.

[0157] Optionally, the linear drive module employs a lead screw transmission mechanism, comprising a lead screw 21. The lead screw 21 is rotatably disposed in the mounting cavity 201 along its axial direction. Optionally, the central axis of the lead screw 21 is parallel to the first rotation axis AX1. Correspondingly, the linear drive module also includes a follower 411, configured as a lead screw nut 411. The lead screw nut 411 is connected to the first portion 41 of the adapter assembly 40. The central axis of the lead screw nut 411 is parallel to the first rotation axis AX1. The lead screw nut 411 is threadedly engaged with the lead screw 21 and is movable along the axial direction of the lead screw 21. Optionally, the linear drive module also includes a drive motor 22, which drives the lead screw 21 to rotate, thereby driving the lead screw nut 411 to move linearly along the axial direction of the lead screw 21.

[0158] Optionally, the first portion 41 of the adapter assembly 40 further includes a follower connection portion 412. The follower connection portion 412 is at least partially located within the receiving cavity. One end of the follower connection portion 412 is connected to the follower 411, and the other end of the follower connection portion 412 extends outside the receiving cavity and is fixedly connected to the instrument actuator 30. The follower connection portion 412 passes sequentially through the first groove 2041 and the first insertion hole 4221. Optionally, the shape of the follower connection portion 412 is adapted to the first insertion hole 4221.

[0159] Optionally, the surgical robot also includes a guide module, which is configured as a slide rail 23. Optionally, the central axis of the slide rail 23 is parallel to the first rotation axis AX1. The slide rail 23 is spaced apart from the lead screw 21. Correspondingly, the first part 41 of the adapter assembly 40 includes a slider 413. The slider 413 is adapted to the slide rail 23 and is movable along the direction of the central axis of the slide rail 23.

[0160] Optionally, the first portion 41 of the adapter assembly 40 further includes a slider connection portion 414. The slider connection portion 414 is at least partially located within the receiving cavity. One end of the slider connection portion 414 is connected to the slider 413, and the other end of the slider connection portion 414 extends outside the receiving cavity and is fixedly connected to the instrument driver 30. The slider connection portion 414 passes sequentially through the second groove 2042 and the second insertion hole 4222. Optionally, the shape of the slider connection portion 414 is adapted to the shape of the second insertion hole 4222.

[0161] Optionally, the driven member connecting portion 412 and the slider connecting portion 414 are spaced apart. A transition portion 415 is provided between the driven member connecting portion 412 and the slider connecting portion 414 so that the driven member connecting portion 412 and the slider connecting portion 414 can move synchronously. Specifically, the driven member connecting portion 412 moves under the drive of the driven member 411, and at the same time, the slider connecting portion 414 and its connected slider 413 can move synchronously.

[0162] Optionally, the follower connection 412 and the slider connection 414 extend in parallel directions, both extending from the receiving cavity of the holding arm 20 to the instrument driver 30, and both passing through the slide groove 204 and the insertion hole 422, so as to realize the relative sliding of the instrument driver 30 and the holding arm 20.

[0163] like Figure 8 As shown, a second interlayer 2011 is provided within the mounting cavity 201. (As indicated...) Figure 7 and Figure 9 As shown, electrical connectors 24 are arranged within the second interlayer 2011. The second interlayer 2011 is formed by at least two of the first portion 41, the second portion 42, and the third portion 43, spaced apart from each other. Figure 7 and Figure 8 As shown, the first part 41, the second part 42, and the third part 43 enclose and form the second interlayer 2011. Optionally, the electrical connector 24 is a wire. Optionally, the electrical connector 24 is electrically connected to the drive motor 22. Optionally, the electrical connector 24 is fixed to the inner wall of the holding arm 20 by a fixing plate.

[0164] 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.

[0165] 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 surgical robot, characterized in that, include: A rotary joint, the rotary joint including a first rotating part and a second rotating part, wherein the first rotating part is rotatably disposed relative to the second rotating part; A plurality of mechanical arms are fixedly mounted to the first rotating part in a circular array. Each mechanical arm is provided with a linear drive module. Each mechanical arm has a length, and the length of the mechanical arm is parallel to the rotation axis of the first rotating part. An instrument driver, used to control surgical instruments, is mounted on the instrument holding arm and is capable of linear reciprocating motion along the length of the instrument holding arm; A control circuit assembly is disposed on the rotary joint and electrically connected to the instrument driver to drive the surgical instrument to perform operations.

2. The surgical robot according to claim 1, characterized in that, The control circuit assembly is fixedly mounted on the first rotating part.

3. The surgical robot according to claim 1, characterized in that, One of the control circuit components is connected to multiple of the instrument drivers, or Each instrument driver is connected to a separate control circuit assembly.

4. The surgical robot according to claim 1, characterized in that, Multiple control circuit components and multiple instrument drivers are arranged at intervals.

5. The surgical robot according to claim 1, characterized in that, Each of the said robotic arms includes a travel segment, and the cross-section of the robotic arm is identical at any position within the travel segment.

6. The surgical robot according to claim 5, characterized in that, The holding arm is fixedly installed on the first rotating part along the length direction of the holding arm.

7. The surgical robot according to claim 1, characterized in that, The surgical robot includes a drive unit disposed at one end of the surgical arm near the rotary joint.

8. The surgical robot according to claim 1, characterized in that, The surgical robot includes: A linear drive module includes a lead screw and a lead screw nut, the lead screw nut being attached to the lead screw and movable in the axial direction of the lead screw, the lead screw being located in the inner cavity of the holding arm and extending along the length direction of the holding arm; A guide module, comprising a guide rail and a slider, wherein the slider is slidably connected to the guide rail, and the guide rail is fixedly disposed in the inner cavity of the holding arm and extends along the length direction of the holding arm; The lead screw nut and the slider are both fixedly arranged relative to the instrument driver; The lead screw and the guide rail are arranged circumferentially relative to the rotation axis of the first rotating part.

9. The surgical robot according to claim 8, characterized in that, The surgical robot also includes an adapter assembly, to which the lead screw nut, slider, and instrument driver are all connected.

10. The surgical robot according to claim 9, characterized in that, The adapter assembly includes a ring-like portion surrounding the outer periphery of the robotic arm.

11. The surgical robot according to claim 1, characterized in that, The first rotating part includes a docking end face, the orientation of which is parallel to the rotation axis of the second rotating part, and a plurality of the holding arms are fixedly installed on the docking end face.

12. A surgical robot, characterized in that, include: A rotary joint, comprising a first rotating part and a second rotating part, wherein the first rotating part is rotatably disposed relative to the second rotating part, and the first rotating part includes a mating end face, the orientation of which is parallel to the rotation axis of the second rotating part; A plurality of mechanical arms are fixedly mounted to the docking end face of the first rotating part in a circular array. Each mechanical arm is provided with a linear drive module and has a length that is parallel to the rotation axis of the first rotating part. An instrument driver is used to control surgical instruments. The instrument driver is mounted on the instrument holding arm and is capable of linear reciprocating motion along the length of the instrument holding arm.

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