Surgical auxiliary device

Abstract

This invention discloses a surgical assistance device, comprising a base body, an active robotic arm, and two passive robotic arms. The active robotic arm is disposed on the base body. The two passive robotic arms are respectively disposed on both sides of the base body. The highest point of each passive robotic arm in a passive initial posture is lower than the lowest point of the active robotic arm in an active initial posture. Therefore, the active and passive robotic arms will not interfere with each other or collide when operating simultaneously.

Description

Technical Field

[0001] This invention relates to an auxiliary device, and more particularly to a surgical auxiliary device. Background Technology

[0002] Currently, surgeons often use surgical robots during operations. A surgical robot typically consists of one or more robotic arms mounted on a base platform, enabling it to work collaboratively with the surgeon.

[0003] However, due to the limited space in the operating room, the space occupied by the surgical robot can easily encroach on the surgeon's operating space. Furthermore, each robotic arm of the surgical robot consists of multiple moving and / or rotating mechanisms to facilitate multi-degree-of-freedom movements. Therefore, when multiple robotic arms operate simultaneously, there is a risk of interference and collisions.

[0004] How to overcome the above-mentioned defects through structural design improvements has become one of the important issues to be addressed in this field. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a surgical aid device that can reduce the storage space of the robotic arm and avoid interference between the robotic arms, in order to overcome the shortcomings of the prior art.

[0006] To address the aforementioned technical problems, one technical solution adopted by this invention is to provide a surgical assistance device, comprising a base body, an active robotic arm, and two passive robotic arms. The active robotic arm is disposed on the base body, and the two passive robotic arms are respectively disposed on both sides of the base body. The highest point of each passive robotic arm in a passive initial posture is lower than the lowest point of the active robotic arm in an active initial posture.

[0007] One of the beneficial effects of the present invention is that the surgical assistance device provided by the present invention can prevent the active and passive robotic arms from interfering with each other and colliding when they operate simultaneously by means of a mechanism design in which the highest point of each passive robotic arm in the passive initial posture is lower than the lowest point of the active robotic arm in the active initial posture.

[0008] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. Attached Figure Description

[0009] Figure 1 This is a three-dimensional schematic diagram of a surgical aid device according to an embodiment of the present invention.

[0010] Figure 2This is a side view schematic diagram of the surgical assistance device according to an embodiment of the present invention.

[0011] Figure 3 This is another perspective view of the surgical aid device according to an embodiment of the present invention.

[0012] Figure 4 This is a functional block diagram of a surgical aid device according to an embodiment of the present invention.

[0013] Figure 5 This is a three-dimensional schematic diagram of the active robotic arm of the surgical assistance device according to an embodiment of the present invention.

[0014] Figure 6 This is a three-dimensional schematic diagram of the passive robotic arm of the surgical assistance device according to an embodiment of the present invention. Detailed Implementation

[0015] The following specific embodiments illustrate the implementation of the "surgical aid device" disclosed in this invention. Those skilled in the art can understand the advantages and effects of this invention from the content disclosed in this specification. This invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this invention. Furthermore, the accompanying drawings of this invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated beforehand. The following embodiments will further describe the relevant technical content of this invention in detail, but the disclosed content is not intended to limit the scope of protection of this invention.

[0016] It should be understood that while terms such as "first," "second," and "third" may be used in this document to describe various components, these components should not be limited by these terms. These terms are primarily used to distinguish one component from another. Furthermore, the term "or" as used herein should, as appropriate, include any combination of one or more related listed items.

[0017] Example

[0018] See Figures 1 to 3 As shown, Figure 1 and Figure 3 These are three-dimensional schematic diagrams of the surgical aid device according to embodiments of the present invention from different perspectives. Figure 2 This is a side view schematic diagram of a surgical assistance device according to an embodiment of the present invention. The present invention provides a surgical assistance device D, which includes: a base body 1, an active robotic arm 2, and two passive robotic arms 3. The active robotic arm 2 and the two passive robotic arms 3 are disposed on the base body 1, and the two passive robotic arms 3 are respectively disposed on both sides of the base body 1. It should also be noted that the present invention is not limited by the number of active robotic arms 2 and passive robotic arms 3. Furthermore, Figure 2 and Figure 3 The clamping arm R1, the retaining component R2, and the surgical tools T1 and T2 are omitted.

[0019] In this invention, the active robotic arm 2 is capable of automatically moving and / or rotating by receiving commands from a user (e.g., a doctor). The passive robotic arm 3, on the other hand, requires manual movement and / or rotation by a human operator.

[0020] See Figure 3 and Figure 4 As shown, Figure 4 This is a functional block diagram of a surgical assistance device according to an embodiment of the present invention. The surgical assistance device D also includes a control element 4 and a drive motor 5. The control element 4 and the drive motor 5 are disposed inside the base body 1. The control element 4 is electrically connected to the drive motor 5, and the drive motor 5 is connected to the active robotic arm 2. The control element 4 may include, but is not limited to, a processor, a memory, and an input / output interface (not shown). The processor may be, for example, an integrated circuit of a programmable logic controller circuit, a microprocessor circuit, or a microcontroller circuit, a central processing unit, etc. The memory can be any storage device that can be used to store data, such as random access memory (RAM), read-only memory (ROM), flash memory, or a hard disk. The input / output interface may include a physical connection port and a wireless communication module (e.g., a wireless communication interface card supporting Bluetooth, Wi-Fi, etc.). The control element 4 can be electrically connected to an external control interface through the input / output interface, allowing the user to input commands to the control element 4 through the control interface, causing the control element 4 to control the drive motor 5 to drive the active robotic arm 2 to move or rotate automatically.

[0021] like Figures 1 to 3 As shown, the position of each passive robotic arm 3 is lower than the position of the active robotic arm 2. Furthermore, Figures 1 to 3 The active robotic arm 2 and the passive robotic arm 3 shown are both in their initial postures (i.e., the postures before starting to move). For ease of explanation, the initial posture of the active robotic arm 2 can be called the active initial posture, and the initial posture of the passive robotic arm 3 can be called the passive initial posture. The highest point of each passive robotic arm 3 in its passive initial posture is lower than the lowest point of the active robotic arm 2 in its active initial posture.

[0022] like Figure 2As shown, a reference plane BP can be defined on the top of the base body 1. The lowest point of the active robotic arm 2 in its active initial posture is higher than the reference plane BP, while the highest point of each passive robotic arm 3 in its passive initial posture is lower than the reference plane BP. The space above the reference plane BP can be considered as the predetermined movement range of the active robotic arm 2, and the space below the reference plane BP can be considered as the predetermined movement range of the passive robotic arm 3. Therefore, by designing the mechanism such that the lowest point of the active robotic arm 2 in its active initial posture is higher than the reference plane BP, and the mechanism such that the highest point of each passive robotic arm 3 in its passive initial posture is lower than the reference plane BP, the predetermined movement ranges of the active robotic arm 2 and the passive robotic arm 3 will not overlap, reducing the probability of interference and collision between the active robotic arm 2 and the passive robotic arm 3.

[0023] In this invention, both the active robotic arm 2 and the passive robotic arm 3 are composed of multiple joints and multiple links, enabling them to perform rotation, deployment, and retraction. (See also...) Figure 1 , Figure 2 and Figure 5 As shown, Figure 5 This is a perspective view of the active robotic arm of the surgical assistance device according to an embodiment of the present invention. For example, the active robotic arm 2 includes a first arm 21, a second arm 22, and a third arm 23. The first arm 21 is connected to the top of the base body 1, and the second arm 22 is connected between the first arm 21 and the third arm 23. The first arm 21 rotates along a first rotation axis C1 (the first rotation axis C1 is parallel to the Z-axis), the first arm 21 and the first rotation axis C1 are coaxial, and the first rotation axis C1 is perpendicular to the reference plane BP. The second arm 22 rotates along a second rotation axis C2 (in the initial active posture, the second rotation axis C2 is parallel to the X-axis), and the second arm 22 is perpendicular to the second rotation axis C2. The third arm 23 rotates along a third rotation axis C3 (in the initial active posture, the third rotation axis C3 is parallel to the X-axis), and the third arm 23 is perpendicular to the third rotation axis C3.

[0024] Furthermore, the active robotic arm 2 may also include a fourth arm 24 and a fifth arm 25. The fourth arm 24 is connected to the fifth arm 25 and is positioned between the third arm 23 and the fifth arm 25. The fourth arm 24 is parallel to the third rotation axis C3, and the fifth arm 25 is perpendicular to the third rotation axis C3. The fifth arm 25 may be selectively connected to other external components. For example, a gripping arm R1 is detachably connected to the fifth arm 25, and the gripping arm R1 can grip a surgical tool T1 (e.g., a surgical drill).

[0025] See Figure 1 , Figure 2 and Figure 6 As shown, Figure 6This is a perspective view of the passive robotic arm of the surgical assistance device according to an embodiment of the present invention. For example, each passive robotic arm 3 includes a base 3B, a first arm 31, a second arm 32, and a third arm 33. The base 3B is connected to the side of the base body 1, the first arm 31 is connected to the top of the base 3B, and the second arm 32 is connected between the first arm 31 and the third arm 33. The first arm 31 rotates along a fourth rotation axis C4 (the fourth rotation axis C4 is parallel to the Z-axis), the first arm 31 and the fourth rotation axis C4 are coaxial, and the fourth rotation axis C4 is perpendicular to the reference plane BP. The second arm 32 rotates along a fifth rotation axis C5 (in the initial passive posture, the fifth rotation axis C5 is parallel to the Y-axis), the second arm 32 and the fifth rotation axis C5 are coaxial, the second arm 32 and the fifth rotation axis C5 are both perpendicular to the fourth rotation axis C4, and the fourth rotation axis C4 is perpendicular to the fifth rotation axis C5. The third arm 33 rotates along a sixth rotation axis C6 (which is parallel to the X-axis in the passive initial posture), and the third arm 33 is perpendicular to the sixth rotation axis C6. In addition, the third arm 33 of the passive robotic arm 3 can be connected to a retainer R2, which can be used to fix another surgical tool T2 (e.g., a telescope assembly).

[0026] This invention utilizes a mechanism design where the second arm 22 of the active robotic arm 2 is perpendicular to the second rotation axis C2. This allows the active robotic arm 2 to automatically extend and retract vertically (i.e., extend and retract along the Z-axis) or forward and backward (i.e., extend and retract along the Y-axis) with the base body 1 as a reference. Furthermore, the invention employs a mechanism design where the second arm 32 of the passive robotic arm 3 is coaxial with the fifth rotation axis C5 and both the second arm 32 and the fifth rotation axis C5 are perpendicular to the fourth rotation axis C4. This allows the user to manually rotate the second arm 32 of the passive robotic arm 3 outward (i.e., away from the base body 1) with the base body 1 as a reference, and then further manually extend the passive robotic arm 3. After the surgery, the user can manually rotate the second arm 32 of the passive robotic arm 3 inward (i.e., towards the base body 1) to retract it.

[0027] Although it has been mentioned above that the space above the reference plane BP can be considered the predetermined range of movement for the active robotic arm 2, and the space below the reference plane BP can be considered the predetermined range of movement for the passive robotic arm 3, it cannot be ruled out that the active robotic arm 2 could extend into the space below the reference plane BP, and the passive robotic arm 3 could extend into the space above the reference plane BP. However, since the active robotic arm 2 operates automatically, while the passive robotic arm 3 is manually controlled by the user, the user can coordinate with the automatic extension or rotation of the active robotic arm 2 to manually control the movement of the passive robotic arm 3, so that the passive robotic arm 3 avoids the extension range of the active robotic arm 2, thereby preventing interference between the active robotic arm 2 and the passive robotic arm 3.

[0028] Beneficial effects of the embodiments

[0029] The surgical assistance device D provided by this invention, through its mechanism design where the lowest point of the active robotic arm 2 in its active initial posture is higher than the reference plane BP, and the highest point of each passive robotic arm 3 in its passive initial posture is lower than the reference plane BP, ensures that the predetermined movement ranges of the active robotic arm 2 and the passive robotic arm 3 do not overlap, thus reducing the probability of interference and collision between the active robotic arm 2 and the passive robotic arm 3. Furthermore, by positioning the active robotic arm 2 and the passive robotic arm 3 above and below the reference plane BP respectively, the size of the surgical assistance device D during storage can be reduced, thus minimizing the space occupied by the surgical assistance device D.

[0030] Furthermore, in the surgical aid device D of the present invention, the active robotic arm 2 is automatically operated, while the passive robotic arm 3 is manually operated by the user. Therefore, through the "mechanical design of the second arm 22 of the active robotic arm 2 being perpendicular to the second rotation axis C2," the "mechanical design of the second arm 32 of the passive robotic arm 3 being coaxial with the fifth rotation axis C5," and the "mechanical design of both the second arm 32 and the fifth rotation axis C5 of the passive robotic arm 3 being perpendicular to the fourth rotation axis C4," the active robotic arm 2 automatically extends and retracts along a direction perpendicular to the second rotation axis C2 during operation. The user can coordinate with the movement of the active robotic arm 2 by manually controlling the second arm 32 of the passive robotic arm 3 to rotate it outwards (i.e., towards a direction away from the base body 1), thus allowing the passive robotic arm 3 to avoid the extension range of the active robotic arm 2 and prevent interference between the active and passive robotic arms.

[0031] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the claims of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the claims of the present invention.

Claims

1. A surgical aid device, characterized in that, The surgical aid device includes: One base body; An active robotic arm is mounted on the base body; and Two passive robotic arms are respectively positioned on both sides of the base body; In this context, the highest point of each passive robotic arm in a passive initial posture is lower than the lowest point of the active robotic arm in an active initial posture.

2. The surgical aid device according to claim 1, characterized in that, The base body has a reference plane at its top. The lowest point of the active robotic arm in the active initial posture is higher than the reference plane, while the highest point of each passive robotic arm in the passive initial posture is lower than the reference plane.

3. The surgical aid device according to claim 2, characterized in that, The active robotic arm includes a first arm, a second arm, and a third arm. The first arm is connected to the top of the base body, and the second arm is connected between the first arm and the third arm.

4. The surgical aid device according to claim 3, characterized in that, The first arm rotates along a first rotation axis, the first arm is coaxial with the first rotation axis, and the first rotation axis is perpendicular to the reference plane.

5. The surgical aid device according to claim 4, characterized in that, The second arm rotates along a second rotation axis, and the second arm is perpendicular to the second rotation axis.

6. The surgical aid device according to claim 5, characterized in that, The third arm rotates along a third rotation axis, and the third arm is perpendicular to the third rotation axis.

7. The surgical aid device according to claim 2, characterized in that, Each of the passive robotic arms includes a first arm, a second arm, and a third arm. The first arm is connected to the side of the base body, and the second arm is connected between the first arm and the third arm.

8. The surgical aid device according to claim 7, characterized in that, The first arm rotates along a fourth rotation axis, the first arm being coaxial with the fourth rotation axis, and the fourth rotation axis being perpendicular to the reference plane.

9. The surgical aid device according to claim 8, characterized in that, The second arm rotates along a fifth rotation axis, the second arm being coaxial with the fifth rotation axis, and the fourth rotation axis being perpendicular to the fifth rotation axis.

10. The surgical aid device according to claim 9, characterized in that, The third arm rotates along a sixth rotation axis, and the third arm is perpendicular to the sixth rotation axis.

11. The surgical aid device according to claim 1, characterized in that, The surgical assistance device further includes a control element and a drive motor. The control element is electrically connected to the drive motor, and the drive motor is connected to the active robotic arm. The drive motor is used to move the active robotic arm under the control of the control element.

12. The surgical aid device according to claim 1, characterized in that, The two passive robotic arms are designed to move under human intervention.

Images