Uterine manipulator and surgical robot

Abstract

The utility model discloses a uterine manipulator and a surgical robot. The uterus manipulator is used for the surgical robot and comprises a uterus supporting assembly, a supporting rod, a first transmission mechanism and a second transmission mechanism. The uterus supporting assembly is used for stretching into the human body to make contact with the uterus and arranged at the far end of the supporting rod. A first transmission mechanism is disposed along the support bar for actuating rotation of the uterine support assembly relative to the support bar. The second transmission mechanism is arranged at the near end of the supporting rod, and the second transmission mechanism comprises a first transmission part and a second transmission part. The first transmission part can rotate around the first axis relative to the supporting rod so as to drive the first transmission mechanism to move. The second transmission part and the first transmission part are in meshing transmission, the second transmission part can rotate around a second axis relative to the supporting rod, the first axis and the second axis are in different planes, and the second transmission part is used for being driven by an instrument driving module of the surgical robot to rotate.

Description

Technical Field

[0001] The present application relates to the technical field of surgical instruments, and in particular to a uterine manipulator and a surgical robot including the uterine manipulator. Background Art

[0002] Laparoscopic hysterectomy is a minimally invasive surgery that is a complete laparoscopic removal of the patient's uterus. During laparoscopic hysterectomy, a uterine manipulator (also known as a uterine manipulator, uterine manipulator, etc.) is required. This instrument is inserted into the patient's body through the patient's vagina to manipulate the uterus. In some scenarios, in order to facilitate the hysterectomy, an assistant doctor is required to stand between the patient's legs to operate the uterine manipulator. During the operation, the assistant doctor manipulates the patient's uterus to the desired position according to the instructions of the surgeon. The assistant doctor should also keep the uterine manipulator in the desired position so that the surgeon can better perform the operation. Summary of the invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description of the Invention section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0004] The first aspect of the present application provides a uterine manipulator for a surgical robot, which specifically comprises:

[0005] a uterine support assembly for extending into the human body to contact the uterus;

[0006] A support rod, the uterus support assembly being disposed at a distal end of the support rod;

[0007] A first transmission mechanism, disposed along the support rod, for actuating the uterine support assembly to rotate relative to the support rod; and

[0008] A second transmission mechanism is provided at the proximal end of the support rod, and the second transmission mechanism comprises:

[0009] a first transmission member, the first transmission member being capable of rotating relative to the support rod around a first axis to drive the first transmission mechanism to move; and

[0010] The second transmission member is meshed with the first transmission member for transmission, and the second transmission member can rotate around a second axis relative to the support rod. The first axis and the second axis are not in the same plane, and the second transmission member is used to rotate when driven by the instrument drive module of the surgical robot.

[0011] The uterine manipulator of the present application has a simple structure, stable performance, and low control difficulty, which is conducive to motorized control and remote control operation. Optionally, the first transmission member and the second transmission member are a worm gear pair, a staggered axis helical gear pair, or a bevel gear pair.

[0012] Optionally, the second transmission mechanism further includes a third transmission member, wherein

[0013] The third transmission member connects the second transmission member and the instrument drive module, so that the instrument drive module actuates the second transmission member through the third transmission member; or

[0014] The third transmission member connects the first transmission member and the first transmission mechanism, so that the first transmission member actuates the first transmission mechanism through the third transmission member.

[0015] Optionally, the third transmission member includes a gear assembly, which includes a plurality of gears meshing in sequence, wherein the first gear of the gear assembly is coaxially connected to the second transmission member, and the last gear of the gear assembly is used to connect to the instrument drive module.

[0016] Optionally, the first transmission mechanism includes a distal rotating member and a fourth transmission member, the uterine support assembly is fixed to the distal rotating member, the distal rotating member is rotatably connected to the distal end of the support rod, the fourth transmission member is arranged along the support rod and connected to the distal rotating member, and the first transmission member actuates the distal rotating member through at least the fourth transmission member.

[0017] Optionally, the fourth transmission member includes at least one of a connecting rod, a transmission belt and a rope.

[0018] Optionally, the first transmission mechanism also includes a proximal rotating member, which is rotatably disposed at the proximal end of the support rod and connected to the fourth transmission member, and the first transmission member actuates the distal rotating member via the proximal rotating member and the fourth transmission member, and the rotation axis of the proximal rotating member is parallel to the rotation axis of the distal rotating member.

[0019] Optionally,

[0020] The first transmission member is a turbine, and the turbine is coaxially connected to the proximal rotating member.

[0021] The second transmission member is a worm gear, which is adapted to and meshed with the turbine. The worm gear is used to rotate under the drive of the instrument drive module.

[0022] Optionally, the uterine manipulator further comprises an angle indicator plate, which is coaxially connected to the proximal rotating member and rotates synchronously with the proximal rotating member, and the angle indicator plate is provided with an angle scale.

[0023] Optionally, the uterine manipulator further comprises a third transmission mechanism, wherein the third transmission mechanism is connected to the proximal rotating member so as to rotate synchronously with the proximal rotating member, and the third transmission mechanism is used to connect to an angle measuring device of the instrument driving module.

[0024] Optionally, the third transmission mechanism includes:

[0025] A first gear coaxially connected to the proximal end rotating member to rotate synchronously with the proximal end rotating member; and

[0026] The second gear is meshed with the first gear, and the second gear is used to connect with the angle measuring device.

[0027] Optionally,

[0028] The uterine manipulator comprises a rear transmission module, and the rear transmission module comprises the second transmission mechanism and the third transmission mechanism.

[0029] The second transmission mechanism is provided with a first interface for connecting to the instrument drive module, and the third transmission mechanism is provided with a second interface for connecting to the angle measuring device.

[0030] Wherein, the first interface and the second interface are located on the same side of the rear end transmission module.

[0031] Optionally, the fourth transmission member includes:

[0032] a first connecting rod, the first connecting rod extending along the extending direction of the supporting rod, the distal end of the first connecting rod being rotatably connected to the distal end rotating member, and the proximal end of the first connecting rod being rotatably connected to the proximal end rotating member; and

[0033] A second connecting rod, wherein the second connecting rod extends along the extending direction of the supporting rod, the distal end of the second connecting rod is rotatably connected to the distal end rotating member, and the proximal end of the second connecting rod is rotatably connected to the proximal end rotating member.

[0034] Optionally, the first connecting rod and the second connecting rod move with the rotation of the proximal rotating member, and the first connecting rod and the second connecting rod remain parallel.

[0035] Optionally, the uterine manipulator also includes a hand knob for user operation, and the hand knob is connected to the first transmission member or the second transmission member so that the user can drive the first transmission member or the second transmission member to rotate, thereby adjusting the angle of the uterine support assembly relative to the support rod.

[0036] Optionally, the uterine manipulator further includes a connecting assembly, which is connected to the support rod, and the connecting assembly is also used to connect to a robotic arm of the surgical robot so that the uterine manipulator can be installed on the robotic arm.

[0037] Optionally, the connecting assembly is sleeved on the outer circumference of the supporting rod.

[0038] Optionally, the uterine manipulator is configured so that the connecting assembly can be engaged with the support rod.

[0039] Optionally,

[0040] The connection assembly has a locked state, an unlocked state and an energy storage state.

[0041] When the connecting assembly is in the engaging state, the connecting assembly is engaged with the support rod and cannot move relative to the support rod.

[0042] When the connecting assembly is in the unlocked state, the connecting assembly is released from the support rod and is movable relative to the support rod.

[0043] When the connecting assembly is in the energy storage state, the connecting assembly is movable relative to the support rod until the connecting assembly moves to the engaging position, and then the connecting assembly changes from the energy storage state to the engaging state.

[0044] A second aspect of the present application provides a surgical robot, comprising:

[0045] A mechanical arm, the mechanical arm comprising a driving module for providing a driving force, and

[0046] According to any one of the technical solutions of the first aspect, the uterine manipulator is used to be installed on the mechanical arm.

[0047] Wherein, the driving module includes an instrument driving module for driving the second transmission member to rotate.

[0048] Optionally,

[0049] The instrument drive module includes a motor for providing driving force; and / or

[0050] The end of the robotic arm can move in at least one degree of freedom.

[0051] Optionally, the driving module further includes a linear driving module for driving the instrument driving module and the uterine manipulator to move along a linear direction.

[0052] Optionally, the surgical robot further includes a control system, which communicates with the instrument drive module to control the operation of the instrument drive module. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The following drawings of the present application are used as a part of the present application for understanding the present application. The drawings show the implementation modes of the present application and the description thereof, and are used to explain the principle of the present application.

[0054] In the attached figure:

[0055] Figure 1 is a schematic top view of a surgical robot according to an embodiment of the present application;

[0056] Figure 2 for Figure 1 A schematic side view of the robotic arm system in FIG.

[0057] Figure 3 is a schematic diagram of a uterine manipulator according to a specific embodiment of the present application, wherein the uterine support component is in a zero position;

[0058] Figure 4 for Figure 3 Another schematic diagram of the uterine manipulator shown, wherein the uterine support assembly is deviated from the zero position;

[0059] Figure 5 for Figure 4 Another schematic diagram of the uterine manipulator shown, in which the housing and the support rod of the rear end transmission module are omitted, and the uterine support assembly deviates from the zero position;

[0060] Figure 6 for Figure 5 A schematic diagram of the first transmission mechanism shown;

[0061] Figure 7 for Figure 5 A three-dimensional schematic diagram of the rear end transmission module shown;

[0062] Figure 8 for Figure 5 A rear view schematic diagram of the rear end transmission module shown;

[0063] Fig. 9 is a schematic diagram of a connection assembly according to a specific embodiment of the present application;

[0064] Fig.10 This is a schematic diagram of the internal structure of a connection assembly according to a specific embodiment of the present application;

[0065] Fig.11 for Fig.10 A schematic side cross-sectional view of the connection assembly shown;

[0066] Fig.12 It is a schematic side cross-sectional view of a connection assembly according to another specific embodiment of the present application.

[0067] Description of reference numerals:

[0068] 10: Uterine support component

[0069] 11: Uterine Cup

[0070] 12: Uterine support rod

[0071] 15: Support rod

[0072] 20: First transmission mechanism

[0073] 21: First connecting rod

[0074] 21A: First connecting point of the first connecting rod

[0075] 21B: Second connection point of the first connecting rod

[0076] 22: Second connecting rod

[0077] 22A: Second connecting rod first connection point

[0078] 22B Second connecting rod second connection point

[0079] 23: Proximal rotating part

[0080] 24: Fourth transmission member

[0081] 25: Distal rotating part

[0082] 25A: Distal shaft

[0083] 25B: Installation

[0084] 26: Mounting slot

[0085] 30: Rear transmission module

[0086] 32: Angle indicator

[0087] 33: Hand-tightened knob

[0088] 35: Shell

[0089] 36: Base

[0090] 40: Second transmission mechanism

[0091] 41: First transmission part / turbine

[0092] 42: Second transmission member / worm

[0093] 43: Third Gear

[0094] 44: Fourth gear

[0095] 45: Fifth Gear

[0096] 47: The third transmission member

[0097] 48: Gear assembly

[0098] 49: First interface

[0099] 50: The third transmission mechanism

[0100] 51: First Gear

[0101] 52: Second gear

[0102] 59: Second interface

[0103] 60: Connecting components

[0104] 61: First connection part

[0105] 62: Second connection part

[0106] 63: Casing

[0107] 64: Tube wall

[0108] 65: Through hole

[0109] 66: First biasing member

[0110] 67: Energy storage mechanism

[0111] 68: Locking mechanism

[0112] 69: Stop mechanism

[0113] 71: First Energy Storage Department

[0114] 72: Second Energy Storage Department

[0115] 73: First operating unit

[0116] 74: Guide slope

[0117] 80: Surgical execution device

[0118] 91: Stopper

[0119] 92: Second biasing member

[0120] 93: Second operating unit

[0121] 94: Guide slope

[0122] 95 / 96: Elastic part

[0123] 97: First Surface

[0124] 98: Second Surface

[0125] 100: Uterine manipulator / surgical instrument

[0126] 200: Surgical Robot

[0127] 210: Control Systems

[0128] 220: Robotic Arm System

[0129] 221: Robotic Arm

[0130] 222: Robotic Arm

[0131] 223: Device driver module

[0132] 230: Imaging System

[0133] D1: Engagement direction

[0134] D2: front and back direction

[0135] D3: Unlock direction DETAILED DESCRIPTION

[0136] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described.

[0137] In order to thoroughly understand the present application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other embodiments.

[0138] Ordinal numbers such as "first" and "second" cited in this application are merely identifiers and do not have any other meaning, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". The use of the words "first", "second", and "third" does not indicate any order, and these words can be interpreted as names.

[0139] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0140] The terms "distal" and "proximal" used in this application are directional words, which are commonly used terms in the field of interventional medical devices, wherein "distal" refers to the end away from the operator during the operation, and "proximal" refers to the end close to the operator during the operation.

[0141] The terms "parallel" / "perpendicular" and similar expressions used in this application include an absolute parallel / perpendicular relationship and a roughly parallel / perpendicular relationship (for example, a relationship that differs from absolute parallel / perpendicular by a range of -5° to +5°), which can have equivalent effects.

[0142] In traditional surgery, the assistant doctor needs to manually operate the uterine manipulator. When the swing rod at the front end of the uterine manipulator touches the uterine wall, the assistant doctor confirms whether the uterine manipulator is in place based on the resistance. This empirical method makes the position of the uterine manipulator in the patient's body inconsistent in each surgery, which increases the complexity of the surgery. In addition, this method is prone to fatigue and is not stable enough, which may cause the uterine manipulator to be inaccurate or even accidentally injure the patient. For example, when the assistant pries the uterus upward, it will inevitably push forward and puncture the uterus.

[0143] To this end, the present application proposes a uterine manipulator that can be operated by a surgical robot, which can be held by a general surgical robot arm and can be adapted to the output interface of the instrument drive module on the robotic arm so as to be able to complete operations such as lifting the uterus under the drive of the instrument drive module.

[0144] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings.

[0145] The surgical robot 200 according to the embodiment of the present application is a robot that can be remotely controlled to perform surgery. Figure 1 The surgical robot 200 may include a control system 210 (also referred to as a doctor's console 210), a robotic arm system 220 (also referred to as an adjacent robotic arm system 220), and an imaging system 230 (also referred to as an endoscope system 230).

[0146] The control system 210 has a display unit for displaying the surgical instrument environment, a doctor's operation control mechanism, and an armrest. The display unit is provided with an observation window for the doctor to observe, the operation control mechanism is constructed so that its movement can correspond to the movement of the surgical instrument, and the armrest is used to place the doctor's arm. In addition, the doctor's console 210 also has other control switches that are convenient for the hand or foot to touch or press, which are used to perform various functional operations and complete human-computer interaction.

[0147] The imaging system 230 has a display screen, an endoscope controller, system electronics, an image processor, and the like.

[0148] See also Figure 2 , the robotic arm system 220 may include at least one robotic arm 221 and a surgical instrument 100 mounted on the robotic arm 221. The robotic arm 221 has a plurality of connecting arms, and two adjacent connecting arms move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multiple degrees of freedom (such as 7 degrees of freedom, which may vary depending on the surgical instrument). The end of the robotic arm 221 is a mechanical arm 222, and the surgical instrument 100 is detachably mounted on the mechanical arm 222. The surgical instrument 100 may be an instrument for performing surgical operations, such as an electric cauterizer, clamps, a vascular occluder, etc., or a camera for capturing images of the surgical area, such as an endoscope, etc., or other surgical instruments. Specifically, in the present application, the surgical instrument 100 is a uterine manipulator 100.

[0149] The present application introduces a mechanical arm 221 to replace human hands to actually manipulate the uterine manipulator 100. Figure 3 As shown, the rear transmission module 30 of the uterine manipulator 100 is designed with an interface to connect the instrument drive module 223 on the mechanical arm 222 and the rear transmission module 30 of the uterine manipulator 100, so that the instrument drive module 223 drives the rear transmission module 30 to control the remote actuator (uterine support assembly 10) of the uterine manipulator 100, thereby realizing the motorized control of the uterine manipulator. It can be understood that the control system 210 communicates with the instrument drive module 223, so that the doctor controls the instrument drive module 223 through the control system 210, and then controls the uterine manipulator 100.

[0150] When the uterine manipulator 100 is installed in place on the robotic arm 221, the interface of the rear end transmission module 30 of the uterine manipulator 100 is accurately docked with the output end interface of the instrument drive module 223 on the robotic arm 211. Generally speaking, the robotic arm 221 is provided with a linear drive module (not shown) and an instrument drive module 223, and the instrument drive module 223 and the surgical instruments mounted thereon can move along a straight line under the drive of the linear drive module. During the operation, the linear drive module on the robotic arm 221 provides forward feeding motion, and the instrument drive module 223 on the robotic arm 221 provides uterine manipulation motion. According to the feedback from the sensor or software, the manipulation posture of the uterus is maintained after reaching the designated position. Therefore, the main operations of the uterine manipulator can be completed by maneuvering, which is conducive to realizing the remote control operation of the uterine manipulator 100 and is conducive to improving the safety of the operation.

[0151] like Figures 3 to 5 As shown, the uterine manipulator 100 includes a surgical execution device 80, a rear-end transmission module 30 and a connecting assembly 60. The surgical execution device 80 is used to intervene in the human body, support the uterus at the cervical opening and adjust the position of the uterus. The rear-end transmission module 30 is used to connect the instrument drive module 223 on the mechanical arm 221, and under the drive of the instrument drive module 223, the rear-end transmission module 30 actuates the front-end execution assembly of the surgical execution device 80 to move to achieve the uterine lifting operation. The connecting assembly 60 is used to simultaneously connect the surgical execution device 80 and the mechanical arm 221 (specifically, the mechanical arm 223) to provide support and motion guidance for the surgical execution device 80. The uterine manipulator 100 of the embodiment of the present application has a simple structure, stable performance, and low control difficulty, which is conducive to motorized control and remote control operation, and will be embodied in conjunction with the specific structure below.

[0152] The following first introduces the surgical execution device 80 and the rear-end transmission module 30.

[0153] The surgical execution device 80 includes a uterine support assembly 10 , a support rod 15 and a first transmission mechanism 20 .

[0154] The uterus support assembly 10 is a front end execution assembly of the surgical execution device 80, located at the farthest end of the surgical execution device 80, and is used to extend into the human body to contact the uterus. The uterus support assembly 10 includes a uterine cup 11 and a uterine support rod 12. The uterine cup 11 is generally cup-shaped and is used to contact the cervical opening. The uterine support rod 12 is arranged inside the uterine cup 11 and is used to extend into the uterus to support the uterus.

[0155] The support rod 15 is the main support mechanism or skeleton of the surgical execution device 80. The support rod 15 is used to extend in the insertion / withdrawal direction D2 of the surgical execution device 80. Generally speaking, the insertion direction of the surgical execution device 80 is the direction from the proximal end to the distal end of the surgical instrument 100, and the withdrawal direction of the surgical execution device 80 is the direction from the distal end to the proximal end of the surgical instrument 100, which are collectively referred to as the front-to-back direction D2 in this article. The uterine support assembly 10 is set to the distal end of the support rod 15.

[0156] The first transmission mechanism 20 is arranged along the support rod 15, and is used to actuate the uterus support assembly 10 to rotate relative to the support rod 15, so that the uterus support assembly 10 drives the uterus to move relative to the support rod 15, so that the position of the uterus can be adjusted, for example, the uterus is lifted.

[0157] The rear end transmission module 30 includes a housing and a second transmission mechanism 40 .

[0158] The housing is provided to the proximal end of the support rod 15 and is fixed relative to the support rod 15. The housing is used to accommodate and install the second transmission mechanism 40. In one example, the housing includes a base 36 and a shell 35, the shell 35 is connected to the base 36, and the base 36 encloses an accommodation space, and the second transmission mechanism 40 is placed in the accommodation space.

[0159] The second transmission mechanism 40 is arranged at the proximal end of the support rod 15, and is used to drive the first transmission mechanism 20 to move. The second transmission mechanism 40 includes a first transmission member 41 and a second transmission member 42. Among them, the first transmission member 41 can rotate around the first axis AX1 relative to the support rod 15 to drive the first transmission mechanism 20 to move. The second transmission member 42 is engaged with the first transmission member 41 for transmission. The second transmission member 42 can rotate around the second axis AX2 relative to the support rod 15, and the first axis AX1 and the second axis AX2 are skewed (for example, skewed and perpendicular). The second transmission member 42 is used to rotate under the drive of the instrument drive module 223. The design of the second transmission member 42 is conducive to saving space. In some examples, the first transmission member 41 and the second transmission member 42 can be constructed as a worm gear pair, a staggered axis helical gear pair, or a bevel gear pair.

[0160] Furthermore, the first transmission mechanism 20 includes a distal rotating member 25 , a fourth transmission member 24 and a proximal rotating member 23 .

[0161] The uterine support assembly 10 is fixed to a distal rotating member 25. For example, the distal rotating member 25 is connected to the proximal end of the uterine support assembly 10, such as to the proximal ends of the uterine cup 11 and the uterine support rod 12. The distal rotating member 25 is configured to be rotatably connected to the distal end of the support rod 15. The rotation axis AX3 of the distal rotating member 25 can intersect with the front-to-back direction D2, such as perpendicularly. When the distal rotating member 25 rotates, the uterine cup 11 and the uterine support rod 12 swing accordingly, and the position of the uterus can be adjusted. The uterine support rod 12 is also called the distal swing rod 12.

[0162] The fourth transmission member 24 is arranged along the support rod 15 and connected to the distal rotation member 25, and the first transmission member 41 actuates the distal rotation member 25 through at least the fourth transmission member 24. For example, the first transmission member 41 actuates the distal rotation member 25 through the proximal rotation member 23 and the fourth transmission member 24. The proximal rotation member 23 is configured to be rotatably arranged at the proximal end of the support rod 15 and connected to the fourth transmission member 24, and the rotation axis of the proximal rotation member 23 is parallel to the rotation axis AX3 (also called the third axis) of the distal rotation member 25.

[0163] For example, Figure 5 and Figure 6 As shown, the fourth transmission member 24 includes a first connecting rod 21 and a second connecting rod 22 .

[0164] The first link 21 and the second link 22 extend substantially along the front-to-back direction D2, that is, substantially perpendicular to the third axis AX3. The distal end of the first link 21 is rotatably connected to the distal rotating member 25. The distal end of the second link 22 is also rotatably connected to the distal rotating member 25. The proximal end of the first link 21 is rotatably connected to the proximal rotating member 23, and the proximal end of the second link 22 is also rotatably connected to the proximal rotating member 23. When the rear end rotating member 23 rotates, the first link 21 and the second link 22 move in opposite directions along the front-to-back direction D2, thereby rotating the distal rotating member 25. It can be understood that when the rear end rotating member 23 rotates, the first link 21 and the second link 22 move in opposite directions along the circumferential direction of the proximal rotating member 23, the first link 21 and the second link 22 move in opposite directions along the front-to-back direction D2, and the first link 21 and the second link 22 also move in opposite directions along the circumferential direction of the distal rotating member 25.

[0165] like Figure 6As shown, the first connecting rod 21 includes a first connecting rod first connecting point 21A for connecting the distal rotating member 25 and a first connecting rod second connecting point 21B for connecting the proximal rotating member 23. The second connecting rod 22 includes a second connecting rod first connecting point 22A for connecting the distal rotating member 25 and a second connecting rod second connecting point 22B for connecting the proximal rotating member 23. It can be understood that among the four connecting points 21A, 21B, 22A and 22B, the distance between two adjacent connecting points remains unchanged, so these four connecting points constitute the four vertices of a quadrilateral, the four sides of the quadrilateral remain unchanged, and when the proximal rotating member 23 rotates, the angles of the four inner angles of the quadrilateral change. It can be understood that, in the case of component finalization, the rotation angle of the proximal rotating member 23 corresponds to the angles of the four inner angles of the quadrilateral, and then corresponds to the rotation angle of the distal rotating member 25.

[0166] Optionally, during the movement of the first link 21 and the second link 22 with the rotation of the proximal rotating member 23, the first link 21 and the second link 22 remain parallel. That is, the uterine manipulator 100 is constructed so that the first link first connection point 21A, the first link second connection point 2321B, the second link first connection point 22A and the second link second connection point 22B are four vertices of the same parallelogram. Thus, the first link 21 and the second link 22 extend in parallel with each other along the front-to-back direction D2, the rotation angle of the proximal rotating member 23 corresponds to the length of the misaligned portion of the first link 21 and the second link 22 in the front-to-back direction D2, and the rotation angle of the distal rotating member 25 is the same as the rotation angle of the proximal rotating member 23 through the symmetrical structure of the parallelogram, which makes the control simpler. At the same time, the first link 21 and the second link 22 are of equal length and can be designed as the same component, which also simplifies the design and reduces the product cost.

[0167] For example, the proximal rotating member 23 is configured as a proximal rotating shaft 23. Figure 6 As shown in the figure, the distal rotating member 25 includes, for example, a distal rotating shaft 25A and a mounting portion 25B. The distal rotating shaft 25A is rotatably connected to the distal end of the support rod 15 around the rotation axis AX3. The mounting portion 25B is connected to the rotating shaft 25A and is connected to the uterine support assembly 10 at the distal end, thereby transmitting the rotation of the rotating shaft 25A to the uterine support assembly 10. Each of the distal rotating shaft 25A and the proximal rotating shaft 23 has two mounting grooves (such as Figure 6 and Figure 8 The proximal shaft 23 has two mounting grooves 26, which are arranged at intervals along the circumferential direction. One end of each support rod 21 / 22 is rotatably arranged in the corresponding mounting groove and can rotate around the axis at the connection point in the mounting groove.

[0168] In some examples not shown in the present application, the first connecting rod 21 and the second connecting rod 22 can be replaced by two tensioned flexible transmission members, such as transmission belts or ropes. The arrangement of the flexible transmission member can be similar to that of the first connecting rod 21 and the second connecting rod 22. Alternatively, the flexible transmission member can also be arranged as follows: each flexible transmission member is tensioned between the proximal rotating member 23 and the distal rotating member 25 and arranged relatively, and the two ends of each flexible transmission member are respectively wound around the periphery of the proximal rotating member 23 and the distal rotating member 25 and fixed. When the rear end rotating member 23 rotates, the rear end rotating member 23 winds around one of the flexible transmission members and releases the other flexible transmission member, thereby driving the distal rotating member 25 to rotate, thereby achieving an angle change of the uterine support assembly 10.

[0169] The second transmission mechanism 40 is used to drive the proximal rotating member 23 to rotate, so that the proximal end of the first connecting rod 21 and the proximal end of the second connecting rod 22 move in opposite directions along the circumferential direction of the proximal rotating member 23, thereby making the distal end of the first connecting rod 21 and the distal end of the second connecting rod 22 move in opposite directions along the circumferential direction of the distal rotating member 25, so as to drive the distal rotating member 25 to rotate. Figure 4 As shown, the second transmission mechanism 40 includes a first interface 49 for connecting to the instrument drive module 223 of the robot arm 221 so that the instrument drive module 223 actuates the uterine support assembly 10 through the first transmission mechanism 20 and the second transmission mechanism 40 .

[0170] In the example of this application, Figure 5 , Figure 7 and Figure 8 As shown, the second transmission mechanism 40 includes a turbine 41 and a worm 42. The turbine 41 is coaxially connected to the proximal rotating member 23 to rotate synchronously with the proximal rotating member 23, for example, it is sleeved with the proximal rotating member 23 or connected in the axial direction. The first axis AX1 is the common rotation axis of the turbine 41 and the proximal rotating member 23. The worm 42 is adapted to the turbine 41 and meshes with the turbine 41. The worm 42 is connected to the first interface 49 so that the worm 42 rotates under the drive of the instrument drive module 223, thereby finally driving the rotating shaft 23 to rotate. The rotation axis of the worm 42 is the second axis AX2.

[0171] Of course, as mentioned above, in other examples not shown, the first transmission member 41 and the second transmission member 42 can also be constructed as staggered helical gear pairs, bevel gear pairs or other transmission components that can achieve skewness between the input shaft and the output shaft.

[0172] Alternatively, if Figure 5 and Figure 7As shown, the second transmission mechanism 40 further includes a third transmission member 47. In some examples, the third transmission member 47 is used to connect the second transmission member 42 and the instrument drive module 223, so that the instrument drive module 223 actuates the second transmission member 42 through the third transmission member 47. In other examples, the third transmission member 47 is used to connect the first transmission member 41 and the first transmission mechanism 20, so that the first transmission member 41 actuates the first transmission mechanism 20 through the third transmission member 47. The third transmission member 47 can adopt a gear transmission mode, a pulley transmission mode, a wire wheel transmission mode, etc., or a combination thereof.

[0173] exist Figure 7 and Figure 8 In the illustrated embodiment, the third transmission member 47 includes a gear assembly 48, which includes a plurality of gears meshing in sequence. The first gear of the gear assembly 48 is coaxially connected to the second transmission member 42 (e.g., the worm 42), and the last gear of the gear assembly 48 is provided with or connected to the first interface 49 for connecting the instrument drive module 223. Specifically, the gear assembly 48 includes a third gear 43, a fourth gear 44, and a fifth gear 45 meshing in sequence. The first gear 43 is coaxially connected to the worm 42, the gear 43 meshes with the gear 44, the gear 44 meshes with the gear 45, and the last gear 45 is connected to the first interface 49. The driving device in the instrument drive module 223 is configured as a motor, for example, and the output shaft of the motor is inserted into the first interface 49, so that the motor finally drives the turbine 41 to rotate, so that the proximal shaft 23 rotates.

[0174] Optionally, the rear transmission module 30 further includes a third transmission mechanism 50, which is connected to the proximal rotating member 23 to rotate synchronously with the proximal rotating member 23, and at the same time, the third transmission mechanism 50 includes a second interface 59, the second interface 59 (see Figure 4 ) is used to connect the angle measuring device in the instrument drive module 223. Thereby, the rotation angle of the proximal rotating member 23 can be detected by the angle measuring device. In some examples, the angle measuring device may include a motor and an encoder (such as a photoelectric encoder, a magnetoelectric encoder), etc. The angle measuring device communicates with the control system 210, so that the control system 210 can obtain the measurement value of the angle measuring device and obtain the swing angle of the uterine support assembly 10 according to the transmission ratio. The calculated swing angle can be displayed on the display device of the control system 210 for reference by the doctor performing the operation on the control system 210 side, that is, the surgeon can know the swing position of the uterus at any time on the control system 210 side.

[0175] In order to facilitate the connection between the rear end transmission module 30 and the instrument drive module 223, the first interface 49 and the second interface 59 can be set on the same side of the rear end transmission module 30. For example, in the illustrated embodiment, the first interface 49 and the second interface 59 are both located on the side of the rear end transmission module 30 facing the instrument drive module 223. When the uterine manipulator 100 is moved along the front-to-back direction D2 toward the instrument drive module 223, the second transmission mechanism 40 and the third transmission mechanism 50 can be connected to the instrument drive module 223 at one time without having to be connected separately. Similarly, when the uterine manipulator 100 is removed, it can also be removed at one time through one operation without having to be removed separately. It can be understood that the first interface 49 and the second interface 59 are both located on one of the two side surfaces of the rear end transmission module 30 that are spaced apart along the front-to-back direction D2.

[0176] In the application scenario where the first interface 49 and the second interface 59 are located on the same side of the rear end transmission module 30, the third transmission mechanism 50 can also be configured to have a structure similar to the second transmission mechanism 40, that is, the input shaft and the output shaft of the third transmission mechanism 50 are not in the same plane. In some examples, the third transmission mechanism 50 may include a worm gear pair, a staggered axis helical gear pair, or a bevel gear pair. For example, in the example illustrated in the present application, the third transmission mechanism 50 includes a first gear 51 and a second gear 52, wherein the first gear 51 and the second gear 52 are configured as a staggered axis helical gear pair. The first gear 51 is coaxially connected to the proximal rotating member 23 to rotate synchronously with the proximal rotating member 23, for example, it is sleeved with the proximal rotating member 23 or connected in the axial direction. The second gear 52 is meshed with the first gear 51, and the second gear 52 is provided with or connected to the second interface 59. The input shaft of the angle measuring device (for example, the rotating shaft of the motor of the angle measuring device) can be inserted into the second interface 59, so that the rotation angle of the second gear 52 is measured by the angle measuring device, and the control system 210 can calculate the swing angle of the uterine support assembly 10 based on the measured value and the transmission ratio.

[0177] As mentioned above, the housing of the rear transmission module 30 includes a base 36 and a shell 35, wherein the shell 35 is connected to the base 36 and defines a storage space with the base 36. The second transmission mechanism 40, the third transmission mechanism 50 and the proximal rotating member 23 of the first transmission mechanism 20 are all arranged in the storage space. The base 36 is fixedly connected to the proximal end of the support rod 15, and the proximal rotating member 23, the second transmission mechanism 40 and the third transmission mechanism 50 can be movably mounted to the base 36. The first interface 49 and the second interface 59 are both arranged on the base 36. When the uterine manipulator 100 is mounted to the mechanical arm 211, the instrument drive module 223 is located on the side of the base 36 facing away from the storage space, that is, the instrument drive module 223 is located between the rear transmission module 30 and the uterine support assembly 10. In some application scenarios, the instrument drive module 223 is constructed to be universal, that is, it can be connected to a variety of surgical instruments 100. Specifically, the instrument drive module 223 may provide two motors connected to the first interface 49 and the second interface 59 respectively, and the motor connected to the second interface 59 is provided with a corresponding encoder. Each surgical instrument 100 is connected to the instrument drive module 223 via the first interface 49 and the second interface 59 configured in a unified standard. The control system 210 configures corresponding control software according to the function of the surgical instrument 100, so that the applicability of the surgical robot 200 can be greatly expanded.

[0178] Optionally, the uterine manipulator 100 further includes a hand knob 33. The hand knob 33 is used for operation by a user. The hand knob 33 is connected to the first transmission member 41 or the second transmission member 42 so that the user can drive the first transmission member 41 or the second transmission member 42 to rotate, thereby adjusting the angle of the uterine support assembly 10 relative to the support rod 15. For example, Figure 7 As shown, the hand knob 33 is coaxially connected to the worm 42. When the user rotates the hand knob 33, the worm 42 rotates synchronously with the hand knob 33, thereby rotating the proximal rotating member 23 and finally rotating the uterine support assembly 10. For example, when the robotic arm 221 is not connected, the doctor can adjust the angle of the distal swing arm 12 of the uterine manipulator 100 by rotating the hand knob 33, thereby checking the use status of the uterine manipulator 100. If the robotic arm 221 fails during the operation after the robotic arm 221 is connected, the distal swing arm 12 is restored to the zero position (such as Figure 3 As shown, the uterine support rod 12 extends along the front-to-back direction D2) to quickly remove the uterine manipulator 100 from the human body, reducing the risk of causing harm to the human body.

[0179] Optionally, the uterine manipulator 100 further includes an angle indicator disk 32, which is coaxially connected to the proximal rotating member 23 and rotates synchronously with the proximal rotating member 23, and the angle indicator disk 32 is provided with an angle scale. The angle indicator disk 32 is exposed from the outer shell surface of the rear end transmission module 30, so that the uterine manipulator 100 can directly read the rotation angle of the distal rotating member 25 and / or the proximal rotating member 23 from the angle indicator disk 32, that is, the assistant doctor on the patient side can easily see the angle at which the distal end of the uterine manipulator 100 is lifted in the uterus through this indicator disk 32, which helps the assistant doctor understand the position state of the uterine manipulator 100 at this time and ensure the safety of the patient.

[0180] The connection assembly 60 is described below.

[0181] The connecting assembly 60 is connected to the support rod 15 of the surgical execution device 80 , and the connecting assembly 60 is also used to connect the robotic arm 221 (specifically, the robotic arm 222 ) so that the uterine manipulator 100 can be installed on the robotic arm 221 to provide support and motion guidance for the surgical execution device 80 .

[0182] like Fig. 9 and Fig.10 As shown, the connection assembly 60 includes a first connection portion 61 and a second connection portion 62 that are connected to each other.

[0183] The second connection part 62 is used to connect the mechanical arm 221. When the uterine manipulator 100 is installed on the mechanical arm 221, the rear transmission module 30 is docked with the instrument drive module 223 on the mechanical arm 211, and the second connection part 62 of the connection assembly 60 is docked with the sleeve adapter (not shown) of the mechanical arm 221, so that the uterine manipulator 100 is installed in place. The second connection part 62 can be connected to the sleeve adapter by plugging, snapping, etc.

[0184] The first connection part 61 is used to connect the surgical execution device 80. The inventors have found that in some application scenarios, according to the clinical use requirements of the uterine manipulator 100, the connection state between the first connection part 61 and the surgical execution device 80 needs to be able to switch between a fixed connection and a movable connection. Among them, when the two are fixedly connected, the position of the first connection part 61 relative to the surgical execution device 80 is fixed; when the two are movably connected, the first connection part 61 can move relative to the surgical execution device 80. During the operation, the switching of the connection state between the first connection part 61 and the surgical execution device 80 needs to be fast and convenient, so that the uterine manipulator 100 can quickly cooperate with other surgical operations.

[0185] Based on this, the connection component 60 proposed in the embodiment of the present application can meet or at least partially meet the above-mentioned application requirements.

[0186] See also Fig.10 and 11The first connecting portion 61 includes a sleeve 63 and a locking mechanism 68. The sleeve 63 is used to be sleeved on the outer periphery of the surgical execution device 80, for example, sleeved on the outer periphery of the support rod 15. The locking mechanism 68 is used to be engaged with the surgical execution device 80, for example, engaged with the support rod 15.

[0187] When the sleeve 63 is sleeved on the support rod 15, it can move relative to the support rod 15 along the extension axis of the support rod 15 (or the extension direction of the support rod, that is, the front-to-back direction D2 mentioned above), so that when the uterine manipulator 100 is installed in place, the sleeve 63 can guide the surgical execution device 80 to move along the front-to-back direction D2. In one example, the cross-sectional size of the sleeve 63 is slightly larger than the cross-sectional size of the support rod 15. Furthermore, the cross-sectional shape of the sleeve 63 can be adapted to the cross-sectional shape of the support rod 15. For example, in the example of the present application, the cross-sectional shape of the support rod 15 is configured as an I-shape, and the cross-sectional shape of the sleeve 63 is configured as a square, so as to prevent the sleeve 63 from rotating relative to the support rod 15 around the extension axis of the support rod 15.

[0188] The locking mechanism 68 is connected to the tube wall 64 on one side of the sleeve 63. The second connecting portion 62 is connected to the tube wall on the side of the sleeve 63 opposite to the tube wall 64. In one example, the locking mechanism 68 includes a protruding structure. Accordingly, a groove matching the protrusion is provided on the support rod 15. When the protruding structure of the locking mechanism 68 enters the groove of the support rod 15, the sleeve 63 cannot move relative to the support rod 15 in the front-to-back direction D2, and the first connecting portion 61 is fixedly connected to the surgical execution device 80.

[0189] In order to switch the connection state between the first connection part 61 and the surgical execution device 80 between a fixed connection and a movable connection, the connection assembly 60 has a switchable engagement state, an unlocking state and an energy storage state. To this end, the first connection part 61 also includes an energy storage mechanism 67 and a stop mechanism 69. The energy storage mechanism 67 is arranged on the sleeve 63 and connected to the locking mechanism 68. The stop mechanism 69 is arranged on the sleeve 63 and is used to act on the energy storage mechanism 67. The energy storage mechanism 67 and the stop mechanism 69 can be connected to the tube wall 64 on one side of the sleeve 63, for example.

[0190] When the connection assembly 60 is in the engaged state, the locking mechanism 68 is engaged with the surgical implementation device 80, thereby limiting the movement of the sleeve 63 in the front-to-back direction D2 relative to the surgical implementation device 80. When the connection assembly 60 is in the unlocked state, the locking mechanism 64 is separated from the surgical implementation device 80, thereby allowing the sleeve 63 to move in the front-to-back direction D2 relative to the surgical implementation device 80. When the connection assembly 60 is in the energy storage state, the sleeve 63 is movable relative to the surgical implementation device 80, and the stop mechanism 69 acts on the energy storage mechanism 67, so that the energy storage mechanism 67 has a first potential energy. Under the action of the first potential energy, the locking mechanism 68 contacts the surgical implementation device 80, so that when the sleeve 63 moves to the engaged position, the locking mechanism 68 can quickly engage with the surgical implementation device 80 under the action of the first potential energy to switch the connection assembly 60 from the energy storage state to the engaged state.

[0191] Since the connecting assembly 60 is sleeved on the outer periphery of the support rod 15, the engaging parts (such as the locking mechanism 68) of the connecting assembly 60 and the surgical execution device 80 are not visible. When in use, the user first triggers the energy storage mechanism 67, at which time the connecting assembly 60 can move relative to the surgical execution device 80, and the locking mechanism 68 has a tendency to move along the engaging direction D1 relative to the surgical execution device 80 under the condition of energy storage. When the connecting assembly 60 moves to the engaging position relative to the surgical execution device 80, the locking mechanism 68 automatically moves along the engaging direction D1 relative to the surgical execution device 80 under the action of the first potential energy, and quickly completes the locking with the surgical execution device 80.

[0192] The engagement direction D1 intersects with the front-rear direction D2. For example, the engagement direction D1 may be a radial direction of the sleeve 63, that is, perpendicular to the front-rear direction D2.

[0193] Specifically, after the energy storage mechanism 67 is triggered by the user, the connection assembly 60 is in the energy storage state. When the connection assembly 60 is in the energy storage state, the connection assembly 60 is movable relative to the support rod 15, that is, the sleeve 63 is movable relative to the surgical implementation device 80. The stopper mechanism 69 contacts the energy storage mechanism 67 to keep the energy storage mechanism 67 in the energy storage state, so that the energy storage mechanism 67 has a first potential energy, so that the energy storage mechanism 67 applies a force to the locking mechanism 68, so that the locking mechanism 68 can contact the support rod 15 of the surgical implementation device 80 under the action of the first potential energy of the energy storage mechanism 67. Since the sleeve 63 is movable relative to the surgical implementation device 80, when the sleeve 63 moves to the engaging position, the locking mechanism 68 moves relative to the surgical implementation device 80 along the engaging direction D1 under the action of the first potential energy of the energy storage mechanism 67 to engage with the surgical implementation device 80, so that the connection assembly 60 is switched from the energy storage state to the engaging state.

[0194] Furthermore, when the connecting assembly 60 is in the engaged state, the locking mechanism 68 is locked with the surgical implementation device 80, limiting the movement of the connecting assembly 60 in the front-to-back direction D2 relative to the surgical implementation device 80, that is, the connecting assembly 60 is engaged with the support rod 15 and cannot move relative to the support rod 15. At this time, the stop mechanism 69 still acts on the energy storage mechanism 67, so that the energy storage mechanism 67 has the second potential energy, and under the action of the second potential energy, the locking mechanism 68 and the surgical implementation device 80 remain engaged.

[0195] Further, when the stop mechanism 69 is triggered by the user, the stop mechanism 69 is disengaged from the energy storage mechanism 67, and the energy storage mechanism 67 releases the second potential energy, so that the energy storage mechanism 67 is bounced up, thereby driving the locking mechanism 68 to disengage from the surgical execution device 80, that is, the connection assembly 60 is disengaged from the support rod 15, allowing the connection assembly 60 to move in the front-to-back direction D2 relative to the surgical execution device 80. Subsequently, the user releases the stop mechanism 69, the stop mechanism 69 is reset, and the connection assembly 60 switches from the engaged state to the unlocked state. When the connection assembly 60 is in the unlocked state, the stop mechanism 69 can block the energy storage mechanism 67 from moving toward the sleeve 63 along the engagement direction D1, so that the locking mechanism 68 remains separated from the surgical execution device 80. Therefore, in the unlocked state, even when the sleeve 63 moves to the engaged position, the locking mechanism 68 will not engage with the surgical execution device 80.

[0196] Specifically, Fig.10 and Fig.11 As shown, the energy storage mechanism 67 includes a first energy storage part 71 and a second energy storage part 72. The first energy storage part 71 is used to contact the stop mechanism 69. The second energy storage part 72 is connected to the first energy storage part 71 and is arranged opposite to the first energy storage part 71 along the engagement direction D1. The locking mechanism 68 is connected to the side of the second energy storage part 72 that is away from the first energy storage part 71. The energy storage mechanism 67 is constructed so that the first energy storage part 71 and the second energy storage part 72 can be moved toward each other to generate potential energy (for example, the first potential energy or the second potential energy mentioned above), so that the energy storage mechanism 67 is in an energy storage (energy storage) state. The second energy storage part 72 is closer to the sleeve 63 than the first energy storage part 71, or closer to the surgical execution device 80. Under the action of the potential energy, the second energy storage part 72 is subjected to a force along the engagement direction D1 (that is, toward the sleeve 63 / surgical execution device 80).

[0197] Further, in order to trigger the energy storage mechanism 67 to enter the energy storage state, the energy storage mechanism 67 also includes a first operating part 73. The first operating part 73 is connected to the first energy storage part 71, and the first operating part 73 can be triggered (for example, manually operated by the user) to move the first energy storage part 71 toward the second energy storage part 72, so that the energy storage mechanism 67 stores energy, and is therefore also referred to as an energy storage button. In one example, the first operating part 73 is, for example, disposed on a side of the first energy storage part 71 away from the second energy storage part 72. The user presses the first operating part 73 along the engagement direction D1 to move the first energy storage part 71 toward the second energy storage part 72, so that the first energy storage part 71 and the second energy storage part 72 are compressed toward each other and store energy.

[0198] In an example not shown, the energy storage mechanism 67 further includes a torsion spring, and the first energy storage part 71 and the second energy storage part 72 can be connected to two arms of the torsion spring. Specifically, the first energy storage part 71 and the second energy storage part 72 are each rotatably connected to the sleeve 63, and the first energy storage part 71 and the second energy storage part 72 are rotatable relative to the sleeve 63 relative to the same rotation axis. The torsion spring is arranged between the first energy storage part 71 and the second energy storage part 72, and the first energy storage part 71 and the second energy storage part 72 are respectively connected to the two arms of the torsion spring. When one of the first energy storage part 71 and the second energy storage part 72 rotates relative to the other, the torsion spring stores or releases energy.

[0199] In another example, Fig.11 As shown, the first energy storage part 71 and the second energy storage part 72 constitute the two arms of the elastic curved plate with C-shaped (or U-shaped) bending, and the elastic curved plate is, for example, a plastic part or a metal part with high elastic deformation ability. The first energy storage part 71 and the second energy storage part 72 are, for example, the upper and lower arms of the elastic curved plate, respectively, and the upper arm and the lower arm are spaced a certain distance apart to allow the two arms to move toward each other when subjected to extrusion force, thereby storing deformation energy. In some application scenarios, the first operating part 73 is pressed by the user, and the extrusion force on the first energy storage part 71 is concentrated in the area connected to the first operating part 73. Under the action of this extrusion force, the first energy storage part 71 bends and deforms toward the second energy storage part 72, and the second energy storage part 72 abuts against the surgical execution device 80 through the locking mechanism 68, and can also abut against the sleeve 63 directly or indirectly. The elastic curved plate is rotatably connected to the sleeve 63 around the curved plate axis AX4, and the curved plate axis AX4 is located at the connection between the first energy storage part 71 and the second energy storage part 72. The first energy storage part 71 and the second energy storage part 72 can rotate around the curved plate axis AX4 relative to the sleeve 63 simultaneously. Therefore, when one of the first energy storage part 71 and the second energy storage part 72 rotates around the curved plate axis AX4 due to external force, the other can rotate around the curved plate axis AX4 without hindrance.

[0200] In one example, the energy storage mechanism 67 and the stop mechanism 69 are arranged along the unlocking direction D3 on the sleeve 63, wherein the unlocking direction D3 is different from the engaging direction D1. Optionally, the energy storage mechanism 67 and the stop mechanism 69 are arranged along the axial direction of the sleeve 63, that is, the unlocking direction D3 is parallel to the front-rear direction D2. For example, the unlocking direction D3 is perpendicular to the engaging direction D1 for easy operation.

[0201] In one example, the energy storage mechanism 67 and the stop mechanism 69 are arranged on the outer surface of the tube wall 64 for easy installation. The locking mechanism 68 protrudes from the energy storage mechanism 67 along the engagement direction D1. The locking mechanism 68 penetrates the tube wall 64 of the sleeve 63. For example, the tube wall 64 is provided with a through hole 65, and the locking mechanism 68 can pass through the through hole 65, so as to contact or engage with the support rod 15 inside the tube wall 64. It can be understood that the locking mechanism 68 is movable relative to the sleeve 63 along the engagement direction D1 and the opposite direction.

[0202] When the connection assembly 60 is in the energy storage state and the engaged state, the stop mechanism 69 contacts the first energy storage portion 71 and applies a force toward the second energy storage portion 72 to the first energy storage portion 71. For example, when the connection assembly 60 is in the energy storage state and the engaged state, the stop mechanism 69 contacts the side of the first energy storage portion 71 that faces away from the second energy storage portion 72 and applies a squeezing force toward the second energy storage portion 72 to the first energy storage portion 71.

[0203] In one example, the stop mechanism 69 includes a stop portion 91 for contacting the first energy storage portion 71. For example, the stop portion 91 includes two surfaces facing away from each other along the engagement direction D1, namely a first surface 97 and a second surface 98. When the connecting assembly 60 is in the energy storage state and the engagement state, the first surface 97 contacts the side of the first energy storage portion 71 facing away from the second energy storage portion 72. When the connecting assembly 60 is in the unlocking state, the second surface 98 faces or contacts the side of the first energy storage portion 71 facing the second energy storage portion 72, that is, is closer to the energy storage mechanism 67 than the first surface 97. Further, at least one of the stop portion 91 and the first energy storage portion 71 includes a guide slope, which is inclined relative to both the engagement direction D1 and the unlocking direction D3, so that when the first energy storage portion 71 is pressed toward the second energy storage portion 72, the first energy storage portion 71 applies a force to the stop portion 91 away from the first energy storage portion 71 along the unlocking direction D3. Fig.11 and Fig.12 In the example shown, a guide slope 94 is provided on one side of the stopper 91 facing the first energy storage portion 71, and a guide slope 74 is provided on one side of the first energy storage portion 71 facing the stopper 91. Fig.12 In the example shown, the guide slope 94 of the stopper 91 may be coplanar with the second surface 98. However, it is understood that one of the guide slope 94 and the guide slope 74 may be omitted.

[0204] In one example, the stop mechanism 69 further includes a second operating portion 93 and a second biasing member 92. The second operating portion 93 is used to be triggered (e.g., manually operated by a user) to move the stop portion 91 in the unlocking direction to unlock the stop mechanism 69, and is therefore also referred to as an unlocking button. The second operating portion 93 is movable relative to the sleeve 63 in the unlocking direction D3 and in the opposite direction thereof. The second biasing member 92 is connected to the second operating portion 93 and is used to apply a force to the second operating portion 93 in the unlocking direction D2 toward the energy storage mechanism 67. The force is used to reset the second operating portion 93.

[0205] In the present application, a biasing member is a member used to bias a certain component toward a certain direction, for example, a biasing force can be applied to the certain component through elastic force, magnetic force, restoring force, etc., so that the certain component tends to be stably located at a preset position. The biasing member can also be understood as a restoring member, which is used to return the certain component to the preset position when it deviates from the preset position.

[0206] In an example, Fig.11 or Fig.12 As shown, the second biasing member 92 is configured as an elastic member, that is, the second biasing member 92 applies a force along the unlocking direction D3 toward the energy storage mechanism 67 to the second operating portion 93 through its own elastic force.

[0207] exist Fig.11 In the example shown, the second biasing member 92 includes two elastic parts 96 and 95 that are arranged oppositely and connected along the unlocking direction D3 (the second biasing member 92 is, for example, constructed in a U-shape, and the elastic parts 96 and 95 are two arms of the U-shape), and the two elastic parts 96 and 95 can be moved toward each other. The second operating part 93 and the stopper 91 are connected to the elastic part 96 of the two elastic parts 96 and 95 that is close to the energy storage mechanism 67, and the elastic part 95 of the two elastic parts 96 and 95 that is away from the energy storage mechanism 67 is connected to the tube wall 64. The second operating part 93 is constructed as a pressing plate. When the pressing plate is pressed, the second biasing member 92 is elastically deformed, that is, the elastic part 96 of the second biasing member 92 that is close to the energy storage mechanism 67 moves away from the energy storage mechanism 67 along the unlocking direction D3, so that the stopper 91 is away from the first energy storage part 71. When the user releases the second operating part 93, the elastic part 96 returns to its original position by elasticity, so that the stopper 91 moves toward the energy storage mechanism 67.

[0208] exist Fig.12In the example shown, the second operating part 93 is configured as a slider, which is disposed on the tube wall 64 and is movable relative to the tube wall 64 along the unlocking direction D3 and the opposite direction thereof through a guide. The second biasing member 92 is configured as an elastic member, such as a compression spring, and the compression spring 92 is disposed on a side of the second operating part 93 away from the energy storage mechanism 67. When the user pushes the second operating part 93 away from the energy storage mechanism 67, the spring 92 is compressed, and the stopper 91 is away from and released from contact with the first energy storage part 71. When the user releases the second operating part 93, the spring 92 returns to its original position by elasticity, so that the stopper 91 moves toward the energy storage mechanism 67.

[0209] The connection assembly 60 further includes a first biasing member 66, which is used to apply a force opposite to the engagement direction D1 and away from the surgical execution device 80 (specifically, the support rod 15) to the second energy storage portion 72. The first biasing member 66 is disposed between the tube wall 64 of the sleeve 63 and the second energy storage portion 72. The first biasing member 66 is, for example, configured as an elastic member, such as a spring.

[0210] The application scenarios of the connecting component 60 of the embodiment of the present application in the uterine manipulator 100 can be exemplified as follows.

[0211] In the unlocked state of the connecting assembly 60, the first energy storage portion 71 is farther away from the sleeve 63 than the stopper portion 91 along the engagement direction D1, that is, in the unlocked state, the stopper portion 91 is located between the first energy storage portion 71 and the sleeve 63 along the engagement direction D1. At this time, there is no compression between the first energy storage portion 71 and the second energy storage portion 72, the energy storage mechanism 67 does not store energy, and the first biasing member 66 is in a restored state.

[0212] When the first operating part 73 is pressed, the energy storage mechanism 67 is triggered, the first energy storage part 71 moves along the engagement direction D1, and the energy storage mechanism 67 stores energy, which has the first elastic potential energy. Under the action of the guide slope 74 / 94 and the second biasing member 92, the stopper 91 moves away from the first energy storage part 71 along the unlocking direction D3, and the second biasing member 92 deforms and stores energy. After the first energy storage part 71 moves over the stopper 91 along the engagement direction D1, the second biasing member 92 is reset, so that the stopper 91 stays on the side of the first energy storage part 71 away from the sleeve 63 along the engagement direction D1, blocking the first energy storage part 71 from moving away from the second energy storage part 72 in the direction opposite to the engagement direction D1, so that the energy storage mechanism 67 maintains the energy storage state. It can be understood that in the energy storage state, under the action of the first elastic potential energy, the first energy storage part 71 and the second energy storage part 72 have a tendency to move away from each other. At this time, under the action of the second energy storage part 72, the locking mechanism 68 enters the sleeve 63 and abuts against the surgical execution device 80. At the same time, under the action of the second energy storage part 72, the first biasing member 66 deforms and stores energy. The torque applied by the first biasing member 66 to the second energy storage part 72 is smaller than the torque received by the second energy storage part 72 under the action of the first elastic potential energy, so the second energy storage part 72 and the locking mechanism 68 have a tendency to move away from the first energy storage part 71 along the engagement direction D1.

[0213] In the energy storage state, when the locking tube 63 moves to the position where the locking mechanism 68 is opposite to the groove of the support rod 15, the energy storage mechanism 67 releases energy due to space permission, so that the locking mechanism 68 enters the groove under the action of the second energy storage part 72 and completes the engagement, so that the connecting assembly 60 changes to a locked state and cannot move in the front-to-back direction D2 relative to the surgical execution device 80. Since the stop mechanism 69 still acts on the first energy storage part 71 at this time, the energy storage mechanism 67 is still in an energy storage state and has a second elastic potential energy. Under the action of the second elastic potential energy, the second energy storage part 72 still applies a force to the locking mechanism 68 away from the first energy storage part 71 along the engagement direction D1, so that the locking mechanism 68 cannot be separated from the support rod 15, and thus stably engages with the support rod 15.

[0214] When the second operating part 93 is operated, the stopper mechanism 69 is triggered. As described above, the stopper mechanism 91 releases the pressure on the first energy storage part 71, and the energy storage mechanism 67 releases energy. At the same time, the first biasing member 66 releases energy, and the energy storage mechanism 67 moves away from the sleeve 63 in the direction opposite to the engagement direction D1 under the action of the first biasing member 66, so that the locking mechanism 68 moves away from the surgical implementation device 80 in the direction opposite to the engagement direction D1, and the connecting assembly 60 is unlocked from the surgical implementation device 80. When the second operating part 93 is released, under the action of the second biasing member 92, the stopper mechanism 69 moves in the direction opposite to the unlocking direction D3 to a position between the energy storage mechanism 67 (at least the first energy storage part 71) and the sleeve 63 in the engagement direction D1, thereby preventing the energy storage mechanism from moving toward the sleeve 63 along the engagement direction D1, so that the locking mechanism 68 remains separated from the surgical implementation device 80.

[0215] In the present application, the connection component 60 switches the locking state, unlocking state and energy storage state of the connection component 60 through two operation buttons, thereby realizing the connection state switching between the connection component 60 and the surgical execution device 80. The operation is fast and convenient. On the one hand, it helps to quickly cooperate with the surgeon's surgical operation, and on the other hand, it can reduce the learning curve of the operating surgeon.

[0216] In the present application, the surgical execution device 80 is a device for lifting the uterus. It can be understood that the connecting component 60 can also be applied to other surgical execution devices for contacting the human body and performing surgical functions.

[0217] The processes and steps described in all the above preferred embodiments are only examples. Unless adverse effects occur, various processing operations can be performed in a sequence different from the sequence of the above processes. The sequence of steps in the above processes can also be increased, merged or deleted according to actual needs.

[0218] In understanding the scope of the present application, the term "comprising" and its derivatives as used herein are intended to be open terms, which specify the existence of the recorded features, elements, components, groups, wholes and / or steps, but do not exclude the existence of other unrecorded features, elements, components, groups, wholes and / or steps. This concept also applies to words with similar meanings, such as the terms "including", "having" and their derivatives.

[0219] The terms "attached" or "attached" as used herein include: a configuration where an element is directly secured to another element by being directly secured to the other element; a configuration where an element is indirectly secured to another element by being secured to an intermediate member which in turn is secured to the other element; and a configuration where one element is integral with another element, i.e., one element is substantially a part of the other element. This definition also applies to words with similar meanings such as "connect," "connect," "couple," "mount," "bond," "fix," and their derivatives. Finally, terms of degree such as "substantially," "approximately," and "approximately" as used herein represent the amount of deviation that modifies the term such that the end result will not be significantly changed.

[0220] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present application. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present application. The features described herein in one embodiment may be applied to another embodiment individually or in combination with other features, unless the feature is not applicable or otherwise specified in the other embodiment.

[0221] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. In addition, it can be understood by those skilled in the art that the present application is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed by the present application.

Claims

1. A uterine manipulator for a surgical robot, characterized in that: include: A uterine support assembly, adapted to extend into the human body to contact the uterus; A support rod, the uterus support assembly being disposed at a distal end of the support rod; A first transmission mechanism, disposed along the support rod, for actuating the uterus support assembly to rotate relative to the support rod; and A second transmission mechanism is provided at the proximal end of the support rod, and the second transmission mechanism comprises: A first transmission member, wherein the first transmission member can rotate relative to the support rod around a first axis to drive the first transmission mechanism to move; and The second transmission member is meshed with the first transmission member for transmission, and the second transmission member can rotate around a second axis relative to the support rod. The first axis and the second axis are not in the same plane, and the second transmission member is used to rotate when driven by the instrument drive module of the surgical robot.

2. The uterine manipulator according to claim 1, characterized in that: The first transmission member and the second transmission member are a worm gear pair, a staggered axis helical gear pair, or a bevel gear pair.

3. The uterine manipulator according to claim 1, characterized in that: The second transmission mechanism also includes a third transmission member, wherein The third transmission member connects the second transmission member and the instrument drive module, so that the instrument drive module actuates the second transmission member through the third transmission member; or The third transmission member connects the first transmission member and the first transmission mechanism, so that the first transmission member actuates the first transmission mechanism through the third transmission member.

4. The uterine manipulator according to claim 3, characterized in that: The third transmission member includes a gear assembly, which includes a plurality of gears meshing in sequence, wherein the first gear of the gear assembly is coaxially connected to the second transmission member, and the last gear of the gear assembly is used to connect to the instrument drive module.

5. The uterine manipulator according to claim 1, characterized in that: The first transmission mechanism includes a distal rotating member and a fourth transmission member, the uterine support assembly is fixed to the distal rotating member, the distal rotating member is rotatably connected to the distal end of the support rod, the fourth transmission member is arranged along the support rod and connected to the distal rotating member, and the first transmission member actuates the distal rotating member through at least the fourth transmission member.

6. The uterine manipulator according to claim 5, characterized in that: The fourth transmission member includes at least one of a connecting rod, a transmission belt and a wire rope.

7. The uterine manipulator according to claim 5, characterized in that: The first transmission mechanism also includes a proximal rotating member, which is rotatably arranged at the proximal end of the support rod and connected to the fourth transmission member. The first transmission member actuates the distal rotating member through the proximal rotating member and the fourth transmission member, and the rotation axis of the proximal rotating member is parallel to the rotation axis of the distal rotating member.

8. The uterine manipulator according to claim 7, characterized in that: The first transmission member is a turbine, and the turbine is coaxially connected to the proximal rotating member. The second transmission member is a worm gear, which is adapted to and meshed with the turbine. The worm gear is used to rotate under the drive of the instrument drive module.

9. The uterine manipulator according to claim 7, characterized in that: The uterine manipulator also includes an angle indicator plate, which is coaxially connected to the proximal rotating member and rotates synchronously with the proximal rotating member, and the angle indicator plate is provided with an angle scale.

10. The uterine manipulator according to claim 7, characterized in that: It also includes a third transmission mechanism, which is connected to the proximal rotating member to rotate synchronously with the proximal rotating member, and is used to connect to the angle measuring device of the instrument driving module.

11. The uterine manipulator according to claim 10, characterized in that: The third transmission mechanism comprises: A first gear coaxially connected to the proximal end rotating member to rotate synchronously with the proximal end rotating member; and The second gear is meshed with the first gear, and the second gear is used to connect with the angle measuring device.

12. The uterine manipulator according to claim 10, characterized in that: The uterine manipulator comprises a rear transmission module, and the rear transmission module comprises the second transmission mechanism and the third transmission mechanism. The second transmission mechanism is provided with a first interface for connecting to the instrument drive module, and the third transmission mechanism is provided with a second interface for connecting to the angle measuring device. Wherein, the first interface and the second interface are located on the same side of the rear end transmission module.

13. The uterine manipulator according to claim 7, characterized in that: The fourth transmission member comprises: a first connecting rod, the first connecting rod extending along the extending direction of the supporting rod, the distal end of the first connecting rod being rotatably connected to the distal end rotating member, and the proximal end of the first connecting rod being rotatably connected to the proximal end rotating member; and A second connecting rod, wherein the second connecting rod extends along the extending direction of the supporting rod, the distal end of the second connecting rod is rotatably connected to the distal end rotating member, and the proximal end of the second connecting rod is rotatably connected to the proximal end rotating member.

14. The uterine manipulator according to claim 13, characterized in that: The first connecting rod and the second connecting rod move with the rotation of the proximal end rotating member, and the first connecting rod and the second connecting rod remain parallel.

15. The uterine manipulator according to claim 1, characterized in that: The uterine manipulator also includes a hand knob for user operation, and the hand knob is connected to the first transmission member or the second transmission member so that the user can drive the first transmission member or the second transmission member to rotate, thereby adjusting the angle of the uterine support assembly relative to the support rod.

16. The uterine manipulator according to any one of claims 1 to 15, characterized in that: The uterine manipulator also includes a connecting component, which is connected to the support rod. The connecting component is also used to connect to the robotic arm of the surgical robot so that the uterine manipulator can be installed on the robotic arm.

17. The uterine manipulator according to claim 16, characterized in that: The connecting assembly is sleeved on the outer circumference of the supporting rod.

18. The uterine manipulator according to claim 16, characterized in that: The uterine manipulator is constructed so that the connecting assembly can be engaged with the support rod.

19. The uterine manipulator according to claim 18, characterized in that: The connection assembly has a locked state, an unlocked state and an energy storage state. When the connecting assembly is in the engaging state, the connecting assembly is engaged with the support rod and cannot move relative to the support rod. When the connecting assembly is in the unlocked state, the connecting assembly is released from the support rod and is movable relative to the support rod. When the connecting assembly is in the energy storage state, the connecting assembly is movable relative to the support rod until the connecting assembly moves to the engaging position, and then the connecting assembly changes from the energy storage state to the engaging state.

20. A surgical robot, characterized in that: include: A mechanical arm, the mechanical arm comprising a driving module for providing a driving force, and The uterine manipulator according to any one of claims 1 to 19, wherein the uterine manipulator is used to be mounted on the robotic arm. Wherein, the driving module includes an instrument driving module for driving the second transmission member to rotate.

21. The surgical robot according to claim 20, characterized in that: The instrument drive module includes a motor for providing driving force; and / or The end of the robotic arm can move in at least one degree of freedom.

22. The surgical robot according to claim 20, characterized in that: The driving module also includes a linear driving module for driving the instrument driving module and the uterine manipulator to move along a linear direction.

23. The surgical robot according to any one of claims 20 to 22, characterized in that: Also included is a control system, which communicates with the instrument driving module to control the operation of the instrument driving module.

Images