Surgical robot mechanical arm tail end switching tool and surgical robot

Abstract

The utility model relates to a surgical robot mechanical arm tail end switching tool and a surgical robot, the surgical robot mechanical arm tail end switching tool comprises a switching rack and at least two channel connecting mechanisms detachably arranged on the switching rack, one channel connecting mechanism slides close to or far away from the other channel connecting mechanism, and the other channel connecting mechanism slides close to or far away from the switching rack. The channel connecting mechanism comprises a channel base and a clamping mechanism, the clamping mechanism is rotatably arranged on the channel base, and the clamping mechanism is used for installing a surgical instrument. The relative distance between the two channel connecting mechanisms is adjustable, and the clamping mechanisms on the channel connecting mechanisms can rotate on the channel base, so that the rotation of the channel base is matched with the adjustment of the distance between the channel connecting mechanisms, the switching between a single-channel operation and a multi-channel operation can be realized, the operation efficiency is improved, and the operation cost is reduced. And the research and development cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a surgical robot mechanical arm end adapter tool and a surgical robot. Background Art

[0002] Lumbar disc herniation, also considered a degenerative spinal disease, is a common cause of low back pain and leg pain. Lumbar disc herniation is mainly treated non-surgically, including lifestyle management, physical therapy, and medication. If the symptoms are severe and the patient does not respond to non-surgical treatment, minimally invasive spinal technology or open surgery can be used. In the minimally invasive surgical treatment of disc herniation, the most commonly used minimally invasive spinal endoscopy technology is UBE (unilateral dual-channel endoscope technology). The endoscopes used include full endoscopes, microendoscopes, and double-hole endoscopes.

[0003] Among them, the full endoscope and microendoscope are single-channel, and the double-hole endoscope is dual-channel. The existing technology uses a single-channel robot for single-channel surgery and a multi-channel robot for multi-channel surgery. When doctors switch between single-channel surgery and multi-channel surgery, they need to switch the corresponding surgical robot. It is impossible for one surgical robot to switch between single-channel surgery and multi-channel surgery, resulting in low efficiency. In addition, the corresponding surgical robots designed for different surgeries lead to high costs. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a surgical robot arm end adapter tool and a surgical robot to improve surgical efficiency and save costs.

[0005] On the one hand, the utility model provides a surgical robot arm end adapter tool, including an adapter frame and at least two channel connecting mechanisms detachably arranged on the adapter frame, wherein one of the channel connecting mechanisms slides relatively close to or away from the other channel connecting mechanism, and the channel connecting mechanism includes a channel base and a clamping mechanism, and the clamping mechanism is rotatably arranged on the channel base, and the clamping mechanism is used to install surgical instruments.

[0006] In one embodiment of the utility model, the channel connecting mechanism is a first channel connecting mechanism and a second channel connecting mechanism, and the first channel connecting mechanism and the second channel connecting mechanism can be slidably arranged on the adapter frame, the first channel connecting mechanism is connected to a first motor screw drive unit, and the second channel connecting mechanism is connected to a second motor screw drive unit, the first motor screw drive unit and the second motor screw drive unit provide sliding force for the channel connecting mechanism, and the first motor screw drive unit and the second motor screw drive unit both have a working state and a fixed state.

[0007] In one embodiment of the utility model, the first motor screw drive unit and the second motor screw drive unit both include a motor drive module and a screw drive module, the screw drive module includes a rotating screw and a sliding nut, a plurality of nut slide rails are arranged on the adapter frame, the sliding nuts are slidably arranged on the corresponding nut slide rails, and the sliding direction of the sliding nuts on the nut slide rails is along the direction in which the two channel connection mechanisms approach or move away from each other, the output shaft of the motor drive module is connected to the rotating screw, one of the sliding nuts is connected to the first channel connection mechanism, and the other sliding nut is connected to the second channel connection mechanism.

[0008] In one embodiment of the utility model, an instrument hole is provided on the clamping mechanism, the surgical instrument is installed in the instrument hole, and the axis of the surgical instrument on the first channel connecting mechanism and the axis of the surgical instrument on the second channel connecting mechanism include a coaxial state, an intersecting state and a parallel state.

[0009] In one embodiment of the utility model, the surgical instrument on the first channel connecting mechanism is an operating sleeve, and the surgical instrument on the second channel connecting mechanism is an endoscope, and the axis of the endoscope is in an intersecting state with the axis of the operating sleeve.

[0010] In one embodiment of the utility model, the surgical instrument on the first channel connecting mechanism is an operating sleeve, and the surgical instrument on the second channel connecting mechanism is an endoscope. The axis of the endoscope is coaxial with the axis of the operating sleeve. A cylindrical cavity is provided in the operating sleeve, and the endoscope is inserted into the cylindrical cavity.

[0011] In one embodiment of the utility model, a first limit member and a second limit member are provided on the adapter frame. Along the direction in which the second channel connecting mechanism is relatively close to or away from the first channel connecting mechanism, the first limit member is provided at one end of the adapter frame, and the second limit member is provided at the other end of the adapter frame. The first channel connecting mechanism and the second channel connecting mechanism can be slidably provided between the first limit member and the second limit member.

[0012] In one embodiment of the utility model, the channel connecting mechanism also includes an instrument motor driving unit, a driving shaft is rotatably provided on the channel base, the clamping mechanism is provided on one end of the driving shaft away from the channel base, and the end of the driving shaft away from the clamping mechanism is connected to the output shaft of the instrument motor driving unit.

[0013] On the other hand, a surgical robot is provided, comprising the above-mentioned surgical robot arm end adapter tool, wherein an adapter frame is provided with an adapter part, and the adapter frame is detachably arranged on the end of the robotic arm through the adapter part.

[0014] In one embodiment of the utility model, the surgical robot includes a control system, and the surgical robot arm end adapter tool includes a motor screw drive unit for providing sliding force to the channel connecting mechanism and an instrument motor drive unit for providing rotational power to the clamping mechanism, and the motor screw drive unit and the instrument motor drive unit are both communicatively connected to the control system.

[0015] The above technical solution of the utility model has the following advantages compared with the prior art:

[0016] (1) The surgical robot arm end adapter tool provided in the present application connects at least two channel connecting mechanisms to the end of the surgical robot arm through an adapter frame, wherein one channel connecting mechanism slides relatively closer to or farther away from the other channel connecting mechanism, so that the relative distance between the two channel connecting mechanisms is adjustable, and the clamping mechanism on the channel connecting mechanism can rotate on the channel base, so that the rotation of the channel base and the distance adjustment between the channel connecting mechanisms cooperate to realize the switching between single-channel surgery and multi-channel surgery, thereby improving surgical efficiency and reducing R&D costs.

[0017] (2) The channel connecting mechanism can be detachably arranged on the adapter frame. Therefore, the number of channel connecting mechanisms on the adapter frame can be adjusted according to demand. One channel connecting mechanism can be installed on the adapter frame, or two or more channel connecting mechanisms can be installed on the adapter frame to meet the needs of different surgeries, thereby improving the versatility of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a structural schematic diagram of the surgical robot mechanical arm end adapter tool of the utility model;

[0020] Figure 2 It is a structural schematic diagram of a lead screw drive module of a surgical robot mechanical arm end adapter tool of the utility model;

[0021] Figure 3This is a schematic diagram of a multi-channel surgery of the surgical robot mechanical arm end adapter tool of the utility model;

[0022] Figure 4 It is a schematic diagram of a single-channel surgery of the surgical robot mechanical arm end adapter tool of the utility model.

[0023] Description of the Figures in the Specification:

[0024] 1. Adapter rack; 2. Channel connecting mechanism; 3. Channel base; 4. Clamping mechanism; 5. First channel connecting mechanism; 6. Second channel connecting mechanism; 7. Screw drive module; 8. Rotating screw; 9. Sliding nut; 10. Nut slide rail; 11. Instrument hole; 12. Operating sleeve; 13. Endoscope; 14. Cylindrical cavity; 15. First limiter; 16. Second limiter; 17. Drive shaft; 18. Adapter. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] Embodiment 1

[0027] Reference Figure 1 to Figure 4 As shown, the surgical robot arm end adapter tool of the utility model includes an adapter frame 1 and at least two channel connecting mechanisms 2 detachably arranged on the adapter frame 1, wherein one of the channel connecting mechanisms 2 slides relatively close to or away from the other channel connecting mechanism 2, and the channel connecting mechanism 2 includes a channel base 3 and a clamping mechanism 4, and the clamping mechanism 4 is rotatably arranged on the channel base 3, and the clamping mechanism 4 is used to install surgical instruments.

[0028] The surgical robot arm end adapter kit of the present application includes an adapter frame 1 and a channel connection mechanism 2, and the channel connection mechanism 2 is arranged on the adapter frame 1. Specifically, the channel connection mechanism 2 is used to connect the surgical instrument, and then the channel connection mechanism 2 is connected to the end of the surgical robot arm through the adapter frame 1 to realize the connection between the surgical instrument and the surgical robot arm. Further, at least two channel connection mechanisms 2 are provided, and preferably, two channel connection mechanisms 2 are provided, so as to realize the switching between single-channel surgery and multi-channel surgery through the cooperation of two channel connection mechanisms 2. Further, each channel connection mechanism 2 is used to connect the corresponding surgical instrument, and the two channel connection mechanisms 2 can simultaneously connect two different surgical instruments, wherein one channel connection mechanism can slide relative to the other channel connection mechanism, so that the two channel connection mechanisms 2 can be relatively close or far away from each other, and therefore, two different surgical instruments can realize the switching between single-channel surgery and multi-channel surgery under the cooperation of the channel connection mechanism 2. For example, since the channel connecting mechanism 2 can be detachably arranged on the adapter frame 1, a channel connecting mechanism can be installed on the robotic arm of a surgical robot, and the corresponding surgical instrument is installed on the channel connecting mechanism 2, and the corresponding surgery is completed by the surgical instrument; two channel connecting mechanisms are installed on the adapter frame 1, and the axes of the two surgical instruments on the two channel connecting mechanisms are coaxially arranged to cooperate with each other to complete a single-channel surgery; or the axes of the two surgical instruments on the two channel connecting mechanisms are intersectingly arranged to cooperate with each other to complete a multi-channel surgery.

[0029] The surgical robot arm end adapter tool provided in the present application connects at least two channel connection mechanisms 2 to the end of the surgical robot arm through an adapter frame 1, wherein one channel connection mechanism slides relatively close to or away from the other channel connection mechanism, so the relative distance between the two channel connection mechanisms 2 is adjustable, and the clamping mechanism 4 on the channel connection mechanism 2 can rotate on the channel base 3, so the rotation of the channel base 3 and the distance adjustment between the channel connection mechanisms 2 cooperate to achieve the switching between single-channel surgery and multi-channel surgery, thereby improving the surgical efficiency and reducing the R&D cost. In addition, the channel connection mechanism 2 can be detachably arranged on the adapter frame 1, so the number of channel connection mechanisms 2 on the adapter frame 1 can be adjusted according to demand, and one channel connection mechanism can be installed on the adapter frame 1, or two or more channel connection mechanisms can be installed to meet the needs of different surgeries, thereby improving the versatility of the surgical robot.

[0030] In one embodiment, the channel connecting mechanism 2 is a first channel connecting mechanism 5 and a second channel connecting mechanism 6, and the first channel connecting mechanism 5 and the second channel connecting mechanism 6 can be slidably arranged on the adapter frame 1, and the first channel connecting mechanism 5 is connected to a first motor screw drive unit, and the second channel connecting mechanism 6 is connected to a second motor screw drive unit, and the first motor screw drive unit and the second motor screw drive unit provide sliding force for the channel connecting mechanism 2, and the first motor screw drive unit and the second motor screw drive unit both have a working state and a fixed state.

[0031] like Figure 1 As shown, two channel connection mechanisms 2 are preferably provided on the adapter frame 1. Specifically, the channel connection mechanism 2 is a first channel connection mechanism 5 and a second channel connection mechanism 6, and the first channel connection mechanism 5 and the second channel connection mechanism 6 can be slidably arranged on the adapter frame 1 to achieve relative approach or distance between the two channel connection mechanisms. The first channel connection mechanism 5 and the second channel connection mechanism 6 both include a channel base 3 and a clamping mechanism 4. Furthermore, the sliding force of the first channel connection mechanism 5 is the first motor screw drive unit, and the sliding force of the second channel connection mechanism 6 is the second motor screw drive unit. Since the first motor screw drive unit and the second motor screw drive unit both have a working state and a fixed state, the first motor screw drive unit and the second motor screw drive unit cooperate to form four working modes. The first working mode: when the first motor screw drive unit is in a working state and the second motor screw drive unit is in a fixed state, the second motor screw drive unit is fixed, and the first motor screw drive unit approaches or moves away from the second motor screw drive unit; the second working mode: Mode: when the first motor screw drive unit is in a fixed state and the second motor screw drive unit is in a working state, the first motor screw drive unit is fixed and the second motor screw drive unit is close to or far away from the first motor screw drive unit; third working mode: when the first motor screw drive unit is in a working state and the second motor screw drive unit is in a working state, the first motor screw drive unit and the second motor screw drive unit are relatively close to or far away from each other at the same time; fourth working mode: when the first motor screw drive unit is in a fixed state and the second motor screw drive unit is in a fixed state, both the first motor screw drive unit and the second motor screw drive unit are fixed. The above four working modes are respectively adapted to the corresponding surgical needs, which greatly improves the versatility of the surgical robot.

[0032] In one embodiment, the first motor screw drive unit and the second motor screw drive unit both include a motor drive module and a screw drive module 7, the screw drive module 7 includes a rotating screw 8 and a sliding nut 9, a plurality of nut slide rails 10 are provided on the adapter frame 1, the sliding nuts 9 are slidably provided on the corresponding nut slide rails 10, the sliding direction of the sliding nuts 9 on the nut slide rails 10 is along the direction in which the two channel connection mechanisms 2 approach or move away, the output shaft of the motor drive module is connected to the rotating screw 8, one of the sliding nuts 9 is connected to the first channel connection mechanism 5, and the other sliding nut 9 is connected to the second channel connection mechanism 6.

[0033] The sliding force of the first channel connection mechanism 5 is the first motor screw drive unit, and the sliding force of the second channel connection mechanism 6 is the second motor screw drive unit. Specifically, the first motor screw drive unit and the second motor screw drive unit both include a motor drive module and a screw drive module 7 (the motor drive module and the screw drive module of the first motor screw drive unit are not shown in the figure, and the motor drive module of the second motor screw drive unit is not shown in the figure), such as Figure 2 As shown, the screw drive module 7 includes a rotating screw 8 and a sliding nut 9, and a plurality of nut slide rails 10 are arranged on the adapter frame 1. The number of the nut slide rails 10 is consistent with the number of the channel connection mechanism 2, and preferably two are arranged. The output shaft of the motor drive module of the first motor screw drive unit is connected to the rotating screw of the screw drive module of the first motor screw drive unit, so as to transmit the rotational power of the motor drive module to the corresponding rotating screw; the sliding nut is slidably arranged on the corresponding nut slide rail, and the rotating screw of the first motor screw drive unit is connected to the corresponding sliding nut, so as to convert the rotational motion of the rotating screw into the linear motion of the sliding nut, and the sliding nut is connected to the first channel connection mechanism, so as to drive the first channel connection mechanism to slide through the linear motion of the sliding nut. Similarly, the output shaft of the motor drive module of the second motor screw drive unit is connected to the rotating screw 8 of the screw drive module 7 of the second motor screw drive unit, so as to transmit the rotational power of the motor drive module to the corresponding rotating screw 8. The sliding nut 9 is slidably arranged on the corresponding nut slide rail 10, and the rotating screw 8 of the second motor screw drive unit is connected to the corresponding sliding nut 9, so as to convert the rotating motion of the rotating screw 8 into the linear motion of the sliding nut 9, and the sliding nut 9 is connected to the second channel connection mechanism 6, so as to drive the first channel connection mechanism 5 to slide through the linear motion of the sliding nut 9. Then, by controlling the working states of the first motor screw drive unit and the second motor screw drive unit, the switching of four working modes is realized to further adapt to the corresponding surgical needs, which greatly improves the versatility of the surgical robot.

[0034] In one embodiment, an instrument hole 11 is provided on the clamping mechanism 4, and the surgical instrument is installed in the instrument hole 11. The axis of the surgical instrument on the first channel connecting mechanism 5 and the axis of the surgical instrument on the second channel connecting mechanism 6 include a coaxial state, an intersecting state and a parallel state.

[0035] like Figure 1 As shown, the clamping mechanism 4 is used to clamp the surgical instrument. Specifically, the clamping mechanism 4 is provided with an instrument hole 11, and the surgical instrument is installed in the instrument hole 11, so as to realize the clamping of the surgical instrument by the clamping mechanism 4. Furthermore, the axis of the surgical instrument installed in the instrument hole 11 on the first channel connecting mechanism 5 and the axis of the surgical instrument installed in the instrument hole 11 on the second channel connecting mechanism 6 have three states: coaxial state, intersection state and parallel state. The three states can adapt to different surgical needs, greatly improving the versatility of the surgical robot.

[0036] In one embodiment, the surgical instrument on the first channel connecting mechanism 5 is an operating sleeve 12 , and the surgical instrument on the second channel connecting mechanism 6 is an endoscope 13 , and the axis of the endoscope 13 intersects with the axis of the operating sleeve 12 .

[0037] like Figure 3 As shown, the axis of the surgical instrument installed by the instrument hole 11 on the first channel connection mechanism 5 and the axis of the surgical instrument installed by the instrument hole 11 on the second channel connection mechanism 6 are in an intersecting state. Specifically, the surgical instrument on the first channel connection mechanism 5 is an operating sleeve 12, and the surgical instrument on the second channel connection mechanism 6 is an endoscope 13. The axis of the endoscope 13 is in an intersecting state with the axis of the operating sleeve 12. At this time, the operation is a multi-channel operation (that is, a dual-channel operation). At this time, the relative distance between the two is first adjusted by the first motor screw drive unit and the second motor screw drive unit, and then the angle between the axis of the endoscope 13 and the axis of the operating sleeve 12 is adjusted by adjusting the angle of the clamping mechanism 4. After the relative distance and angle are adjusted, the corresponding multi-channel operation can be performed.

[0038] In one embodiment, the surgical instrument on the first channel connecting mechanism 5 is an operating sleeve 12, and the surgical instrument on the second channel connecting mechanism 6 is an endoscope 13. The axis of the endoscope 13 is coaxial with the axis of the operating sleeve 12. A cylindrical cavity 14 is provided in the operating sleeve 12, and the endoscope 13 is inserted into the cylindrical cavity 14.

[0039] like Figure 4As shown, the axis of the surgical instrument installed in the instrument hole 11 on the first channel connection mechanism 5 is coaxial with the axis of the surgical instrument installed in the instrument hole 11 on the second channel connection mechanism 6. Specifically, the surgical instrument on the first channel connection mechanism 5 is an operating sleeve 12, and the surgical instrument on the second channel connection mechanism 6 is an endoscope 13. The axis of the endoscope 13 is coaxial with the axis of the operating sleeve 12, and the operation at this time is a single-channel operation. Further, a cylindrical cavity 14 is provided in the operating sleeve 12, and the endoscope 13 is inserted into the cylindrical cavity 14 to form a coaxial state between the endoscope 13 and the operating sleeve 12. At this time, the axis of the endoscope 13 and the axis of the operating sleeve 12 are first adjusted by adjusting the angle of the clamping mechanism 4, so that the axis of the endoscope 13 coincides with the axis of the operating sleeve 12, and then the relative distance between the two is adjusted by the first motor screw drive unit and the second motor screw drive unit. The depth of the endoscope 13 inserted into the operating sleeve 12 can be adjusted, and the corresponding single-channel operation can be performed after the depth adjustment is completed.

[0040] In one embodiment, a first limit member 15 and a second limit member 16 are provided on the adapter rack 1. Along the direction in which the second channel connecting mechanism 6 is relatively close to or away from the first channel connecting mechanism 5, the first limit member 15 is provided at one end of the adapter rack 1, and the second limit member 16 is provided at the other end of the adapter rack 1. The first channel connecting mechanism 5 and the second channel connecting mechanism 6 can be slidably provided between the first limit member 15 and the second limit member 16.

[0041] like Figure 2As shown, in order to improve the working accuracy and working efficiency, a first limiter 15 and a second limiter 16 are provided on the adapter frame 1 to limit the travel of the first channel connection mechanism 5 and the second channel connection mechanism 6. The adapter frame 1 is in a rectangular shape, and the length of the rectangle is the direction in which the second channel connection mechanism 6 is relatively close to or away from the first channel connection mechanism 5, that is, the sliding direction of the first channel connection mechanism 5 and the second channel connection mechanism 6 is along the length direction of the adapter frame 1. Along the length direction of the adapter frame 1, the first limiter 15 is provided at one end of the adapter frame 1, and the second limiter 16 is provided at the other end of the adapter frame 1. The first channel connection mechanism 5 and the second channel connection mechanism 6 can be slidably provided between the first limiter 15 and the second limiter 16, so as to limit the travel of the first channel connection mechanism 5 and the second channel connection mechanism 6 through the first limiter 15 and the second limiter 16. In addition, the first channel connection mechanism 5 can be directly fixed on the adapter frame 1 through the first limiter 15, and the second channel connection mechanism 6 can be slidably arranged between the first channel connection mechanism 5 and the second limiter 16. At this time, the first motor screw drive unit and the second motor screw drive unit cooperate to form two working modes. The first working mode: when the first motor screw drive unit is in a fixed state and the second motor screw drive unit is in a working state, the first motor screw drive unit is fixed and the second motor screw drive unit is close to or away from the first motor screw drive unit; the second working mode: when the first motor screw drive unit is in a fixed state and the second motor screw drive unit is in a fixed state, the first motor screw drive unit and the second motor screw drive unit are both fixed. The above two working modes are respectively adapted to the corresponding surgical needs, which greatly improves the versatility of the surgical robot.

[0042] In one embodiment, the channel connecting mechanism 2 also includes an instrument motor driving unit, a driving shaft 17 is rotatably provided on the channel base 3, the clamping mechanism 4 is provided on one end of the driving shaft 17 away from the channel base 3, and the end of the driving shaft 17 away from the clamping mechanism 4 is connected to the output shaft of the instrument motor driving unit.

[0043] like Figure 1As shown, the clamping mechanism 4 is rotatably arranged relative to the channel base 3. Specifically, the channel connection mechanism 2 includes an instrument motor drive unit (not shown in the figure, arranged inside the channel base), and the instrument motor drive unit provides rotational power for the clamping mechanism 4. Further, a drive shaft 17 is rotatably arranged on the channel base 3, and the output shaft of the instrument motor drive unit is connected to the drive shaft 17, so as to transmit the rotational power of the instrument motor drive unit to the drive shaft 17, and further drive the drive shaft 17 to rotate around its axis. In addition, the clamping mechanism 4 is arranged on the end of the drive shaft 17 away from the channel base 3, and the output shaft of the instrument motor drive unit is connected to the end of the drive shaft 17 away from the clamping mechanism 4, so as to transmit the rotational power of the drive shaft 17 to the clamping mechanism 4, realize the rotation action of the clamping mechanism 4, and further realize the rotation of the clamped surgical instrument driven by the clamping mechanism 4.

[0044] Embodiment 2

[0045] The present application provides a surgical robot, which includes the above-mentioned surgical robot manipulator arm end adapter tool, wherein the adapter frame 1 is provided with an adapter portion 18, and the adapter frame 1 is detachably arranged on the manipulator arm end through the adapter portion 18.

[0046] The end of the surgical robot arm of the present application is equipped with an adapter tool, which realizes the connection between the surgical instrument and the end of the surgical robot arm through the adapter tool. Specifically, the channel connection mechanism 2 is arranged on the top surface of the adapter frame 1, and the adapter frame 1 is provided with an adapter part 18, and the adapter part 18 is located on the side or bottom surface of the adapter frame 1, so that the adapter frame 1 is connected to the end of the robot arm through the adapter part 18. The surgical robot cooperates with the surgical instrument clamped by the clamping mechanism 4 on the channel connection mechanism 2 to complete the operation and complete the switching between single-channel operation and multi-channel operation.

[0047] In one embodiment, the surgical robot includes a control system, and the surgical robot arm end adapter tool includes a motor screw drive unit for providing sliding force to the channel connecting mechanism 2 and an instrument motor drive unit for providing rotational power to the clamping mechanism 4, and the motor screw drive unit and the instrument motor drive unit are both communicatively connected to the control system.

[0048] The surgical robot includes a control system, and the surgical robot arm end adapter tool includes a motor screw drive unit (including a first motor screw drive unit and a second motor screw drive unit) for providing sliding force to the channel connecting mechanism 2 and an instrument motor drive unit for providing rotational power to the clamping mechanism 4. The motor screw drive unit and the instrument motor drive unit are both communicatively connected to the control system so that the working states of the motor screw drive unit and the instrument motor drive unit can be controlled by the control system, so that switching between single-channel surgery and multi-channel surgery can be achieved through a surgical robot.

[0049] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot arm end adapter tool, characterized in that: The invention comprises an adapter frame (1) and at least two channel connection mechanisms (2) detachably arranged on the adapter frame (1), wherein one of the channel connection mechanisms (2) slides relatively close to or away from the other channel connection mechanism (2), and the channel connection mechanism (2) comprises a channel base (3) and a clamping mechanism (4), wherein the clamping mechanism (4) is rotatably arranged on the channel base (3), and the clamping mechanism (4) is used for installing surgical instruments.

2. The surgical robot arm end adapter tool according to claim 1, characterized in that: The channel connection mechanism (2) comprises a first channel connection mechanism (5) and a second channel connection mechanism (6); the first channel connection mechanism (5) and the second channel connection mechanism (6) are both slidably arranged on the adapter frame (1); the first channel connection mechanism (5) is connected to a first motor screw drive unit; the second channel connection mechanism (6) is connected to a second motor screw drive unit; the first motor screw drive unit and the second motor screw drive unit provide sliding force for the channel connection mechanism (2); the first motor screw drive unit and the second motor screw drive unit both have a working state and a fixed state.

3. The surgical robot arm end adapter tool according to claim 2, characterized in that: The first motor screw drive unit and the second motor screw drive unit both include a motor drive module and a screw drive module (7), wherein the screw drive module (7) includes a rotating screw (8) and a sliding nut (9), wherein a plurality of nut slide rails (10) are provided on the adapter frame (1), wherein the sliding nut (9) is slidably arranged on the corresponding nut slide rails (10), wherein the sliding direction of the sliding nut (9) on the nut slide rails (10) is along the direction in which the two channel connection mechanisms (2) approach or move away from each other, wherein the output shaft of the motor drive module is connected to the rotating screw (8), wherein one of the sliding nuts (9) is connected to the first channel connection mechanism (5), and the other of the sliding nuts (9) is connected to the second channel connection mechanism (6).

4. The surgical robot arm end adapter tool according to claim 2, characterized in that: The clamping mechanism (4) is provided with an instrument hole (11), the surgical instrument is installed in the instrument hole (11), and the axis of the surgical instrument on the first channel connecting mechanism (5) and the axis of the surgical instrument on the second channel connecting mechanism (6) include a coaxial state, an intersecting state and a parallel state.

5. The surgical robot arm end adapter tool according to claim 4, characterized in that: The surgical instrument on the first channel connection mechanism (5) is an operating sleeve (12), and the surgical instrument on the second channel connection mechanism (6) is an endoscope (13), and the axis of the endoscope (13) is in an intersecting state with the axis of the operating sleeve (12).

6. The surgical robot arm end adapter tool according to claim 4, characterized in that: The surgical instrument on the first channel connection mechanism (5) is an operating sleeve (12), and the surgical instrument on the second channel connection mechanism (6) is an endoscope (13). The axis of the endoscope (13) is coaxial with the axis of the operating sleeve (12). A cylindrical cavity (14) is provided in the operating sleeve (12), and the endoscope (13) is inserted into the cylindrical cavity (14).

7. The surgical robot arm end adapter tool according to claim 2, characterized in that: The adapter frame (1) is provided with a first limiting member (15) and a second limiting member (16); along the direction in which the second channel connection mechanism (6) approaches or moves away from the first channel connection mechanism (5), the first limiting member (15) is provided at one end of the adapter frame (1), and the second limiting member (16) is provided at the other end of the adapter frame (1); the first channel connection mechanism (5) and the second channel connection mechanism (6) are slidably provided between the first limiting member (15) and the second limiting member (16).

8. The surgical robot arm end adapter tool according to claim 1, characterized in that: The channel connection mechanism (2) also includes an instrument motor drive unit, a drive shaft (17) is rotatably provided on the channel base (3), the clamping mechanism (4) is provided on one end of the drive shaft (17) away from the channel base (3), and the end of the drive shaft (17) away from the clamping mechanism (4) is connected to the output shaft of the instrument motor drive unit.

9. A surgical robot, characterized in that: It comprises a surgical robot manipulator arm end adapter tool as claimed in any one of claims 1 to 8, wherein an adapter frame (1) is provided with an adapter part (18), and the adapter frame (1) is detachably arranged on the manipulator arm end through the adapter part (18).

10. The surgical robot according to claim 9, characterized in that: The surgical robot comprises a control system, and the surgical robot arm end adapter tool comprises a motor screw drive unit for providing sliding force to the channel connection mechanism (2) and an instrument motor drive unit for providing rotational force to the clamping mechanism (4), and the motor screw drive unit and the instrument motor drive unit are both communicatively connected to the control system.

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