Mobile station and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a mobile station and a surgical robot system. The mobile station comprises a base, a supporting assembly and a mechanical arm, the supporting assembly is arranged on the base and comprises at least one translation mechanism, the near end of the mechanical arm is rotationally connected with the supporting assembly, the mechanical arm comprises a plurality of arc-shaped connecting rods, and the near ends and the far ends of the arc-shaped connecting rods are rotationally connected in series in sequence. The rotation axes of the plurality of arcuate links intersect at a remote center of motion. The initial position of the mechanical arm is adjusted through the supporting assembly, it is avoided that additional movement joints are arranged on the mechanical arm so that the size of the mechanical arm can be reduced, the multiple arc-shaped connecting rods of the mechanical arm can move around an RCM point in the unfolding position and the folding position in the rotating movement process, the connecting rod working space is met to the maximum degree, and the mechanical arm is more stable. A plurality of surgical instruments are carried by one mechanical arm, so that mutual interference among the multiple mechanical arms can be avoided when the multiple mechanical arms respectively carry the multiple surgical instruments.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and particularly to a mobile station and a surgical robot system. Background Art

[0002] Compared with traditional surgeries, minimally invasive laparoscopic surgeries have less surgical trauma and faster postoperative recovery, and have been widely used. Existing laparoscopic surgical robots are equipped with multiple surgical instruments on multiple robotic arms respectively, such as surgical instruments and endoscopes. According to different patients and surgical procedures, it is necessary to adjust and position multiple robotic arms before or during the surgery so that multiple surgical instruments can be adjusted to the designated surgical positions. During the surgery, the surgeon uses a teleoperation mode to control the surgical actuator at the end of the surgical instrument to perform surgical operations on different parts.

[0003] Existing robotic arms generally include a multi-joint arm body and a remote center of motion (RCM) mechanism to adjust the position and posture of the surgical instrument. The RCM mechanism enables the surgical instrument to rotate around a fixed point (such as the abdominal incision) to achieve rotational operations at a fixed point near the patient's surgical site. Usually, the RCM mechanism adopts a parallelogram structure or a link structure similar to a parallelogram, resulting in a large volume of the robotic arm. For a surgical robot, the positioning ability of multiple robotic arms in the external space is directly related to whether the surgical robot can perform various surgical procedures. The space occupied by multiple robotic arms beside the hospital bed will affect the surgical assistance and real-time observation of the assisting doctor beside the hospital bed. The excessive volume of multiple robotic arms is likely to cause mutual collisions during operation, increasing the risk of patient injury and posing a potential safety hazard to the surgery. Summary of the Utility Model

[0004] Based on the above problems, the purpose of the present disclosure is to provide a mobile station, comprising:

[0005] A base;

[0006] A support assembly disposed on the base, the support assembly including at least one translation mechanism; and

[0007] A robotic arm, the proximal end of the robotic arm is rotatably connected to the support assembly, the robotic arm includes a plurality of arc-shaped linkages, the proximal and distal ends of the plurality of arc-shaped linkages are sequentially connected in series and rotatably, and the rotation axes of the plurality of arc-shaped linkages intersect at a remote center of motion.

[0008] In some embodiments, the at least one translation mechanism includes:

[0009] A lifting mechanism disposed on the base, the lifting mechanism being capable of moving up and down longitudinally relative to the base; and

[0010] A telescopic mechanism disposed on the lifting mechanism, including a first cross beam and a second cross beam that can move relative to each other horizontally.

[0011] In some embodiments, the first cross beam is rotatably connected to the lifting mechanism about a first rotation axis, and the second cross beam is rotatably connected to the robotic arm about a second rotation axis.

[0012] In some embodiments, the first cross beam is rotatably connected to the lifting mechanism about a first rotation axis, and the second cross beam is rotatably connected to the robotic arm about a second rotation axis.

[0013] In some embodiments, the first cross beam includes:

[0014] A channel, arranged along the axial direction of the first cross beam; and

[0015] At least one slider, fixedly arranged in the channel.

[0016] In some embodiments, a proximal portion of the second cross beam is movably arranged in the channel, and the second cross beam includes:

[0017] A chute, arranged along the axial direction of the second cross beam, and the at least one slider is slidably arranged in the chute;

[0018] A lead screw, arranged in the chute, and the lead screw is threadedly connected to the at least one slider; and

[0019] A motor, an output end of the motor is connected to the lead screw to drive the lead screw to linearly move relative to the slider, so as to drive the second cross beam to horizontally move along the channel.

[0020] In some embodiments, the first cross beam further includes:

[0021] A guide rail, fixedly arranged on the first cross beam; and

[0022] A drag chain, movably arranged on the guide rail, one end of the drag chain is fixedly connected to the second cross beam, and the drag chain is used to reciprocate along the guide rail under the drive of the second cross beam.

[0023] In some embodiments, it further includes:

[0024] A cover plate, arranged on the second cross beam for covering the chute;

[0025] A flattening mechanism, arranged on the first cross beam, the cover plate passes through the flattening mechanism, and the flattening mechanism is used to keep the cover plate in a flattened state during the movement of the cover plate along with the second cross beam.

[0026] In some embodiments, the flattening mechanism includes:

[0027] The first roller and the second roller are rotatably and spaced apart on the first cross beam;

[0028] The exhibition stand is fixedly arranged on the first cross beam. There is a gap between the first roller, the second roller and the exhibition stand. The cover plate passes through the gap and abuts against the first roller, the second roller and the exhibition stand respectively.

[0029] In some embodiments, the exhibition stand includes:

[0030] The first exhibition stand is horizontally arranged along the axial direction of the second cross beam;

[0031] The second exhibition stand and the third exhibition stand are respectively arranged at an angle on both sides of the first exhibition stand, and the second exhibition stand and the third exhibition stand are respectively arranged opposite to the first roller and the second roller.

[0032] In some embodiments, the plurality of arc-shaped connecting rods include:

[0033] The first arc-shaped connecting rod, the proximal end of the first arc-shaped connecting rod is rotatably connected to the distal end of the second cross beam around the second rotation axis;

[0034] The second arc-shaped connecting rod, the proximal end of the second arc-shaped connecting rod is rotatably connected to the distal end of the first arc-shaped connecting rod around the third rotation axis; and

[0035] The third arc-shaped connecting rod, the proximal end of the third arc-shaped connecting rod is rotatably connected to the distal end of the second arc-shaped connecting rod around the fourth rotation axis, and the second rotation axis, the third rotation axis and the fourth rotation axis intersect at the remote motion center.

[0036] In some embodiments, it further includes:

[0037] The installation platform is fixedly arranged at the distal end of the third arc-shaped connecting rod, and the installation platform includes a plurality of installation positions; and

[0038] A plurality of linear modules are respectively arranged on the plurality of installation positions.

[0039] In some embodiments, the plurality of installation positions include a first installation position, a second installation position, a third installation position and a fourth installation position that are spaced apart around the center of the installation platform. The plurality of linear modules include a first linear module, a second linear module, a third linear module and a fourth linear module. The first linear module and the second linear module are respectively installed on the first installation position and the second installation position. The third linear module and the fourth linear module are respectively installed on the third installation position and the fourth installation position. The extension lines of the distal ends of the first linear module, the second linear module, the third linear module and the fourth linear module converge towards the remote motion center.

[0040] In some embodiments, the mounting platform further includes a clamping portion for connecting the sheath tube assembly.

[0041] The present disclosure also provides a surgical robot system, including:

[0042] a mobile station according to any of the embodiments in the present disclosure; and

[0043] a plurality of surgical instruments detachably disposed at the distal end of the robotic arm of the mobile station.

[0044] Some embodiments of the present disclosure have one or more of the following beneficial effects: 1. By providing a support assembly with moving and rotating joints to adjust the position of the robotic arm, additional moving joints of the robotic arm are avoided, thereby reducing the volume of the robotic arm, simplifying the structure of the robotic arm, reducing the lateral space occupied by the robotic arm, making full use of the horizontal space in the operating room, and reducing the occupancy of the space on the side of the hospital bed by the operating trolley; 2. The robotic arm includes a plurality of arc-shaped connecting rods. During the rotational movement, the plurality of arc-shaped connecting rods can move around the RCM point in both the deployed position and the folded position, and can satisfy the working space of the connecting rods to the greatest extent, avoiding interference between the plurality of connecting rods; 3. By mounting a plurality of surgical instruments on one robotic arm, interference between multiple robotic arms when each robotic arm mounts a surgical instrument can be avoided; 4. By providing a drag chain, bending damage and mutual entanglement of the cables in the robotic arm and / or the support assembly can be avoided, thereby protecting the cables and extending the service life of the instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for describing the embodiments of the present disclosure. The drawings in the following description only show some embodiments of the present disclosure. For those of ordinary skill in the art, other embodiments can be obtained according to the content of the embodiments of the present disclosure and these drawings without creative efforts.

[0046] Figure 1 A schematic structural diagram of a mobile station according to some embodiments of the present disclosure;

[0047] Figure 2 A partial structural diagram of a mobile station according to some embodiments of the present disclosure;

[0048] Figure 3 A partial structural diagram of a second cross beam according to some embodiments of the present disclosure;

[0049] Figure 4 A partial structural diagram of a first cross beam and a second cross beam according to some embodiments of the present disclosure;

[0050] Figure 5 Schematic structural diagram of a flattening mechanism according to some embodiments of the present disclosure;

[0051] Figure 6 Front view of a flattening mechanism according to some embodiments of the present disclosure;

[0052] Figure 7 Partial enlarged schematic structural diagram of a flattening mechanism according to some embodiments of the present disclosure;

[0053] Figure 8 Schematic structural diagram of a surgical robot system according to some embodiments of the present disclosure.

[0054] List of reference numerals:

[0055] 1000, mobile station; 100, base;

[0056] 200, support assembly; 210, lifting mechanism; 220, telescopic mechanism; 221, first cross beam; 2211, channel; 2212, slider; 2213, guide rail; 2214, drag chain; 222, second cross beam; 222a, cross beam main body; 222b, connecting part; 2221, chute; 2222, lead screw; 2223, motor; 2224, mounting hole; 2225, hollow structure; 2226, "L"-shaped groove; 223, cover plate; 224, flattening mechanism; 2241, first roller; 2242, second roller; 2243, exhibition stand; 2243a, first exhibition stand; 2243b, second exhibition stand; 2243b-1, first guiding surface; 2243b-2, second guiding surface; 2243c, third exhibition stand; 2244, connecting plate;

[0057] 300, robotic arm; 310, first arc link; 320, second arc link; 330, third arc link; 340, mounting platform; 341, clamping part; 350, linear module; 360, driving module;

[0058] 10, surgical robot system; 400, surgical instrument; 500, sheath tube assembly; 600, connection adapter; 2000, main control cart; 2100, main operator. Detailed implementation manners

[0059] To make the technical problems solved by the present disclosure, the technical solutions adopted and the achieved technical effects clearer, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0060] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0061] In the description of the present disclosure, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations. In the present disclosure, the end close to the operator (such as a doctor) is defined as the proximal end, proximal part, rear end or rear part, and the end opposite to the proximal end, proximal part, rear end or rear part is defined as the distal end, distal part, front end or front part. Alternatively, the end close to the object being operated on (such as a surgical patient) is defined as the distal end, distal part, front end or front part, and the end opposite to the distal end, distal part, front end or front part is defined as the proximal end, proximal part, rear end or rear part. Those skilled in the art can understand that the embodiments of the present disclosure can be used in medical devices or surgical robots, and can also be used in other non-medical devices.

[0062] Figure 1 The structural schematic diagram of the mobile station 1000 according to some embodiments of the present disclosure is shown. Figure 2 The partial structural schematic diagram of the mobile station 1000 according to some embodiments of the present disclosure is shown. For the sake of clear illustration, Figure 2 Some structures of the support assembly 200 in Figure 1 are hidden. As Figure 2 shown, the mobile station 1000 may include a base 100, a support assembly 200, and a robotic arm 300. The support assembly 200 is disposed on the base 100, and the support assembly 200 may include at least one translation mechanism. It should be understood that the translation mechanism can translate longitudinally or laterally. Those skilled in the art can understand that in the present disclosure, the longitudinal direction refers to the direction extending along the height of the mobile station 1000, such as the vertical direction, and the lateral direction refers to the direction substantially perpendicular to the longitudinal direction, such as the horizontal direction.

[0063] The proximal end of the robotic arm 300 is rotatably connected to the support assembly 200. For example, it can be rotatably connected to the distal end of the support assembly 200. The robotic arm 300 may include a plurality of arcuate links (such as arcuate links 310 - 330), and the proximal and distal ends of the plurality of arcuate links are sequentially and rotatably connected in series, and the rotation axes of the plurality of arcuate links intersect at the remote center of motion. It should be understood that the plurality of arcuate links may include, for example, two, three or more arcuate links. Arranging a plurality of arcuate links can increase the redundant degrees of freedom of the robotic arm 300, so that when the end of the robotic arm 300 remains in the same position, the arm body part of the robotic arm 300 has more configurations and postures.

[0064] At least one translation mechanism is arranged through the support assembly 200 to realize the position adjustment of the robotic arm 300, avoiding additional motion joints (such as translational motion joints) on the robotic arm 300, so as to reduce the volume of the robotic arm 300 and simplify the structure of the robotic arm 300. Thereby reducing the lateral space occupied by the robotic arm 300, making full use of the space in the horizontal direction in the operating room, and reducing the occupancy of the space on the side of the hospital bed by the operating trolley.

[0065] In some embodiments, as Figure 2 shown, at least one translation mechanism may include a lifting mechanism 210 and a telescopic mechanism 220. The lifting mechanism 210 is arranged on the base 100, and the lifting mechanism 210 can move up and down longitudinally relative to the base 100. It should be understood that the lifting mechanism 210 may include, but is not limited to, an electric telescopic rod type, a motor screw rod slider type, a gear rack type, a guide rail chain type, etc. It is not limited here. The telescopic mechanism 220 is arranged on the lifting mechanism 210 and may include a first cross beam 221 and a second cross beam 222 that can move relative to each other horizontally. The longitudinal position of the robotic arm 300 is changed by the lifting mechanism 210, and the lateral position of the robotic arm 300 is changed by the telescopic mechanism 220.

[0066] In some embodiments, as Figure 2 shown, the first cross beam 221 is rotatably connected to the lifting mechanism 210 around the first rotation axis R1, and the second cross beam 222 is rotatably connected to the robotic arm 300 around the second rotation axis R2. In some embodiments, the first rotation axis R1 is arranged longitudinally, and the first rotation axis R1 and the second rotation axis R2 are arranged at an angle. For example, the distal end of the second cross beam 222 may include an inclined connecting portion, and the proximal end of the robotic arm 300 is rotatably connected to the connecting portion of the second cross beam 222 so that an angle is formed between the second rotation axis R2 and the longitudinal axis (or the first rotation axis R1).

[0067] The support assembly 200 is provided with moving and rotating joints to adjust the position of the robotic arm 300 through more degrees of freedom, enabling the robotic arm 300 to be flexibly adjusted between the longitudinal height and the lateral horizontal position, and avoiding the setting of additional motion joints for the robotic arm 300 to reduce the volume of the robotic arm 300.

[0068] Figure 3 FIG. shows a partial structural schematic diagram of the second cross beam 222 according to some embodiments of the present disclosure. In some embodiments, as Figure 2 and Figure 3 shown, the first cross beam 221 includes a channel 2211 and at least one slider 2212. The channel 2211 can be arranged along the axial direction of the first cross beam 221, and at least one slider 2212 is fixedly arranged in the channel 2211. In some embodiments, at least one slider 2212 can include one slider, two sliders or more sliders. It should be understood that the channel 2211 can be a circular channel, a cubic channel, a channel with an irregular shape, a channel adapted to the shape of the main body of the first cross beam 221, etc., and is not limited herein. For example, at least one slider 2212 can be fixedly arranged at the top of the channel 2211, and there is a space between the slider 2212 and the bottom or side surface of the channel 2211.

[0069] The proximal part of the second cross beam 222 is movably arranged in the channel 2211. The second cross beam 222 can include a chute 2221, a lead screw 2222 and a motor 2223. The chute 2221 is arranged along the axial direction of the second cross beam 222, and at least one slider 2212 is slidably arranged in the chute 2221. For example, the proximal part of the chute 2221 is located in the channel 2211, and the bottom or side surface of the slider 2212 is slidably arranged in the chute 2221. The lead screw 2222 is arranged in the chute 2221, and the lead screw 2222 is threadedly connected to at least one slider 2212. The output end of the motor 2223 is connected to the lead screw 2222 to drive the lead screw 2222 to linearly move relative to the slider 2212, so as to drive the second cross beam 222 to horizontally move along the channel 2211.

[0070] For example, the motor 2223 can be fixedly arranged at the proximal end of the second cross beam 222 (such as Figure 3 shown on the left side), the output end of the motor 2223 is coupled to one end of the lead screw 2222, and the other end of the lead screw 2222 passes through at least one slider 2212 and extends along the axial direction of the chute 2221 to be connected to the distal end of the chute 2221.

[0071] In some embodiments, as Figure 3As shown, the second cross beam 222 may include a cross beam main body 222a and a connecting portion 222b located at the distal end of the cross beam main body 222a. The sliding groove 2221 is arranged along the axial direction of the cross beam main body 222a. The upper surface of the connecting portion 222b may be horizontal, and the lower surface is inclined. An installation hole 2224 is provided in the connecting portion 222b for installing a rotary joint module (such as a motor, a reducer, etc.). The central axis of the installation hole 2224 is inclined, and the second rotation axis R2 substantially coincides with the central axis of the installation hole 2224. By setting the second rotation axis R2 at an angle with the longitudinal axis, the angle of the end of the robotic arm 300 can be made more conducive to the sheath tube assembly (such as the sheath tube assembly 500) extending into the patient's incision.

[0072] In some embodiments, as Figure 3 shown, the first cross beam 221 and / or the second cross beam 222 may include multiple hollow-out structures 2225. The hollow-out structures 2225 are provided to reduce the weight of the cross beam.

[0073] Figure 4 Shows a partial structural schematic diagram of the first cross beam 221 and the second cross beam 222 according to some embodiments of the present disclosure. In some embodiments, as Figure 4 shown, the first cross beam 221 may further include a guide rail 2213 and a drag chain 2214. The guide rail 2213 is fixedly arranged on the first cross beam 221. For example, the guide rail 2213 may be arranged along the axial direction of the first cross beam 221. The drag chain 2214 is movably arranged on the guide rail 2213. One end of the drag chain 2214 is fixedly connected to the second cross beam 222. The drag chain 2214 is used to reciprocate along the guide rail 2213 under the drive of the second cross beam 222. For example, the drag chain 2214 may be fixedly connected to the proximal end of the second cross beam 222. In some embodiments, the bottom of the proximal end of the second cross beam 222 may include an "L"-shaped groove 2226. One end of the drag chain 2214 extends into the "L"-shaped groove 2226 and is fixedly connected to the second cross beam 222. It should be understood that the drag chain 2214 may include, but is not limited to, a steel drag chain, a steel-aluminum drag chain, a plastic drag chain, a stainless steel drag chain, a nylon drag chain, etc. The cables in the robotic arm 300 and / or the support assembly 200 may be arranged along the drag chain 2214. By providing the drag chain 2214, the cables can be prevented from being bent and damaged and intertwined with each other, so as to protect the cables and extend the service life of the instrument.

[0074] In some embodiments, the mobile station 1000 may further include a housing configured to cover the outside of the first cross beam 221 and / or the outside of the connection between the lifting mechanism 210 and the first cross beam 221 (e.g., the rotary joint), so as to prevent the proximal part of the second cross beam 222 from being exposed outside the first cross beam 221 during the telescopic movement, or to prevent the rotary joint from being exposed. Alternatively, the first cross beam 221 includes a first part and a second part, and the second part is formed as a housing to cover the outside of the first part and / or the outside of the connection between the lifting mechanism 210 and the first cross beam 221 (e.g., the rotary joint).

[0075] Figure 5 FIG. shows a schematic structural diagram of the flattening mechanism 224 according to some embodiments of the present disclosure. In some embodiments, as Figure 4 and Figure 5 shown, the mobile station 1000 may further include a cover plate 223 and a flattening mechanism 224. The cover plate 223 is disposed on the second cross beam 222 and is configured to cover the chute 2221. The flattening mechanism 224 is disposed on the first cross beam 221, and the cover plate 223 passes through the flattening mechanism 224. The flattening mechanism 224 is configured to keep the cover plate 223 in a flattened state during the movement of the cover plate 223 along with the second cross beam 222. It should be understood that the cover plate 223 may have certain elasticity and friction resistance properties to facilitate the movement of the cover plate 223 and prevent the cover plate 223 from being damaged during the movement. For example, the cover plate 223 may be made of stainless steel material. The provision of the cover plate 223 can prevent dust and impurities from entering the second cross beam 222.

[0076] Figure 6 FIG. shows a front view of the flattening mechanism 224 according to some embodiments of the present disclosure, Figure 7 FIG. shows a partially enlarged schematic structural diagram of the flattening mechanism 224 according to some embodiments of the present disclosure. In some embodiments, as Figures 5 - 7As shown, the flattening mechanism 224 may include a first roller 2241, a second roller 2242, and a booth 2243. The first roller 2241 and the second roller 2242 are rotatably and spaced apart on the first cross beam 221, and the booth 2243 is fixedly arranged on the first cross beam 221. For example, the first roller 2241 and the second roller 2242 may be respectively located on both sides of the booth 2243. There is a gap between the first roller 2241 and the second roller 2242 and the booth 2243, and the cover plate 223 passes through the gap and abuts against the first roller 2241, the second roller 2242, and the booth 2243 respectively. For example, the abutting surfaces of the first roller 2241 and the second roller 2242 may be located on a first horizontal plane, and the abutting surface (such as the upper surface) of the booth 2243 may be located on a second horizontal plane. The first horizontal plane and the second horizontal plane may be at different longitudinal height positions, and the longitudinal height difference between the first horizontal plane and the second horizontal plane forms a gap. Or the abutting surfaces of the first roller 2241 and the second roller 2242 are arranged at an angle with the abutting surface of the booth 2243, forming a gap therebetween. A gap is formed between the abutting surfaces of the roller and the booth for the cover plate 223 to pass through and abut against the abutting surfaces of the first roller 2241 and the second roller 2242 and the upper surface of the booth 2243.

[0077] In some embodiments, as Figures 5 - 7 shown, the booth 2243 may include a first booth 2243a, a second booth 2243b, and a third booth 2243c. The first booth 2243a is horizontally arranged along the axial direction of the second cross beam 222, and the second booth 2243b and the third booth 2243c are respectively arranged at an angle on both sides of the first booth 2243a (such as the proximal end and the distal end of the first booth 2243a). It should be understood that both sides of the first booth 2243a in the radial direction may be fixedly connected to the top of the first cross beam 221 through a connecting plate 2244. In some embodiments, the slider 2212 may be arranged below the first booth 2243a. The upper surfaces of the second booth 2243b and the third booth 2243c form an inclined first guiding surface 2243b-1 for the cover plate 223 to transition to the upper surface of the first booth 2243a along the first guiding surface 2243b-1. In some embodiments, the upper surfaces of the second booth 2243b and the third booth 2243c further include an inclined second guiding surface 2243b-2. The second guiding surface 2243b-2 forms an angle with the first guiding surface 2243b-1, and the cover plate 223 is smoothly extended through the second guiding surface 2243b-2 and connected to both ends (proximal end and distal end) of the second cross beam 222.

[0078] In some embodiments, the second exhibition stand 2243b and the third exhibition stand 2243c are respectively arranged opposite to the first roller 2241 and the second roller 2242. For example, the first roller 2241 and the second roller 2242 can be respectively arranged at the junction of the first guiding surface 2243b-1 and the second guiding surface 2243b-2. Taking the first roller 2241 as an example, as Figure 7 shown, the lower side surface of the first roller 2241 forms an abutting surface to cooperate with the first guiding surface 2243b-1 to apply pressure to the cover plate 223. During the movement of the cover plate 223 along with the second cross beam 222, the cover plate 223 reciprocates along the upper surface of the exhibition stand 2243 (for example, the first exhibition stand 2243a, the second exhibition stand 2243b, and the third exhibition stand 2243c). Due to the pressure action of the roller and the exhibition stand 2243, the cover plate 223 is kept flat to prevent the cover plate 223 from curling up.

[0079] In some embodiments, as Figure 2 shown, the plurality of arc-shaped connecting rods can include a first arc-shaped connecting rod 310, a second arc-shaped connecting rod 320, and a third arc-shaped connecting rod 330. The proximal end of the first arc-shaped connecting rod 310 is rotatably connected to the distal end of the second cross beam 222 around the second rotation axis R2. The proximal end of the second arc-shaped connecting rod 320 is rotatably connected to the distal end of the first arc-shaped connecting rod 310 around the third rotation axis R3. The proximal end of the third arc-shaped connecting rod 330 is rotatably connected to the distal end of the second arc-shaped connecting rod 320 around the fourth rotation axis R4. The second rotation axis R2, the third rotation axis R3, and the fourth rotation axis R4 intersect at the remote center of motion (RCM point). With the RCM point kept stationary, the first arc-shaped connecting rod 310, the second arc-shaped connecting rod 320, and the third arc-shaped connecting rod 330 can move arbitrarily in the motion space. For example, they can be switched between full folding, full unfolding, and intermediate positions. The robotic arm 300 includes three arc-shaped connecting rods, which can not only ensure that the robotic arm 300 can achieve various configurations and posture adjustments, but also avoid setting too many connecting rod joints on the robotic arm 300, resulting in an overly large volume of the robotic arm 300.

[0080] In some embodiments, the arc-shaped connecting rod can be a section of arc-shaped rod, or a rod with an arc on one side formed by angled connection of two straight rods (such as the side corresponding to the adjacent arc-shaped connecting rod), or a rod formed by a combination of a part of a straight rod and an arc-shaped rod. It should be understood that the connecting rod radian, connecting rod thickness, and connecting rod arc length of multiple arc-shaped connecting rods can be designed according to actual needs, so that during the rotational movement of the multiple arc-shaped connecting rods, they can all rotate around the RCM point in both the deployed position and the folded position, and can maximize the working space of the connecting rods to avoid interference between multiple connecting rods. Thus, a robotic arm 300 can carry multiple surgical instruments 400, which can avoid interference between multiple robotic arms 300 when each robotic arm 300 carries multiple surgical instruments 400 respectively. It should be understood that during surgery, the remote center of motion can be the abdominal entry point or the incision position, and the robotic arm 300 carries the surgical instrument 400 to enable the surgical instrument 400 to rotate around the RCM point for adjustment of the pose or surgical operation.

[0081] Those skilled in the art can understand that the various connecting rods of the robotic arm 300 are connected by joints, and the robotic arm 300 can include drive motors and / or braking devices (such as speed reducers) provided at the joints. In addition, the robotic arm 300 can also include sensors (such as encoders, potentiometers, Hall sensors, etc.) provided at at least a part of the joints between the respective connecting rods, for sensing the rotational information of the connecting rods to obtain the configuration or pose of the robotic arm 300.

[0082] In some embodiments, as Figure 2 shown, the robotic arm 300 can further include a mounting platform 340. The mounting platform 340 is fixedly provided at the distal end of the third arc-shaped connecting rod 330, and the mounting platform 340 includes a plurality of mounting positions. In some embodiments, the robotic arm 300 can further include a plurality of linear modules 350, and the plurality of linear modules 350 are respectively arranged at the plurality of mounting positions. It should be understood that the plurality of mounting positions can be two, three, or more mounting positions. The number of linear modules 350 is the same as the number of mounting positions. The plurality of linear modules 350 are used to carry the plurality of surgical instruments 400 for linear movement to achieve the feeding and retraction of the surgical instruments 400. For example, the linear module 350 can include a slider-rail assembly, a lead screw-nut assembly, etc. It should be understood that the linear module 350 can be any suitable mechanism capable of achieving linear movement.

[0083] In some embodiments, at least one function button can be provided on the linear module 350, which can be manually pressed by the operator to control the linear feeding and retracting movement of the linear module 350. For example, the button can include a separate forward button and a backward button. The feeding and retraction of the surgical instrument 400 are controlled by the linear module 350 to control the surgical instrument 400 to reach the surgical operation area.

[0084] In some embodiments, the multiple mounting positions may include a first mounting position, a second mounting position, a third mounting position, and a fourth mounting position that are spaced apart around the center of the mounting platform 340. The multiple linear modules 350 may include a first linear module, a second linear module, a third linear module, and a fourth linear module. The first linear module and the second linear module are respectively mounted on the first mounting position and the second mounting position, and the third linear module and the fourth linear module are respectively mounted on the third mounting position and the fourth mounting position. The extension lines of the distal ends of the first linear module, the second linear module, the third linear module, and the fourth linear module converge towards the remote movement center. It should be understood that the proximal ends of the multiple linear modules 350 diverge away from each other, and the extension lines of the distal ends converge towards the remote movement center. This can facilitate the entry of the multiple surgical instruments 400 into the patient's body through the sheath assembly 500, and the multiple surgical instruments 400 do not interfere with each other when moving along the linear modules 350, thus ensuring the safety of the operation.

[0085] In some embodiments, the mounting platform 340 further includes a clamping portion 341 for detachably connecting to the sheath assembly 500 to enable the sheath assembly 500 to pass through the remote movement center. It should be understood that the sheath assembly 500 may include multiple channels for the multiple surgical instruments 400 to pass through. In some embodiments, at least a part of at least one of the multiple channels can deform radially, axially, or both radially and axially. Through the deformation of the channels, the distal end of the surgical instrument 400 can still smoothly pass through the sheath assembly 500 and enter the predetermined surgical site even when there is a certain positioning error or offset.

[0086] Figure 8 FIG. shows a schematic structural diagram of a surgical robot system 10 according to some embodiments of the present disclosure, wherein Figure 8 multiple surgical instruments 400, a sheath assembly 500, and a connection adapter 600 are shown. As Figure 8 shown, the surgical robot system 10 includes the mobile station 1000 and multiple surgical instruments 400 in any of the above embodiments. The multiple surgical instruments 400 are detachably arranged at the distal end of the robotic arm 300. For example, the distal end of the robotic arm 300 may further include a driving module 360 disposed on the linear module 350. The surgical instrument 400 can be detachably arranged on the driving module 360 through the connection adapter 600. The linear module 350 is used to drive the surgical instrument 400 to extend into or withdraw from the patient's body through the channel of the sheath assembly 500. For example, the driving module 360 can be coupled to the transmission portion at the proximal end of the surgical instrument 400 to convert the rotational movement of the driving module 360 into a linear movement, such as a pushing or pulling movement, to drive the arm body or the end effector of the surgical instrument 400 to perform a surgical operation.

[0087] Before the operation, the position of the surgical instrument 400 is adjusted by the support assembly 200 and the robotic arm 300 of the mobile station 1000 for preoperative arrangement. By mounting multiple surgical instruments 400 on one robotic arm 300, the integration and miniaturization of the surgical robot system can be achieved, which can avoid interference between multiple robotic arms 300 when multiple robotic arms 400 are respectively mounted with multiple surgical instruments 300.

[0088] In some embodiments, as Figure 8 shown, the surgical robot system 10 may further include a main control cart 2000. The mobile station 1000 and the main control cart 2000 can be connected by wired transmission or wireless transmission. In some embodiments, the main control cart 2000 may include a main operator 2100. During the operation, the user controls the surgical instrument 400 disposed on the mobile station 1000 by operating the main operator 2100 included in the main control cart 2000. For example, the surgical tool and / or the imaging tool (such as an endoscope) performs the operation. The mobile station 1000 is usually located on the patient side and performs surgical operations on the patient in response to the control instructions of the main control cart 2000. In some embodiments, the user can also control the opening and closing of the end effector (such as the jaw) of the surgical instrument 400 or control the rotation of the wrist joint assembly by operating the main operator 2100 to drive the movement of the end of the surgical instrument 400.

[0089] Note that the above are only exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in detail through the above embodiments, the present disclosure is not limited to the above embodiments. Without departing from the concept of the present disclosure, more other equivalent embodiments can be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A mobile station, characterized in that: include: Pedestal; A support assembly, disposed on the base, the support assembly comprising at least one translation mechanism; as well as A robotic arm, wherein the proximal end of the robotic arm is rotationally connected to the support assembly, the robotic arm comprises a plurality of arc-shaped connecting rods, the proximal ends and distal ends of the plurality of arc-shaped connecting rods are rotationally connected in series in sequence, and the rotation axes of the plurality of arc-shaped connecting rods intersect at a remote motion center.

2. The mobile station according to claim 1, characterized in that The at least one translation mechanism comprises: A lifting mechanism is disposed on the base, and the lifting mechanism can move vertically relative to the base; and The telescopic mechanism is arranged on the lifting mechanism and comprises a first crossbeam and a second crossbeam which can move relative to each other in the lateral direction.

3. The mobile station according to claim 2, characterized in that The first crossbeam is rotatably connected to the lifting mechanism around a first rotation axis, and the second crossbeam is rotatably connected to the mechanical arm around a second rotation axis.

4. The mobile station according to claim 3, characterized in that The first rotation axis is arranged in a longitudinal direction, and the first rotation axis and the second rotation axis are arranged at an angle.

5. The mobile station according to claim 3, characterized in that The first crossbeam comprises: a channel, arranged along the axial direction of the first beam; and At least one sliding block is fixedly disposed in the channel.

6. The mobile station according to claim 5, characterized in that The proximal end portion of the second beam is movably disposed in the channel, and the second beam comprises: A slide groove is arranged along the axial direction of the second cross beam, and the at least one sliding block is slidably arranged in the slide groove; A screw rod is disposed in the slide groove, and the screw rod is threadedly connected to the at least one slider; and A motor, wherein the output end of the motor is connected to the lead screw to drive the lead screw to move linearly relative to the slider, so as to drive the second beam to move horizontally along the channel.

7. The mobile station according to claim 6, characterized in that The first crossbeam further comprises: A guide rail, fixedly disposed on the first crossbeam; and A drag chain is movably arranged on the guide rail, one end of the drag chain is fixedly connected to the second crossbeam, and the drag chain is used to reciprocate along the guide rail driven by the second crossbeam.

8. The mobile station according to claim 6, characterized in that Also includes: a cover plate, arranged on the second crossbeam, and used for covering the slide groove; A flattening mechanism is arranged on the first crossbeam, the cover plate passes through the flattening mechanism, and the flattening mechanism is used to keep the cover plate in a flattened state when the cover plate moves with the second crossbeam.

9. The mobile station according to claim 8, characterized in that The flattening mechanism comprises: A first roller and a second roller are rotatably arranged on the first crossbeam at intervals; The exhibition stand is fixedly arranged on the first crossbeam, and there is a gap between the first roller, the second roller and the exhibition stand. The cover plate passes through the gap and abuts against the first roller, the second roller and the exhibition stand respectively.

10. The mobile station according to claim 9, characterized in that The booth includes: A first exhibition stand is horizontally arranged along the axial direction of the second crossbeam; The second exhibition stand and the third exhibition stand are respectively arranged at an angle on both sides of the first exhibition stand, and the second exhibition stand and the third exhibition stand are respectively arranged opposite to the first roller and the second roller.

11. The mobile station according to claim 3, characterized in that The plurality of arc-shaped connecting rods include: a first arc-shaped connecting rod, wherein a proximal end of the first arc-shaped connecting rod is rotatably connected to a distal end of the second cross beam around a second rotation axis; a second arc-shaped connecting rod, a proximal end of the second arc-shaped connecting rod being rotatably connected to a distal end of the first arc-shaped connecting rod about a third rotation axis; and A third arc-shaped connecting rod, the proximal end of the third arc-shaped connecting rod is rotationally connected with the distal end of the second arc-shaped connecting rod around a fourth rotation axis, and the second rotation axis, the third rotation axis and the fourth rotation axis intersect at a remote motion center.

12. The mobile station according to claim 11, characterized in that Also includes: A mounting platform, fixedly disposed at the distal end of the third arc-shaped connecting rod, the mounting platform comprising a plurality of mounting positions; as well as A plurality of linear modules are respectively arranged on the plurality of installation positions.

13. The mobile station according to claim 12, characterized in that The multiple mounting positions include a first mounting position, a second mounting position, a third mounting position and a fourth mounting position which are spaced apart around the center of the mounting platform; the multiple linear modules include a first linear module, a second linear module, a third linear module and a fourth linear module; the first linear module and the second linear module are respectively mounted at the first mounting position and the second mounting position; the third linear module and the fourth linear module are respectively mounted at the third mounting position and the fourth mounting position; and extension lines of the distal ends of the first linear module, the second linear module, the third linear module and the fourth linear module converge toward the remote motion center.

14. The mobile station according to claim 12, characterized in that The mounting platform further comprises a clamping portion, and the clamping portion is used for connecting the sheath tube assembly.

15. A surgical robot system, characterized in that: include: A mobile station according to any one of claims 1 to 14; as well as A plurality of surgical instruments are detachably arranged at the distal end of the robot arm of the mobile station.

Images