Medical system

Abstract

The utility model provides a medical system. The medical system includes a first robotic arm system. The first mechanical arm system comprises a first base, a first stand column and at least three first mechanical arms. The first stand column is arranged on the first base and extends in the vertical direction. The first post has a first side, a second side, and a third side. The first side face is used for facing an operating table during operation. The first side face, the second side face and the third side face are each provided with at least one first mechanical arm. Each first mechanical arm comprises a first adjusting arm. The first adjusting arm is connected to the first stand column. The first adjusting arm comprises at least two first connecting arms which are rotationally connected in sequence. The number of the first connecting arms of the first adjusting arms arranged on the second side face and / or the third side face is larger than that of the first connecting arms of the first adjusting arms arranged on the first side face. The structure of the medical system is simplified, the medical system is more stable, and the risk of failure of the medical system can be reduced.

Description

Technical Field

[0001] The present utility model generally relates to the technical field of medical devices, and more specifically to a medical system. Background Art

[0002] With the progress of surgical techniques, surgical robots can assist surgeons in performing surgeries, providing high-precision surgical manipulation and vision, enabling surgeons to more accurately observe the structure and details of the surgical site and perform more precise manipulations, which can reduce intraoperative bleeding of patients and shorten the surgical time.

[0003] In multi-port laparoscopic surgery, surgical instruments need to be inserted into the patient's abdominal cavity through openings in the patient's abdomen for surgical operations. The openings are usually set at positions convenient for surgery, mainly determined according to the position and size of the lesion. In some common cases, the openings are arranged at intervals along a direction perpendicular to the height direction. Generally speaking, the arrangement range of the surgical openings is small, that is, the distance between the openings is not large. Since the robotic arms holding the surgical instruments need to occupy a certain operating space, arranging the robotic arms in a limited space and preventing the robotic arms from colliding with each other during surgery is crucial for surgical safety. Summary of the Utility Model

[0004] A series of simplified concepts are introduced in the Summary of the Utility Model section, which will be further detailed in the Detailed Implementation section. The Summary of the Utility Model section of the present utility model 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 protection scope of the claimed technical solution.

[0005] To at least partially solve the above problems, the present utility model provides a medical system, the medical system includes a first robotic arm system, the first robotic arm system is used to be arranged on one side of the operating table along the width direction, and the first robotic arm system includes:

[0006] A first base;

[0007] A first column, the first column is arranged on the first base and extends vertically, the first column has a first side surface, a second side surface and a third side surface extending along a direction parallel to the vertical direction, the first side surface is respectively connected to the second side surface and the third side surface, the first side surface is used to face the operating table during surgery, and the planes where the second side surface and the third side surface are located respectively intersect with the plane where the first side surface is located; and

[0008] At least three first robotic arms, the ends of the first robotic arms being used to hold surgical instruments, and at least one first robotic arm being provided on each of the first side surface, the second side surface, and the third side surface. Each first robotic arm includes a first adjustment arm, and the first adjustment arm is connected to the first column.

[0009] Wherein, the first adjustment arm includes at least two first connecting arms that are sequentially rotatably connected, and the number of first connecting arms of the first adjustment arm provided on the second side surface and / or the third side surface is greater than the number of first connecting arms of the first adjustment arm provided on the first side surface.

[0010] According to the medical system of the present utility model, during a surgery, the first side surface faces the operating table. Since the number of first connecting arms of the first adjustment arm provided on the second side surface and / or the third side surface is greater than the number of first connecting arms of the first adjustment arm provided on the first side surface, it is convenient for the first adjustment arms provided on the first side surface, the second side surface, and the third side surface to be adjusted to positions convenient for surgical operations during work, facilitating the positioning of the surgical instruments; at the same time, it also helps to prevent interference between the first adjustment arm provided on the first side surface and the first adjustment arms provided on the first side surface and the third side surface. Moreover, compared with the related art, the medical system of the present utility model simplifies the structure, is more stable, and is beneficial to reducing the risk of failure of the medical system.

[0011] Optionally, the first adjustment arm provided on the first side surface includes two first connecting arms that are sequentially rotatably connected, and each of the first adjustment arms provided on the second side surface and the third side surface includes three first connecting arms that are sequentially rotatably connected.

[0012] Optionally, the number of first connecting arms of the first adjustment arm provided on the second side surface is greater than the number of first connecting arms of the first adjustment arm provided on the first side surface, and the number of first connecting arms of the first adjustment arm provided on the second side surface is greater than the number of first connecting arms of the first adjustment arm provided on the third side surface. The third side surface is closer to the head end of the operating table than the second side surface.

[0013] Optionally, the first adjustment arm provided on the first side surface includes two first connecting arms that are sequentially rotatably connected, the first adjustment arm provided on the second side surface includes three first connecting arms that are sequentially rotatably connected, and the first adjustment arm provided on the third side surface includes two first connecting arms that are sequentially rotatably connected.

[0014] Optionally, the first robotic arm system includes three of the first robotic arms, and the three first robotic arms are respectively connected to the first side surface, the second side surface, and the third side surface.

[0015] Optionally, the first side face is used to be parallel to the length direction of the operating table during the operation.

[0016] Optionally, the planes where the second side face and the third side face are located are respectively perpendicular to the plane where the first side face is located.

[0017] Optionally, the first robotic arm system further includes a first roller, the first roller is connected to the lower part of the first base, and the first roller is used for rolling on the ground; or

[0018] The first robotic arm system further includes a first guide rail, the first base is movably connected to the first guide rail along the extending direction of the first guide rail, and the first guide rail is used to be arranged on a wall or a ceiling or the ground.

[0019] Optionally, the medical system further includes a control device, and the control device is communicatively connected to the first robotic arm system to control the first robotic arm to perform surgical operations.

[0020] Optionally, the medical system further includes a second robotic arm system, and the second robotic arm system includes:

[0021] A second base, the second base being independent of the first base; and

[0022] At least one second robotic arm, the second robotic arm being arranged on the second base.

[0023] Optionally, the second robotic arm system further includes a second roller, the second roller is connected to the lower part of the second base, and the second roller is used for rolling on the ground; or

[0024] The second robotic arm system further includes a second guide rail, the second base is movably connected to the second guide rail along the extending direction of the second guide rail, and the second guide rail is used to be arranged on a wall or a ceiling or the ground.

[0025] Optionally, the medical system further includes a control device, the control device is communicatively connected to the first robotic arm system and the second robotic arm system, and the control device can switch to control the first robotic arm and the second robotic arm.

[0026] Optionally, the medical system includes a plurality of controllable modes that can be switched with each other, the plurality of controllable modes include at least one single-use control mode and at least one combined single-use control mode. In the single-use control mode, the control device controls only one of the first robotic arm system and the second robotic arm system. In the combined control mode, the control device controls at least one of the first robotic arm system and the second robotic arm system.

[0027] Optionally, the control device includes two first operation components, each of which is configured to receive a user's interaction operation to control one of the first robotic arm system and the second robotic arm system; when the medical system is in the single-use control mode, both of the two first operation components are configured to control the instruments of the first robotic arm system or the second robotic arm system; when the medical system is in the combined control mode, each first operation component is configured to control any one of the instruments of the first robotic arm system and the instruments of the second robotic arm system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The following drawings of the embodiments of the present utility model are hereby incorporated as a part of the present utility model for understanding the present utility model. The embodiments of the present utility model shown in the drawings and their descriptions are used to explain the principles of the present utility model. In the drawings,

[0029] Figure 1 is a schematic diagram of a medical system according to an embodiment of the present application;

[0030] Figure 2 is a schematic diagram of a robotic arm system according to an embodiment of the present application;

[0031] Figure 3 is a perspective view of a first robotic arm system according to an embodiment of the present application;

[0032] Figure 4 is Figure 3 a top view of the first robotic arm system shown;

[0033] Figure 5 is Figure 3 and Figure 4 a perspective view of the first robotic arm system shown when used in combination with an operating table;

[0034] Figure 6 is Figure 5 a top view of the first robotic arm system shown when used in combination with an operating table;

[0035] Figure 7 is a perspective view of a first robotic arm system, a second robotic arm system, and an operating table when used in combination according to an embodiment of the present application;

[0036] Figure 8 is Figure 7 a top view of a first robotic arm system, a second robotic arm system, and an operating table when used in combination shown;

[0037] Figure 9 is a perspective view of a first robotic arm system, a second robotic arm system, and an operating table when used in combination according to another embodiment of the present application;

[0038] Figure 10 The Figure 9 top view when the first robotic arm system, the second robotic arm system and the operating table shown are used in combination;

[0039] Figure 11 The perspective view when the first robotic arm system, the second robotic arm system and the operating table shown are used in combination according to another embodiment of the present application; and

[0040] Figure 12 The Figure 11 top view when the first robotic arm system, the second robotic arm system and the operating table shown are used in combination.

[0041] Explanation of reference numerals:

[0042] 10: Control system 20: Imaging system

[0043] 30: Robotic arm system 31: Adjusting arm

[0044] 32: Operating arm 33: Instrument - holding arm

[0045] 34: Column 35: Handle

[0046] 36: Base 37: Lifting mechanism

[0047] 310: First robotic arm system 311: First base

[0048] 311a: First handle 311b: First roller

[0049] 312: First column 312a: First side

[0050] 312b: Second side 312c: Third side

[0051] 313: First robotic arm 314: First adjusting arm

[0052] 315: First connecting arm 316: First operating arm

[0053] 317: First instrument - holding arm 330: Second robotic arm system

[0054] 331: Second base 331a: Second roller

[0055] 331b: Second handle 332: Second column

[0056] 333: Second robotic arm 334: Second adjusting arm

[0057] 335: Second connecting arm 336: Second operating arm

[0058] 337: Second robotic arm 338: Second guide rail

[0059] 50: Operating table X: Longitudinal

[0060] Y: Transverse Z: Vertical

[0061] D1: Length direction D2: Width direction Detailed implementation manners

[0062] In the following description, numerous specific details are given to provide a more thorough understanding of the present utility model. However, it is obvious to those skilled in the art that the embodiments of the present utility model can be implemented without one or more of these details. In other instances, in order to avoid confusion with the embodiments of the present utility model, some well-known technical features are not described.

[0063] In order to thoroughly understand the embodiments of the present utility model, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present utility model is not limited to the specific details familiar to those skilled in the art.

[0064] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not a limitation of the present utility model. The singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they specify the presence of the stated features, wholes, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0065] The ordinal numbers such as "first" and "second" cited in the present utility model are only identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used in the present utility model are only for the purpose of illustration and are not limitations.

[0066] The expressions such as "parallel" / "perpendicular" and similar ones used in this application include absolute parallel / perpendicular relationships and substantially parallel / perpendicular relationships (for example, relationships within the range of -5° to +5° different from absolute parallel / perpendicular), and can achieve equivalent effects.

[0067] Hereinafter, specific embodiments of the present utility model will be described in more detail with reference to the accompanying drawings. These drawings show representative embodiments of the present utility model and do not limit the present utility model.

[0068] As Figure 1 and Figure 2 shown, the present utility model provides a medical system for remotely manipulating to complete surgeries. The medical system may include a control system 10, an imaging system 20, and a robotic arm system 30, which can communicate with each other.

[0069] The control system 10 is also referred to as a doctor's console or a control device. The control system 10 has a display unit for displaying surgical instruments or the endoscope environment, a control mechanism for the doctor to operate, an armrest, etc. The display unit is provided with an observation window for the doctor to observe. The control mechanism is configured to perform various actions corresponding to the actions of the surgical instruments or the endoscope. The armrest is used to place the doctor's arm. In addition, on the doctor's console, there are also other control switches that are convenient for the hands or feet to touch or press to perform various functional operations and complete human-machine interaction.

[0070] The imaging system 20 has a display screen, an endoscope controller, system electronics, an image processor, etc. Thus, the internal organs of the patient can be presented to the operator more clearly.

[0071] The robotic arm system 30 is arranged beside the patient, and a surgical instrument or an endoscope is provided at its distal end for performing various surgical operations on the patient. The robotic arm system 30 may include at least one robotic arm. The robotic arm has several connecting arms, and two adjacent connecting arms are connected by a joint and relatively move with a specific degree of freedom, so that the end of the robotic arm can achieve movements with multiple degrees of freedom. A tool holding arm 33 is installed at the end of the robotic arm, and the surgical instrument is detachably installed on the tool holding arm 33. An instrument drive module is provided on the tool holding arm 33 to drive the surgical instrument to perform actions such as insertion, clamping, hooking, cutting, shoveling, etc.

[0072] Figure 2 shows a schematic structure of the robotic arm system 30. In order to clearly show the structure of a single robotic arm, only one robotic arm is shown in the figure. In some cases, refer to Figure 2, a single robotic arm may include an adjustment arm 31 and an operating arm 32. A holding arm 33 is provided at the end of the operating arm 32, and a surgical instrument or an endoscope is detachably mounted on the holding arm 33. During the operation, a partial main pipeline and a wrist mechanism of the surgical instrument are passed through tissues such as the chest and abdominal wall to replace the human hand for the operation. Adjacent two connecting rods in the adjustment arm 31 are pivotally connected through a rotating joint. In addition, a rotating joint is also provided between the adjustment arm 31 and the operating arm 32 to achieve pivotal connection. Before operating the robotic arm system 30 for the operation, it is necessary to first operate the adjustment arm 31 to make the holding arm 33 reach the designated position, and then lock the rotating joints of the adjustment arm 31. During the operation, the operating arm 32 is remotely controlled to complete the operation, and at the same time, the rotating joints of the adjustment arm 31 are locked to prevent relative rotation between the connecting rods of the adjustment arm 31 during the operation.

[0073] In one example, referring to Figure 2 , the robotic arm system 30 includes a base 36. A column 34 and a handle 35 are provided on the base 36, and the column 34 includes at least one set of lifting mechanisms 37. Each set of lifting mechanisms 37 corresponds to a robotic arm. The operator can assist in moving the base 36 through the handle 35.

[0074] In a typical minimally invasive robotic surgery, it is necessary to insert a surgical instrument through an opening in the patient's body into the patient's abdominal cavity for surgical operation. The opening is usually set at a position convenient for the operation, mainly determined according to the position and size of the lesion. In some common cases, the openings are arranged at intervals along a direction perpendicular to the height direction.

[0075] Generally speaking, the arrangement range of the surgical openings is small, that is, the distance between the openings is not large. In order to give each operating arm enough working space to prevent the operating arms from colliding with each other during operation, the robotic arm system is usually placed near the patient's head or feet, which is beneficial to the arrangement of the robotic arms.

[0076] For example, the robotic arm system can be placed at the foot position of the patient. The longitudinal axis of the base of the robotic arm system is parallel to the height direction of the patient. Here, the longitudinal axis is the longitudinal axis in a virtual coordinate system, and the longitudinal axis usually refers to the direction of the distance between the column and the handle, and can also be called the front-back direction of the base. Here, the height direction of the patient can refer to the length direction D1 of the operating table 50. When taking the operating table 50 as a reference benchmark, the longitudinal axis of the base being parallel to the height direction of the patient can be understood as the longitudinal axis of the base being parallel to the length direction D1 of the operating table 50.

[0077] For another example, the robotic arm system is placed at the head position of the patient. The longitudinal axis of the base of the robotic arm system is not parallel to the height direction of the patient, but forms a certain angle. This is convenient for arranging monitoring devices for monitoring the patient's vital signs beside the operating table 50.

[0078] However, both of the above two methods have their own disadvantages. For the solution of placing the robotic arm system on the foot, the distance between the robotic arm system and the ward area is relatively large, resulting in a limited range of motion of the robotic arm. For the solution of placing the robotic arm system on the head, the robotic arm is likely to collide with other devices arranged at the patient's head during movement, and to some extent, it brings inconvenience to clinical staff to observe the patient.

[0079] Currently, the better solution is to place the robotic arm system on the side of the patient, i.e., the side of the operating table 50. This provides sufficient space around the patient's head and lower body, and is more convenient for clinical staff to observe and touch the patient, thus being beneficial to ensuring the safety of the patient. However, this arrangement brings challenges to the adjustment of the robotic arm.

[0080] To facilitate the adjustment of the robotic arm, the minimally invasive surgical robot in the related art includes an orientation platform arranged between the robotic arm and the column. The orientation platform can be lifted and rotated relative to the column, and the orientation platform itself is also provided with a linear joint and a rotary joint. By rotating the orientation platform, the pose of the adjustment arm can be adjusted so that the remote center of motion (RCM) point of the operating arm is easily accessible to the surgical opening of the patient, and the movement interference of the operating arm can be avoided as much as possible. However, the setting of the orientation platform means an increase in the moving parts of the robotic arm system, which is not conducive to the structural stability of the robotic arm system and increases the risk of failure of the robotic arm system.

[0081] To improve or avoid the above problems, refer to Figures 3 to 12, the medical system of the present utility model may include a first robotic arm system 310. The first robotic arm system 310 is configured to be arranged on one side of the operating table 50 along the width direction D2. The first robotic arm system 310 may include a first base 311, a first column 312, and at least three first robotic arms 313. The first column 312 is disposed on the first base 311 and extends along the vertical direction Z. The first column 312 has a first side surface 312a, a second side surface 312b, and a third side surface 312c that extend in a direction parallel to the vertical direction Z. The first side surface 312a is respectively connected to the second side surface 312b and the third side surface 312c. The first side surface 312a is configured to face the operating table 50 during the operation. The plane where the second side surface 312b is located and the plane where the third side surface 312c is located respectively intersect with the plane where the first side surface 312a is located. At least one first robotic arm 313 is respectively provided on the first side surface 312a, the second side surface 312b, and the third side surface 312c. The end of the first robotic arm 313 is configured to hold a surgical instrument. Each first robotic arm 313 includes a first adjustment arm 314. The first adjustment arm 314 is connected to the first column 312. Wherein, the first adjustment arm 314 includes at least two first connecting arms 315 that are sequentially rotatably connected. The number of the first connecting arms 315 of the first adjustment arm 314 provided on the second side surface 312b and / or the third side surface 312c is greater than the number of the first connecting arms 315 of the first adjustment arm 314 provided on the first side surface 312a.

[0082] In one example, the number of the first connecting arms 315 of the first adjustment arm 314 provided on the second side surface 312b is greater than the number of the first connecting arms 315 of the first adjustment arm 314 provided on the first side surface 312a, and is greater than the number of the first connecting arms 315 of the first adjustment arm 314 provided on the third side surface 312c.

[0083] In another example, the number of the first connecting arms 315 of the first adjustment arm 314 provided on the third side surface 312c is greater than the number of the first connecting arms 315 of the first adjustment arm 314 provided on the first side surface 312a, and is greater than the number of the first connecting arms 315 of the first adjustment arm 314 provided on the second side surface 312b.

[0084] In still another example, the number of the first connecting arms 315 of the first adjustment arm 314 provided on the second side surface 312b and the number of the first connecting arms 315 of the first adjustment arm 314 provided on the third side surface 312c are each greater than the number of the first connecting arms 315 of the first adjustment arm 314 provided on the first side surface 312a.

[0085] In some application scenarios, the first robotic arm system 310 includes at least three first robotic arms 313 and is applicable to multi-port surgical robots. Conventional multi-port laparoscopic surgeries generally require 3 to 4 ports to be made in the patient's abdomen. During the surgery, different surgical instruments are inserted through each port. For example, it may include 1 laparoscope and 2 to 3 surgical instruments. Therefore, for a multi-port surgical robot, the first robotic arm system 310 needs to have at least three first robotic arms 313.

[0086] During the surgery, the direction of the longitudinal axis of the first base 311 of the first robotic arm system 310, i.e., the longitudinal direction X, is perpendicular to the length direction D1 of the operating table 50. That is to say, the longitudinal direction X can be perpendicular to the height direction of the patient lying on the operating table 50. The transverse direction Y of the first base 311 is parallel to the length direction D1 of the operating table 50, and the vertical direction Z of the first base 311, i.e., the height direction, is perpendicular to the longitudinal direction X and the transverse direction Y. The vertical direction Z of the first base 311 is also the extending direction of the first column 312.

[0087] According to the medical system of the present utility model, during the surgery, the first side 312a faces the operating table 50. Therefore, the positioning difficulty of the surgical instrument held by the robotic arm disposed on the first side 312a is less than that of the surgical instruments held by the robotic arms disposed on the second side 312b and the third side 312c. When adjusting the adjustment arm 314 for positioning the surgical instrument, the adjustment amount of the first adjustment arm 314 disposed on the first side 312a is less than that of the first adjustment arm 314 disposed on the second side 312b and the third side 312c. Based on this, the number of rotating joints required for the first adjustment arm 314 disposed on the first side 312a is less than that of the first adjustment arm 314 disposed on the second side 312b and the third side 312c. That is to say, the number of the first connecting arms 315 of the first adjustment arm 314 disposed on the second side 312b and / or the third side 312c is greater than that of the first adjustment arm 314 disposed on the first side 312a. This helps the first adjustment arms 314 disposed on the first side 312a, the second side 312b, and the third side 312c to be adjusted to positions convenient for surgical operations during work, thereby facilitating the positioning of the surgical instruments installed at the ends of their respective robotic arms. At the same time, it also helps to prevent movement interference of each robotic arm during the surgery. Moreover, compared with the related art, the medical system of the present utility model does not need to use a positioning platform to position the surgical instrument, simplifies the structure, is more stable, and is beneficial to reducing the risk of failure of the medical system.

[0088] During the operation, the longitudinal direction X of the first base 311 of the first robotic arm system 310 is perpendicular to the length direction D1 of the operating table 50. This is beneficial for the positioning between the robotic arm system and the patient before performing the surgical operation, enabling the robotic arm system to be conveniently set to a suitable position relative to the patient. The convenience of this setting can ensure the repeatability of various surgical operations and is beneficial for improving the efficiency of setting or adjusting the surgical system before the start of the operation.

[0089] In Figures 3 to 12 In an example shown, the first adjustment arm 314 provided on the first side 312a may include two first connecting arms 315 rotatably connected in sequence. The first adjustment arms 314 provided on the second side 312b and the third side 312c may each include three first connecting arms 315 rotatably connected in sequence. It can be understood that the first robotic arm system 310 in this embodiment is usually placed on the side of the operating table 50 during the operation, and the longitudinal direction X of the first base 311 is perpendicular to the length direction D1 of the operating table 50. At this time, since the first robotic arm 313 located on the first side 312a is closer to the operating table 50 along the longitudinal direction X than the first robotic arms 313 located on the second side 312b and the third side 312c, and the first robotic arms 313 located on the second side 312b and the third side 312c usually require more joints capable of rotation to achieve bending, finally the end parts of the three first robotic arms 313 are arranged at intervals along the longitudinal direction X, so as to respectively correspond to the respective holes of the part of the patient to be operated on. Therefore, the first connecting arms 315 of the first robotic arm 313 located on the first side 312a can be fewer.

[0090] Combined with Figures 3 to 12, in another example (not shown), the number of the first connecting arms 315 of the first adjusting arm 314 provided on the second side surface 312b is greater than the number of the first connecting arms 315 of the first adjusting arm 314 provided on the first side surface 312a. And the number of the first connecting arms 315 of the first adjusting arm 314 provided on the second side surface 312b is greater than the number of the first connecting arms 315 of the first adjusting arm 314 provided on the third side surface 312c. At this time, the first robotic arm system 310 is configured such that the third side surface 312c is closer to the head end of the operating table 50 than the second side surface 312b. In a surgical scenario, after the ends of the three first robotic arms 313 are respectively corresponding to the parts of the patient to be operated on, the arrangement positions of the respective first robotic arms 313 may be: the end of the first robotic arm 313 located on the third side surface 312c is aligned with a surgical part of the patient's body closest to the first column 312 along the longitudinal direction X; the end of the first robotic arm 313 located on the first side surface 312a is farther from the first column 312 along the longitudinal direction X than the end of the first robotic arm 313 located on the third side surface 312c; the end of the first robotic arm 313 located on the second side surface 312b is farther from the first column 312 along the longitudinal direction X than the end of the first robotic arm 313 located on the first side surface 312a. Thus, it can be seen that the first robotic arm 313 located on the second side surface 312b needs to extend a farther distance in the longitudinal direction X than the first robotic arm 313 located on the third side surface 312c. Therefore, the number of the first connecting arms 315 of the first robotic arm 313 located on the second side surface 312b is greater than the number of the first connecting arms 315 of the first robotic arm 313 located on the third side surface 312c, which is beneficial to improving the flexibility of the first robotic arm system 310 during surgical applications, while simplifying the structure and also reducing the cost.

[0091] Further, the first adjusting arm 314 provided on the first side surface 312a may include two first connecting arms 315 that are sequentially rotatably connected. The first adjusting arm 314 provided on the second side surface 312b may include three first connecting arms 315 that are sequentially rotatably connected. The first adjusting arm 314 provided on the third side surface 312c may include two first connecting arms 315 that are sequentially rotatably connected.

[0092] Refer to Figures 3 to 12 , in some application scenarios, in order to further simplify the structure of the first robotic arm system 310, the first robotic arm system 310 of an embodiment of the present utility model may include three first robotic arms 313, and the three first robotic arms 313 are respectively connected to the first side surface 312a, the second side surface 312b, and the third side surface 312c. This is beneficial for each of the first robotic arms 313 to be more conveniently and flexibly adjusted to a position convenient for surgical operations during work, and at the same time, it is also convenient to position the ends of each of the first robotic arms 313.

[0093] Refer toFigures 5 to 12 The first side surface 312a is configured to be parallel to the length direction D1 of the operating table 50 during a surgical operation. In other words, the first side surface 312a can be perpendicular to the width direction D2 of the operating table 50.

[0094] Refer to Figures 3 to 12 The planes of the second side surface 312b and the third side surface 312c are both perpendicular to the plane of the first side surface 312a.

[0095] Refer to Figures 3 to 12 In one example, the first robotic arm system 310 may further include a first roller 311b. The first roller 311b is connected to the lower part of the first base 311. The first roller 311b is used for rolling on the ground. By providing the roller, it is possible to facilitate the user to move and position the first robotic arm system 310 more labor - saving.

[0096] Combined with Figure 11 and Figure 12 In an example not shown, the first robotic arm system 310 may further include a first guide rail. The first base 311 is movably connected to the first guide rail along the extension direction of the first guide rail. The first guide rail is configured to be provided on a wall, ceiling or the ground. That is, the first guide rail can be suspended on the ceiling, fixed to the wall, or fixed to the ground. This increases more usage scenarios and can be determined according to the actual space layout.

[0097] Refer to Figure 1 The control device 10 of the medical system is communicatively connected to the first robotic arm system 310 to control the first robotic arm 313 to perform surgical operations.

[0098] In addition, the first robotic arm system 310 may further include a first handle 311a. The first handle 311a is connected to the first base 311 to facilitate the movement of the first robotic arm system 310. The first robotic arm 313 may include a first adjustment arm 314 and a first operation arm 316 connected in sequence. The first adjustment arm 314 and the first operation arm 316 each include a plurality of connecting arms connected in sequence. For example, as described above, the first adjustment arm 314 includes a plurality of first connecting arms 315 that are sequentially rotatably connected. The first operation arm 316 may also include a plurality of connecting arms (not labeled in the figure) that are sequentially rotatably connected. Among them, the connecting arm at the outermost end of the first operation arm 316 is called the first instrument - holding arm 317, and the first instrument - holding arm 317 is used for mounting surgical instruments.

[0099] To ensure sufficient working space, the above robotic arm system usually has three robotic arms, which is sufficient for most surgeries. However, in some more complex surgeries, more surgical instruments or auxiliary surgical instruments are required to participate in the surgery. If only more first robotic arms 313 are arranged on the first robotic arm system 310, the complexity of the structure of the first robotic arm system 310 will be greatly increased, and the more complex the structure, the less conducive to the stability of surgical operations and the flexibility of operation.

[0100] To solve the above problems, refer to Figures 7 to 12 , in addition, the medical system may further include a second robotic arm system 330. The second robotic arm system 330 may include a second base 331 and at least one second robotic arm 333. The second base 331 is independent of the first base 311. The second robotic arm 333 is disposed on the second base 331. In some surgical scenarios, the laparoscopic surgery to be performed may require 4 or more holes to be made. In some other surgical scenarios, the laparoscopic surgery to be performed may require the assistance of auxiliary surgical tools to better perform the surgical operation. For example, in gynecological surgeries, a uterine manipulator is required to be inserted into the uterus through the patient's vagina to adjust the position of the uterus during the surgery and cooperate with the surgical operation. Here, by adding a second robotic arm system 330 to assist the first robotic arm system 310, more complex surgical operations can be completed. This not only does not affect the stability and accuracy of the surgical operation of the first robotic arm system 310, but also helps to improve the flexibility of the medical system in performing multi-hole surgical operations. The second base 331 of the second robotic arm system 330 is independent of the first base 311 of the first robotic arm system 310. Therefore, the second robotic arm system 330 can move independently relative to the first robotic arm system 310.

[0101] For example, refer to Figures 7 to 12 , the first robotic arm system 310 includes three first robotic arms 313. The second robotic arm system 330 includes at least one second robotic arm 333. This makes it more flexible to use.

[0102] Refer to Figures 7 to 12 , the second robotic arm system 330 may include a second column 332 and a second handle 331b. The second column 332 is fixed to the second base 331. The second handle 331b is connected to the second base 331 to move the second base 331. The second robotic arm 333 is connected to the second column 332. The second robotic arm 333 may have different implementation forms according to different operation requirements.

[0103] In some examples, such as Figure 7 , Figure 8 , Figure 11 and Figure 12As shown, the second robotic arm 333 can be configured to have a similar configuration to the first robotic arm 313, that is, it includes a second adjustment arm 334 and a second operating arm 336 connected in sequence, and a second instrument - holding arm 337 is provided at the end of the second operating arm 336. Further, the first robotic arm 313 and the second robotic arm 333 can both be configured to use a mechanical parallelogram mechanism to achieve the movement of the surgical instrument or the auxiliary surgical instrument around the RCM point. Or, the first robotic arm 313 and the second robotic arm 333 can both be configured to use a motor combined with program control to achieve the movement of the surgical instrument or the auxiliary surgical instrument around the RCM point.

[0104] In some other examples, the configuration of the second robotic arm 333 is different from that of the first robotic arm 313. For example, as Figure 9 and Figure 10 shown, the first robotic arm 313 is configured to use a mechanical parallelogram mechanism to achieve the movement of the surgical instrument or the auxiliary surgical instrument around the RCM point, and the second robotic arm 333 is configured to use a motor combined with program control to achieve the movement of the surgical instrument or the auxiliary surgical instrument around the RCM point. It can be understood that the way of motor - combined program control can adopt one of the existing technologies.

[0105] Referring to Figures 7 to 12 , further, during the operation, the second robotic arm system 330 is usually positioned near the patient's feet. On the one hand, it is beneficial to prevent movement interference with the first robotic arm system 30. On the other hand, it reserves space around the patient's head and on the side of the body, so as to facilitate the clinical staff to adjust the robotic arm, and at the same time, it is also convenient for the clinical staff to observe and touch the patient, which is beneficial to ensuring the safety of the patient.

[0106] Referring to Figures 7 to 10 , in one example, the second robotic arm system 330 may further include a second roller 331a. The second roller 331a is connected to the lower part of the second base 331, and the second roller 331a is used for rolling on the ground.

[0107] Referring to Figure 11 and Figure 12 , in another example, the second robotic arm system 330 may further include a second guide rail 338. The second base 331 is movably connected to the second guide rail 338 along the extension direction of the second guide rail 338. The second guide rail 338 is used to be arranged on the wall or the ceiling or the ground.

[0108] Referring to Figure 1 , further, the above - mentioned control device 10 can be communicatively connected to the first robotic arm system 310 and the second robotic arm system 330. The control device 10 can switch to control the first robotic arm 313 and the second robotic arm 333.

[0109] The medical system according to the embodiments of the present application may include a main operating device and a plurality of slave operating devices. The main operating device may include the above-mentioned control system 10, and the plurality of slave operating devices may include the above-mentioned first robotic arm system 310 and the above-mentioned second robotic arm system 330, that is, the first robotic arm system 310 is one of the slave operating devices, and the second robotic arm system 330 is another slave operating device. The main operating device is capable of communicating with the plurality of slave operating devices, so that the main operating device can simultaneously control at least one of the plurality of operating devices. The plurality of slave operating devices may be at least two slave operating devices, for example, may include any two or more of the peripatient operating devices such as single-port, single-arm, multi-port, flexible, etc. The main operating device may be configured as the doctor console described in the previous embodiment.

[0110] The medical system may include a plurality of switchable control modes. The plurality of control modes include at least one single-use control mode and at least one combined-use control mode. In the single-use control mode, the system can only control one of the slave operating devices. In the combined-use control mode, according to the complexity of the surgery or special requirements, the system can use one of the slave operating devices alone, or use at least two slave operating devices in combination.

[0111] The system can select a default control mode when the slave operating device is accessed, for example, by matching the type of the accessed slave operating device with the information pre-stored in the system and selecting the corresponding control mode. It can also trigger the interaction interface of the main operating device when the slave operating device is accessed into the system, and the doctor can select the required control mode by himself.

[0112] The doctor can also manually switch the control mode according to the surgical operation requirements. The specific switching operation methods include but are not limited to specific actions of the master hand controller of the main operating device, or buttons or sensing devices thereon, physical trigger or sensing trigger devices such as pedals of the main operating device, interactive operations on the display interface of the main operating device (such as using the master hand controller as a mouse to operate on the surgical scene display interface, or operating on the touch screen set on the armrest), or combinations of the above multiple methods according to logical configurations. In addition, the system can automatically judge the suitable control mode according to specific surgical process information and remind the doctor, for example, by giving text reminders on the surgical scene display interface, or by voice broadcast reminders, etc.

[0113] Furthermore, the main operating device includes two first operating components, and each first operating component is used to receive the interactive operation of the user to control one of the plurality of slave operating devices.

[0114] In the single-use control mode, the two first operating components are only used to control the same instrument of the same slave operating device, or respectively control two different instruments of the same slave operating device.

[0115] In the combined control mode, each first operating component can be used to control any one of the instruments of multiple slave operating devices. Two first operating components can control the same instrument, or can control two different instruments respectively. The two different instruments can be arranged on the same slave operating device, or can be arranged on two different slave operating devices respectively.

[0116] For example, the first operating component can be a device for a doctor's hand to operate, and is respectively operated by the doctor's left hand and right hand. In the combined control mode, for each first operating component, the corresponding controlled object can be freely selected from the instruments on the multiple slave operating devices in combination. For example, the system includes a first slave operating device and a second slave operating device. The doctor can operate a certain instrument of the first slave operating device with the left hand and operate a certain instrument of the second slave operating device with the right hand, or can also operate a certain instrument of the first slave operating device or the second slave operating device with the left hand and the right hand together, or can also operate two different instruments of the first slave operating device or the second slave operating device with the left hand and the right hand respectively.

[0117] Furthermore, in the combined control mode, further restrictions or constraints can be carried out according to the doctor's teaching needs or special surgical scenarios, such as restricting that the two first operating devices must respectively control the instruments of different slave operating devices.

[0118] Furthermore, in the combined control mode, the possible faults include: according to the location where the fault occurs, it can include the handling of cross-system faults between multiple surgical robots and the handling of the system faults of each surgical robot; according to the nature of the fault, it can include the handling of recoverable faults and the handling of non-recoverable faults. The main operating device's handling response to faults can control and respond to the state according to the current mature technology of the robot to ensure the surgical safety of the patient.

[0119] The selection and switching process of the control mode of the medical system is as follows. When the system starts, the corresponding control mode is automatically selected according to the type of connected robot. For example, when a single-port laparoscopic robot and a single-arm assist robot are connected simultaneously, the single-port - single-arm combined mode is selected. During the operation of the system, when relevant interaction operations are detected, the function of switching the control mode is activated; when no relevant interaction operations are detected, the current control mode is maintained. The interaction operations can be, for example, the pedal being depressed, the button on the master controller being pressed, etc. When the function of switching the control mode is activated, the doctor can switch the control mode according to the surgical needs. For example, the doctor can make a manual selection through the interactive physical operation of a specific master operating device or the interactive interface displayed on the display device of the master operating device. For example, the interactive interface can be superimposed on the visible surgical scene interface, and the doctor can scroll or slide-select the options in the interactive interface by operating the master controller. When staying on the control mode to be switched, double-click the button on the master controller or confirm the selection through other physical or interactive means to complete the switching of the control mode.

[0120] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the technical field of the present utility model. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. Terms such as "arranged" that appear herein can either mean that one component is directly attached to another component or that one component is attached to another component through an intermediate component. The features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0121] The present utility model has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of illustration and example, and are not intended to limit the present utility model within the scope of the described embodiments. Those skilled in the art can understand that more variations and modifications can be made according to the teachings of the present utility model, and these variations and modifications all fall within the scope claimed by the present utility model.

Claims

1. A medical system, characterized in that: The medical system includes a first robotic arm system, which is used to be arranged on one side of the operating table along the width direction, and the first robotic arm system includes: First Pedestal; a first column, the first column being arranged on the first base and extending vertically, the first column having a first side surface, a second side surface and a third side surface extending in a direction parallel to the vertical direction, the first side surface being connected to the second side surface and the third side surface respectively, the first side surface being used to face the operating table during surgery, and the planes where the second side surface and the planes where the third side surface are located respectively intersecting with the plane where the first side surface is located; and at least three first mechanical arms, the ends of the first mechanical arms are used to hold surgical instruments, at least one first mechanical arm is respectively arranged on the first side surface, the second side surface and the third side surface, each of the first mechanical arms comprises a first adjustment arm, and the first adjustment arm is connected to the first column, Wherein, the first adjusting arm includes at least two first connecting arms which are rotatably connected in sequence, and the number of the first connecting arms of the first adjusting arm arranged on the second side surface and / or the third side surface is greater than the number of the first connecting arms of the first adjusting arm arranged on the first side surface.

2. The medical system according to claim 1, characterized in that The first adjustment arm arranged on the first side surface includes two first connection arms rotatably connected in sequence, and the first adjustment arms arranged on the second side surface and the third side surface each include three first connection arms rotatably connected in sequence.

3. The medical system according to claim 1, characterized in that: The number of the first connecting arms of the first adjustment arm arranged on the second side is greater than the number of the first connecting arms of the first adjustment arm arranged on the first side, and the number of the first connecting arms of the first adjustment arm arranged on the second side is greater than the number of the first connecting arms of the first adjustment arm arranged on the third side, and the third side is closer to the head end of the operating table than the second side.

4. The medical system according to claim 1, characterized in that: The first adjustment arm arranged on the first side includes two first connecting arms connected in sequence and rotating, the first adjustment arm arranged on the second side includes three first connecting arms connected in sequence and rotating, and the first adjustment arm arranged on the third side includes two first connecting arms connected in sequence and rotating.

5. The medical system according to any one of claims 1 to 4, characterized in that: The first robot arm system includes three first robot arms, which are respectively connected to the first side surface, the second side surface, and the third side surface.

6. The medical system according to any one of claims 1 to 4, characterized in that: The first side surface is used to be parallel to the length direction of the operating table during surgery.

7. The medical system according to any one of claims 1 to 4, characterized in that: The plane where the second side surface is located and the plane where the third side surface is located are respectively perpendicular to the plane where the first side surface is located.

8. The medical system according to any one of claims 1 to 4, characterized in that: The first robot arm system further includes a first roller, the first roller is connected to the lower part of the first base, and the first roller is used for rolling on the ground; or The first robotic arm system also includes a first guide rail, the first base is movably connected to the first guide rail along an extension direction of the first guide rail, and the first guide rail is used to be set on a wall, a ceiling, or the ground.

9. The medical system according to any one of claims 1 to 4, characterized in that: The medical system further includes a control device, which is communicatively connected to the first robotic arm system to control the first robotic arm to perform surgical operations.

10. The medical system according to any one of claims 1 to 4, characterized in that: The medical system further includes a second robotic arm system, wherein the second robotic arm system includes: a second base, the second base being independent of the first base; and At least one second robotic arm, wherein the second robotic arm is disposed on the second base.

11. The medical system according to claim 10, characterized in that: The second robot arm system further comprises a second roller, the second roller being connected to the lower part of the second base, and the second roller being used for rolling on the ground; or The second robot arm system also includes a second guide rail, and the second base is movably connected to the second guide rail along an extension direction of the second guide rail, and the second guide rail is used to be set on a wall, a ceiling, or the ground.

12. The medical system according to claim 10, characterized in that The medical system further includes a control device, which is communicatively connected to the first robotic arm system and the second robotic arm system, and the control device is capable of switching and controlling the first robotic arm and the second robotic arm.

13. The medical system according to claim 12, characterized in that The medical system includes multiple control modes that can be switched between each other, and the multiple control modes include at least one single-use control mode and at least one combined single-use control mode. In the single-use control mode, the control device controls only one of the first robotic arm system and the second robotic arm system, and in the combined control mode, the control device controls at least one of the first robotic arm system and the second robotic arm system.

14. The medical system according to claim 13, characterized in that The control device includes two first operating components, each of which is used to receive an interactive operation of a user to control one of the first robotic arm system and the second robotic arm system; When the medical system is in a single-use control mode, both of the first operating components are used to control instruments of the first robotic arm system or the second robotic arm system; When the medical system is in the joint control mode, each first operating component is used to control any one of the instruments of the first robotic arm system and the instruments of the second robotic arm system.

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