Personal operation equipment, surgical robot and surgical medical system

Abstract

The utility model provides an affected part operation device, a surgical robot and a surgical medical system. The affected part operation device comprises a positioning adjusting mechanism, a posture adjusting mechanism and an instrument holding mechanism which are connected in sequence. The positioning adjusting mechanism comprises a first positioning arm and a second positioning arm. The first positioning arm has a first linear degree of freedom to translate along a first translation axis, the first translation axis being parallel to the first direction. The second positioning arm has a first rotation freedom degree rotating around the first rotation axis, the first rotation axis is parallel to or coincides with the first translation axis, the second positioning arm can translate the posture adjusting mechanism and the instrument holding mechanism in the second direction, and the second direction is perpendicular to the first direction. The posture adjusting mechanism has at least one deflection freedom degree. The instrument holding mechanism is used for installing the surgical instrument and provided with a pitching joint rotating around a pitching axis, and the pitching axis is perpendicular to the extending direction of the surgical instrument and is perpendicular to the deflection axis of at least one deflection freedom degree.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and more particularly to a device for para-patient operation, a surgical robot, and a surgical medical system. Background Art

[0002] With the improvement of medical standards, the application of surgical robot technology in the medical field has become increasingly widespread. Existing single-arm surgical robot systems have only one robotic arm, lacking sufficient flexibility, and may be restricted by the operating range and angle, unable to complete certain complex surgical operations. For example, when used in uterotonic surgery, it is prone to interference with the patient's legs; when used in abdominal surgery, it usually requires multiple-porous robots to cooperate. During the operation, due to considerations of positioning and interference during the movement of multiple robots, it has an impact on the attitude adjustment of the end of the robotic arm. Summary of the Utility Model

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

[0004] To at least partially solve the above problems, a first aspect of the present utility model provides a device for para-patient operation for a medical system, characterized in that it includes a positioning adjustment mechanism, an attitude adjustment mechanism, and an instrument holding mechanism connected in sequence:

[0005] The positioning adjustment mechanism includes:

[0006] A first positioning arm having a first linear degree of freedom of translation along a first translation axis, the first translation axis being parallel to a first direction, and

[0007] A second positioning arm having a first rotational degree of freedom of rotation about a first rotation axis, the first rotation axis being parallel or coincident with the first translation axis, and the second positioning arm being capable of translating the attitude adjustment mechanism and the instrument holding mechanism in a second direction, the second direction being at an angle to the first direction;

[0008] The attitude adjustment mechanism has at least one deflection degree of freedom, and the deflection axis of at least one of the deflection degrees of freedom is perpendicular to at least one of the first direction and the second direction;

[0009] The instrument holding mechanism is used to mount a surgical instrument, and the instrument holding mechanism has a pitching joint that rotates about a pitching axis, the pitching axis being perpendicular to the extending direction of the surgical instrument, and the pitching axis being perpendicular to the deflection axis of at least one of the deflection degrees of freedom.

[0010] According to the device for para-operative operations of the first aspect of the present application, through the translational joints of the first positioning arm and the translational joints of the second positioning arm, the end of the second positioning arm away from the first positioning arm can move within the plane where the first direction and the second direction are located together. Therefore, the positions of the attitude adjustment mechanism and the instrument holding structure can be adjusted significantly. The positioning adjustment mechanism can accurately position the attitude adjustment mechanism and the instrument holding structure over a large span to the area where surgical operations need to be performed, ensuring the accuracy and precision of subsequent surgical operations. At the same time, the positioning adjustment mechanism is basically a symmetric structure, that is, when the two translational joints act, the positioning adjustment mechanism only moves within the plane, thus ensuring that it will not collide with or interfere with other instruments or the patient during the operation, and guaranteeing the safety and stability of the operation. The robotic surgical system provided by the present application has a compact size and can be easily operated in a narrow environment.

[0011] Optionally, the second positioning arm has a third linear degree of freedom of translation along a third translation axis, and the third translation axis is parallel to the second direction.

[0012] Optionally, the second positioning arm has a second rotational degree of freedom of rotation about a second rotation axis and a third rotational degree of freedom of rotation about a third rotation axis, wherein

[0013] the second rotation axis and the third rotation axis are parallel to each other and are each perpendicular to the second direction.

[0014] Optionally, the attitude adjustment mechanism has at least two degrees of freedom of deflection, and the deflection axes of adjacent degrees of freedom of deflection are perpendicular.

[0015] Optionally, the instrument holding mechanism has a second linear degree of freedom of translation along a second translation axis, and the second translation axis is perpendicular to the deflection axis of at least one of the degrees of freedom of deflection.

[0016] Optionally, the instrument holding mechanism has at least one degree of freedom of pitch, and the pitch axis of the degree of freedom of pitch is perpendicular to the second translation axis.

[0017] Optionally, the instrument holding mechanism has at least two degrees of freedom of pitch, and the rotation directions of adjacent degrees of freedom of pitch are opposite.

[0018] The second aspect of the present utility model provides a device for para-operative operations, including:

[0019] A base;

[0020] A positioning adjustment mechanism, the positioning adjustment mechanism includes:

[0021] A first positioning arm, which is movably arranged on the base along a first translation axis parallel to a first direction;

[0022] A second positioning arm, which is pivotally connected to the first positioning arm around a first rotation axis. The second positioning arm moves closer to or away from the first positioning arm along a second direction, so that the second positioning arm can translate the posture adjustment mechanism and the instrument holding mechanism in the second direction, and the second direction is perpendicular to the first direction;

[0023] A posture adjustment mechanism, which includes:

[0024] A first arm, which is pivotally connected to the positioning adjustment mechanism around a first deflection axis perpendicular to at least one of the first direction and the second direction;

[0025] An instrument holding mechanism, which is mounted on the first arm and is used for mounting a surgical instrument. The instrument holding mechanism has a first pitching joint that rotates around a first pitching axis perpendicular to the extension direction of the surgical instrument and perpendicular to the first deflection axis.

[0026] Optionally, the second positioning arm includes a first branch arm and a second branch arm connected to each other;

[0027] The first branch arm is connected to the first positioning arm, the first branch arm is connected to the second branch arm, the second branch arm is connected to the posture adjustment mechanism, and the first branch arm and the second branch arm are slidably connected along a third translation axis parallel to the second direction.

[0028] Optionally, the second positioning arm includes a third branch arm, a first branch arm, and a second branch arm connected in sequence;

[0029] The third branch arm is pivotally connected to the first positioning arm around a first rotation axis, the first branch arm is pivotally connected to the third branch arm around a second rotation axis, the second branch arm is pivotally connected to the first branch arm around a third rotation axis, and the second branch arm is connected to the posture adjustment mechanism; wherein,

[0030] The second rotation axis and the third rotation axis are parallel to each other in pairs;

[0031] The second rotation axis and the third rotation axis are respectively perpendicular to the second direction.

[0032] Optionally, the attitude adjustment mechanism further includes a second arm, the second arm is pivotally connected to the positioning adjustment mechanism about a second deflection axis, and the first arm is pivotally connected to the second arm about a first deflection axis; wherein,

[0033] The first deflection axis is perpendicular to the second deflection axis;

[0034] One of the first deflection axis and the second deflection axis is perpendicular to the first direction, and the other of the first deflection axis and the second deflection axis is perpendicular to the second direction.

[0035] Optionally, the attitude adjustment mechanism further includes:

[0036] A third arm, the third arm is pivotally connected to the positioning adjustment mechanism about a third deflection axis;

[0037] A second arm, the second arm is pivotally connected to the second end of the third arm about a second deflection axis;

[0038] The first arm is pivotally connected to the second arm about a first deflection axis, and the first arm is connected to the instrument holding mechanism; wherein,

[0039] The third deflection axis is perpendicular to the second deflection axis;

[0040] The first deflection axis is perpendicular to the second deflection axis;

[0041] The third deflection axis is perpendicular to the second direction.

[0042] Optionally, the attitude adjustment mechanism includes:

[0043] A fourth arm, the fourth arm is pivotally connected to the positioning adjustment mechanism about a fourth deflection axis;

[0044] A second arm, the second arm is pivotally connected to the fourth arm about a second deflection axis;

[0045] The first arm is pivotally connected to the second arm about a first deflection axis, and the first arm is connected to the instrument holding mechanism; wherein,

[0046] The fourth deflection axis is perpendicular to the second deflection axis;

[0047] The first deflection axis is perpendicular to the second deflection axis;

[0048] The fourth deflection axis is perpendicular to both the second direction and the first direction.

[0049] Optionally, the attitude adjustment mechanism includes:

[0050] A fourth arm pivotally connected to the positioning adjustment mechanism about a fourth axis of deflection;

[0051] A third arm pivotally connected to the fourth arm about a third axis of deflection;

[0052] A second arm pivotally connected to the third arm about a second axis of deflection;

[0053] A first arm pivotally connected to the second arm about a first axis of deflection, the first arm being connected to the instrument holding mechanism; wherein,

[0054] The fourth axis of deflection is perpendicular to the third axis of deflection;

[0055] The third axis of deflection is perpendicular to the second axis of deflection;

[0056] The first axis of deflection is perpendicular to the second axis of deflection;

[0057] The third axis of deflection is perpendicular to the second direction;

[0058] The fourth axis of deflection is perpendicular to both the second direction and the first direction.

[0059] Optionally, the instrument holding mechanism includes a first connecting member and a second connecting member, the first connecting member is connected to the second arm about a first pitching axis, the second connecting member is for mounting the surgical instrument, and the second connecting member is movably disposed along a second translation axis on the first connecting member;

[0060] The first pitching axis is perpendicular to the first axis of deflection.

[0061] Optionally, the instrument holding mechanism includes a first connecting member, a second connecting member and a third connecting member, the first connecting member is connected to the second arm about a first pitching axis, the second connecting member is connected to the first connecting member about a second pitching axis, the third connecting member is for mounting the surgical instrument, and the third connecting member is movably disposed along a second translation axis on the second connecting member;

[0062] The first pitching axis is parallel to the second pitching axis;

[0063] The first pitching axis and the second pitching axis are each perpendicular to the first axis of deflection.

[0064] A third aspect of the present application provides a surgical robot, including a doctor console, an imaging device, and at least one patient-side operating device according to the first aspect or the second aspect of the present application.

[0065] The fourth aspect of the present application provides a surgical medical system, including:

[0066] a plurality of slave operating devices; and

[0067] a master operating device capable of communicating with the plurality of slave operating devices, such that the master operating device can simultaneously control at least one of the plurality of slave operating devices.

[0068] Optionally, the surgical medical system includes a plurality of controllable modes that can be switched with each other, the plurality of controllable modes including at least one single-use control mode and at least one combined single-use control mode. In the single-use control mode, the master operating device controls only one of the plurality of slave operating devices. In the combined control mode, the master operating device controls at least one of the plurality of slave operating devices.

[0069] Optionally, the master operating device includes two first operating components, each of the first operating components being configured to receive a user's interactive operation to control one of the plurality of slave operating devices; when the surgical medical system is in the single-use control mode, the two first operating components are configured to control the instruments of the same slave operating device; when the surgical medical system is in the combined control mode, each first operating component is configured to control any one of the instruments of the plurality of slave operating devices.

[0070] Optionally, the plurality of slave operating devices includes at least one single-arm assist robot and at least one single-port laparoscope robot or multi-port laparoscope robot, wherein the single-arm assist robot is configured as the paralesional operating device according to the first aspect or the second aspect of the present application. Description of the Drawings

[0071] The following drawings of the embodiments of the present application are hereby incorporated as a part of the present application for understanding the present application. The embodiments of the present application and their descriptions are shown in the drawings to explain the principles of the present application. In the drawings,

[0072] Figure 1 is a perspective schematic view of the paralesional operating device according to the first embodiment of the present application;

[0073] Figure 2 is a perspective schematic view of the paralesional operating device according to the second embodiment of the present application;

[0074] Figure 3 is a perspective schematic view of the paralesional operating device according to the second embodiment of the present application;

[0075] Figure 4 is a perspective schematic view of the paralesional operating device according to the third embodiment of the present application;

[0076] Figure 5Schematic three-dimensional diagram of the device for para-lesion operation in the third embodiment of the present application;

[0077] Figure 6 Schematic three-dimensional diagram of the device for para-lesion operation in the fourth embodiment of the present application;

[0078] Figure 7 Schematic three-dimensional diagram of the device for para-lesion operation in the fourth embodiment of the present application;

[0079] Figure 8 Schematic three-dimensional diagram of the device for para-lesion operation in the fifth embodiment of the present application;

[0080] Figure 9 Schematic three-dimensional diagram of the device for para-lesion operation in the fifth embodiment of the present application;

[0081] Figure 10 Schematic three-dimensional diagram of the device for para-lesion operation in the sixth embodiment of the present application;

[0082] Figure 11 Schematic three-dimensional diagram of the device for para-lesion operation in the sixth embodiment of the present application;

[0083] Figure 12 Orthopedic surgery operation module;

[0084] Figure 13 Schematic diagram of the application scenario of the surgical medical system according to the embodiment of the present application.

[0085] Explanation of Reference Numerals

[0086] 100, base; 110, first positioning arm; 111, column;

[0087] 112, lifting platform 120, second positioning arm; 121, first arm;

[0088] 122, second arm; 123, third arm; 210, first arm;

[0089] 220, second arm; 230, third arm; 240, fourth arm;

[0090] 310, first connector; 320, second connector; 330, third connector

[0091] DX1, first deflection axis; DX2, second deflection axis; DX3, third deflection axis;

[0092] DX4, fourth deflection axis; AX1, first rotation axis; AX2, second rotation axis;

[0093] AX3, the third rotational axis; TX1, the first translational axis; TX2, the second translational axis;

[0094] TX3, the third translational axis; PR1, the pitch joint; DR1, the first deflection joint;

[0095] DR2, the second deflection joint; DR3, the third deflection joint; DR4, the fourth deflection joint;

[0096] AR1, the first rotational joint; AR2, the second rotational joint; AR3, the third rotational joint;

[0097] TR1, the first linear joint; TR2, the second linear joint; TR3, the third linear joint;

[0098] PX1, the first pitch axis; PX2, the second pitch axis;

[0099] D1, the first direction; D2, the second direction Detailed implementation manners

[0100] In the following description, a large number of specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the embodiments of the present application, some technical features well known in the art are not described.

[0101] In this document, ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component".

[0102] In this document, "upper", "lower", "front", "rear", "left", "right", etc. are only used to represent the relative positional relationship between relevant parts, rather than defining the absolute positions of these relevant parts.

[0103] In this document, "equal", "same", etc. are not strict mathematical and / or geometric limitations, and also include errors that can be understood by those skilled in the art and are allowed in manufacturing or using, etc.

[0104] The "parallel" / "perpendicular" and similar expressions used in the present application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (for example, relationships that deviate from absolute parallel / perpendicular by -5° to +5°), which can achieve equivalent effects.

[0105] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present application is thorough and complete, and the concept of these exemplary embodiments is fully conveyed to those of ordinary skill in the art.

[0106] The surgical robot according to an embodiment of the present application is a robot that can perform surgeries remotely. The surgical robot may include a doctor's console, a robotic arm system, and a vision system.

[0107] Among them, the doctor's console is the core part of the surgical robot. The surgeon remotely controls the surgical robot by operating the console. The console is usually equipped with a high-definition display screen, enabling the doctor to observe the images of the surgical area in real time. The console is also equipped with various operation buttons and handles, which can precisely control the movements of the robot and the surgical instruments to complete human-machine interaction.

[0108] The vision system is the "eyes" of the surgical robot. It can transmit the real-time images of the surgical area to the display screen on the doctor's console, allowing the doctor to clearly see the situation of the surgical area. The vision system usually includes a camera and an image transmission device. The camera is used to capture the images of the surgical area, and the image transmission device transmits the images to the console in real time.

[0109] The robotic arm system is usually a surgical cart equipped with robotic arms and is an important part of the surgical robot. The robotic arm is the core mechanical structure of the surgical cart and is used to hold the surgical instruments on the patient side to perform surgical operations. Therefore, the robotic arm system is also called a device for operating beside the patient. The robotic arm system may include at least one robotic arm. The robotic arm has several connecting arms, and adjacent two connecting arms can move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom movement. A tool holding mechanism is provided at the end of the robotic arm, and the surgical instrument is detachably mounted on the tool holding mechanism. The surgical instrument can be replaced and used according to the surgical needs. The surgical instrument can be an instrument for performing surgical operations, such as an electrocautery device, a clamp, a vascular occluder, etc., or a camera for image acquisition of the surgical area, such as an endoscope, etc., or other auxiliary surgical instruments, such as a uterine manipulator. A cannula may be provided on the tool holding mechanism, and the cannula is operably mounted to the tool holding mechanism. The surgical instrument enters the human body after passing through the cannula, and the cannula has a certain supporting effect on the shaft of the surgical instrument. At the initial stage of the surgery, first determine the position of the cannula relative to the human body, that is, first determine the orientation of the surgical instrument entering the human body, and then drag the tool holding mechanism to dock with the cannula.

[0110] The movement of several connecting arms of the robotic arm can be coupled mechanically or through software control, enabling the robotic arm to drive the surgical instrument mounted on the instrument holding mechanism to move around the Remote Center of Motion (RCM). For example, in laparoscopic surgery, the RCM is selected as the port that enters the patient's abdominal cavity during the operation. During the operation, the surgical instrument enters the patient's body through this port and can perform movements such as pitching, deflecting, inserting, and rotating around the center point. This can ensure that the movement of the surgical instrument does not deviate from the preset trajectory, thus avoiding unnecessary harm to the patient. In common application scenarios, the para-operative device usually adopts a multi-arm configuration. Generally, a surgical cart is equipped with 3 to 4 robotic arms, which have problems such as large volume and inflexible pre-operative positioning, and are not conducive to being applied in an environment with a relatively narrow surgical operation space.

[0111] For example, in some application scenarios of laparoscopic surgery, the end of the robotic arm of the para-operative device can be used to install an electrocautery device, forceps, a vascular occluder, etc. to perform surgical operations, or can also be used to install an endoscope to provide a view of the patient's abdominal cavity. During the operation, the surgical instrument usually enters the patient's abdominal cavity through a small hole pre-opened in the human abdomen. Therefore, the surgical instrument usually inserts into the abdominal cavity from above or from the upper side of the human abdomen. Due to the relatively complex anatomical structure of the human body, when entering the abdominal cavity, the surgical instrument needs to avoid various irrelevant internal organs to reach the lesion for surgery, so it needs to have sufficient flexibility and controllability. For some relatively complex surgical procedures, to obtain a larger surgical operation space, it is necessary to enter the human abdominal cavity from different orientations to perform the operation. The span between these orientations is relatively large, and the robotic arms need to be placed on different sides of the patient's body, that is, at least two para-operative devices are required. Since there are several other medical auxiliary facilities placed around the patient, such as monitors, surgical instrument trolleys, etc., and positions also need to be reserved for medical staff to perform some auxiliary operations and observe the patient at any time, the space available for placing para-operative devices and for robotic arm operation on the patient's side is limited, and collisions are likely to occur between robotic arms or between robotic arms and surrounding medical instruments.

[0112] For another example, in the application scenario of gynecological surgery, a uterine manipulator is required as an auxiliary operation, and the end of the robotic arm of the device for para-lesion operation can be used to install the uterine manipulator. During the surgery, the uterine manipulator usually enters the uterus through the vagina in a generally horizontal direction between the patient's legs, and the uterine cup at the end of the uterine manipulator supports the uterus. By manipulating the uterine manipulator, the position and angle of the uterus can be adjusted, playing an auxiliary role in the surgical operation. In this application scenario, the operable range of the uterine manipulator can be maximized, and the device for para-lesion operation is suitable for being placed between the patient's legs. However, since the space between the legs is usually relatively narrow, there are certain requirements for the volume of the device for para-lesion operation and the flexibility of the robotic arm. Otherwise, interference may occur between the robotic arm and the legs or other instruments.

[0113] The device for para-lesion operation of the present application can improve or overcome the above problems and enhance the operation convenience in a narrow environment.

[0114] The device for para-lesion operation of the present application includes a base 100, a positioning adjustment mechanism, an attitude adjustment mechanism, and an instrument holding mechanism that are connected in sequence.

[0115] The base 100 is mainly used to position the device for para-lesion operation before the surgery, so as to achieve the preliminary positioning of the instrument holding mechanism before the surgery. In one example, the base 100 can be placed on the ground. For example, wheels can be provided at the bottom of the base 100 for easy movement. In another example, the base can also be suspended on the wall or ceiling. For example, the base can be installed on the wall or ceiling through a guide rail for easy movement. In yet another example, the base can also be installed on the operating table or integrated into the operating table.

[0116] The positioning adjustment mechanism is installed on the base 100. The positioning adjustment mechanism is mainly used to accurately position the instrument holding mechanism before the operation, and is used to drive the instrument holding mechanism to move around the RCM point together with the attitude adjustment mechanism during the operation. The positioning adjustment mechanism includes a first positioning arm and a second positioning arm. The second positioning arm is installed on the first positioning arm. The first positioning arm can translate the first positioning arm in the first direction, and the second positioning arm can translate the attitude adjustment mechanism and the instrument holding mechanism in the second direction. Therefore, through the translation joints of the first positioning arm and the translation joints of the second positioning arm, the end of the second positioning arm away from the first positioning arm can move within the plane where the first direction and the second direction are located together. Therefore, the positions of the attitude adjustment mechanism and the instrument holding mechanism can be adjusted greatly. The positioning adjustment mechanism can accurately position the attitude adjustment mechanism and the instrument holding mechanism over a large span to the area where surgical operations need to be performed, ensuring the accuracy and precision of subsequent surgical operations. At the same time, the positioning adjustment mechanism is basically a symmetric structure, that is, when the two translation joints act, the positioning adjustment mechanism only moves within the plane, thereby ensuring that there will be no collision or interference with other instruments and patients during the operation, and ensuring the safety and stability of the operation. Therefore, the positioning adjustment mechanism can translate the attitude adjustment mechanism and the instrument holding mechanism in the first direction D1 and / or the second direction D2 in a symmetric posture. The first direction D1 and the second direction D2 form an angle. Optionally, the first direction D1 and the second direction D2 are perpendicular. Optionally, the first direction D1 is the height direction and the second direction D2 is the horizontal direction.

[0117] Among them, the second positioning arm can rotate relative to the first positioning arm. Through the rotation joint formed by the first positioning arm and the second positioning arm together, the second positioning arm can swing around the first positioning arm. A rotation joint is arranged between the two translation joints, and the symmetry of the two translation joints can still be maintained. It should be noted that the symmetry of the positioning adjustment mechanism means that it can move within the plane during the movement process. By adding a rotation joint, the second positioning arm can be directly positioned to the preset area, and then the whole positioning adjustment mechanism can move within the plane to realize the position adjustment of the surgical instrument at the end.

[0118] The patient-side operating device of the present application limits the movable space of the surgical instrument to be symmetric with respect to the plane formed by the first direction and the second direction, which is beneficial to the placement and operation of the patient-side operating device in a narrow space, and helps to avoid interference between the robotic arm and other objects while ensuring the movement range of the surgical instrument.

[0119] In one example, the positioning adjustment mechanism has a first linear joint that translates along the first translation axis, and the first translation axis is parallel to the first direction D1, so as to translate the attitude adjustment mechanism and the instrument holding mechanism in the first direction D1. In another example, the first linear joint can be replaced by three sequentially connected rotation joints, and the rotation axes of the three rotation joints are all perpendicular to the first direction D1.

[0120] In one example, the positioning adjustment mechanism has a second linear joint that translates along a second translation axis parallel to the second direction D2 for translating the pose adjustment mechanism and the instrument holding mechanism in the second direction D2. In another example, the second linear joint can be replaced by three sequentially connected rotary joints, and the rotation axes of the three rotary joints are all perpendicular to the second direction D2.

[0121] In one example, the positioning adjustment mechanism has a first rotary joint that rotates about a first rotation axis parallel to the first direction D1 for adjusting the orientation of the pose adjustment mechanism and the instrument holding mechanism relative to the base in a plane perpendicular to the first direction D1.

[0122] The pose adjustment mechanism is mounted to the positioning adjustment mechanism. The pose adjustment mechanism is used to adjust the pose of the instrument holding mechanism before surgery and to drive the instrument holding mechanism to move around the RCM point together with the positioning adjustment mechanism during surgery. The pose adjustment mechanism can flexibly and precisely adjust the pose of the instrument holding mechanism that holds the surgical instrument according to the surgical needs, and the doctor can accurately control the pose of the surgical instrument to achieve accurate surgical operations. The pose adjustment mechanism has at least one deflection degree of freedom, and the deflection axis of at least one deflection degree of freedom is perpendicular to at least one of the first direction and the second direction. Specifically, the pose adjustment mechanism has a first deflection joint DR1 that rotates about a first deflection axis DX1. The setting of the deflection degree of freedom enables the pose adjustment mechanism to have more diverse application possibilities. According to different surgical scenarios and requirements, the angle and direction of the instrument holding mechanism can be flexibly adjusted to meet the requirements of various complex surgical operations.

[0123] The instrument holding mechanism is mounted to the pose adjustment mechanism. The instrument holding mechanism is used to mount the surgical instrument to fix and operate the surgical instrument. The instrument holding mechanism has a first pitching joint PR1 that rotates about a first pitching axis PX1 perpendicular to the extending direction of the surgical instrument. The first pitching axis PX1 is perpendicular to the first deflection axis DX1. Optionally, when the pose adjustment mechanism has multiple deflection degrees of freedom, the first pitching axis PX1 is perpendicular to the deflection axis of at least one deflection degree of freedom.

[0124] Through the positioning adjustment mechanism, two linear joints are adopted, which can move within a large range in a plane. A rotary joint is adopted, which can directly swing to a preset area and can serve as the basis for subsequent precise operations. Through the attitude adjustment mechanism and the instrument holding mechanism, multi-degree-of-freedom adjustment is achieved, meeting the requirements for adjusting the attitude of surgical instruments during surgical operations. Especially in laparoscopic surgery, doctors can operate on surgical instruments at multiple angles and with complex postures to meet the requirements of different surgical procedures. The precise positioning ability and multi-degree-of-freedom adjustment can help doctors more quickly and accurately complete the precise adjustment of the position and attitude of surgical instruments before surgery and meet the requirements for the flexibility of surgical instruments during surgery.

[0125] In one example, an instrument driving module (not labeled) is further provided on the instrument holding mechanism, and the instrument driving module is connected to the surgical instrument. During the surgical process, the instrument driving module is used to drive the end effector of the surgical instrument to perform actions such as clamping, cutting, shearing, and hooking.

[0126] In one example, a linear driving module (not labeled) is further provided on the instrument holding mechanism, and the surgical instrument can move along a straight line under the drive of the linear driving module. During the surgical process, the linear driving module is used to drive the surgical instrument to perform insertion or withdrawal actions along its extension direction.

[0127] Various possible embodiments of the paraoperative device are introduced below, and their beneficial effects are described in combination with application requirements.

[0128] It should be noted that in the embodiments described below, it is a preferred embodiment that two axes are perpendicular to each other. Two axes being perpendicular to each other means that the two axes intersect perpendicularly or the two axes are skew perpendicular. The cases where the two axes intersect and are not perpendicular, or the two axes are skew and their included angle is not a right angle are also within the protection scope of the present application.

[0129] As Figure 1 shown in the first embodiment. In this embodiment, the paraoperative device is arranged between the patient's legs to perform the uterine lifting operation. The paraoperative device includes a base 100, a positioning adjustment mechanism, an attitude adjustment mechanism, and an instrument holding mechanism that are connected in sequence.

[0130] The positioning adjustment mechanism includes a first positioning arm 110 and a second positioning arm 120, which can be movably connected through a first rotary joint AR1.

[0131] The first positioning arm 110 has a first linear joint TR1 that translates along a first translation axis TX1. The first translation axis TX1 is parallel to the height direction (i.e., the first direction D1). Therefore, the height of the instrument holding mechanism can be adjusted according to the patient's position or the height of the operating table without changing the posture of the posture adjustment mechanism. Exemplarily, the first positioning arm 110 includes a column 111 and a lifting platform 112, which can be connected by a moving pair. For example, the moving pair may include a slide rail and a slider, and the slider is slidably connected to the slide rail along the first translation axis TX1. The slide rail extends along the first direction D1.

[0132] The second positioning arm 120 includes a first arm 121 and a second arm 122.

[0133] The first arm 121 is connected to the first positioning arm 110. Specifically, the first arm 121 extends along a second direction, and one end of the first arm 121 along the second direction is pivotally connected to the first positioning arm 110 about a first rotation axis AX1 to form a first rotary joint AR1 that rotates about the first rotation axis AX1. Optionally, the first rotation axis AX1 is parallel to the first direction. The first rotation axis AX1 is parallel or coincident with the first translation axis TX1.

[0134] The second arm 122 is connected to the first arm 121. Specifically, the second arm 122 also extends along the second direction, and a first end that is movably along a third translation axis TX3 is connected to the first arm 121 to form a third linear joint TR3 that translates along the third translation axis TX3. Optionally, the third translation axis TX3 is parallel to the second direction D2. Optionally, the second direction D2 is the length direction of the second positioning arm 120. One end of the second arm 122 along the second direction away from the first positioning arm 110 is connected to the posture adjustment mechanism as a free end.

[0135] In some examples, the first linear joint TR1, the first rotary joint AR1, and the third linear joint TR3 can be configured as active joints.

[0136] Since the second positioning arm 120 of this embodiment has only the degrees of freedom of movement in the horizontal direction, the first positioning arm 110 needs to be involved when adjusting the height of the instrument holding mechanism.

[0137] In this embodiment, the second direction D2 is the direction from the first end of the first arm 121 to the second end of the second arm 122. Therefore, the second direction D2 changes in a plane perpendicular to the first rotation axis AX1 as the second positioning arm 120 rotates.

[0138] Generally speaking, in laparoscopic surgery, the RCM point is selected at the small hole opened on the patient's abdomen, and the cannula 340 is inserted into the small hole to support the surgical instrument. Therefore, the RCM point is set at an appropriate position of the cannula 340; in the uterine manipulation operation, the RCM point is selected at the vaginal entrance of the patient, and the cannula 340 is usually operated in cooperation outside the body. Therefore, the RCM point is set at a position in front of the cannula 340 (front refers to the insertion direction of the uterotonic device). Based on the position of the RCM point and the requirements of different operations, the positioning adjustment mechanism and the attitude adjustment mechanism need to cooperate to manipulate the movement of the surgical instrument around the RCM point.

[0139] In some application scenarios, when the para-lesion operating device performs the uterine manipulation operation, such as Figure 1 shown, the first deflection axis DX1 remains parallel to the first direction D1. On the one hand, the first pitch axis PX1 is perpendicular to the first direction D1. Therefore, through the cooperation of the first pitch joint PR1, the second positioning arm 120 and the first positioning arm 110, the pitching movement of the uterotonic device around the RCM point can be realized, so that the uterotonic device can move the uterus up and down. In this embodiment, when it comes to assisting the pitching movement of the surgical instrument around the RCM point, the first positioning arm 110 is required to participate. On the other hand, the first deflection axis DX1 and the first rotation axis AX1 are parallel. Therefore, through the cooperation of the first deflection joint DR1, the first rotation joint AR1 and the second positioning arm 120, the yaw movement of the uterotonic device around the RCM point can be realized, so that the uterus can be moved left and right.

[0140] The instrument holding mechanism includes a first connecting member 310, a second connecting member 320 and a third connecting member 330 connected in sequence. The first connecting member 310 is connected to the attitude adjustment mechanism. The second connecting member 320 and the third connecting member 330 are used to mount the surgical instrument. A cannula 340 is provided at the distal end of the second connecting member 320, and the cannula is operably connected to the second connecting member 320. When the surgical instrument is connected to the third connecting member 330, the surgical instrument passes through the cannula 340. Therefore, the cannula 340 plays a certain supporting role for the surgical instrument.

[0141] Specifically, the first end of the first connecting member 310 is fixed relative to the first arm 210. The second connecting member 320 is pivotally connected to the second end of the first connecting member 310 about the first pitch axis PX1. That is, the first connecting member 310 and the second connecting member 320 are pivotally connected to form a first pitch joint PR1 that rotates about the first pitch axis PX1. Optionally, the first pitch axis PX1 is perpendicular to the extending direction of the surgical instrument. Optionally, the first connecting member 310 is connected to the middle of the second connecting member 320, which can reduce the influence of the gravity moment on the first pitch joint PR1, thereby effectively reducing the vibration and shaking of the second connecting member 320 and the surgical instrument, and making the entire instrument holding mechanism more stable.

[0142] The third connecting member 330 is movably connected to the second connecting member 320 along the second translation axis TX2 to form a second linear joint TR2 that translates along the second translation axis TX2. The second translation axis TX2 is perpendicular to the first pitching axis PX1. The surgical instrument is movable relative to the second connecting member 320 along the second translation axis TX2 with the third connecting member 330. Optionally, the second translation axis TX2 is parallel to the extending direction of the surgical instrument, so that the third connecting member 330 can drive the surgical instrument closer to or farther from the operating position.

[0143] Optionally, the third connecting member 330 is provided with an instrument drive module for driving the surgical instrument to rotate about its own axis (i.e., the second translation axis TX2).

[0144] Through the above arrangement of the instrument holding mechanism, the surgical instrument can perform surgical operations at different angles and different lengths, so that the working angle and working distance of the surgical instrument can be changed, thereby adapting to the surgical operation requirements of different types, different parts and different depths.

[0145] In some examples, the first pitching joint PR1 and the second linear joint TR2 can be configured as active joints, that is, each joint is correspondingly provided with its own drive motor.

[0146] In some application scenarios, the second linear joint TR2 is used to drive the surgical instrument to enter and / or exit the patient's body. Since the movement direction of the second linear joint TR2 is consistent with the extending direction of the surgical instrument, it can simplify the control, reduce unnecessary harm to the patient at the same time, and improve the surgical safety.

[0147] Such as Figures 2 - 3 shown in the second embodiment. In this embodiment, the para-operative device can be used to perform the uterine lifting operation. The positioning adjustment mechanism and the attitude adjustment mechanism are similar to those in the first embodiment. For the sake of brevity, they will not be described in detail here.

[0148] The instrument holding mechanism includes a first connecting member 310, a second connecting member 320 and a third connecting member 330. Based on the first embodiment, the instrument holding mechanism adds a joint. The first connecting member 310 is connected to the attitude adjustment mechanism. The third connecting member 330 is used to connect the surgical instrument. Specifically, the first connecting member 310 is pivotally connected to the free end of the attitude adjustment mechanism about the second pitching axis PX2. That is, the first end of the first connecting member 310 is pivotally connected to the first arm 210 to form a second pitching joint PR2 that rotates about the second pitching axis PX2. The second end of the first connecting member 310 is pivotally connected to the second connecting member 320 to form a first pitching joint PR1 that rotates about the first pitching axis PX1. Optionally, the second pitching axis PX2 is parallel to the first pitching axis PX1.

[0149] In some application scenarios, the movement of the first pitching joint PR1 and the second pitching joint PR2 is coupled, such that the two rotate synchronously in opposite directions and at the same rate to maintain the attitude of the second connecting member 320. This movement coupling can be achieved through a mechanical structure or software control. This enables the adjustment of the distance between the first connecting member 310 and the free end of the attitude adjustment mechanism while keeping the attitude of the second connecting member 320 unchanged. That is, it is possible to adjust the overall thickness of the attitude adjustment mechanism and the instrument holding mechanism at the distal end. Therefore, according to the usage environment of the surgical instrument, other surgical instruments can be avoided, such that the instrument holding mechanism faces the patient at an appropriate angle.

[0150] In some examples, the first pitching joint PR1 and the second pitching joint PR2 can be configured as active joints. In other examples, the first pitching joint PR1 can be configured as an active joint, the second pitching joint PR2 can be configured as a passive joint, and the second pitching joint PR2 is connected to the first pitching joint PR1 through a transmission mechanism, such that the two are coupled in motion mechanically.

[0151] There is a second linear joint TR2 between the second connecting member 320 and the third connecting member 330 of the instrument holding mechanism. The third connecting member 330 and the second linear joint TR2 are similar to those in the first embodiment. For the sake of brevity, they will not be described in detail here.

[0152] As Figures 4 - 5 shown in the third embodiment. In this embodiment, the device for para-operative operations can be used to perform abdominal surgical operations or uterine lifting operations. The position adjustment mechanism and the instrument holding mechanism are similar to those in the first embodiment. For the sake of brevity, they will not be described in detail here.

[0153] The attitude adjustment mechanism includes a first arm 210 and a second arm 220. The first end of the second arm 220 is pivotally connected to the position adjustment mechanism about a second deflection axis DX2. The first end of the first arm 210 is pivotally connected to the second end of the second arm 220 about a first deflection axis DX1. The second deflection axis DX2 and the first deflection axis DX1 are at an angle. Optionally, the second deflection axis DX2 is perpendicular to the first deflection axis DX1.

[0154] The first end of the first arm 210 is connected to the second end of the second arm 220. The first arm 210 and the second arm 220 are pivotally connected to form a first deflection joint DR1 that rotates about the first deflection axis DX1. The first arm 210 is connected to the instrument holding mechanism.

[0155] In this embodiment, the second deflection axis DX2 is perpendicular to the first deflection axis DX1.

[0156] Exemplarily, the second arm 220 can be configured as a bent structure, such that the overall attitude adjustment mechanism is in a bent structure. When the second deflection joint DR2 rotates, it can change the orientation of the second end portion of the second arm 220 relative to the second support arm 122, thereby driving the change in the orientation of the first arm 210 relative to the second support arm 122. For example, the first end portion of the second arm 220 extends along the second deflection axis DX2, and the second end portion of the second arm 220 extends along the first deflection axis DX1. The first arm 210 extends along the first deflection axis DX1.

[0157] Through the above arrangement of the attitude adjustment mechanism, the instrument holding mechanism can be conveniently operated from a high position, facilitating the performance of abdominal surgical operations. The instrument holding mechanism can also be operated in a horizontal position, facilitating the performance of the uterine lifting operation. The position adjustment mechanism and the attitude adjustment mechanism jointly achieve the movement of the instrument around the RCM point.

[0158] In some examples, the first deflection joint DR1 and the second deflection joint DR2 can be configured as active joints, that is, each joint is correspondingly provided with its own drive motor.

[0159] The joints involved in the uterine lifting operation of the paracancer operation device in this embodiment are similar to those in the first embodiment. For the sake of brevity, they will not be described in detail here. Among them, during the entire operation process, the second deflection joint DR2 usually does not participate in the cooperation of the RCM point movement, that is, it remains stationary.

[0160] In some application scenarios, when the paracancer operation device performs laparoscopic surgical operations, compared with when performing the uterine lifting operation, the operating position of the surgical instrument is higher and the movement mode is more diverse. The introduction of the second deflection joint DR2 can improve the flexibility of the surgical instrument operation and meet the requirements of laparoscopic surgical operations. During the entire operation process, the first rotation joint AR1, the second positioning arm 120, the first deflection joint DR1, the second deflection joint DR2, the first pitching joint PR1, and the optional first positioning arm 110 all participate in the cooperation of manipulating the surgical instrument to move around the RCM point. For example, through the cooperation of the first pitching joint PR1, the second deflection joint DR2, the second positioning arm 120, and the first positioning arm 110, the pitching movement of the surgical instrument around the RCM point can be achieved; at the same time, through the cooperation of the first deflection joint DR1, the second deflection joint DR2, the first rotation joint AR1, and the second positioning arm 120, the yaw movement of the surgical instrument around the RCM point can be achieved.

[0161] As Figures 6 - 7 shown in the fourth embodiment. In this embodiment, the paracancer operation device can be used to perform laparoscopic surgical operations when set on the side of the patient, and can also be used to perform the uterine lifting operation when set between the patient's legs. The first positioning arm 110, the first rotation joint AR1, the attitude adjustment mechanism, and the instrument holding mechanism are similar to those in the third embodiment. For the sake of brevity, they will not be described in detail here.

[0162] The fourth embodiment is different from the third embodiment in that the second positioning arm is different. The positioning adjustment mechanism of this embodiment includes a first positioning arm 110 and a second positioning arm 120.

[0163] The second positioning arm 120 includes a third arm 123, a first arm 121 and a second arm 122. The third arm 123 is connected to the first positioning arm 110. Specifically, the first end of the third arm 123 is pivotally connected to the first positioning arm 110 about a first rotation axis AX1 to form a first rotation joint AR1 that rotates about the first rotation axis AX1. Therefore, the positioning adjustment mechanism can swing relative to the base 100 about the first rotation axis AX1. In use, on the basis of ensuring that the instrument holding mechanism is in an area where surgical operations can be performed, the base 100 of the equipment beside the patient can be flexibly positioned according to the environment of the operating room, avoiding other medical auxiliary equipment on the side of the patient. Optionally, the first rotation axis AX1 is parallel to the first direction D1. The first rotation axis AX1 is parallel to or coincides with the first translation axis TX1.

[0164] The first arm 121 is connected to the third arm 123. Specifically, the first end of the first arm 121 is pivotally connected to the second end of the third arm 123 about a second rotation axis AX2 to form a second rotation joint AR2 that rotates about the second rotation axis AX2. The second arm 122 is connected to the first arm 121. Specifically, the first end of the second arm 122 is pivotally connected to the second end of the first arm 121 about a third rotation axis AX3 to form a third rotation joint AR3 that rotates about the third rotation axis AX3. The second positioning arm 120 can change the dimension (height) along the first direction D1 and / or the dimension (length) along the second direction D2 of the second positioning arm 120 by changing the angle between the first arm 121 and the second arm 122. Optionally, the second rotation axis AX2 is parallel to the third rotation axis AX3. Optionally, the second rotation axis AX2 is perpendicular to the first rotation axis AX1. The third arm 123 can be disposed above the first positioning arm 110 to reduce the dimension in the horizontal direction. The third arm 123 and the second arm 122 can be disposed on the same side of the first arm 121 in the thickness direction to reduce the dimension in the horizontal direction.

[0165] In some application scenarios, before the surgical operation, the height of the instrument holding mechanism can be adjusted through the cooperation of the first positioning arm 110 and the second positioning arm 120, and the position of the instrument holding mechanism relative to the base 100 in the horizontal direction can be adjusted through the first rotation joint AR1 and the second positioning arm 120.

[0166] In some application scenarios, during a surgical operation, both the first positioning arm 110 and the second positioning arm 120 can assist the attitude adjustment mechanism to drive the instrument holding mechanism to move around the RCM point.

[0167] In some application scenarios, during a surgical operation, the first positioning arm 110 may not participate in the cooperation of the RCM point movement, that is, it is locked after being adjusted to a suitable height before the surgical operation.

[0168] In some application scenarios, before a surgical operation, the second positioning arm 120 may not participate in the height adjustment of the instrument holding mechanism, that is, the height adjustment of the instrument holding mechanism is only carried out through the first positioning arm 110.

[0169] In this embodiment, the second direction D2 is the direction from the first end of the first arm 121 to the second end of the second arm 122 or the component of this direction on the horizontal plane. Therefore, the second direction D2 changes in a plane perpendicular to the first rotation axis AX1 as the second positioning arm 120 rotates. In some application scenarios, before a surgical operation, the first rotation joint AR1 is used to adjust the direction of the second direction D2. In some application scenarios, the first rotation joint AR1 can be kept locked to maintain the second direction D2. In some other application scenarios, the first rotation joint AR1 can also assist the attitude adjustment mechanism to drive the instrument holding mechanism to move around the RCM point.

[0170] In some application scenarios, before and during a surgical operation, through the cooperation of the second rotation joint AR2 and the third rotation joint AR3, the direction from the first end of the first arm 121 to the second end of the second arm 122 is always perpendicular to the first direction D1, that is, the second positioning arm 120 does not participate in the height adjustment of the instrument holding mechanism, thereby simplifying the control.

[0171] In this embodiment, the second positioning arm 120 realizes the movement of the instrument holding mechanism in the second direction D2 through the cooperation of two rotation joints, improving the flexibility of the equipment for para-lesion operation. At the same time, in cooperation with the second positioning arm 120 and the first rotation joint AR1, the equipment for para-lesion operation can be applied to a variety of application scenarios, meeting different surgical requirements and different environmental requirements.

[0172] In some examples, the second rotation joint AR2 and the third rotation joint AR3 can be configured as active joints, that is, each joint is correspondingly provided with its own driving motor.

[0173] In some other examples, the second rotation joint AR2 can be configured as an active joint, and the third rotation joint AR3 can be configured as a passive joint. The third rotation joint AR3 is connected to the second rotation joint AR2 through a transmission mechanism, and the rotation of the second rotation joint AR2 drives the rotation of the third rotation joint AR3, so that the two are mechanically coupled in motion.

[0174] The posture adjustment mechanism includes a first arm 210, a second arm 220, and a fourth arm 240. The first end of the fourth arm 240 is pivotally connected to the positioning adjustment mechanism about a fourth deflection axis DX4. The fourth deflection axis DX4 is perpendicular to the first direction D1 and the second direction D2. The first end of the second arm 220 is pivotally connected to the second end of the fourth arm 240 about a second deflection axis DX2. The second deflection axis DX2 forms an angle with the fourth deflection axis DX4. Optionally, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4. The fourth arm 240 is connected to the free end of the positioning adjustment mechanism. That is, the first end of the fourth arm 240 is connected to the second support arm 122. The fourth arm 240 is pivotally connected to the second support arm 122 to form a fourth deflection joint DR4 that rotates about the fourth deflection axis DX4. Optionally, the fourth deflection axis DX4 is parallel to the second rotation axis AX2 and the third rotation axis AX3. The first end of the second arm 220 is connected to the second end of the fourth arm 240. The second arm 220 is pivotally connected to the fourth arm 240 to form a second deflection joint DR2 that rotates about the second deflection axis DX2. The specific structures of the first deflection joint DR1 and the first arm 210 and the second arm 220 are similar to those of the third embodiment.

[0175] In some application scenarios, the fourth deflection joint DR4 is used to maintain the angle of the second deflection axis DX2 of the second deflection joint DR2 relative to the first direction D1 when the second positioning arm 120 moves, for example, to keep the second deflection axis DX2 perpendicular to the first direction D1. For example, when the posture of the second support arm 122 changes, it will cause the angle of the second deflection axis DX2 relative to the first direction D1. At this time, the fourth deflection joint DR4 and the third rotation joint AR3 can cooperate to maintain this angle.

[0176] In this embodiment, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4 and the first deflection axis DX1 respectively.

[0177] Exemplarily, the second arm 220 can be configured as a bent structure, so that the overall posture adjustment mechanism is in a bent structure. When the second deflection joint DR2 rotates, it can change the orientation of the second end of the second arm 220 relative to the fourth arm 240, thereby changing the orientation of the first arm 210 relative to the fourth arm 240.

[0178] In some examples, the first deflection joint DR1, the second deflection joint DR2, and the fourth deflection joint DR4 can be configured as active joints, that is, each joint is correspondingly provided with its own drive motor.

[0179] With the above-described posture adjustment mechanism provided, the instrument holding mechanism can conveniently operate from a high position, facilitating the performance of abdominal surgery operations. The instrument holding mechanism can also operate in a horizontal position, facilitating the performance of uterine lifting operations. The position adjustment mechanism and the posture adjustment mechanism together achieve the movement of the instrument around the RCM point. The joints of the posture adjustment mechanism and the instrument holding mechanism involved in the present embodiment when performing abdominal surgery operations and uterine lifting operations are similar to those of the third embodiment. For the sake of brevity, they will not be described in detail here.

[0180] As Figures 8 - 9 shown in the fifth embodiment. In this embodiment, the patient-side operating device can be used to perform abdominal surgery operations and can also be used to perform uterine lifting surgery. The position adjustment mechanism and the instrument holding mechanism are similar to those of the fourth embodiment. For the sake of brevity, they will not be described in detail here.

[0181] The difference between the fifth embodiment and the fourth embodiment lies in the different posture adjustment mechanisms.

[0182] As Figures 8 - 9 shown, the posture adjustment mechanism includes a first arm 210, a second arm 220, and a fourth arm 240. The first end of the fourth arm 240 is pivotally connected to the position adjustment mechanism about a fourth deflection axis DX4. The fourth deflection axis DX4 is perpendicular to the first direction D1 and the second direction D2. The first end of the second arm 220 is pivotally connected to the second end of the fourth arm 240 about a second deflection axis DX2. The second deflection axis DX2 forms an angle with the fourth deflection axis DX4. Optionally, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4. The first end of the first arm 210 is pivotally connected to the second end of the second arm 220 about a first deflection axis DX1. The second deflection axis DX2 forms an angle with the first deflection axis DX1. Optionally, the second deflection axis DX2 is perpendicular to the first deflection axis DX1.

[0183] The fourth arm 240 is connected to the free end of the positioning adjustment mechanism. That is, the first end of the fourth arm 240 is connected to the second support arm 122. The fourth arm 240 and the second support arm 122 are pivotally connected to form a fourth deflection joint DR4 that rotates about a fourth deflection axis DX4. Optionally, the fourth deflection axis DX4 is parallel to the second rotation axis AX2 and the third rotation axis AX3. The first end of the second arm 220 is connected to the second end of the fourth arm 240. The second arm 220 and the fourth arm 240 are pivotally connected to form a second deflection joint DR2 that rotates about a second deflection axis DX2. The first end of the first arm 210 is connected to the second end of the second arm 220. The first arm 210 and the second arm 220 are pivotally connected to form a first deflection joint DR1 that rotates about a first deflection axis DX1. The first arm 210 is connected to the instrument holding mechanism. The first end of the first arm 210 is connected to the second end of the second arm 220. The first arm 210 and the second arm 220 are pivotally connected to form a first deflection joint DR1 that rotates about a first deflection axis DX1. The first arm 210 is connected to the instrument holding mechanism.

[0184] In this embodiment, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4 and the first deflection axis DX1 respectively.

[0185] Different from the bending structure of the fourth embodiment, the attitude adjustment mechanism of the fifth embodiment is arranged in a straight line as a whole, that is, the fourth deflection joint DR4, the second deflection joint DR2, the first deflection joint DR1 and the first pitching joint PR1 are arranged in sequence along the first deflection axis DX1. Therefore, in different application scenarios of the fourth embodiment, the second deflection axis DX2 can be set perpendicular to the first direction D1; while in the fifth embodiment, the direction of the second deflection axis DX2 needs to be adjusted according to different application scenarios, specifically by adjusting the fourth deflection joint DR4.

[0186] Through the setting of the above attitude adjustment mechanism, the instrument holding mechanism can conveniently operate from a high position, which is convenient for performing abdominal surgery operations. The instrument holding mechanism can also operate in a horizontal position, which is convenient for performing uterine lifting operations. The positioning adjustment mechanism and the attitude adjustment mechanism jointly realize the movement of the instrument around the RCM point.

[0187] Figure 8An initial positioning of a robotic arm is shown. At this time, the second deflection axis DX2 is parallel to the first direction D1 and perpendicular to the second direction D2, and the first deflection axis DX1 is perpendicular to the first direction D1. This positioning enables the fourth deflection joint DR4, the second deflection joint DR2, the first deflection joint DR1, and the first pitching joint PR1 to be arranged in sequence in the horizontal direction, facilitating the operation of surgical instruments from a high position and being suitable for laparoscopic surgical operations. In some application scenarios, when the device for operating beside the patient performs laparoscopic surgical operations, the second deflection axis DX2 remains parallel to the first direction D1. On the one hand, the first pitching axis PX1 is perpendicular to the first direction D1. Therefore, through the cooperation of the first pitching joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110, the pitching movement of the surgical instrument around the RCM point can be achieved. On the other hand, the second deflection axis DX2 is parallel to the first rotation axis AX1, and the first deflection axis DX1 and the first rotation axis AX1 are perpendicular. Therefore, through the cooperation of the first deflection joint DR1, the second deflection joint DR2, the first rotation joint AR1, and the second positioning arm 120, the yaw movement of the surgical instrument around the RCM point can be achieved.

[0188] Figure 9 Another initial positioning of a robotic arm is shown. At this time, the second deflection axis DX2 is parallel to the second direction D2 and perpendicular to the first direction D1, and the first deflection axis DX1 is parallel to the first direction D1 and perpendicular to the second direction D2. This positioning enables the fourth deflection joint DR4, the second deflection joint DR2, the first deflection joint DR1, and the first pitching joint PR1 to be arranged in sequence in the vertical direction, facilitating the uterine manipulator to enter the uterus in a substantially horizontal direction and being suitable for uterine manipulation operations. On the one hand, the first pitching axis PX1 is perpendicular to the first direction D1. Therefore, through the cooperation of the first pitching joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110, the pitching movement of the uterine manipulator around the RCM point can be achieved, enabling the uterine manipulator to move the uterus up and down. On the other hand, the first deflection axis DX1 and the first rotation axis AX1 are parallel. Therefore, through the cooperation of the first deflection joint DR1, the first rotation joint AR1, and the second positioning arm 120, the yaw movement of the uterine manipulator around the RCM point can be achieved, enabling the uterus to be moved left and right. During the entire operation process, the second deflection joint DR2 generally does not participate in the movement around the RCM point, that is, it remains stationary.

[0189] As Figures 10 - 11 shown in the sixth embodiment. In this embodiment, the device for operating beside the patient can be used to perform laparoscopic surgical operations and can also be used for uterine manipulation operations. The positioning adjustment mechanism and the instrument holding mechanism are similar to those in the fourth embodiment and will not be elaborated here.

[0190] The sixth embodiment is different from the fourth embodiment in that the attitude adjustment mechanism is different. The attitude adjustment mechanism of the sixth embodiment has an additional redundant degree of freedom compared to the attitude adjustment mechanism of the fourth embodiment.

[0191] The attitude adjustment mechanism of this embodiment includes a fourth arm 240, a third arm 230, a second arm 220, and a first arm 210. On the basis of the fourth embodiment, a rotary joint is added between the fourth arm 240 and the second arm 220.

[0192] The third arm 230 is connected to the fourth arm 240. That is, the first end of the third arm 230 is connected to the second end portion of the fourth arm 240. The third arm 230 and the fourth arm 240 are pivotally connected to form a third deflection joint DR3 that rotates about a third deflection axis DX3. The third deflection axis DX3 forms an angle with the fourth deflection axis DX4. Optionally, the third deflection axis DX3 is perpendicular to the fourth deflection axis DX4. The first end portion of the second arm 220 is pivotally connected to the second end portion of the third arm 230 about a second deflection axis DX2. The first end portion of the first arm 210 is pivotally connected to the second end portion of the second arm 220 about a first deflection axis DX1. The third deflection axis DX3 forms an angle with the second deflection axis DX2. Optionally, the third deflection axis DX3 is perpendicular to the second deflection axis DX2. The first deflection axis DX1 forms an angle with the second deflection axis DX2. Optionally, the first deflection axis DX1 is perpendicular to the second deflection axis DX2. The structure of the fourth arm 240 and its connection to the second support arm 122, and the connection and structure of the first arm 210 and the second arm 220 are the same as those in the fourth embodiment, and will not be elaborated here.

[0193] In this embodiment, the specific structure of the third arm 230 is similar to the structure of the second arm 220 in the fifth embodiment. The fourth deflection joint DR4, the third deflection joint DR3, the second deflection joint DR2, and the first deflection joint DR1 are arranged in sequence along the second deflection axis DX2, and the first deflection joint DR1 and the first pitching joint PR1 are arranged in sequence along the first deflection axis DX1. Therefore, the attitude adjustment mechanism as a whole has a bent structure.

[0194] In some application scenarios, when the fourth deflection joint DR4 and the third rotary joint AR3 cooperate to maintain the attitude of the instrument holding mechanism, the third deflection axis DX3 is always parallel to the first direction.

[0195] In this embodiment, through the settings of the third arm 230, the second arm 220, and the first arm 210, the attitude adjustment mechanism has three degrees of freedom, making the attitude adjustment of the machine more diversified and reducing interference with other instruments. In addition, on the basis of ensuring that the degrees of freedom of the instrument holding mechanism can meet the requirements of performing surgical operations, the base 100 of the operation device beside the patient can be flexibly positioned according to the environment of the operating room, avoiding other medical auxiliary devices on the side of the patient's body.

[0196] In some examples, the first deflection joint DR1, the second deflection joint DR2, the third deflection joint DR3, and the fourth deflection joint DR4 can be configured as active joints, that is, each joint is correspondingly provided with its own drive motor.

[0197] In some application scenarios, when the para-operative device performs the uterine lifting operation, such as Figure 11 As shown, the first deflection axis DX1 remains parallel to the first direction D1. On the one hand, the first pitch axis PX1 is perpendicular to the first direction D1. Therefore, through the cooperation of the first pitch joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110, the pitching motion of the uterine lifter around the RCM point can be achieved, so that the uterine lifter can move the uterus up and down. On the other hand, the first deflection axis DX1, the third deflection axis DX3, and the first rotation axis AX1 are parallel. Therefore, through the cooperation of the first deflection joint DR1, the fourth deflection joint DR4, the third deflection joint DR3, the second positioning arm 120, and the optional first rotation joint AR1, the yaw motion of the uterine lifter around the RCM point can be achieved, so that the uterus can be moved left and right. During the whole operation, the second deflection joint DR2 usually does not participate in the cooperation of the RCM point movement, that is, it remains stationary.

[0198] In some application scenarios, when the para-operative device performs laparoscopic surgery operations, compared with the Figure 6 embodiment, a redundant degree of freedom of rotation around the third deflection axis DX3 is provided. On the one hand, it provides the possibility of adaptively adjusting the position of the base 100 of the para-operative device according to the surrounding environment of the patient before the operation. On the other hand, it helps the surgical instrument to avoid other instruments arranged above the patient. During the whole operation, the first rotation joint AR1, the second positioning arm 120, the first deflection joint DR1, the second deflection joint DR2, the third deflection joint DR3, the first pitch joint PR1, and the optional first positioning arm 110 all participate in the cooperation of manipulating the surgical instrument to move around the RCM point. For example, through the cooperation of the first pitch joint PR1, the second deflection joint DR2, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110, the pitching motion of the surgical instrument around the RCM point can be achieved; at the same time, through the cooperation of the first deflection joint DR1, the second deflection joint DR2, the third deflection joint DR3, the first rotation joint AR1, and the second positioning arm 120, the yaw motion of the surgical instrument around the RCM point can be achieved.

[0199] The para-operative devices in the first to sixth embodiments of the present application are all configured as single-arm robots. Their compact structure results in a relatively small overall volume, and the flexible positioning of the base 100 enables relatively flexible pre-operative positioning, significantly improving the operational convenience in a narrow environment. The para-operative device provided by the present application can provide a wide range of movement angles when performing surgery around a distal fixed point, providing greater flexibility and operating space for doctors, and being applicable to various types of surgical operations. At the same time, the setting of multiple degrees of freedom can not only effectively prevent interference with obstacles in the operating room, but also help with precise positioning before surgery.

[0200] It can be understood that in addition to the above-described uterine manipulator operation and laparoscopic surgical operation, the para-operative device of the present application can also be used for other surgical operations, such as orthopedic surgical operations. In some examples, the structure of the instrument holding mechanism in the foregoing embodiments can be replaced with an Figure 12 orthopedic surgical operation module as shown.

[0201] The para-operative device of the present application can be connected to the same surgical medical system as other para-operative robots (such as laparoscopic robots) to achieve the combined use of multiple robots.

[0202] The surgical medical system of the embodiments of the present application may include a master operating device and multiple slave operating devices. The master operating device can communicate with the multiple slave operating devices, enabling the master operating device to control at least one of the multiple operating devices simultaneously. The multiple slave operating devices can be at least two slave operating devices, for example, can include any two or more of para-operative devices such as single-port, single-arm, multi-port, flexible, etc. The master operating device can be configured as the doctor console described in the previous embodiments.

[0203] The surgical medical system can include multiple switchable control modes. The multiple 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 or special requirements of the surgery, the system can use one of the slave operating devices alone, or at least two slave operating devices can be used in combination.

[0204] The system can select a default control mode when the slave operating device is connected, for example, by matching the type of the connected 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 master operating device when the slave operating device is connected to the system, and the doctor can select the required control mode by himself.

[0205] 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 operation device, buttons or sensing devices thereon, physical trigger or sensing trigger devices such as pedals of the main operation device, interactive operations on the display interface of the main operation device (such as using the master hand controller as a mouse to operate on the surgical scene display interface, or operating on a touch screen set on the armrest), or combinations of the above multiple methods configured according to logic. In addition, the system can automatically judge the suitable control mode based on specific surgical process information and remind the doctor, for example, by giving text reminders on the surgical scene display interface, or by voice broadcast and other means.

[0206] Furthermore, the main operation device includes two first operation components, and each first operation component is used to receive the user's interactive operation to control one of the multiple slave operation devices.

[0207] In the single-use control mode, the two first operation components are only used to control the same instrument of the same slave operation device, or respectively control two different instruments of the same slave operation device.

[0208] In the combined-use control mode, each first operation component can be used to control any one of the instruments of the multiple slave operation devices. The two first operation components can control the same instrument, or respectively control two different instruments. The two different instruments can be set on the same slave operation device, or respectively set on two different slave operation devices.

[0209] For example, the first operation component can be a device for the doctor's hand to operate, and is respectively operated by the doctor's left hand and right hand. In the combined-use control mode, for each first operation component, the corresponding control object can be freely selected from the instruments on the multiple combined slave operation devices. For example, the system includes a first slave operation device and a second slave operation device. The doctor can operate a certain instrument of the first slave operation device with the left hand and operate a certain instrument of the second slave operation device with the right hand, or the left hand and the right hand can jointly operate a certain instrument of the first slave operation device or the second slave operation device, or the left hand and the right hand can respectively operate two different instruments of the first slave operation device or the second slave operation device.

[0210] Furthermore, in the combined-use control mode, further restrictions or constraints can be made according to the doctor's teaching needs or special surgical scenarios, such as restricting that the two first operation devices must respectively control the instruments of different slave operation devices.

[0211] Furthermore, in the combined control mode, possible failures include: depending on the location where the failure occurs, it can include cross-system failures between multiple surgical robots and the handling of system failures of each surgical robot; depending on the nature of the failure, it can include the handling of recoverable failures and non-recoverable failures. The main operating device's handling response to failures can control and respond to the status according to the current mature technology of the robot to ensure the surgical safety of the patient.

[0212] In an application scenario, such as Figure 13 shown, T1 is the operating table, P1 is the patient on the operating table T1, and multiple slave operating devices can include a single-port laparoscopic robot 10 and at least one single-arm auxiliary robot 20. The single-arm auxiliary robot 20 can be configured as the device for para-patient operation as described in the foregoing embodiments.

[0213] The single-port laparoscopic robot 10 has advantages such as fewer incisions and simple positioning. The single-port laparoscopic robot 10 generally includes a multi-degree-of-freedom endoscope and multiple surgical instruments installed through a cannula. The surgical instruments for the single-port laparoscopic robot 10 usually have 6 to 7 degrees of freedom for completing the operation of the end effector of the surgical instrument, and these degrees of freedom are mainly realized by the elbow joint for providing position movement and the wrist joint for providing direction change. Due to the large number of joints and complex structure of the surgical instrument, its output force and stiffness are often limited, so it is often powerless in occasions where a large output force is required. In addition, due to its high complexity, instruments such as ultrasonic scalpels, vascular closure instruments, and staplers applicable to single-port laparoscopic robots are difficult to meet the requirements of certain surgical operations.

[0214] To adapt to certain specific surgical procedures or more complex surgical scenarios and improve the flexibility and convenience of surgical operations, the single-arm auxiliary robot 20 can be introduced before the start of the surgery or during the surgery. The single-arm surgical robot 20 can be installed with multi-port surgical instruments, can achieve a greater output force, and can be compatible with instruments such as ultrasonic scalpels, vascular closure instruments, and staplers to meet a wider range of clinical needs.

[0215] Generally speaking, for flexible positioning, the two robots are separately arranged, that is, the base 12 of the single-port laparoscopic robot 10 and the single-arm auxiliary robot 22 can move independently of each other. In this way, it is more convenient for doctors and operating room assistants to handle intraoperative problems, and at the same time, it will not interfere with other surgical steps, which can improve the surgical efficiency and safety, and at the same time can reduce the burden on doctors and operating room assistants.

[0216] In this application scenario, the system can include a single-port control mode, a single-arm control mode, and a single-port-single-arm combined control mode, and the three can be switched with each other.

[0217] In the single-port control mode, the master operating device 30 can only control the single-port laparoscopic robot 10. The master operating device 30 can control the single-port laparoscopic robot 10 to perform the execution actions of surgical instruments. For example, it can control the robotic arm 11 of the single-port laparoscopic robot 10 to drive the surgical instrument to move, such as controlling the wrist or end effector of the surgical instrument to perform actions. In this control mode, the system can also switch the preset sub-modes corresponding to the surgical scenarios according to the states of the trocar, endoscope, and surgical instruments. For example, the preset mode for adjusting the endoscope to the optimal viewing posture, or the mode for retracting the instrument.

[0218] In the single-arm control mode, the master operating device 30 can only control the single-arm auxiliary robot 20. The single-arm auxiliary robot 20 can carry the only endoscope for the whole system or an additional endoscope, energy instruments such as a uterine manipulator, a harmonic scalpel, and high-class instruments such as a stapler. The master operating device 30 can control the single-arm auxiliary robot 20 to perform the execution actions of surgical instruments. For example, it can control the robotic arm 21 of the single-arm auxiliary robot 20 to drive the surgical instrument to move. It can be understood that in the single-arm control mode, the single-arm auxiliary robot 20 can also cooperate with traditional manual instruments for complementary surgical operations.

[0219] In the single-port - single-arm combined control mode, the master operating device 30 can control only the single-port laparoscopic robot 10, or only the single-arm auxiliary robot 20, or can also control both the single-port laparoscopic robot 10 and the single-arm auxiliary robot 20 simultaneously. For each first operation component of the master operating device 30, the object to be controlled correspondingly can be freely selected from the instruments on the single-port laparoscopic robot 10 and the single-arm auxiliary robot 20. For example, one of the first operation components can be used to control a certain instrument of the single-port laparoscopic robot 10, another first operation component can be used to control the instrument of the single-arm auxiliary robot 20, or the two first operation components can jointly control the same instrument of the single-port laparoscopic robot 10, or the two first operation components can respectively operate two different instruments of the single-port laparoscopic robot 10, or the two first operation components can jointly control the instruments of the single-arm auxiliary robot 20.

[0220] In another application scenario, multiple slave operating devices can include a multi-port laparoscopic robot and at least one single-arm auxiliary robot. The single-arm auxiliary robot can be configured as the para-lesion operating device described in the foregoing embodiments. In this application scenario, the system can include a multi-port control mode, a single-arm control mode, and a multi-port - single-arm control mode. The working methods of the system in various control modes and the switching methods of the control modes are similar to those in the foregoing application scenario, and will not be elaborated herein.

[0221] The selection and switching process of the control mode of the surgical medical system is as follows. When the system starts up, 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 stepped on, the button of 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 of the master controller or confirm the selection through other physical or interactive means to complete the switching of the control mode.

[0222] 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 this application. The terms used herein are only for the purpose of describing specific implementation purposes and are not intended to limit this application. Terms such as "arranged" that appear herein can mean either a component is directly attached to another component or a component is attached to another component through middleware. 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.

[0223] This application has been illustrated by the above embodiments, but it should be understood that the above embodiments are only for the purpose of exemplification and illustration, and are not intended to limit this application to 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 this application, and these variations and modifications all fall within the scope claimed by this application.

Claims

1. A side operation device for a medical system, characterized in that, Comprising a positioning adjustment mechanism, an attitude adjustment mechanism, and an instrument holding mechanism connected in sequence: The positioning adjustment mechanism includes: A first positioning arm having a first linear degree of freedom of translating along a first translation axis, the first translation axis being parallel to a first direction, and A second positioning arm having a first rotational degree of freedom of rotating about a first rotation axis, the first rotation axis being parallel or coincident with the first translation axis, and the second positioning arm being capable of translating the attitude adjustment mechanism and the instrument holding mechanism in a second direction, the second direction being at an angle to the first direction; The attitude adjustment mechanism has at least one deflection degree of freedom, and the deflection axis of at least one of the deflection degrees of freedom is perpendicular to at least one of the first direction and the second direction; The instrument holding mechanism is for mounting a surgical instrument, and the instrument holding mechanism has a pitch joint that rotates about a pitch axis, the pitch axis being perpendicular to the extension direction of the surgical instrument, and the pitch axis being perpendicular to the deflection axis of at least one of the deflection degrees of freedom.

2. The side operation device according to claim 1, characterized in that, The second positioning arm has a third linear degree of freedom of translating along a third translation axis, the third translation axis being parallel to the second direction.

3. The perilesional operating device according to claim 1, wherein The second positioning arm has a second rotational degree of freedom of rotating about a second rotation axis and a third rotational degree of freedom of rotating about a third rotation axis, wherein, The second rotation axis and the third rotation axis are parallel to each other and are each perpendicular to the second direction.

4. The side operation device according to claim 1, wherein The attitude adjustment mechanism has at least two deflection degrees of freedom, and the deflection axes of adjacent deflection degrees of freedom are perpendicular.

5. The side operation device according to any one of claims 1-4, characterized in that, The instrument holding mechanism has a second linear degree of freedom of translating along a second translation axis, the second translation axis being perpendicular to the deflection axis of at least one of the deflection degrees of freedom.

6. The side operation device according to claim 5, characterized in that, The instrument holding mechanism has at least one pitch degree of freedom, and the pitch axis of the pitch degree of freedom is perpendicular to the second translation axis.

7. The side operation device according to claim 6, wherein The instrument holding mechanism has at least two pitch degrees of freedom, and the rotation directions of adjacent pitch degrees of freedom are opposite.

8. A side operation device, characterized in that, Comprising: A base; A positioning adjustment mechanism, the positioning adjustment mechanism including: A first positioning arm movably disposed on the base along a first translation axis, the first translation axis being parallel to a first direction; A second positioning arm pivotally connected to the first positioning arm about a first rotation axis, the second positioning arm moving closer to or farther from the first positioning arm in a second direction, such that the second positioning arm is capable of translating the attitude adjustment mechanism and the instrument holding mechanism in a second direction, the second direction being perpendicular to the first direction; An attitude adjustment mechanism, the attitude adjustment mechanism including: A first arm pivotally connected to the positioning adjustment mechanism about a first deflection axis, the first deflection axis being perpendicular to at least one of the first direction and the second direction; An instrument holding mechanism mounted to the first arm, the instrument holding mechanism being for mounting a surgical instrument, the instrument holding mechanism having a first pitch joint that rotates about a first pitch axis, the first pitch axis being perpendicular to the extension direction of the surgical instrument, the first pitch axis being perpendicular to the first deflection axis.

9. The side operation device according to claim 8, wherein, The second positioning arm includes a first arm and a second arm connected to each other; The first arm is connected to the first positioning arm, the first arm is connected to the second arm, the second arm is connected to the attitude adjustment mechanism, the first arm and the second arm are slidably connected along a third translation axis, and the third translation axis is parallel to the second direction.

10. The side operation device according to claim 8, wherein, The second positioning arm includes a third arm, a first arm, and a second arm connected in sequence; The third arm is pivotally connected to the first positioning arm about a first rotation axis, the first arm is pivotally connected to the third arm about a second rotation axis, the second arm is pivotally connected to the first arm about a third rotation axis, and the second arm is connected to the attitude adjustment mechanism; wherein, the second rotation axis and the third rotation axis are parallel to each other in pairs; The second rotation axis and the third rotation axis are respectively perpendicular to the second direction.

11. The side operation device according to claim 8, characterized in that, The attitude adjustment mechanism further includes a second arm, the second arm is pivotally connected to the positioning adjustment mechanism about a second deflection axis, and the first arm is pivotally connected to the second arm about a first deflection axis; wherein, The first deflection axis is perpendicular to the second deflection axis; One of the first deflection axis and the second deflection axis is perpendicular to the first direction, and the other of the first deflection axis and the second deflection axis is perpendicular to the second direction.

12. The side operation device according to claim 8, characterized in that, The attitude adjustment mechanism further includes: A third arm, the third arm is pivotally connected to the positioning adjustment mechanism about a third deflection axis; A second arm, the second arm is pivotally connected to the second end of the third arm about a second deflection axis; The first arm is pivotally connected to the second arm about a first deflection axis, and the first arm is connected to the instrument holding mechanism; wherein, The third deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The third deflection axis is perpendicular to the second direction.

13. The side operation device according to claim 8, characterized in that, The attitude adjustment mechanism further includes: A fourth arm, the fourth arm is pivotally connected to the positioning adjustment mechanism about a fourth deflection axis; A second arm, the second arm is pivotally connected to the fourth arm about a second deflection axis; The first arm is pivotally connected to the second arm about a first deflection axis, and the first arm is connected to the instrument holding mechanism; wherein, The fourth deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The fourth deflection axis is perpendicular to both the second direction and the first direction.

14. The para-operative device according to claim 8, wherein The attitude adjustment mechanism includes: A fourth arm, the fourth arm is pivotally connected to the positioning adjustment mechanism about a fourth deflection axis; A third arm, the third arm is pivotally connected to the fourth arm about a third deflection axis; A second arm, the second arm is pivotally connected to the third arm about a second deflection axis; A first arm, the first arm is pivotally connected to the second arm about a first deflection axis, and the first arm is connected to the instrument holding mechanism; wherein, The fourth deflection axis is perpendicular to the third deflection axis; The third deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The third deflection axis is perpendicular to the second direction; The fourth deflection axis is perpendicular to both the second direction and the first direction.

15. The side operation device according to any one of claims 8-14, characterized in that, The instrument holding mechanism includes: A first connecting member, which is connected to the attitude adjustment mechanism; A second connecting member, which is pivotally connected to the first connecting member about a first pitch axis; A third connecting member, which is used to connect the surgical instrument, and the third connecting member is movably arranged on the second connecting member along a second translation axis.

16. The side operation device according to claim 15, characterized in that, The first connecting member is pivotally connected to the attitude adjustment mechanism about a second pitch axis, or the first connecting member is fixed to the attitude adjustment mechanism.

17. A surgical robot, characterized in that, Comprising: A doctor's console; An imaging device; And At least one patient-side operating device according to any one of claims 1 to 16.

18. A surgical medical system, characterized in that, Comprising: A plurality of slave operating devices, at least one of the slave operating devices being configured as a patient-side operating device according to any one of claims 1 to 16; And A master operating device, capable of communicating with the plurality of slave operating devices, such that the master operating device can simultaneously control at least one of the plurality of slave operating devices.

19. The surgical medical system according to claim 18, wherein The surgical medical system includes a plurality of controllable modes that can be switched with each other, the plurality of controllable modes including at least one single-use control mode and at least one combined-use control mode. In the single-use control mode, the master operating device controls only one of the plurality of slave operating devices, and in the combined-use control mode, the master operating device controls at least one of the plurality of slave operating devices.

20. The surgical medical system according to claim 19, wherein The master operating device includes two first operating components, each of the first operating components being used to receive a user's interaction operation to control one of the plurality of slave operating devices; When the surgical medical system is in the single-use control mode, the two first operating components are used to control the instruments of the same slave operating device; When the surgical medical system is in the combined-use control mode, each first operating component is used to control any one of the instruments of the plurality of slave operating devices.

21. The surgical medical system according to any one of claims 18 to 20, characterized in that, At least one other of the slave operating devices is configured as a single-port laparoscopic robot or a multi-port laparoscopic robot.

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