Surgical execution device and surgical robot
By designing an adjustable-width surgical execution device and a surgical robot equipped with height lifting and steering devices, the problem of poor adaptability of the observation window in the existing technology has been solved, achieving more efficient space utilization and greater precision in surgical operations.
Patent Information
- Application Number
- CN202422622618.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-29
- Publication Date
- 2025-10-24
- Estimated Expiration
- 2034-10-29
AI Technical Summary
Existing surgical robots have poor adaptability in their observation window design, making them difficult to adapt to doctors of different body types, positions, and operational responsibilities. They also occupy a large space, affecting the flexibility and efficiency of surgical operations.
A surgical execution device has been designed, including a mounting beam and two surgical operating arms. The surgical operating arms can move along the extension direction of the mounting beam, and the width of the surgical window can be adjusted by a window width adjustment component. It is also equipped with a height lifting and turning device to adapt to the needs of different doctors.
It improves the flexibility and adaptability of surgical procedures, can accommodate doctors of different body types and operational responsibilities, reduces space occupation, and improves the reliability and precision of surgical procedures.
Smart Images
Figure CN223464108U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of medical apparatuses, in particular to a surgical execution device and a surgical robot. BACKGROUND
[0002] With the continuous development of the medical field, it has become a common surgical execution method for a surgeon to perform a surgical operation with the assistance of a surgical robot. Taking a microsurgical operation as an example, the operation time is relatively long, and the precision of the surgical operation performed on the surgical site is relatively high. The surgical robot can simulate the movement of the surgeon's arm to stably maintain the same posture for a longer time, and can perform more precise surgical operations on the surgical site with a smaller movement distance.
[0003] In the related art, the surgical robot mostly realizes the surgical operation of the surgeon through multiple joint arms, which occupies a large volume and lacks observation space. In addition, the surgical operation platform for the surgeon to operate is usually far away from the patient, but the surgeon still needs to frequently move to the bedside of the operating table to observe the surgical site with a microscope, and usually needs to observe the situation near the patient's incision and the vital signs with the naked eye. Therefore, how to position the surgeon in the installation space of the surgical robot and provide an observation and operation window for the surgeon is also very important for the overall structural design of the surgical robot.
[0004] Considering that the positions, sizes, and operation responsibilities of the surgeon, the assisting surgeon, and the second assisting surgeon may vary, even if the overall layout of the surgical robot reserves an observation and operation window and can position the surgeon beside the operating table, the constant size of the observation window will bring many inconveniences to the actual application, for example, when the size of the micro-instrument is large, the observation window is difficult to accommodate the microscope, and when multiple surgeons need to surround the operating table to cooperate during a large surgical operation, the large observation window of the surgical robot will occupy unnecessary space, which will bring difficulties to the position design and surgical operation of multiple surgeons around the operating table. CONTENT OF THE UTILITY MODEL
[0005] The purpose of the present application is to provide a surgical execution device and a surgical robot, which can alleviate the technical problem of poor adaptability of the surgical execution device caused by the fixed width of the surgical window, and have the advantages of improving application flexibility and adaptability.
[0006] The embodiments of the present application are implemented as follows:
[0007] In a first aspect, the present application provides a surgical execution device, comprising a mounting beam, two surgical operation arms and two surgical execution instruments. The mounting beam has two ends, each of which is provided with a surgical operation arm. The two surgical operation arms extend towards the same side of the mounting beam, and the two surgical operation arms and the mounting beam enclose a surgical window. Each surgical operation arm is provided with a surgical execution instrument at an end away from the mounting beam. At least one surgical operation arm can move along the extension direction of the mounting beam, so that the width of the surgical window is adjustable.
[0008] In some embodiments, each end of the mounting beam is connected with a surgical operation arm through a window width adjusting assembly.
[0009] In some embodiments, each surgical operation arm comprises a fixed frame and a three-way linear movement component. The fixed frame is movably connected to the mounting beam and is vertically arranged relative to the mounting beam. The surgical execution instrument is connected to the fixed frame through the three-way linear movement component.
[0010] In some embodiments, the three-way linear movement component comprises a first linear movement assembly, a second linear movement assembly and a third linear movement assembly. The linear movement directions corresponding to the three linear movement assemblies are perpendicular to each other in pairs, and the linear movement direction corresponding to the first linear movement assembly is the same as the extension direction of the mounting beam.
[0011] In some embodiments, the third linear movement assembly is located between the two fixed frames and is connected to one fixed frame. The second linear movement assembly is arranged on the movable end of the third linear movement assembly, and the first linear movement assembly is arranged on the movable end of the second linear movement assembly. All the first linear movement assemblies are arranged on the same side of the mounting beam and the fixed frame. The surgical execution instrument is connected to the movable end of the first linear movement assembly.
[0012] In some embodiments, the surgical execution instrument and the surgical operation arm are connected through an execution angle adjusting piece, which is used to adjust the execution angle of the surgical execution instrument.
[0013] In some embodiments, the execution angle adjusting piece comprises a first folding page, a second folding page, a damping washer and a locking rod. The first folding page and the second folding page are hinged on the same locking rod, and the damping washer is arranged between the first folding page and the second folding page.
[0014] In some embodiments, the execution ends of the two surgical execution instruments extend towards each other and away from the mounting beam and the surgical operation arms.
[0015] In some embodiments, each end of the mounting beam is provided with an armrest.
[0016] In some embodiments, the surgical execution device further comprises at least one device adjustment button disposed on one side of the armrest or adjacent to the armrest, the device adjustment button being used to control the lifting and / or steering of the surgical window.
[0017] In a second aspect, the present application provides a surgical robot, which comprises the surgical execution device and the surgical trolley according to any one of the embodiments of the first aspect of the present application. The surgical trolley is connected to the mounting beam of the surgical execution device through a height lifting device and / or a steering device, the height lifting device being used to adjust the height of the surgical window relative to the surgical trolley, and the steering device being used to adjust the orientation of the surgical window relative to the trolley.
[0018] Compared with the prior art, the present application has the following beneficial effects:
[0019] The present application provides a surgical execution device and a surgical robot. The surgical execution device simulates the operation of two arms of a doctor by arranging one surgical operation arm on each end of the mounting beam, so that the operation is more accurate and closer to the actual operation of the doctor. The mounting beam and the two surgical operation arms enclose a surgical window, so that the doctor at a fixed position beside the operating table can observe the details of the surgical area using a microscope and determine the patient's signs by naked eye, thereby improving the reliability of the operation. The design that the surgical operation arms can move relative to the mounting beam along the extension direction of the mounting beam allows the width of the surgical window to be adjusted to adapt to doctors of different sizes, different positions, and different operation responsibilities, and also allows larger microscopes and more surgical equipment to be accommodated, so that the doctor's position and equipment layout beside the operating table are more reasonable and compact. BRIEF DESCRIPTION OF DRAWINGS
[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be considered as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.
[0021] Figure 1 The overall structure of the surgical robot shown in some embodiments of the present application is shown in the figure;
[0022] Figure 2 The structure of the surgical execution device shown in some embodiments of the present application is shown in the figure;
[0023] Figure 3 The front view of the surgical execution device shown in some embodiments of the present application is shown in the figure;
[0024] Figure 4Partial structure diagram of the surgical execution device shown in some embodiments of the present application;
[0025] Figure 5 Partial sectional view diagram of the surgical execution device shown in some embodiments of the present application;
[0026] Figure 6 Partial exploded view diagram of the surgical execution device shown in some embodiments of the present application;
[0027] Figure 7 Overall structure diagram of the window width adjusting assembly shown in some embodiments of the present application;
[0028] Figure 8 Overall structure diagram of the three-way linear moving component shown in some embodiments of the present application;
[0029] Figure 9 Overall structure diagram of the execution angle adjusting member shown in some embodiments of the present application;
[0030] Figure 10 Partial structure diagram of the execution angle adjusting member shown in some embodiments of the present application;
[0031] Figure 11 Partial exploded view diagram of the execution angle adjusting member shown in some embodiments of the present application;
[0032] Figure 12 Partial detail diagram of the execution angle adjusting member shown in some embodiments of the present application.
[0033] Legend: 1 - surgical robot; 10 - surgical trolley; 11 - height lifting device; 12 - steering device; 2 - surgical execution device; 20 - surgical window; 21 - mounting crossbeam; 210 - crossbeam connecting member; 22 - surgical operation arm; 23 - surgical execution instrument; 230 - execution end of the surgical execution instrument; 24 - execution angle adjusting member; 240 - pivoting flap; 241 - first connecting plate; 242 - second connecting plate; 243 - first flap; 244 - second flap; 245 - locking rod; 246 - damping washer; 247 - angle scale; 25 - handrail; 26 - device adjusting button; 27 - window width adjusting assembly; 270 - driving unit; 271 - coupling; 272 - fixed seat; 273 - lead screw; 274 - moving member; 275 - connecting member; 28 - controller; 30 - fixed frame; 31 - three-way linear moving component; 311 - first linear moving assembly; 312 - second linear moving assembly; 313 - third linear moving assembly. DETAILED DESCRIPTION
[0034] The terms "first", "second", "third", and the like, are used only to distinguish descriptions, and do not indicate the arrangement number, and cannot be understood as indicating or implying relative importance.
[0035] In addition, the terms "horizontal", "vertical", "overhanging", and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.
[0036] In the description of the present application, it should be pointed out that the terms "inner", "outer", "left", "right", "upper", "lower", and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.
[0037] In the description of the present application, unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements.
[0038] The technical solutions of the present application will be described in detail below with reference to the accompanying drawings.
[0039] Please refer to Figure 1 , Figure 1 The overall structure of the surgical robot 1 shown in some embodiments of the present application is shown. As Figure 1 shown, the present application provides a surgical robot 1, which includes a surgical execution device 2 and a surgical trolley 10 。 The surgical trolley 10 is connected to the mounting beam 21 of the surgical execution device 2 through the height lifting device 11 and / or the steering device 12.
[0040] Further, the height lifting device 11 is installed on the top end of the operating trolley 10, one end of the steering device 12 is connected with the beam connecting piece 210 on the installation beam 21, and the other end of the steering device 12 is connected with the movable end of the height lifting device 11. The surgery performing device 2 has a surgery window 20 which can accommodate a microscope and a doctor's body and can be used for the doctor to observe the patient's condition with naked eyes. In the embodiment of the application, the height lifting device 11 is used to adjust the height of the surgery window 20 relative to the operating trolley 10 (or the operating table bed); and the steering device 12 is used to adjust the orientation of the surgery window 20 relative to the operating trolley 10. The surgery personnel can more reasonably arrange the positions of the operating trolley 10 and the surgery window 20 near the operating table bed by means of the height lifting device 11 and the steering device 12, so that the limited space around the operating table bed can be more fully and reasonably utilized.
[0041] Please refer to Figures 2-3 , Figure 2 for the structural schematic diagram of the surgery performing device 2 shown in some embodiments of the application; Figure 3 for the front view schematic diagram of the surgery performing device 2 shown in some embodiments of the application. As shown in Figures 2-3 , the application provides a surgery performing device 2 which comprises an installation beam 21, two surgery operation arms 22 and two surgery performing instruments 23. Wherein, the two ends of the installation beam 21 are respectively provided with one surgery operation arm 22; the two surgery operation arms 22 extend towards the same side of the installation beam 21, and the two surgery operation arms 22 and the installation beam 21 enclose a surgery window 20; and each surgery operation arm 22 is provided with one surgery performing instrument 23 at the end away from the installation beam 21. At least one surgery operation arm 22 is movably connected to the installation beam 21 and can move along the extension direction of the installation beam 21, so that the width D of the surgery window 20 is adjustable.
[0042] In the embodiment of the application, the surgery performing device 2 is a "door" type structure which is jointly constituted by one horizontally arranged installation beam 21 and two vertically arranged surgery operation arms 22, and the inverted U-shaped space enclosed by the installation beam 21 and the two surgery operation arms 22 is referred to as the surgery window 20. Wherein, the surgery operation arm 22 refers to a facility for adjusting the specific position of the surgery performing instrument 23, and the surgery performing instrument 23 refers to a tool and equipment used for performing specific surgical operations in the surgery process, such as a surgical knife, surgical scissors, a needle holder, a forceps, etc.
[0043] In the technical solution, the surgical execution device 2 simulates the operation of two arms of a doctor by arranging one surgical operation arm 22 at each end of the mounting beam 21, so that the operation is more accurate and more in line with the actual operation of the doctor; the mounting beam 21 and the two surgical operation arms 22 form a surgical window 20, so that the doctor at the fixed position beside the operating table can observe the details of the surgical area using a microscope and determine the patient's signs and incision by naked eye, thereby improving the reliability of the operation; the surgical operation arm 22 can move relative to the mounting beam 21 along the extension direction of the mounting beam 21, so that the width D of the surgical window 20 can be adjusted to adapt to doctors of different sizes, different positions, and different operation responsibilities, and can also accommodate larger microscopes and more surgical equipment, so that the position of the doctor beside the operating table and the layout of the equipment are more reasonable and compact.
[0044] The surgical execution device 2 provided by the application can reasonably place the doctor, surgical microscope, surgical instrument, and operating table in the same small surgical space while reducing the space occupied by the operating room; in addition, the surgical execution instrument 23 can perform surgery at a more reasonable surgical angle; the surgical execution device 2 provided by the embodiment of the application can be installed on the operating table cart 10 and moved to the vicinity of the operating table during the operation by the wheels at the bottom of the operating table cart 10. The surgical execution device 2 can also be fixed near the operating table by a cantilever beam structure connected to the ceiling or wall of the operating room.
[0045] Please refer to Figure 4 , Figure 4 The partial structure diagram of the surgical execution device 2 shown in some embodiments of the application is shown in FIG. 1. Figure 4 As shown in FIG. 1, each end of the mounting beam 21 can be connected to a surgical operation arm 22 through a window width adjusting assembly 27.
[0046] In the embodiment of the application, the surgical execution device 2 can control the movement stroke of the window width adjusting assembly 27 to extend or retract the surgical operation arm 22 relative to the mounting beam 21, thereby increasing or decreasing the lateral dimension of the internal space of the surgical execution device 2. In the technical solution, each end of the mounting beam 21 adjusts the width D of the surgical window 20 through a window width adjusting assembly 27, so that the surgical execution device 2 has a larger lateral extension range, higher application flexibility, and better adaptability.
[0047] In some embodiments, each surgical operation arm 22 comprises a fixed frame 30 and a three-way linear moving component 31. The fixed frame 30 is movably (telescopically) connected to the mounting beam 21 through the window width adjusting assembly 27, and the main body of the fixed frame 30 can be vertically arranged relative to the mounting beam 21. The surgical execution instrument 23 can be connected to the fixed frame 30 through the three-way linear moving component 31. In the above technical solution, the surgical execution instrument 23 can be adjusted to any position within a certain range of space through the three-way linear moving component 31, thereby enabling more accurate surgical operation.
[0048] In some embodiments, the two ends of the mounting beam 21 can each be connected with a three-way linear moving component 31 through a fixed frame 30. When the two three-way linear moving components 31 are retracted to the minimum stroke in the same direction relative to the mounting beam 21, they are left-right symmetrical, i.e., the two window width adjusting assemblies 27, the two three-way linear moving components 31 and the two fixed frames 30 are all symmetrical based on the vertical central axis of the surgical execution device 2. Further, the installation heights of the two three-way linear moving components 31 relative to the mounting beam 21 are also the same. In the above technical solution, the three-way linear moving components 31 are left-right symmetrical and have consistent installation heights relative to the mounting beam 21, which can improve the control accuracy and operation convenience of the surgical execution device 2 in performing surgical operations.
[0049] In some embodiments, the surgical execution device 2 further comprises a controller 28, which is arranged on the outer side wall of one fixed frame 30 and can be electrically connected with the three-way linear moving component 31, the surgical execution instrument 23, the window width adjusting assembly 27 and other facilities.
[0050] In some embodiments, the execution ends 230 of the two surgical execution instruments are both close to each other and extend away from the mounting beam 21 and the surgical operation arm 22. In the above technical solution, the execution ends 230 of the surgical execution instruments extend convergently to the area outside the surgical window 20, so that the surgical execution device 2 can perform more accurate surgical operations within a limited designated workspace. Specifically, the area where the execution ends 230 of the surgical execution instruments converge is referred to as the workspace, which is the space formed by the set of motion trajectories of the execution ends 230 of the surgical execution instruments during the movement of the surgical execution instruments 23 driven by the three-way linear moving component 31. The surgical operation area refers to the motion area that the execution ends 230 of the surgical execution instruments can involve at the incision site during the operation, and in general cases, the surgical operation area is contained in the workspace.
[0051] In some embodiments, each end of the mounting beam 21 can be provided with a handrail 25 for pulling or pushing. The surgical operating device 2 can improve the convenience of the operator adjusting the height and orientation of the window through the handrail 25. Further, the surgical operating device 2 can further include at least one device adjustment button 26 provided on one side of the handrail 25 or adjacent to the handrail 25, which is used to control the lifting and / or turning of the surgical window 20. In the above technical solution, the device adjustment button 26 is provided adjacent to the handrail 25, which facilitates the operator to unlock the turning and height adjustment of the surgical operating device 2, and then the height and orientation of the surgical window 20 can be adjusted by pressing the device adjustment button 26 and applying force to the surgical operating device 2.
[0052] In some embodiments, a plurality of device adjustment buttons 26 are provided at the handrail 25 on one side of the mounting beam 21, and the plurality of device adjustment buttons 26 can correspond to three functions respectively. Among them, the middle circular button can be used to unlock the turning device 12 or the height lifting device 11, the two buttons marked with up and down arrows can be used to control the lifting and lowering of the surgical operating device 2, and the two buttons marked with left and right arrows can be used to control the outward extension or inward retraction of the two surgical operating arms 22 (or one surgical operating arm 22) relative to the mounting beam 21.
[0053] In some embodiments, the surgical operating device 2 can further include an external shell, which can be fixed to the outer periphery of the fixed frame 30 by a mounting sheet metal, and the external shell can be provided on the outer side of the mounting beam 21. The external shell is used to reduce the pollution and blockage of the three-way linear moving part 31 or the window width adjustment assembly 27 by external dust or pollutants.
[0054] Please refer to Figures 5-7 , Figure 5 the partial cross-sectional view of the surgical operating device 2 shown in some embodiments of the present application; Figure 6 the partial exploded view of the surgical operating device 2 shown in some embodiments of the present application; Figure 7 the overall structure schematic view of the window width adjustment assembly 27 shown in some embodiments of the present application. As Figures 5-7 shown, one window width adjustment assembly 27 is provided at one end of the mounting beam 21, and each window width adjustment assembly 27 can include a driving unit 270, a coupling 271, a fixing seat 272, a lead screw 273, a moving piece 274 and a connecting piece 275. Among them, the driving unit 270 and the fixing seat 272 are fixed on the mounting beam 21, the output shaft of the driving unit 270 is connected with the lead screw 273 through the coupling 271, the two ends of the lead screw 273 are rotatably connected to the mounting beam 21 through a fixing seat 272 respectively, the moving piece 274 is sleeved on the outside of the lead screw 273, and the lead screw 273 and the moving piece 274 are in transmission connection.
[0055] Specifically, when the screw rod 273 is rotated by the driving unit 270, the moving part 274 can move linearly along the extension direction of the screw rod 273. One end of the fixed frame 30 is connected with the moving part 274 through the connecting part 275, so that when the moving part 274 moves linearly along the extension direction of the screw rod 273, the surgical operating arm 22 can extend outward or retract inward relative to the mounting beam 21 to change the width of the surgical window 20.
[0056] Please refer to Figure 8 , Figure 8 The overall structure of the three-way linear moving part 31 is shown in the schematic diagram of some embodiments of the present application. Please refer to Figure 4 and Figure 8 , the three-way linear moving part 31 includes a first linear moving assembly 311, a second linear moving assembly 312, and a third linear moving assembly 313. Specifically, the linear moving directions of the three linear moving assemblies are perpendicular to each other, and the linear moving direction corresponding to the first linear moving assembly 311 can be the same as the extension direction of the mounting beam 21. In the above technical solution, the three-way linear moving part is set based on the extension direction of the mounting beam 21, so that the moving distance and moving direction of the surgical operating instrument 23 are easy to determine, and the position adjustment of the surgical operating instrument 23 is more accurate and reliable.
[0057] Further, in the same three-way linear moving part 31, the third linear moving assembly 313 is located between the two fixed frames 30 and connected with one fixed frame 30; the second linear moving assembly 312 is arranged on the movable end of the third linear moving assembly 313, and the linear moving direction corresponding to the second linear moving assembly 312 is consistent with the extension direction of the fixed frame 30 body, that is, the linear moving direction corresponding to the second linear moving assembly 312 can be regarded as a vertical direction perpendicular to the extension direction of the mounting beam 21; the first linear moving assembly 311 is arranged on the movable end of the second linear moving assembly 312. All the first linear moving assemblies 311 are arranged on the same side of the mounting beam 21 and the fixed frame 30 (i.e., the surgical window 20), and the surgical operating instrument 23 is connected with the movable end of the first linear moving assembly 311. In the above technical solution, the laterally arranged first linear moving assembly 311 is located outside the surgical window 20, which can reduce the probability of interference of the surgical operating instrument 23 with the first linear moving assembly 311 with the doctor's vision and surgical operation. In the embodiments of the present application, the first linear moving assembly 311, the second linear moving assembly 312, and the third linear moving assembly 313 can all adopt the same structure as the window width adjusting assembly 27, i.e., a screw rod linear moving assembly, or other configurations such as a synchronous belt linear moving assembly.
[0058] Further, the movement strokes of the two third linear moving assemblies 313 corresponding to each other can be equal, and the installation heights of the two third linear moving assemblies 313 relative to the installation beam 21 are consistent. Specifically, the heights of the bottommost movement stop points of the two third linear moving assemblies 313 relative to the installation beam 21 are consistent, and the heights of the topmost movement stop points of the two third linear moving assemblies 313 relative to the installation beam 21 are also consistent. The above technical solution makes the heights of the surgical execution instruments 23 on the left and right sides of the installation beam 21 consistent when the surgical execution instruments 23 are at the bottommost position in the actual movement process and also consistent when the surgical execution instruments 23 are at the topmost position, thereby improving the control accuracy and reliability of the surgical execution device on the movement of the surgical execution instruments 23.
[0059] Please refer to Figures 9-12 , Figure 9 for the overall structure schematic diagram of the execution angle adjusting member 24 shown in some embodiments of the present application; Figure 10 for the partial structure schematic diagram of the execution angle adjusting member 24 shown in some embodiments of the present application; Figure 11 for the partial explosion schematic diagram of the execution angle adjusting member 24 shown in some embodiments of the present application; Figure 12 for the partial detail schematic diagram of the execution angle adjusting member 24 shown in some embodiments of the present application. As Figures 9-12 shown, the surgical execution instruments 23 and the surgical operation arm 22 can be connected through the execution angle adjusting member 24, and the execution angle adjusting member 24 is used to adjust the execution angle of the surgical execution instruments 23. In the above technical solution, the surgical execution device 2 can adjust the penetration angle of the execution end 230 of the surgical execution instruments at the patient's wound through the execution angle adjusting member 24, so as to more reliably and flexibly perform the surgical operation.
[0060] The execution angle adjusting member 24 can include a pivoting flap 240, a first connecting plate 241, and a second connecting plate 242. The pivoting flap 240 can include a first flap 243, a second flap 244, a damping gasket 246, and a locking rod 245. Specifically, the first flap 243 can be connected with the first connecting plate 241, the first connecting plate 241 is connected with the first linear moving assembly 311, the second flap 244 can be connected with the second connecting plate 242, and the second connecting plate 242 is connected with the surgical execution instruments 23. The first flap 243 and the second flap 244 can rotate around the same rotating shaft, that is, the first flap 243 and the second flap 244 can be hinged on the same locking rod 245, and the damping gasket 246 is clamped between the first flap 243 and the second flap 244.
[0061] The one end of the locking rod 245 has a radial outwardly extending limiting surface, and the other end of the locking rod 245 has a threaded structure. After the locking rod 245 passes through the connecting holes of the first folding leaf 243, the second folding leaf 244 and the damping washer 246, the locking rod 245 can be connected in a screw-in mode with the connecting hole at one end of the first folding leaf 243. When the limiting surface of the locking rod 245 tightly abuts against the other end of the first folding leaf 243, the first folding leaf 243 and the second folding leaf 244 clamp the damping washer 246. The damping washer 246 exerts a friction force on the first folding leaf 243 and the second folding leaf 244, so that the folding angle of the first folding leaf 243 relative to the second folding leaf 244 is fixed, that is, the angle locking function of the execution angle adjusting part 24 is realized. In the above technical solution, the damping washer 246 is arranged to enable the execution angle adjusting part 24 to have the angle locking function, thereby reducing the probability of the execution end of the surgical execution instrument 23 deviating from the insertion angle due to external force, and improving the operation reliability of the surgical execution device 2.
[0062] Further, the execution angle adjusting part 24 further comprises an angle scale 247 fixed to the side edge of the first folding leaf 243, and the reference line (0 scale line) of the angle scale 247 is parallel to the connecting surface of the first folding leaf 243. The side edge of the second folding leaf 244 is provided with an alignment scale line, and the alignment scale line is parallel to the connecting surface of the second folding leaf 244. When the execution angle adjusting part 24 is adjusted and fixed by loosening and tightening the locking rod 245 to fix the included angle between the first folding leaf 243 (the first connecting plate 241) and the second folding leaf 244 (the second connecting plate 242), the operator can determine the folding angle of the first folding leaf 243 relative to the second folding leaf 244, that is, the insertion angle of the execution end 230 of the surgical execution instrument relative to the top surface of the operating table bed or the wound, by aligning the alignment scale line with the angle line on the angle scale 247.
[0063] Further, the two execution angle adjusting parts 24 in the surgical execution device 2 are both deflected relative to the first connecting plate 241 towards one side, and the deflection directions are both towards the other execution angle adjusting part 24; the first connecting plate 241 and the second connecting plate 242 can also be fixedly connected together based on the fixed folding angle, but do not have the angle adjusting function, and the folding directions of the first connecting plate 241 relative to the second connecting plate 242 are both directions away from the mounting beam 21 and the surgical operation arm 22 (the surgical window 20).
[0064] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A surgical performance apparatus characterized by comprising: The surgical execution device comprises: a mounting beam, two surgical operation arms, each end of the mounting beam is provided with one of the surgical operation arms, the two surgical operation arms extend towards the same side of the mounting beam, and the two surgical operation arms and the mounting beam enclose a surgical window; two surgical execution instruments, each end of each surgical operation arm away from the mounting beam is provided with one of the surgical execution instruments, at least one of the surgical operation arms can move along the extension direction of the mounting beam, so that the width of the surgical window is adjustable.
2. The surgical performance device according to claim 1, characterized by Each end of the mounting beam is connected with one of the surgical operation arms through a window width adjusting assembly.
3. The surgical performance device according to claim 1, wherein Each surgical operation arm comprises a fixed frame and a three-way linear moving component, the fixed frame is movably connected to the mounting beam and is vertically arranged relative to the mounting beam, and the surgical execution instrument is connected to the fixed frame through the three-way linear moving component.
4. The surgical performance device according to claim 3, wherein The three-way linear moving component comprises a first linear moving assembly, a second linear moving assembly and a third linear moving assembly, the linear moving directions corresponding to the three linear moving assemblies are perpendicular to each other, and the linear moving direction corresponding to the first linear moving assembly is the same as the extension direction of the mounting beam.
5. The surgical performance device according to claim 4, wherein The third linear moving assembly is located between the two fixed frames and is connected with one of the fixed frames, the second linear moving assembly is arranged on the movable end of the third linear moving assembly, and the first linear moving assembly is arranged on the movable end of the second linear moving assembly, all the first linear moving assemblies are arranged on the same side of the mounting beam and the fixed frame, and the surgical execution instrument is connected with the movable end of the first linear moving assembly.
6. The surgical performance device according to any one of claims 1 to 5, characterized by The surgical execution instrument and the surgical operation arm are connected through an execution angle adjusting member, and the execution angle adjusting member is used for adjusting the execution angle of the surgical execution instrument.
7. The surgical performance device according to claim 6, wherein The execution angle adjusting member comprises a first folding leaf, a second folding leaf, a damping washer and a locking rod, the first folding leaf and the second folding leaf are hinged on the same locking rod, and the damping washer is arranged between the first folding leaf and the second folding leaf.
8. The surgical performance device according to any one of claims 1 to 5, characterized by The execution ends of the two surgical execution instruments extend towards each other and away from the mounting beam and the surgical operation arms.
9. The surgical performance device according to any one of claims 1 to 5, characterized by Each end of the mounting beam is provided with a handrail.
10. The surgical performance device according to claim 9, wherein The surgical execution device further comprises at least one device adjusting button, the device adjusting button is arranged on one side of the handrail or adjacent to the handrail, and the device adjusting button is used for controlling the lifting and / or turning of the surgical window.
11. A surgical robot, characterized by The surgical robot comprises: the surgical execution device according to any one of claims 1-10; a surgical trolley, the surgical trolley is connected with the mounting beam of the surgical execution device through a height lifting device and / or a turning device, the height lifting device is used for adjusting the height of the surgical window relative to the surgical trolley, and the turning device is used for adjusting the orientation of the surgical window relative to the trolley.