Personal operation device and computer-aided medical system

Abstract

The utility model provides an affected part operation device and a computer-aided medical system. The affected part operation equipment comprises a base, a mounting table and a main adjusting mechanism. And one or more operating arms are arranged on the mounting table. The main adjusting mechanism is used for adjusting the position of the mounting table relative to the base. The main adjusting mechanism comprises a first adjusting arm and a second adjusting arm. The first adjusting arm is connected to the base. The second adjusting arm is connected between the mounting table and the first adjusting arm and used for adjusting the position of the mounting table relative to the base on the plane perpendicular to the first direction. And the main adjusting mechanism and the mounting table are arranged, so that the pose of the operating arm is adjusted more flexibly, and the flexibility of deployment of equipment in the operating room is improved. The first adjusting arm, the second adjusting arm and the mounting table can define a plane connecting rod mechanism perpendicular to the first direction, the overall rigidity and mechanical stability are improved, meanwhile, the joint burden is relieved, the joint flexibility is improved, and the cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and more specifically to a patient-side operating device and a computer-aided medical system. Background Technology

[0002] In minimally invasive surgical robot systems, the patient-end robot generally consists of three main modules: a movable base, a patient-end manipulator arm for surgical manipulation, and an adjustment arm for adjusting the position of the manipulator arm. The movable base is used to quickly bring the patient-end trolley closer to the patient and adjust it to a suitable position and posture relative to the patient. Surgical instruments are operably mounted at the end of the manipulator arm. During surgery, the manipulator arm remains in dynamic motion, and through combined action with the surgical instruments, it enables the movement of the end effector tools of the instruments, allowing the surgeon to perform precise surgical movements. The adjustment arm connects the base and the manipulator arm. During the deployment phase, the adjustment arm can be used to adjust the position of the manipulator arm relative to the patient; after adjustment, the adjustment arm is generally locked during surgery and does not move unless necessary.

[0003] The configuration of the patient-side robot is crucial for the deployment and execution of surgery. Since surgical instruments enter the body through cannulas in the thoracic and abdominal lesions, and the corresponding intraoperative placement holes are distributed around the lesion site, the deployment of the patient-side robot's base, adjustment arms, and manipulator arms around these placement holes is a fundamental requirement for surgical robots. Furthermore, during surgery, a rational layout can minimize collisions between manipulator arms, improve the surgeon's operational efficiency, and prevent accidental patient injury. Utility Model Content

[0004] The utility model description section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This utility model description section is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, the first aspect of this utility model provides a patient-side operating device for a computer-aided medical system, comprising:

[0006] Base;

[0007] A mounting platform, wherein one or more operating arms are provided on the mounting platform for operatively mounting surgical instruments; and

[0008] A main adjustment mechanism, connected between the base and the mounting platform, is used to adjust the position of the mounting platform relative to the base. The main adjustment mechanism includes:

[0009] A first adjusting arm, connected to the base, is used to adjust the position of the mounting platform relative to the base in a first direction; and

[0010] The second adjusting arm is connected between the mounting platform and the first adjusting arm, and is used to adjust the position of the mounting platform relative to the base on a plane perpendicular to the first direction. The second adjusting arm includes a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm.

[0011] The first connecting arm is connected to the first adjusting arm via a first pivot joint, the second connecting arm is connected to the mounting platform via a second pivot joint, and the first connecting arm and the second connecting arm are movably connected. The third connecting arm is connected to the first adjusting arm via a third pivot joint, and the fourth connecting arm is connected to the mounting platform via a fourth pivot joint, and the third connecting arm and the fourth connecting arm are movably connected. The first connecting arm, the second connecting arm, at least a portion of the mounting platform, the third connecting arm, the fourth connecting arm, and at least a portion of the first adjusting arm enclose and form a planar linkage mechanism perpendicular to the first direction.

[0012] According to the first aspect of the present invention, the patient-side operating device, with its main adjustment mechanism and mounting platform, allows for more flexible adjustment of the operating arm's position, improving the flexibility of equipment deployment within the operating room. The first adjustment arm, the second adjustment arm, and the mounting platform can be combined to form a planar linkage mechanism perpendicular to the first direction, enhancing overall rigidity and mechanical stability while reducing joint load, increasing joint flexibility, and lowering costs.

[0013] Optionally, the first connecting arm and the second connecting arm are connected by a fifth pivot joint, allowing the first connecting arm and the second connecting arm to pivot relative to each other; and

[0014] The third connecting arm and the fourth connecting arm are connected by a sixth pivot joint, allowing the third connecting arm and the fourth connecting arm to pivot relative to each other.

[0015] Optionally, the first pivot joint, the second pivot joint, the third pivot joint, the fourth pivot joint, the fifth pivot joint, and the sixth pivot joint are all passive joints.

[0016] Optionally, the first connecting arm and the second connecting arm are connected by a first translational joint, allowing the first connecting arm and the second connecting arm to translate relative to each other; and

[0017] The third connecting arm and the fourth connecting arm are connected by a second translational joint, allowing the third connecting arm and the fourth connecting arm to translate relative to each other.

[0018] Optionally, the first pivot joint, the second pivot joint, the third pivot joint, the fourth pivot joint, the first translational joint, and the second translational joint are all passive joints.

[0019] Optionally, it further includes at least one auxiliary adjustment mechanism, the number of which is equal to the number of the operating arms. Each auxiliary adjustment mechanism is connected between the mounting platform and the corresponding operating arm to adjust the position of the corresponding operating arm relative to the mounting platform. Each auxiliary adjustment mechanism includes a seventh pivot joint, the pivot axis of which is parallel to the first direction.

[0020] Optionally, each of the auxiliary adjustment mechanisms further includes:

[0021] A third translational joint, wherein the direction of motion of the third translational joint is parallel to the first direction; and / or

[0022] The fourth translational joint has a movement direction perpendicular to the first direction.

[0023] Optionally, the seventh pivot joint, the third translational joint, and the fourth translational joint are all passive joints.

[0024] Optionally, the first direction is parallel to the vertical direction, and the planar linkage mechanism is parallel to the horizontal direction.

[0025] The second aspect of this utility model provides a computer-aided medical system, comprising:

[0026] Doctor console; and

[0027] The aforementioned patient-side operating device is communicatively connected to the doctor's console.

[0028] The computer-aided medical system according to the second aspect of this utility model includes the above-mentioned patient-side operation device and has similar technical effects to the above-mentioned patient-side operation device. Attached Figure Description

[0029] The following drawings, which illustrate embodiments of the present invention, are incorporated herein as part of the present invention for understanding the invention. The drawings show embodiments of the present invention and their descriptions, serving to explain the principles of the present invention. In the drawings,

[0030] Figure 1 This is a schematic diagram of a computer-aided medical system according to one embodiment of the present invention;

[0031] Figure 2 This is a simplified three-dimensional schematic diagram of a patient-side operating device according to one embodiment of the present invention.

[0032] Figure 3 A simplified top view of the patient-side operating device according to one embodiment of this utility model;

[0033] Figure 4 A simplified three-dimensional schematic diagram of the patient-side operating device according to another embodiment of this utility model;

[0034] Figure 5 This is a schematic top view of a patient-side operating device according to another embodiment of the present invention.

[0035] Explanation of reference numerals in the attached figures

[0036] 1: Doctor's Control Panel

[0037] 2,200: Patient-side operating equipment

[0038] 3: Imaging System

[0039] 10: Base

[0040] 20: Installation stand

[0041] 30: Main Adjustment Mechanism

[0042] 31: First Adjusting Arm

[0043] 32: Second Adjusting Arm

[0044] 321: First connecting arm

[0045] 322: Second connecting arm

[0046] 323: Third connecting arm

[0047] 324: Fourth connecting arm

[0048] 325: First pivot joint

[0049] 326: Second pivot joint

[0050] 327: Third pivot joint

[0051] 328: Fourth pivot joint

[0052] 331: Fifth pivot joint

[0053] 332: Sixth pivot joint

[0054] 341: First translational joint

[0055] 342: Second translational joint

[0056] 40: Auxiliary Adjustment Mechanism

[0057] 41: Seventh pivot joint

[0058] 42: Third translational joint

[0059] 43: Fourth translational joint

[0060] 44: Eighth pivot joint

[0061] 50: Operating arm

[0062] D1: First Direction Detailed Implementation

[0063] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that embodiments of the present invention may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with embodiments of the present invention.

[0064] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0065] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0066] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0067] The terms "distal" and "proximal" used in this application are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during the procedure, while "proximal" refers to the end closest to the operator. In a master-slave remote-controlled medical system, the operator can be understood as someone operating the device.

[0068] The terms “parallel” / “perpendicular” and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by -5° to +5°), and have equivalent effects.

[0069] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0070] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0071] Reference Figure 1 The computer-assisted medical system according to embodiments of this application is a robot capable of remotely performing surgery. It may include a doctor's console 1, a patient-side operating device 2, and an imaging system 3. The doctor operates the system via the doctor's console 1, the patient-side operating device 2 performs the actual surgical procedure at the patient's surgical site, and the imaging system 3 provides the doctor with real-time image information of the surgical site.

[0072] The doctor's control console 1 is the main operating device, featuring a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 1 also has other control switches that are easily accessible by hand or foot for various functional operations and human-computer interaction.

[0073] The imaging system 3 includes a display screen, endoscope controller, system electronics, and image processor. The imaging system 3 can be set up independently or integrated into the doctor's console 1 or the patient-side operating device 2.

[0074] The patient-side operating device 2 is a slave operating device, and it communicates with the doctor's control console 1 to achieve master-slave control. The patient-side operating device 2 generally consists of three main modules: a movable base, a patient-side operating arm for performing surgical operations, and an adjustment arm for adjusting the position of the operating arm.

[0075] The movable base is used to quickly bring the patient-end cart close to the patient and adjust it to a suitable position and posture relative to the patient. The movable base can be placed on the ground, for example, by means of wheels mounted on its bottom. The movable base can also be suspended from a wall or ceiling, for example, by means of rails mounted on a wall or ceiling for easy movement.

[0076] The surgical arm is operably equipped with surgical instruments at its end. During surgery, the surgical arm remains in dynamic motion, and through combined and coordinated movements with the surgical instruments, it enables the movement of the end-effectors of the instruments, allowing the surgeon to perform precise surgical actions. Surgical instruments can be devices used to perform surgical procedures, such as electrocautery devices, clamps, vascular occluders, and ultrasonic scalpels; they can also be cameras used to acquire images of the surgical area, such as endoscopes; or other surgical instruments.

[0077] The adjustment arm connects the base and the operating arm. During deployment, the adjustment arm can be used to adjust the position of the operating arm relative to the patient. After adjustment, the adjustment arm is generally locked and should not be moved unless necessary during the procedure.

[0078] The configuration of the patient-side operating device 2 is crucial for the deployment and execution of the surgery. Since surgical instruments enter the body through cannula channels at the lesion site in the thoracic and abdominal cavities, the corresponding intraoperative placement holes are distributed around the lesion site. Therefore, the deployment of the base, adjustment arms, and operating arms of the patient-side operating device 2 around the placement holes is a fundamental requirement for the surgical robot. Furthermore, during the surgery, a rational layout can minimize collisions between operating arms, improve the surgeon's operational efficiency, and avoid accidental patient injury.

[0079] In some applications, the patient-side manipulation device 2 is configured with each manipulator arm having its own independent manipulator arm, each manipulator arm being independently connected to the base. However, the inventors have found that this configuration lacks flexibility in adjusting the position of the manipulator arms during the deployment phase, limiting the activity space of medical staff and also affecting the deployment of other medical equipment required for the surgery. Furthermore, in some surgical procedures requiring a larger surgical area, such as colorectal surgery, this configuration, due to the positional limitations of the base, prevents the manipulator arms from reaching distant locations. Consequently, these surgeries require an increase in the number of preoperative incisions, and during the surgery, a larger surgical area is achieved by moving the position of the setting arms and relaying the positions of the incisions, which undoubtedly increases the patient's wound area.

[0080] Based on this, embodiments of this application provide a patient-side operation device to at least overcome or improve at least one of the above-mentioned problems.

[0081] The following will combine Figures 2 to 5 The patient-side operating device 200 of this application embodiment is described schematically. It is understood that the patient-side operating device 200 of the following embodiment can be used in the aforementioned computer-assisted medical system, for example, Figure 1 The patient-side operating device 2 in the computer-assisted medical system shown can be configured as the patient-side operating device 200 in the following embodiment.

[0082] Reference Figures 2 to 5According to an embodiment of this application, the patient-side operating device 200 includes a base 10, a mounting platform 20, and a main adjustment mechanism 30, wherein one or more operating arms 50 are mounted on the mounting platform 20. The mounting platform 20 is connected to the base 10 via the main adjustment mechanism 30, which is used to adjust the position of the mounting platform 20 relative to the base 10. The arrangement of the main adjustment mechanism 30 and the mounting platform 20 makes the adjustment of the position of the operating arms 50 more flexible, reduces the limitation of the deployment position of the base 10 to a certain extent, and improves the flexibility of equipment deployment in the operating room.

[0083] The main adjustment mechanism 30 includes a first adjustment arm 31 and a second adjustment arm 32.

[0084] The first adjusting arm 31 is connected to the base 10 and is used to adjust the position of the mounting platform 20 relative to the base 10 in the first direction D1. The first adjusting arm 31 is responsible for linear position adjustment along the first direction D1. In some examples, the first direction D1 is parallel to the vertical direction, and the first adjusting arm 31 can meet the height adaptation requirements of the foundation.

[0085] The second adjusting arm 32 connects the mounting platform 20 and the first adjusting arm 31, and is used to adjust the position of the mounting platform 20 relative to the base 10 in a plane perpendicular to the first direction D1. In some examples, the second adjusting arm 32 is used to adjust the position of the mounting platform 20 relative to the base 10 in the horizontal dimension. The second adjusting arm 32 provides two-dimensional adjustment capability in a plane perpendicular to the first direction D1, expanding the deployment range of the operating arm 50 and meeting the needs of complex operations in multi-port laparoscopic surgery. At the same time, it is unnecessary to position the base 10 close to the patient's head, leaving reasonable space between the patient's head and the operating equipment 200 beside the patient, improving the surgeon's accessibility to the patient, thereby improving surgical safety.

[0086] The second adjusting arm 32 includes a first connecting arm 321, a second connecting arm 322, a third connecting arm 323, and a fourth connecting arm 324. The first connecting arm 321 is connected to the first adjusting arm 31 via a first pivot joint 325, and the second connecting arm 322 is connected to the mounting platform 20 via a second pivot joint 326. The first and second connecting arms 321 and 322 are movably connected. The third connecting arm 323 is connected to the first adjusting arm 31 via a third pivot joint 327, and the fourth connecting arm 324 is connected to the mounting platform 20 via a fourth pivot joint 328. The third and fourth connecting arms 323 and 324 are movably connected. The first connecting arm 321, the second connecting arm 322, at least a portion of the mounting platform 20, the third connecting arm 323, the fourth connecting arm 324, and at least a portion of the first adjusting arm 31 enclose a planar linkage mechanism perpendicular to the first direction D1.

[0087] This planar linkage mechanism, through the relative movement and coordinated work of the connecting arms, allows the mounting platform 20 to move flexibly in a plane perpendicular to the first direction D1, thereby adjusting the position of the operating arm 50 to meet the operational needs of different angles and positions during surgery. The planar linkage mechanism connects the mounting platform 20 to the first adjusting arm 31 in parallel, forming a stable mechanical structure. The links support and constrain each other. Compared to a series joint, the parallel connection effectively distributes the force, resulting in higher structural strength and rigidity. It also reduces the stiffness requirement for each joint, thereby reducing joint size, making joint movement more flexible, and contributing to cost reduction.

[0088] It is understandable that in the planar linkage mechanism, the pivot axes of the first pivot joint 325, the second pivot joint 326, the third pivot joint 327, and the fourth pivot joint 328 are parallel to each other and parallel to the first direction D1. Driven by the movement of the first connecting arm 321, the second connecting arm 322, the third connecting arm 323, and the fourth connecting arm 324, the movement trajectory of the mounting platform 20 is on a plane perpendicular to the first direction D1.

[0089] Reference Figure 2 and Figure 3 In some examples, the first connecting arm 321 and the second connecting arm 322 are connected by a fifth pivot joint 331, allowing the first connecting arm 321 and the second connecting arm 322 to pivot relative to each other. The third connecting arm 323 and the fourth connecting arm 324 are connected by a sixth pivot joint 332, allowing the third connecting arm 323 and the fourth connecting arm 324 to pivot relative to each other. At this time, the first connecting arm 321, the second connecting arm 322, at least a portion of the mounting platform 20, the third connecting arm 323, the fourth connecting arm 324, and at least a portion of the first adjusting arm 31 enclose a hexagon, forming a planar six-bar linkage. It is understood that the pivot axes of both the fifth pivot joint 331 and the sixth pivot joint 332 are parallel to the first direction D1.

[0090] Reference Figure 4 and Figure 5In other examples, the first connecting arm 321 and the second connecting arm 322 are connected by a first translational joint 341, allowing them to translate relative to each other. The third connecting arm 323 and the fourth connecting arm 324 are connected by a second translational joint 342, allowing them to translate relative to each other. In this case, the first connecting arm 321, the second connecting arm 322, at least a portion of the mounting platform 20, the third connecting arm 323, the fourth connecting arm 324, and at least a portion of the first adjusting arm 31 enclose a quadrilateral, forming a planar four-bar linkage, wherein the first connecting arm 321 and the second connecting arm 322 constitute one link, and the third connecting arm 323 and the fourth connecting arm 324 constitute another link. It is understood that the movement directions of both the first translational joint 341 and the second translational joint 342 are perpendicular to the first direction D1.

[0091] Optionally, the first pivot joint 325, the second pivot joint 326, the third pivot joint 327, the fourth pivot joint 328, the fifth pivot joint 331, the sixth pivot joint 332, the first translational joint 341, and the second translational joint 342 are all passive joints, meaning they are not driven by a drive device. Each of these joints is equipped with a braking device. Under normal conditions, the braking device locks the joints, preventing relative movement between the connecting arms, thus ensuring that the mounting platform 20 and the connected operating arm 50 maintain a stable position and posture. When the position or posture of the mounting platform 20 needs adjustment, medical personnel can unlock the passive joints by triggering a specific switch. When unlocked, the corresponding passive joint is released, allowing medical personnel to manually move the mounting platform 20 or the operating arm 50 to the desired position, thereby enabling immediate and accurate adjustment of the position of the operating arm 50 to adapt to different surgical needs.

[0092] In this design, the mounting platform 20 can accommodate multiple manipulators 50. During the deployment phase of the surgery, the main adjustment mechanism 30 can perform overall positional adjustments on the mounting platform 20 and all manipulators 50 mounted on it. Furthermore, the patient-side operating device 200 is also equipped with an auxiliary adjustment mechanism 40 to achieve fine-tuning of the position of each manipulator 50.

[0093] Optionally, the number of auxiliary adjustment mechanisms 40 is equal to the number of operating arms 50, ensuring that each operating arm 50 can have an independent auxiliary adjustment mechanism 40 for position adjustment. Each auxiliary adjustment mechanism 40 is connected between the mounting platform 20 and the corresponding operating arm 50 to adjust the position of the corresponding operating arm 50 relative to the mounting platform 20. When multiple operating arms 50 are working simultaneously, mutual interference may occur between the operating arms 50. By independently deploying each operating arm 50 with each auxiliary adjustment mechanism 40, the position and angle of each operating arm 50 can be precisely adjusted, reducing the risk of collision or interference between operating arms 50 during surgery and improving surgical safety. Each auxiliary adjustment mechanism 40 includes a seventh pivot joint 41, the pivot axis of which is parallel to the first direction D1. The seventh pivot joint 41 allows the corresponding operating arm 50 to rotate around an axis parallel to the first direction D1, changing the overall orientation of the operating arm 50 relative to the mounting platform 20 and improving the flexibility of the operating arm 50 position adjustment.

[0094] Optionally, each auxiliary adjustment mechanism 40 also includes a third translation joint 42, the direction of movement of which is parallel to the first direction D1. The third translation joint 42 allows the operating arm 50 to move vertically to adjust the vertical distance between its end effector and the patient.

[0095] Optionally, each auxiliary adjustment mechanism 40 further includes a fourth translation joint 43, the direction of movement of the fourth translation joint 43 being perpendicular to the first direction D1. The operating arm 50 is capable of linear movement in the horizontal direction, thereby adjusting the left-right or front-back position of the operating arm 50 on the horizontal plane.

[0096] The third translation joint 42 and the fourth translation joint 43 provide additional range of motion for the manipulator 50. Combined with the seventh pivot joint 41 and the main adjustment mechanism 30, the manipulator 50 can achieve more precise and flexible position adjustment in three-dimensional space. The combination of the seventh pivot joint 41, the third translation joint 42, and the fourth translation joint 43 allows for independent adjustment of the position of each manipulator 50, enabling medical personnel to adjust the position of a single manipulator 50 without altering the positions of other manipulators 50. This further reduces the possibility of interference between manipulators 50 and ensures the smooth progress of the surgery.

[0097] Optionally, the seventh pivot joint 41, the third translational joint 42, and the fourth translational joint 43 are all passive joints. Each of these joints is equipped with a braking device. Under normal conditions, the braking device locks the joint, preventing relative movement between the connecting arms and ensuring that the connected manipulator 50 maintains a stable position and posture. When the position or posture of the manipulator 50 needs adjustment, medical personnel can unlock the passive joint by triggering a specific switch. Upon unlocking, the corresponding passive joint is released, allowing medical personnel to manually move the manipulator 50 to the desired position. This enables immediate and precise adjustment of the manipulator 50's position to adapt to different surgical needs.

[0098] Understandably, the auxiliary adjustment mechanism 40 can be equipped with more pivot joints and translation joints as needed. In one example, an eighth pivot joint 44 can be provided, connecting the fourth translation joint 43 between the seventh pivot joint 41 and the eighth pivot joint 44, making the positioning of the operating arm 50 more flexible and not limited by the orientation of the fourth translation joint 43. For example, as Figures 2 to 5 As shown, the seventh pivot joint 41 is positioned before the fourth translational joint 43, the third translational joint 42 is positioned after the fourth translational joint 43, and an eighth pivot joint 44 is added after the third translational joint 42. It is understandable that the eighth pivot joint 44 could also be positioned between the fourth translational joint 43 and the third translational joint 42.

[0099] By jointly adjusting the position and posture of the operating arm 50 through the main adjustment mechanism 30 and the auxiliary adjustment mechanism 40, the deployment range of the operating arm 50 is improved, enabling the operating arm 50 to reach a farther range and meet the needs of surgical procedures with a large range of procedures.

[0100] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of the invention. Terms such as “set” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0101] This utility model has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this utility model to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this utility model, and all such variations and modifications fall within the scope of protection claimed by this utility model.

Claims

1. A patient-side operating device for use in a computer-aided medical system, characterized in that, include: Base; Mounting platform, wherein one or more operating arms are provided on the mounting platform, the operating arms being used for operatively mounting surgical instruments; as well as A main adjustment mechanism, connected between the base and the mounting platform, is used to adjust the position of the mounting platform relative to the base. The main adjustment mechanism includes: A first adjusting arm, connected to the base, is used to adjust the position of the mounting platform relative to the base in a first direction; and The second adjusting arm is connected between the mounting platform and the first adjusting arm, and is used to adjust the position of the mounting platform relative to the base on a plane perpendicular to the first direction. The second adjusting arm includes a first connecting arm, a second connecting arm, a third connecting arm and a fourth connecting arm. The first connecting arm is connected to the first adjusting arm via a first pivot joint, the second connecting arm is connected to the mounting platform via a second pivot joint, and the first connecting arm and the second connecting arm are movably connected. The third connecting arm is connected to the first adjusting arm via a third pivot joint, and the fourth connecting arm is connected to the mounting platform via a fourth pivot joint, and the third connecting arm and the fourth connecting arm are movably connected. The first connecting arm, the second connecting arm, at least a portion of the mounting platform, the third connecting arm, the fourth connecting arm, and at least a portion of the first adjusting arm enclose and form a planar linkage mechanism perpendicular to the first direction.

2. The patient-side operating device according to claim 1, characterized in that, The first connecting arm and the second connecting arm are connected by a fifth pivot joint, so that the first connecting arm and the second connecting arm can pivot relative to each other; and The third connecting arm and the fourth connecting arm are connected by a sixth pivot joint, allowing the third connecting arm and the fourth connecting arm to pivot relative to each other.

3. The patient-side operating device according to claim 2, characterized in that, The first pivot joint, the second pivot joint, the third pivot joint, the fourth pivot joint, the fifth pivot joint, and the sixth pivot joint are all passive joints.

4. The patient-side operating device according to claim 1, characterized in that, The first connecting arm and the second connecting arm are connected by a first translational joint, allowing the first connecting arm and the second connecting arm to translate relative to each other; and The third connecting arm and the fourth connecting arm are connected by a second translational joint, allowing the third connecting arm and the fourth connecting arm to translate relative to each other.

5. The patient-side operating device according to claim 4, characterized in that, The first pivot joint, the second pivot joint, the third pivot joint, the fourth pivot joint, the first translational joint, and the second translational joint are all passive joints.

6. The patient-side operating device according to any one of claims 1 to 5, characterized in that, It also includes at least one auxiliary adjustment mechanism, the number of which is equal to the number of the operating arms. Each auxiliary adjustment mechanism is connected between the mounting platform and the corresponding operating arm to adjust the position of the corresponding operating arm relative to the mounting platform. Each auxiliary adjustment mechanism includes a seventh pivot joint, the pivot axis of which is parallel to the first direction.

7. The patient-side operating device according to claim 6, characterized in that, Each of the auxiliary adjustment mechanisms further includes: A third translational joint, wherein the direction of motion of the third translational joint is parallel to the first direction; and / or The fourth translational joint has a movement direction perpendicular to the first direction.

8. The patient-side operating device according to claim 7, characterized in that, The seventh pivot joint, the third translational joint, and the fourth translational joint are all passive joints.

9. The patient-side operating device according to any one of claims 1 to 5, characterized in that, The first direction is parallel to the vertical direction, and the planar linkage mechanism is parallel to the horizontal direction.

10. A computer-aided medical system, characterized in that, include: Doctor's console; as well as The patient-side operating device according to any one of claims 1 to 9, wherein the patient-side operating device and the doctor's console are communicatively connected.

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