Integrated elevatable dual arm robot

Abstract

An integrated liftable dual-arm robot is designed to improve at least one of the diversity, flexibility, efficiency and accuracy of a medical operation performed by the dual-arm robot through its unique integrated liftable structure and multi-functional configuration. The integrated liftable dual-arm robot integrally comprises a common base, a plurality of columns liftable independently of each other relative to the common base, and a plurality of mechanical arms respectively mounted on the plurality of columns. The telescopic structure of each column comprises a sleeve structure and a telescopic mechanism for telescoping the sleeve structure. The telescopic mechanism comprises a lower screw transmission assembly and an upper screw transmission assembly partially nested. The upper screw transmission assembly is connected with an inner tube of the sleeve structure through an upper screw transmission connecting piece. The upper screw transmission connecting piece is configured to form at least one hollow space between the telescopic mechanism and the sleeve structure. A plurality of tool devices are respectively mounted on the plurality of mechanical arms through tool interface portions.

Description

Technical Field

[0001] This disclosure relates to a medical device system capable of performing diagnostic and therapeutic procedures, and more specifically,

[0002] The invention relates to an integrated, liftable dual-arm robot capable of operating tools and devices with different access methods and / or different types mounted on each robotic arm to perform diagnostic and treatment operations individually, collaboratively, or jointly through the lifting and rotation of different robotic arms. Background Technology

[0003] With the continuous development of medical technology, medical robots, as medical mechanical systems capable of performing diagnostic and treatment procedures, are increasingly being used in various diagnostic and treatment processes. Existing medical mechanical systems exhibit diversity in their structural layout and functional configuration. Some common medical mechanical systems may have multiple independent physical units, such as the medical mechanical body that carries the robotic arm, the trolley that positions and navigates the medical mechanical body, and the control unit that controls the movement of the robotic arm on the medical mechanical body. This distributed physical structure may involve issues of coordinated positioning and space occupation among multiple physical units during deployment and preoperative preparation, sometimes affecting the convenience of the operational process and overall efficiency.

[0004] Furthermore, many existing robot-assisted systems may be designed with a greater emphasis on supporting specific types or single approaches in medical procedures. For complex cases that require combining different approaches, or for situations where multiple different types of tools and devices need to be used simultaneously in different installation locations (especially at different plane heights) with different installation postures and orientations to perform diagnostic and therapeutic operations, existing single-function robot configurations may face certain limitations in terms of flexibility, efficiency, accuracy, and task adaptability.

[0005] Therefore, an improved medical robot is needed to address one or more of the problems mentioned above in the existing technology. Utility Model Content

[0006] This disclosure is made to address the aforementioned prior art, and its purpose is to provide an integrated, liftable dual-arm robot that, through its unique integrated, liftable structure and multifunctional configuration, aims to improve at least one of the diversity, flexibility, efficiency, and accuracy of diagnostic and therapeutic operations performed using such a dual-arm robot.

[0007] To achieve the aforementioned utility model objective, this disclosure provides an integrated, liftable dual-arm robot, characterized in that the integrated, liftable dual-arm robot integrates: a shared base; at least two columns capable of independently rising and falling relative to the shared base; and at least two robotic arms respectively mounted on the at least two columns. The at least two columns are arranged substantially parallel to each other and each has a retractable structure capable of extending and retracting in the height direction of the dual-arm robot. The retractable structure includes a multi-nested sleeve structure and a telescopic mechanism for extending and retracting the sleeve structure. The telescopic mechanism includes a partially nested lower lead screw drive assembly and an upper lead screw drive assembly. The upper lead screw drive assembly is connected to the inner cylinder of the sleeve structure via an upper lead screw drive connector. The upper lead screw drive connector is configured such that at least one hollow space is formed between the telescopic mechanism and the sleeve structure for setting a threading mechanism to provide a cable routing path. Multiple tool devices with different access methods and / or different types are respectively installed on the at least two robotic arms via tool interfaces to collaboratively or jointly perform diagnostic and treatment operations.

[0008] Based on the above-described structure, the integrated liftable dual-arm robot of this disclosure, through its unique integrated design, independent lifting design of multiple arms, and collaborative physical structure of multiple arms, exhibits many significant advantages compared with the robot systems commonly found in the prior art that consist of multiple independent trolleys and have relatively simple functions. It effectively solves several problems of the prior art in terms of land occupation, operational complexity, and applicability.

[0009] The disclosed robot structure endows it with powerful operational flexibility and wide applicability to various surgical procedures. The first and second robotic arms possess a sophisticated structure with multiple degrees of freedom of motion, including the lifting and lowering of their respective columns 132, ensuring a wide range of motion and precise posture adjustment capabilities. More importantly, their distal ends are respectively equipped with detachable first and second tool interfaces suitable for mounting different approaches and / or different types of tool devices. This combination of tool interfaces optimized for different approaches and / or different types of tool devices, along with interchangeable tool devices, allows this single robotic platform to flexibly adapt to and efficiently perform various diagnostic and treatment tasks with different approaches and surgical procedures, greatly expanding its clinical application scope.

[0010] Thus, the integrated, liftable dual-arm robot of this disclosure improves at least one of the diversity, flexibility, efficiency, and precision of diagnostic and therapeutic operations performed using it through its unique integration, liftable structure, and multifunctional configuration.

[0011] Preferably, the common base supports the column and the robotic arm and defines the operating area.

[0012] As described above, the column and robotic arm, which enable the tool to move in space with multiple degrees of freedom, including position, posture, and orientation, are kept in the same reference coordinate system (e.g., the patient's medical image coordinate system or the robot's own coordinate system). This eliminates the need for prior calibration of the coordinate systems of multiple devices and equipment on different platforms before performing diagnostic and treatment operations, as was previously required. Furthermore, the stable structure of the shared base and the structure in which each robotic arm is independently mounted on a different column but shares the same reference system referenced by the shared base form the physical basis for this high-precision collaborative operation of the integrated, height-adjustable dual-arm robot of this disclosure.

[0013] Preferably, at least two of the robotic arms are each mounted on the robotic arm mounting end of the column in a manner that allows them to rotate with at least three degrees of freedom relative to their respective columns. Specifically, the at least three degrees of freedom include: rotational movement of at least one degree of freedom about a first axis at a rotary joint at the mounting connection between the proximal end of the robotic arm and the robotic arm mounting end of the column; rotational movement of at least one degree of freedom about a second axis at another rotary joint at the mounting connection between the distal end of the robotic arm and the tool interface; and rotational movement of the interface of the tool interface relative to itself about a third axis, wherein the first axis and the third axis are at least different from and non-parallel to the second axis.

[0014] Furthermore, in a three-degree-of-freedom robotic arm, the arm consists of only one link with proximal and distal ends. However, the robotic arm of this disclosure is not limited to this; it can also be formed by hinged connections of two or more links. As an example, the robotic arm has three links, and two additional degrees of freedom are provided through two rotary joints connecting the three links, thus achieving five degrees of freedom for the robotic arm as a whole. In other words, the robotic arm of this disclosure can provide more than one degree of freedom in the plane of the links through rotary joints connecting two or more links.

[0015] As described above, this physical structure with three or more degrees of freedom (e.g., five degrees of freedom) ensures that the robotic arm (especially the distal end) can reach any position in the three-dimensional workspace and achieve any posture and orientation of the tool device mounted on it. Simultaneously, multiple robotic arm structures (multiple columns, multiple robotic arms, multiple tool interfaces) can independently adjust their respective degrees of freedom, thus enabling more flexible handling of various complex usage environments and challenging intervention angles. Furthermore, ensuring that the first and third axes are at least different from and non-parallel to the second axis, and especially that the first and third axes are orthogonal to the second axis, allows for efficient adjustment of the tool device's posture and orientation. Additionally, the first and third axes can be parallel or non-parallel.

[0016] Preferably, the column further includes a spacer assembly, which includes a plurality of spacers disposed between adjacent cylinders of the sleeve structure. At least one of the plurality of spacers includes: an abutment portion that slides in contact with an inner cylinder of the adjacent cylinders of the sleeve structure; a limiting portion disposed in an outer cylinder of the adjacent cylinders of the sleeve structure and engaging with a predetermined spatial shape of the side of the other cylinder; a gap adjusting portion disposed between the abutment portion and the other cylinder; and a fastening portion that is fixed to the other cylinder.

[0017] As an example, the gap adjusting part is sheet-shaped and includes at least one sheet-like member of varying thickness. As another example, the gap adjusting part includes a threaded adjusting member and a threaded locking member, wherein the threaded adjusting member is disposed in the limiting part abutting against the abutting part and partially screwed into the side of the other cylinder, and wherein the threaded locking member is screwed into the side of the other cylinder and abuts against the thread of the threaded adjusting member to prevent rotation of the threaded adjusting member.

[0018] As described above, by placing the spacer assembly between the inner and outer opposite sides of each adjacent cylinder, the ability to resist torque can be increased, while the spacer provides support, adjusts the clearance, and allows relative movement between the cylinders.

[0019] Furthermore, in one of the aforementioned examples, by inserting the sheet-shaped abutment portion individually or in stacked form into the limiting portion, a specific overall thickness can be achieved to change the distance between the abutment portion and the middle cylinder. In another of the aforementioned examples, the relative position of the threaded adjusting member and the side of the middle cylinder can be changed by turning the threaded adjusting member, and the rotation of the threaded adjusting member can be locked and released by turning the threaded locking member.

[0020] Preferably, each of the plurality of tool devices is selected from any of the following types of tool devices: diagnostic and therapeutic tool devices (i.e., diagnostic and therapeutic equipment), positioning tool devices (i.e., positioning equipment), endoscopic tool devices (i.e., endoscopic equipment), imaging tool devices (i.e., imaging equipment), driving tool devices (i.e., driving devices) on which a compatible drive type tool device (i.e., driving device) is further mounted, and auxiliary tool devices (i.e., auxiliary devices). The plurality of tool devices can be of different types or of the same type. Furthermore, the plurality of tool devices can employ tool devices with different access methods; for example, one tool device may employ a natural cavity access method while another employs a surface access method. The tool device employing the natural cavity access method and the tool device employing the surface access method can simultaneously, sequentially, or alternately perform their respective diagnostic and therapeutic operations for different diagnostic and therapeutic locations from different access methods.

[0021] In addition, diagnostic and treatment equipment includes, for example, biopsy equipment, ablation equipment, surgical instruments (surgical electrosurgical units, grasping forceps, needle holders, dissecting forceps), various therapeutic instruments such as holmium lasers; positioning equipment includes, for example, various guidance and navigation positioning devices such as electromagnetic, optical, and ultrasonic devices; endoscopic equipment includes, for example, bronchoscopes, laparoscopes, hysteroscopes, ureteroscopes, uroscopes, confocal microscopes; imaging equipment includes, for example, portable ultrasound diagnostic instruments, X-ray machines, scanners, digital subtraction angiography (DSA); driving devices include, but are not limited to, any adaptable automated devices for multi-degree-of-freedom manipulation of medical devices and equipment, on which compatible medical devices such as endoscopes are further mounted; and auxiliary equipment includes, for example, auxiliary lighting equipment and guides for guiding the diagnostic and treatment position (e.g., biopsy insertion position, surgical cutting position, etc.) by means of lasers.

[0022] Based on the configuration described above, tool devices with different access methods can be used to realize joint diagnostic and treatment operations for multiple different diagnostic and treatment positions by tool devices installed on different robotic arms, so as to complete the so-called "dual-arm dual-channel" diagnostic and treatment operation.

[0023] Additionally, in this disclosure, a locator may be installed on either the tool device with natural cavity access or the tool device with body surface access, and the other of the tool device with natural cavity access and the tool device with body surface access may be spatially registered by the locator to the plurality of robotic arms on which the tool device with natural cavity access and the tool device with body surface access are respectively installed.

[0024] As described above, by utilizing spatial registration achieved through a locator, the coordinates of the two robotic arms and their end-effectors can be unified to the same reference coordinate system (e.g., the patient's medical image coordinate system or the robot's own coordinate system), thereby improving the accuracy of "dual-arm, dual-channel" diagnostic and treatment operations.

[0025] In addition, as another example, one of the plurality of tool devices may be selected from the positioning device, and another of the plurality of tool devices may be selected from the diagnostic and treatment device, the endoscope device, the imaging device, the drive device, or the auxiliary device, so that the plurality of robotic arms, each equipped with a plurality of tool devices, are spatially registered through the positioning device.

[0026] As described above, by using a positioning-type tool device mounted on one of the robotic arms of a dual-arm robot, the use of large external optical tracking or electromagnetic positioning systems can be reduced or even avoided in many cases. This not only simplifies the preparation work for the diagnosis and treatment process, but may also significantly reduce the related equipment procurement and maintenance costs.

[0027] Furthermore, as another example, one of the plurality of tool devices may be selected from the diagnostic and therapeutic equipment, the endoscopic equipment, or the driving device, while another of the plurality of tool devices may be selected from the imaging equipment or the auxiliary equipment, with the other of the plurality of tool devices cooperating with one of the plurality of tool devices to perform a treatment operation on the same access route.

[0028] Based on the configuration described above, an auxiliary type of tool device mounted on another robotic arm of a dual-arm robot can be used to enable collaborative diagnostic and treatment operations of tool devices mounted on multiple robotic arms for the same diagnostic and treatment location, thereby completing a so-called "dual-arm single-channel" diagnostic and treatment operation.

[0029] Alternatively, it is also possible to select a tooling device on only one of the multiple robotic arms to perform the diagnostic and treatment operation independently, that is, to complete the so-called "single-arm single-channel" diagnostic and treatment operation, which goes without saying.

[0030] Furthermore, as another possible example, one of the plurality of tool devices may be selected as a first driving device as the driving device, and another of the plurality of tool devices may be selected as a second driving device as the driving device. The first driving device drives the base end of the first medical device that can be adapted to it to realize the overall movement of the first medical device, and the second driving device drives the front end of the first medical device that is installed on the first driving device to realize the movement of the front end of the first medical device.

[0031] Based on the configuration described above, different drive devices mounted on the two arms of the dual-arm robot can be used to drive the compatible medical equipment in more diverse ways. For example, the first drive device can drive the front end of the first medical equipment that can be adapted and mounted on it to move forward, backward, left, or right as a whole, while the second drive device can drive the front end of the first medical equipment to turn, rotate, guide, extend, or retract, thereby achieving linkage between the two arms. The drive using the second drive device can be achieved by means of magnets or ultrasound, but is not limited to these, and can be achieved by any other suitable means.

[0032] In addition, as another possible example, the first tooling device mounted on one robotic arm may be any one of the diagnostic equipment, the endoscope, the imaging equipment, and the drive device, and the second tooling device mounted on another robotic arm may be a gripping device as an auxiliary device, which assists the robotic arm in jointly gripping the first tooling device to provide a maximum load greater than the maximum load of the first tooling device on the robotic arm that is only implemented through the tool interface.

[0033] As described above, a gripping device mounted on the other arm of a dual-arm robot can be used to assist in gripping a first tooling device mounted on one arm of the dual-arm robot, thereby enabling a more stable grip on the first tooling device and increasing its maximum load capacity. Here, the gripping device is not limited to gripping devices such as robotic arms or grippers; any device that holds, clamps, or even securely connects to a locking part on the first tooling device via additional locking structures such as buckles or inserts, falls within the scope of a gripping device. Attached Figure Description

[0034] Figure 1 This is a perspective view showing the schematic overall structure of an integrated liftable dual-arm robot without tool installation according to an embodiment of the present disclosure.

[0035] Figure 2 It means according to Figure 1 The front view of the integrated, liftable, dual-arm robot shown.

[0036] Figure 3 From different Figure 1 Another perspective shows a three-dimensional diagram illustrating the overall structure of an integrated, liftable, dual-arm robot.

[0037] Figure 4 yes Figure 1 A schematic cross-sectional view of the column in the integrated, liftable dual-arm robot shown.

[0038] Figure 5 yes Figure 4 An exploded view of the spacer components further included in the column shown.

[0039] Figure 6 yes Figure 5 A perspective view of the spacer in its assembled state.

[0040] Figure 7 yes Figure 4 An exploded view of another spacer component, which is further included in the column shown, as a spacer assembly.

[0041] Figure 8 yes Figure 7 A perspective view of the spacer in its assembled state.

[0042] Figure 9 This is a perspective view illustrating the schematic structure of a dual-arm robot equipped with tooling devices according to an embodiment of the present disclosure, wherein the types of tooling devices that can be selected for the two robotic arms are shown in a list and specific instruments are illustrated as typical examples.

[0043] Figure 10 This is a perspective view illustrating an application scenario of a dual-arm robot equipped with tooling devices according to an embodiment of the present disclosure, wherein the tooling devices mounted on the two robotic arms are different tooling devices.

[0044] Figure 11 This is a side view showing the simultaneous diagnosis and treatment of a patient using different tool devices mounted on two robotic arms, wherein the integrated liftable dual-arm robot of one embodiment of this disclosure is omitted.

[0045] Figure 12 This is a perspective view illustrating another application scenario of a dual-arm robot equipped with tooling devices according to an embodiment of the present disclosure, wherein the tooling devices mounted on the two robotic arms are identical tooling devices.

[0046] Figure 13 This is a perspective view illustrating another application scenario of a dual-arm robot equipped with a tooling device according to an embodiment of the present disclosure, wherein a gripping device mounted on another robotic arm assists in gripping a tooling device mounted on one robotic arm.

[0047] (Symbol Explanation)

[0048] 100-inch integrated liftable dual-arm robot;

[0049] 110 First Robotic Arm;

[0050] 111 The proximal end of the first robotic arm;

[0051] 112 rotary joint;

[0052] 113 Rotational joint;

[0053] 114 links;

[0054] 115 rotary joint;

[0055] 116 The distal end of the first robotic arm;

[0056] 117 First Tool Interface;

[0057] 120 Second Robotic Arm;

[0058] 121 The proximal end of the second robotic arm;

[0059] 122 rotary joint;

[0060] 123 Rotational joint;

[0061] 124-link system;

[0062] 125 rotary joint;

[0063] 126 The distal end of the second robotic arm;

[0064] 127 Second Tool Interface;

[0065] 130 share a common base;

[0066] 131 Lower structure;

[0067] 132 columns;

[0068] 132a First column;

[0069] 132b Second column;

[0070] 1321 sleeve structure;

[0071] 1321a inner cylinder;

[0072] The top of the inner cylinder of 1321a1;

[0073] 1321b middle tube;

[0074] 1321c outer cylinder;

[0075] The bottom of the outer cylinder of 1321c1;

[0076] 1322 Telescopic mechanism;

[0077] 1322a Lower Screw Drive Assembly;

[0078] 1322a Lower Screw Drive Assembly;

[0079] 1322b Upper lead screw drive assembly;

[0080] 1322c upper lead screw drive connector;

[0081] 1323 threading mechanism;

[0082] 1323a tank track;

[0083] 1324 hollow space;

[0084] 1325 spacer;

[0085] 1325a abutment section;

[0086] 1325b limiting part;

[0087] 1325c clearance adjustment section;

[0088] 1325c1 threaded adjusting element;

[0089] 1325c2 threaded locking component;

[0090] 1325d Fastener;

[0091] 1325A First Spacer (Spacer);

[0092] 1325B First spacer (spacer);

[0093] 133 Superstructure;

[0094] 134 wheels;

[0095] 135 casing;

[0096] 136 top surface;

[0097] 137 Operating Area;

[0098] 140 First tooling device;

[0099] 141 Endoscope body;

[0100] 141a Interventional Department;

[0101] 141b Internal working passageway;

[0102] 142 drives;

[0103] 143 Robotic Arm Adapter Structure;

[0104] 150 Second tool device;

[0105] 151 Rigid rod-shaped body;

[0106] 152 Tip;

[0107] 160 electro-actuated driver;

[0108] X1 First axis;

[0109] X2 Second axis. Detailed Implementation

[0110] Below, refer to Figures 1 to 4 The integrated, liftable dual-arm robot 100 disclosed herein is illustrated in the following description: Figures 1 to 3 This is a schematic diagram of an integrated, liftable dual-arm robot 100 without the tooling devices installed. Figure 4 yes Figure 1 A schematic cross-sectional view of the column 132 in the integrated liftable dual-arm robot 100 shown.

[0111] This disclosure provides an integrated, liftable dual-arm robot 100. The robot 100 has at least two robotic arms (e.g., a first robotic arm 110 and a second robotic arm 120) mounted on a single common base 130 via liftable columns 132 (first column 132a, second column 132b) relative to the common base 130. Furthermore, multiple different access methods and / or access methods are mounted on each of the at least two robotic arms.

[0112] Or different types of tool devices (e.g., first tool device 140, second tool device 150) to achieve a number of advantages.

[0113] Reference Figure 1 The diagram shows a perspective view of the overall structure of an integrated, liftable dual-arm robot 100 according to an embodiment of the present disclosure. Due to the overall structure of this integrated, liftable dual-arm robot 100, it is suitable for various diagnostic and treatment scenarios, and is particularly ideal for multiple diagnostic and treatment positions at different planar heights.

[0114] The integrated liftable dual-arm robot 100 disclosed herein integrates: a common base 130; at least two columns 132 (e.g., a first column 132a and a second column 132b) that are independently liftable relative to the common base 130; at least two robotic arms (e.g., a first robotic arm 110 and a second robotic arm 120) respectively mounted on the at least two columns 132 (e.g., a first column 132a and a second column 132b); and a control unit (not shown) for controlling the movement of the at least two robotic arms.

[0115] exist Figure 1 and Figure 2The image clearly shows the common base 130 of the integrated liftable dual-arm robot 100. The common base 130 is used to stably support the various columns (first column 132a and second column 132b) and movable parts such as the robotic arms, and defines the operating area 137 for the operator to operate the control unit.

[0116] In addition, such as Figure 2 As shown, the common base 130 has a lower structure 131 and an upper structure 133 extending upward from the lower structure 131. The lower structure 131 may be a base that is larger in size than the upper structure 133, and more preferably heavier than the upper structure 133, to ensure that the dual-arm robot 100 maintains a low center of gravity even after tool devices (e.g., first tool device 140, second tool device 150) of a certain weight are mounted on the first robotic arm 110 and the second robotic arm 120 of the mechanical part, thereby improving its overall stability and preventing the dual-arm robot 100 from tipping over during the lifting and lowering movements of the individual columns and / or the individual rotations of the individual robotic arms. The upper structure 133 may be a tower-type or box-type support structure extending upward from the rear half of the top surface of the lower structure 131, the rear of which is used to delineate the operating area 137.

[0117] Preferably, such as Figure 2 As shown, the lower structure 131 of the common base 130 includes a plurality of wheels 134, one or more of which may be, for example, casters or directional wheels with locking mechanisms. They are physically mounted on the bottom surface of the lower structure 131. The structure and arrangement of these wheels enable the dual-arm robot 100 to move freely and be repositioned to a suitable location, such as the position of an operating table suitable for performing diagnostic and treatment operations, thereby improving the deployment flexibility of this integrated liftable dual-arm robot 100.

[0118] Furthermore, in the integrated liftable dual-arm robot 100 disclosed herein, such as Figure 1 , Figure 2 and Figure 3As shown, at least two (e.g., two) columns 132 (e.g., first column 132a and second column 132b) that can be independently raised and lowered relative to the common base 130 are mounted on the front half of the top surface of the lower structure 131 of the common base 130 of the dual-arm robot 100. The first column 132a and the second column 132b are arranged substantially parallel to each other and have a retractable structure that can extend and retract in the height direction of the dual-arm robot 100. For example, each column 132 includes a multi-nested sleeve structure 1321 and a telescopic mechanism 1322 for extending and retracting the sleeve structure 1321. The telescopic mechanism 1322 may be, for example, a rack and pinion mechanism or a multi-stage screw drive mechanism controlled by a built-in or external electro-actuated actuator 160. The telescopic mechanism 1322 expands or contracts (i.e., extends and retracts) the multiple nested sleeve structure 1321, allowing the column 132 to be fixed at any of a plurality of preset positions in the height direction of the dual-arm robot 100, or at any position in the height direction of the dual-arm robot 100, thereby allowing the initial installation height of the robotic arm mounted thereon to be changed to adapt to different diagnostic and treatment scenarios or patient positions.

[0119] As an example of column 132, such as Figure 4 As shown, the column 132 includes an inner cylinder 1321a, at least one middle cylinder 1321b and an outer cylinder 1321c arranged in sequence as a multi-nested sleeve structure 1321.

[0120] In a non-limiting example, the telescopic mechanism 1322 in the column 132 is a multi-stage screw drive device, comprising a lower screw drive assembly 1322a and an upper screw drive assembly 1322b that are partially nested, wherein the lifting mechanism of the lower screw drive assembly 1322a drives the upper screw drive assembly 1322b to rise. Preferably, the lifting mechanism of the lower screw drive assembly 1322a is actuated by an external electro-actuator 160, and the lower screw drive assembly 1322a transmits power from the electro-actuator 160 to actuate the lifting mechanism of the upper screw drive assembly 1322a.

[0121] For example, when the multi-stage lead screw drive is a two-stage lead screw drive, the lower lead screw drive assembly 1322a may include a lower lead screw and a lower lead screw nut, wherein the lower lead screw nut can move vertically relative to the lower lead screw through a threaded engagement, and the lower lead screw is rotatably connected to the base. The upper lead screw drive assembly may include an upper lead screw and an upper lead screw nut, wherein the upper lead screw nut can move vertically relative to the lower lead screw through a threaded engagement, and the upper lead screw is rotatably connected to the lower lead screw nut. When the multi-stage screw drive is a three-stage screw drive, the multi-stage screw drive 1322 also includes a middle screw drive assembly, which may include a middle screw and a middle screw nut. The middle screw nut can move vertically relative to the middle screw through a threaded engagement. The middle screw is rotatably connected to the lower screw nut, and the upper screw is rotatably connected to the middle screw nut. The number of stages of the screw drive can continue to increase, and its structure follows the same principle.

[0122] Additionally, the upper lead screw drive assembly 1322b is connected to the inner cylinder 1321a via an upper lead screw drive connector 1322c. The upper lead screw drive connector 1322c is configured such that at least one hollow space 1324 is formed between the telescopic mechanism 1322 and the sleeve structure 1321 for accommodating the cable threading mechanism 1323 to provide a cable routing path. More specifically, the cable threading mechanism 1323 provides a cable routing path from the bottom 1321c1 of the outer cylinder 1321c to the top 1321a1 of the inner cylinder 1321a. By defining the hollow space 1324 between the sleeve structure 1321 and the telescopic mechanism 1322 of the column 132, space is reserved for the cable threading mechanism 1323, and the cable threading mechanism 1323 is configured to limit cable routing within the column 132. This prevents cables from being exposed to the environment, thus avoiding safety and maintenance issues.

[0123] Alternatively, the multiple nested sleeve structure 1321 of the column 132 may include only the inner sleeve 1321a and the outer sleeve 1321c, without including the middle sleeve 1321b.

[0124] In a non-limiting example, the threading mechanism 1323 is a tank chain 1323a, the shape of which may vary at least partially corresponding to the retracted position of the post 132 and the extended position of the post 132. Additionally, one end of the tank chain 1323a may be connected to the bottom 1321c1 of the outer cylinder 1321c, and the other end of the tank chain 1323a may be connected to the top 1321a1 of the inner cylinder 1321a, and the threading channels of the links of the tank chain 1323a define at least a portion of the threading path for the cable.

[0125] The multi-stage screw drive device 200 of the lifting device 1 can be a multi-stage screw drive device 200 that cooperates with the multi-layer housing assembly 100 described above, and may additionally include one or more optional middle screw drive assemblies corresponding to the number of stages of the multi-layer housing assembly 100, and the lower screw drive assembly 210, the optional one or more middle screw drive assemblies, and the upper screw drive assembly 220 are sequentially and partially nested.

[0126] For example, when the multi-stage screw drive 200 is a two-stage screw drive, it may not include a middle screw drive assembly; when the multi-stage screw drive 200 is a three-stage screw drive, it may include a middle screw drive assembly nested in a similar manner; and so on.

[0127] Each set of adjacent nested screw drives in the multi-stage screw drive device 200 of the lifting device 1 includes a screw and a screw nut with threaded engagement. The screw can be rotated in two opposite directions of rotation by power from the motor 2, and the screw is fixed to the surface of the support base (e.g., the structure below the screw). The screw nut can move in the vertical direction relative to the corresponding screw, and the screw nut is configured to not rotate.

[0128] Furthermore, among the multiple columns 132, the extension and retraction of the first column 132a relative to the common base 130 can be synchronized with the extension and retraction of the first column 132a relative to the common base 130, or performed independently, depending on the needs of the diagnostic and treatment operation. In addition to adjusting the height of the robotic arm mounted on it, the column 132 is also structured to provide a robust mounting point for the robotic arm. This not only increases the maximum reach of the robotic arm to meet the needs of diagnostic and treatment operations in high positions, but also ensures the stability of the robotic arm when it rotates.

[0129] Additionally, in a non-limiting example, the column 132 of this disclosure may optionally include a spacer assembly. The spacer assembly includes a plurality of spacers disposed between each group of adjacent nested cylinders of the housing assembly, providing support, adjusting clearance, and allowing relative movement between adjacent cylinders. The spacer assembly 1325 includes a first spacer 1325A disposed between the inner cylinder 1321a and the middle cylinder 1321b, and a second spacer 1325B disposed between the middle cylinder 1321b and the outer cylinder 1321c, i.e., including a plurality of spacers 1325 disposed between adjacent cylinders of the sleeve structure 1321. The first spacer 1325A and the second spacer 1325B may be the same or different. Here, for ease of explanation, the first spacer 1325A and the second spacer 1325B are collectively referred to as spacer 1325. The specific structure of the spacer 1325 as a spacer assembly will be described in detail below using the first spacer 1325A as an example.

[0130] At least one of the plurality of spacers 1325 may generally include an abutment portion 1325a, a limiting portion 1325b, a gap adjusting portion 1325c, and a fastening portion 1325d.

[0131] The abutment portion 1325a is used for sliding contact with one of the adjacent inner cylinders (e.g., inner cylinder 110). The abutment portion 1325a preferably includes a protrusion for sliding contact to prevent wear on the body of the abutment portion 1325a during sliding contact with the inner cylinder 110.

[0132] The limiting part 1325b can be provided in another cylinder located on the outer side of each adjacent cylinder.

[0133] (For example, in the middle tube 120), and in the preset space on the side of the middle tube 120 (such as...) Figure 5 The shape is fitted to prevent relative movement in the lateral direction between the spacer 1325 and another cylinder in the adjacent cylinder (e.g., the middle cylinder 120).

[0134] The gap adjustment part 1325c is disposed between the abutment part 1325a and the other cylinder (e.g., the middle cylinder 120) to change the distance between the abutment part 1325a and the middle cylinder 120.

[0135] After use, the gaps between the cylinders of the housing inevitably change due to wear. The gap adjustment part 1325c allows the distance between the abutment part 1325a and the other cylinder (e.g., the middle cylinder 120) to be adjusted to meet actual needs.

[0136] The fastening part 1325d can be removably secured to the other cylinder (e.g., the middle cylinder 120) via fasteners. The fastener hole of the fastening part 1325d can be oblong, or racetrack-shaped, to allow the fastening part 1325d and the spacer 1325 to change their overall distance from the other cylinder (e.g., the middle cylinder 120) and still be secured to the other cylinder (e.g., the middle cylinder 120) via fasteners.

[0137] Figure 5 Schematic illustration Figure 4 An exploded view of the spacer 1325, which is further included as a spacer assembly, in the column 132 shown. Figure 6 Schematic illustration Figure 5 Perspective view of spacer 1325 in its assembled state.

[0138] In this embodiment, the abutment portion 1325a may be sheet-shaped and have a protrusion for sliding contact, wherein the protrusion is in the form of a boss and optionally has five strip-shaped grooves. It is understood that the form of the protrusion is not limited to a boss, but can have any shape as needed.

[0139] The limiting portion 1325b may be box-shaped and may house the limiting portion 1325b and the gap adjusting portion 1325c. The limiting portion 1325b may have a first opening on its side facing one of the adjacent inner cylinders (e.g., inner cylinder 110) to allow the protrusion of the abutment portion 1325a to pass through the limiting portion 1325b and slide in contact with said cylinder (inner cylinder 110). The limiting portion 1325b may have a second opening facing upward in the vertical direction to allow the abutment portion 1325a and the gap adjusting portion 1325c to pass through and be inserted into the limiting portion 1325b.

[0140] The gap adjustment part 1325c may be in the shape of a sheet and include at least one sheet-like element of different thickness. For example... Figure 5 As shown, the preferred gap adjustment part 1325c includes multiple sheets of different thicknesses, which allow the limiting part 1325b to be inserted individually or in stacks to achieve a specific overall thickness that meets actual needs, so as to change the distance between the abutment part 1325a and the other cylinder (middle cylinder 120).

[0141] The fastening part 1325d may be in the shape of a cover and cover the limiting part 1325b and the abutment part 1325a and the gap adjustment part 1325c in the limiting part 1325b from above in the vertical direction, so as to prevent the parts of the spacer 1325 from disengaging from the other cylinder (middle cylinder 120) in the vertical direction.

[0142] Figure 7 Schematic illustration Figure 4 An exploded view of another spacer 1325, which is further included as a spacer assembly, in the column 132 shown. Figure 8 Schematic illustration Figure 7 Perspective view of spacer 1325 in its assembled state.

[0143] In this embodiment, the abutment portion 1325a is sheet-shaped and has protrusions for sliding contact.

[0144] The limiting part 1325b is provided on both sides of the abutment part 1325a and is in the shape of a flange.

[0145] The clearance adjustment part 1325c includes a threaded adjustment part 1325c1 and a threaded locking part 1325c2.

[0146] The threaded adjusting element 1325c1 is disposed in the limiting part 1325b and abuts against the abutting part 1325a.

[0147] It is also partially screwed into the side of the outermost cylinder (middle cylinder 120) among the adjacent cylinders. This allows the relative position of the threaded adjusting member 1325c1 to the side of the other cylinder (middle cylinder 120) to be changed by turning the threaded adjusting member 1325c1.

[0148] Specifically, the threaded adjusting member 1325c1 abuts against the abutment portion 1325a at its first end and is screwed into a first threaded hole on the side of another cylinder (middle cylinder 120) at its second end. The second end includes a pattern for threading tools, such as a slotted, Phillips, or hexagonal pattern, to allow an operator to adjust the threaded adjusting member 1325c1 from outside the other cylinder (middle cylinder 120) via the first threaded hole in the assembled state. Figure 8 As shown, preferably, the threaded adjusting member 1325c1 includes a head at its first end that is enlarged relative to the diameter of the threaded rod to reduce the pressure on the contact surface with the abutment portion 1325a. Preferably, the threaded adjusting member 1325c1 also includes a pattern for a threading tool at its head to facilitate screwing the threaded rod of the threaded adjusting member 1325c1 into a first threaded hole on the side of another cylinder (middle cylinder 120) from the inside.

[0149] The threaded locking element 1325c2 can be screwed into the side of another cylinder (middle cylinder 120) and abuts against the thread of the threaded adjusting element 1325c1 to prevent the threaded adjusting element 1325c1 from rotating. Figure 8 As shown, preferably, the threaded locking member 1325c2 can be screwed into the second threaded hole of another cylinder (middle cylinder 120) from above and can abut the thread of the threaded adjusting member 1325c1.

[0150] The fastening part 1325d can be integrally formed with the abutment part 1325a and the limiting part 1325b from above in the vertical direction, and cover the gap adjustment part 1325c from above. For example... Figure 7 As shown, preferably, the fastening part 1325d also provides space for the head of the threaded locking part 1325c1.

[0151] Therefore, in the integrated liftable dual-arm robot 100 disclosed herein, such as Figure 1 , Figure 2 and Figure 3 As shown, at least two (e.g., two) robotic arms (e.g., first robotic arm 110 and second robotic arm 120) are mounted on the robotic arm mounting end of the column 132 in a manner that allows them to rotate relative to the column 132 with multiple degrees of freedom. The structure is designed to provide multi-degree-of-freedom motion capability for precise positioning and operation of the tooling device mounted thereon.

[0152] Specifically, such as Figure 1 and Figure 3As shown, the proximal end 111 of the arm body of the first robotic arm 110 is rotatably mounted on, for example, the first column 132a among at least two columns. Similarly, the proximal end 121 of the arm body of the second robotic arm 120 is rotatably mounted on, for example, the second column 132b among at least two columns. Preferably, referring to... Figure 2 The proximal end 111 of the first robotic arm 110 is mounted to the robotic arm mounting end of the first column 132a via a rotary joint 112 having one degree of freedom, and the proximal end 121 of the second robotic arm 120 is mounted to the robotic arm mounting end of the second column 132b via a rotary joint 122 having one degree of freedom. The rotary joints 112 and 122 may include, for example, bearings and rotating parts, allowing the proximal end of each robotic arm, and thus the entire robotic arm, to rotate about a first axis X1 relative to the column 132 to which it is mounted. However, in this disclosure, the mounting of the proximal ends of each robotic arm to the robotic arm mounting end of the column 132 is not limited to using such a rotary joint with one degree of freedom; omnidirectional rotation with multiple degrees of freedom can be achieved using rotating components such as ball bearings.

[0153] like Figure 1 and Figure 3 As shown, the robotic arm body of the first robotic arm 110 is composed of multiple hinged links 114. Similarly, the robotic arm body of the second robotic arm 120 is composed of multiple hinged links 124. The multiple links 114 and 124 of each robotic arm are sequentially hinged through rotary joints 113 and 123 (e.g., Figure 1 (As shown by the arrow in the image), this forms a multi-joint movable chain where two adjacent links 114 and 124 can rotate in parallel planes.

[0154] To achieve precise positioning and obstacle avoidance of the robotic arm in various complex diagnostic and treatment environments.

[0155] Furthermore, the first robotic arm 110 has a distal end 116, on which a first tool interface portion 117 for mounting a tool device (first tool device 140) is mounted via, for example, a rotary joint 115 having one degree of freedom. Similarly, the second robotic arm 120 has a distal end 126, on which a second tool interface portion 127 for mounting a tool device (second tool device 150) is mounted via, for example, a rotary joint 125 having one degree of freedom. Rotary joints 115 and 125, like rotary joints 112 and 122, may include, for example, bearings and rotating parts, allowing tool interfaces (first tool interface portion 117, second tool interface portion 117) mounted on the distal ends 116 and 126 of each robotic arm to rotate circumferentially about a second axis X2 relative to the distal ends 116 and 126 of each robotic arm, thereby adjusting the posture of the tool interfaces (first tool interface portion 117, second tool interface portion 117) and, consequently, the tool devices (first tool device 140, second tool device 150) mounted through the interfaces. Of course, in this disclosure, the mounting between the distal ends of each robotic arm and the tool interface portions is not limited to using such a rotary joint with one degree of freedom; omnidirectional rotation with multiple degrees of freedom can be achieved using rotating components such as ball bearings.

[0156] In addition, the interfaces of each tool interface (e.g., the first tool interface 117 and the second tool interface) can also rotate around the third axis X3 relative to each tool interface (e.g., the first tool interface 117 and the second tool interface) to adjust the orientation of the tool device (first tool device 140 and the second tool device 150) installed through the interface.

[0157] Furthermore, not only the raising and lowering of the column 132 (more specifically, the telescopic mechanism 1322 therein), but also the rotation of each rotary joint 112, 122, 115, 125, the rotation of each rotary joint 113, 123, and the rotation of each tool interface relative to itself, can be controlled by the aforementioned built-in or external device 160, or by another electro-actuator (not shown) different from the electro-actuator 160. The aforementioned electro-actuator 160 may include, for example, a motor and a reducer assembly, and other structures necessary for its electro-actuation, which will not be described in detail. Additionally, the aforementioned electro-actuator 160 receives electrical signals from a control unit (not shown) and converts them into precise mechanical movements of each telescopic and rotating mechanism, thereby driving the rotation of each column and each rotating mechanism.

[0158] Therefore, in the integrated liftable dual-arm robot 100 disclosed herein, each column 132, each robotic arm (first robotic arm 110 and second robotic arm 120), and each tool interface (first tool interface 117 and second tool interface 127) give the robot at least six degrees of freedom (of which each robotic arm has at least five degrees of freedom). This physical structure with six or more degrees of freedom ensures that the robotic arms (especially the distal ends 116 and 126) can reach any position in the three-dimensional workspace and realize any posture and orientation of the tool devices (first tool device 140 and second tool device 150) installed on them. At the same time, the multiple sets (two sets) of robotic arm structures (multiple (two) columns 132, multiple (two) robotic arms, multiple (two) tool interface sections) can independently realize the adjustment of each degree of freedom, thereby enabling more flexible response to various complex usage environments and difficult intervention angles.

[0159] As described above, the first tool interface 117 of the first robotic arm 110 and the second tool interface 127 of the second robotic arm 120 are physical connection structures located at the ends of each robotic arm. They are designed to allow different access methods and / or different types of tool devices to be quickly, securely and repeatedly installed and removed, and to perform diagnostic and treatment operations individually, collaboratively or jointly as needed.

[0160] Next, use Figures 9 to 13 This paper describes the tooling devices that can be optionally mounted on the two robotic arms of the integrated, liftable dual-arm robot 100 disclosed herein, as well as different types of application scenarios. Figure 10 This is a perspective view of a dual-arm robot 110 with tool devices (first tool device 140 and second tool device 150) equipped with different access methods. Figure 11 This is a side view of a tool device using two robotic arms with different access methods to simultaneously perform diagnostic and treatment procedures on a patient. Figure 12 This is a perspective view of a schematic structure of a dual-arm robot 110 equipped with the same type (e.g., identical) tool devices (first tool device 140 and second tool device 150). Figure 13 This is a schematic diagram of a gripping device (second tool device 150) mounted on another robotic arm assisting in gripping a first tool device 140 mounted on one robotic arm.

[0161] like Figure 9As shown, either the first tool device 140 or the second tool device 150 can be a diagnostic or therapeutic tool device, such as a biopsy device, ablation device, surgical instruments (surgical electrocautery, grasping forceps, needle holders, dissecting forceps), holmium laser, or various other therapeutic instruments; it can also be a positioning tool device, such as various navigation and positioning devices (electromagnetic, optical, ultrasonic, etc.); it can also be an endoscope tool device, such as a bronchoscope, laparoscope, hysteroscope, ureteroscope, uroscope, confocal microscope, or an imaging tool device, such as a portable ultrasound diagnostic instrument, X-ray machine, or scanner. Furthermore, either the first tool device 140 or the second tool device 150 can also be a drive tool device, including but not limited to automated devices for multi-degree-of-freedom manipulation of medical devices and equipment, to which compatible medical devices, such as endoscopes, can be further mounted. Alternatively, either the first tool device 140 or the second tool device 150 may be an auxiliary device such as an auxiliary lighting device or a guide for guiding the treatment position (e.g., biopsy insertion position, surgical cutting position, etc.) by means of laser or other means. The range of options for either the first tool device 140 or the second tool device 150 is of course not limited to the various types and specific instruments listed above, and can be selected according to the needs of the surgical procedure.

[0162] The first tooling device 140 and the second tooling device 150 can be selected from different types of tooling devices (see...). Figure 10 , Figure 11 , Figure 13 Alternatively, the same type of tool or device can be selected (see...). Figure 12 In addition, multiple tool devices can be selected from tool devices with different access methods. For example, one tool device can be selected from the natural cavity access method while another tool device can be selected from the body surface access method. In this way, the tool devices installed on the two robotic arms of the integrated liftable dual-arm robot can perform diagnostic and treatment operations in cooperation for the same diagnostic and treatment position, or perform their respective diagnostic and treatment operations from different access methods for different diagnostic and treatment positions (including simultaneously, sequentially or alternately).

[0163] As tools and devices with different access methods, we will use tools and devices that access through natural cavities and tools and devices that access through the body surface as examples to illustrate this.

[0164] like Figure 10As shown, the first tool device 140 is, for example, a tool device with access through a natural cavity. The first tool device 140 includes an endoscope body 141, a driver 142 which is a drive device on which the endoscope body 141 is mounted and which can move the intervention part 141a of the endoscope body 141 forward and backward, and a robotic arm adapter structure 143 which is provided on the driver 142 and adapted to the first tool interface 117 provided on the first robotic arm 110.

[0165] The robotic arm adapter structure 143 is adaptable for gripping and securing the actuator 142. Preferably, the robotic arm adapter structure 143 has a connection portion that mates with the first tool interface 117; more preferably, the robotic arm adapter structure 143 has a clamping portion formed to accommodate and secure the actuator 142 to ensure a secure connection. Additionally, the endoscope body 141 is mounted on the actuator 142 and includes an elongated, flexible or partially flexible (also referred to as “flexible”) interventional portion 141a, the structure of which allows for compliant navigation through a patient’s natural orifice (e.g., the trachea or digestive tract) or a model of a natural orifice. Preferably, the interventional portion 141a has at least one internal working channel 141b.

[0166] The internal working channel 141b is a physical channel that extends the length of the interventional procedure and is structured to accommodate and guide miniature diagnostic and therapeutic instruments (such as biopsy forceps or ablation probes) or to be used for fluid aspiration and perfusion.

[0167] In addition, such as Figure 10 As shown, the second tool device 150 is a transdermal access tool device, which includes, for example, a rigid rod-like body 151 and a tip 152. The rigid rod-like body 151 is preferably made of metal or a hard polymer to provide the structural strength and stability required during puncture or cannulation procedures. The physical shape of the tip 152 is designed according to the specific application; for example, it may be a sharp point for puncture or a structure for attaching or guiding other instruments.

[0168] The specific structure of the transdermal access tool is not limited to Figure 10 The illustrated puncture needle assembly includes a needle tube as a rigid rod 151 and a sharp needle tip as a pointed end 152. In other non-limiting examples, the transsurface access device may also be a single-port surgical instrument, which similarly includes a rigid rod 151 for manipulation and a specific surgical execution structure (such as a grasping forceps, scissors, or energy instrument head) located at the pointed end 152.

[0169] Reference Figure 1(Illustratively, the physical housing of the controller may be housed within a common base 130 or as a connected module.) The controller of the dual-arm robot 100 is electrically connected to at least one of each robotic arm, each column 132 (first column 132a and second column 132), and each tooling device mounted on each robotic arm. More preferably, the controller is electrically connected to all of each robotic arm, each column 132 (first column 132a and second column 132), and each tooling device mounted on each robotic arm.

[0170] "Electrically connected" refers to the establishment of signal and / or power transmission paths between the controller and the electro-actuators and sensors (e.g., joint encoders) used to drive the robotic arms and columns 132 (first column 132a and second column 132) to adjust the position, posture, and orientation of the robotic arms and the tooling devices mounted thereon, as well as with the tooling devices (if they have electronic components or sensors). This physical electrical connection structure is the basis for the controller's ability to monitor and command the moving parts of the dual-arm robot 100.

[0171] In one embodiment, although its specific physical layout may vary, the internal structure of the controller at least includes computing hardware for processing information and executing instructions. For example, the controller may include at least one processor and at least one memory. The memory may store firmware or software instructions that, when executed by the processor, enable the controller to coordinate the movements of the robotic arms and manage data and operations associated with the various tooling devices.

[0172] The specific structure of the integrated liftable dual-arm robot 100 described in this disclosure,

[0173] The dual-arm robot 100 includes a common base 130, multiple columns 132 that can be independently raised and lowered relative to the common base 130, multiple robotic arms, each with multiple degrees of freedom, different access methods and / or different types of tooling devices that can be selectively installed on each robotic arm, and a controller for electrically connecting and controlling the dual-arm robot 100. Together, these components enable the dual-arm robot 100 to perform diagnostic and therapeutic operations individually, collaboratively, or jointly in various ways to perform complex diagnostic and therapeutic tasks. The following describes... Figure 9 , Figure 10 Taking the joint execution of diagnostic and treatment operations as an example, we will explain some exemplary operation methods and their functional implementation.

[0174] To achieve precise joint operation, the controller (which executes instructions from memory via its internal processor) is capable of performing spatial registration between the first tooling device 140 (e.g., a tooling device with a natural cavity approach) and the second tooling device 150 (e.g., a tooling device with a surface approach). This spatial registration can be achieved using locators mounted on either tooling device (e.g., a positioning plate structure or a visual positioning device structure, although their individual structures are not shown in the figures, but each tooling device may contain such elements for positioning or enable spatial registration of positioning elements with each other), or by utilizing the position and pose information provided by the kinematic structures of the first and second robotic arms 110 and 120 themselves. Through spatial registration, the coordinates of the two robotic arms and their end-effectors can be unified to the same reference coordinate system (e.g., the patient's medical imaging coordinate system or the robot's own coordinate system).

[0175] It can be a mode of operation, such as Figure 10 and Figure 11 As shown, a first tool device 140 (a tool device with a natural orifice approach) mounted on the first robotic arm 110 (e.g., having an endoscope body 141) is used to perform primary natural orifice diagnostic and therapeutic explorations or treatments. Simultaneously, a second tool device 150 (a tool device with a surface approach) mounted on the second robotic arm 120 can be used (or is itself) as a positioning reference, or a separate locator (e.g., a positioning plate or visual positioning device, although not explicitly shown in the figure, can be understood as a unit for spatial registration) can be mounted as a positioning-type tool device on the second tool interface 127 of the second robotic arm 120 for spatial registration. In this configuration, the controller utilizes the second robotic arm 120...

[0176] The positioning information obtained by the first tool device 140 (the tool device via natural cavity access) on the first robotic arm 110 assists in precise navigation and lesion localization within the patient's body cavity. The structure of the telescopic mechanism 1322 of the first column 132a of the first robotic arm 110, the multiple hinged links 114 and the rotary joint 113, and the structure of the rotary joint 112 connected to the robotic arm mounting end of the first column 132a, enable it to flexibly insert and navigate the interventional portion 141a of the endoscope body 141 to the target area at an appropriate height, position and angle.

[0177] It could also be another way of operating, such as Figure 10 and Figure 11As shown, a second tool device 150 (transsurface access tool device) mounted on the second robotic arm 120 (e.g., a puncture needle assembly having a rigid rod-like body 151 and a tip 152) is used to perform the main transsurface access diagnostic and therapeutic procedures. Simultaneously, a first tool device 140 (transoral cavity access tool device) mounted on the first robotic arm 110 can be used as a positioning reference, or a separate locator (e.g., a positioning plate or visual positioning device, although its independent structure is not explicitly shown in the figure, it can be understood as spatial registration) can be mounted as a positioning type tool device on the first tool interface 117 of the first robotic arm 110. The control system 1002 utilizes positioning information obtained from the first robotic arm 110 (or its locator) (e.g., image data about the second robotic arm 120 or its tools captured by a visual positioning device) to assist the second tool device 150 (transsurface access tool device) on the second robotic arm 120 in precise puncture path planning and navigation on or inside the patient's body. The structure of the telescopic mechanism 1322 of the second column 132b of the second robotic arm 120, the multiple hinged links 124 and the rotary joint 123, and the structure of the rotary joint 122 connected to the robotic arm mounting end of the second column 132b, ensure that it can stably and accurately guide the rigid rod-shaped body 151 at the appropriate position, at the appropriate height and at the appropriate angle.

[0178] In the two operating methods illustrated above, the tool devices mounted on each of the two robotic arms (the tool device via natural cavity access and the tool device via body surface access) are all tool devices capable of entering the human body or a human body model. However, it is also possible for one of the robotic arms to mount an auxiliary type of tool device that does not enter the human body or a human body model, for example... Figure 13 As shown, the diagnostic and treatment operations are performed by using a second tool device 150 (e.g., a gripping device as an auxiliary device) mounted on the second robotic arm 120 to assist in gripping the first tool device 140 mounted on the first robotic arm 110.

[0179] In addition, among the two operating methods illustrated above, one tool device is used to perform diagnostic and treatment operations on each of the two robotic arms, while the other tool device performs spatial positioning using its own positioning function or by using the provided positioning unit. However, both tool devices can also perform diagnostic and treatment operations together.

[0180] Furthermore, in the two operating methods illustrated above, both robotic arms are equipped with tooling devices, but it is also possible for only one robotic arm to be equipped with tooling devices.

[0181] Thus, by selecting and using various tools and devices, it is possible to utilize some or all of the multiple robotic arms to perform diagnostic and treatment operations individually, collaboratively, or jointly, at different stages of performing complex operations on a single lesion, or to perform corresponding diagnostic and treatment operations on multiple lesions simultaneously, sequentially, or alternately.

[0182] For example, a lesion can be observed, exposed, or stabilized from inside the body cavity using the first tool device 140 on the first robotic arm 110, while the same lesion can be removed, ablated, or sampled using the second tool device 150 on the second robotic arm 120 through the same or different access routes to the human body or a model of the human body. Alternatively, it can be as follows: Figure 11 As shown, a lesion is treated using the first tool device 140 on the first robotic arm 110, while another lesion located at a different position is treated using the second tool device 150 on the second robotic arm 120. Alternatively, a lesion can be treated using the first tool device 140 on the first robotic arm 110, while the second tool device 150 on the second robotic arm 120 provides positioning indication and illumination for the specific location of the lesion from outside the human body or a human body model. In all the above-described collaborative or joint operations of two robotic arms, the controller relies on the spatial registration results of the two robotic arms to precisely coordinate the movements of the two robotic arms 110 and 120. The stable structure of the shared base 130 and the structure in which each robotic arm is independently mounted on different columns 132a and 132b but shares the same reference system are the physical basis for achieving this high-precision collaborative operation. The selection of tool devices that can be detached and installed onto each tool interface ensures the flexibility to configure the functions of each robotic arm according to specific diagnostic and treatment needs.

[0183] Although the specific structure of several possible preferred embodiments of the dual-arm robot 100 of this disclosure has been described above with reference to the accompanying drawings, those skilled in the art will recognize that the scope of this disclosure extends far beyond that. Various modifications and structural variations can be made to the various components of the dual-arm robot without departing from the core structural features and basic principles of this disclosure.

[0184] For example, the specific outline, internal support structure, and manufacturing materials of the common base 130 can be adjusted according to specific load-bearing requirements and usage environment, and its mobility can also be achieved through different types or numbers of wheels 134. Similarly, there are other feasible design options for the number, cross-sectional shape, and specific mechanical structure of the internal telescopic mechanism 1322 that realizes height adjustment of the columns 132a and 132b extending upward from the common base 130.

[0185] The overall structure of the first robotic arm 110 and the second robotic arm 120, including the precise number, length, and geometry of their links 114 and 124, as well as the specific types of joints 113 and 123 (e.g., in certain applications, translational joints may be integrated in addition to the main rotary joints to achieve specific movements) and the total number of degrees of freedom, can all be optimized according to the expected complexity of the diagnostic and treatment task and the required workspace range. The selection and integration of the electric actuators 160 that drive the column 132 and the joints on the robotic arm can also be diversified.

[0186] Furthermore, the first tool interface 117 and the second tool interface 127 located at the distal ends 116 and 126 of the robotic arm can also employ various standardized or customized designs known in the art for their quick-connect and locking mechanisms, aiming to be compatible with a wider range of types or future-developed tool devices. Therefore, the physical form and internal structure of the first tool device 140 and the second tool device 150 will also evolve with the development of specific diagnostic and treatment goals and related medical technologies, such as endoscopes of different specifications and functions, puncture guidance systems, energy ablation devices, micro-biopsy tools, or fine surgical cutting instruments, as long as their basic structures respectively meet the operational requirements of access via natural cavities or via the body surface. The packaging form of the controller's physical components, the layout of its internal circuit boards, and its electrical connection schemes with the robot's various moving parts (such as the specifications and wiring methods of wired cables, or the wireless communication technology standards used) also have multiple implementation possibilities.

[0187] Furthermore, although this specification primarily describes a dual-arm configuration, the structural principles embodied in this disclosure, which integrate multiple cooperating robotic arms on a shared base and coordinate them through a unified control system, can also be extended to robotic systems with a larger number of robotic arms (e.g., three or four arms) to address more complex diagnostic and treatment scenarios. All such structural equivalents or improvements foreseeable based on the content of this disclosure should be considered to be included within the scope of protection of this disclosure.

[0188] The integrated liftable dual-arm robot 100 disclosed herein, through its unique integrated design, independent lifting design of multiple arms, and collaborative physical structure of multiple arms, exhibits many significant advantages compared with the robot systems commonly found in the prior art that consist of multiple independent trolleys and have relatively simple functions. It effectively solves several problems of the prior art in terms of land occupation, operational complexity, and applicability.

[0189] First, the dual-arm robot 100 achieves a high degree of structural integration by securely mounting at least two robotic arms 110 and 120 onto a single common base 130, and preferably by leveraging multiple wheels 134 on the lower part 131 of the common base 130 to provide it with convenient mobility. This integrated design significantly reduces the overall footprint required for the device in space-constrained medical environments, simplifies the deployment, positioning, and preoperative preparation processes within the treatment room, thereby improving the efficiency of valuable space utilization and the smoothness of workflow.

[0190] Secondly, the robot structure disclosed herein endows it with strong operational flexibility and wide applicability to various techniques. The first robotic arm 110 and the second robotic arm 120 each possess a lifting mechanism consisting of their respective columns 132, multiple articulated links 114 and 124, and a rotary joint 113.

[0191] The rotational motion of 123 forms a sophisticated structure with at least six degrees of freedom, ensuring a wide range of motion and precise attitude adjustment capabilities. More importantly, its distal ends are equipped with detachable first tool interface 117 and second tool interface 127, suitable for mounting different access methods and / or different types of tool devices. This combination of tool interfaces optimized for different access methods and / or different types of tool devices, along with interchangeable tool devices, allows this single robotic platform to flexibly adapt to and efficiently perform various diagnostic and treatment tasks with different access methods and operation types, greatly expanding its clinical application scope.

[0192] Furthermore, the ability to coordinate the operation of both arms is another significant advantage of this disclosed structure. In addition to the single-arm, single-channel diagnostic and therapeutic operations that can be performed in a single-arm robot or a dual-arm robot using only one arm, it also provides dual-arm, single-channel and dual-arm, dual-channel diagnostic and therapeutic operations achieved through the coordinated operation of both arms, significantly improving the efficiency of complex diagnostic and therapeutic tasks. The shared base 130 provides a unified and stable physical reference frame for the two robotic arms 110 and 120, and the electrically connected controller can precisely coordinate the synchronous or asynchronous movements of the two robotic arms based on this solid structural foundation. This structure allows the two robotic arms to work efficiently together. For example, one robotic arm performs the main diagnostic and therapeutic operations, while the other provides key auxiliary functions such as surgical field exposure, tissue traction, and instrument delivery; that is, they cooperate to perform diagnostic and therapeutic operations. Alternatively, they can even simultaneously, sequentially, or alternately treat another lesion on the same patient, i.e., they jointly perform diagnostic and therapeutic operations.

[0193] Furthermore, the structural design disclosed herein may reduce over-reliance on complex and expensive external positioning systems. For example, by integrating a locator structure (such as a positioning plate structure containing specific marker points or a visual positioning device structure integrating multiple camera lenses) into at least one of the two tooling devices, or by exploring and utilizing the potential of spatial registration using pose information provided by the high-precision kinematic model of the robotic arm itself, or by directly installing a positioning-type tooling device as one of the two tooling devices, the use of large external optical tracking or electromagnetic positioning systems can be reduced or even avoided in many cases. This not only simplifies the preparation work for the diagnostic and treatment process, but may also significantly reduce the related equipment procurement and maintenance costs.

[0194] It is evident that the integrated, liftable dual-arm robot 100 disclosed herein, with its innovative integrated, independently liftable, and multifunctional physical structure, provides a more flexible, efficient, precise, and potentially more cost-effective solution for the field of robot-assisted diagnosis and treatment, helping to improve the level and accessibility of various clinical diagnostic and treatment procedures.

[0195] Those skilled in the art can easily conceive of other advantages and modifications. Therefore,

[0196] In its broader sense, this disclosure is not limited to the specific details and representative embodiments shown and described herein. Therefore, modifications may be made without departing from the spirit or scope of the overall disclosure as defined by the appended claims and their equivalents.

Claims

1. An integrated, liftable dual-arm robot (100), characterized in that, The integrated liftable dual-arm robot (100) integrates: Shared base (130); At least two columns (132) capable of independently rising and falling relative to the common base (130); and At least two robotic arms are respectively mounted on at least two of the columns (132). At least two of the columns (132) are arranged substantially parallel to each other and each has a retractable structure that can extend and retract in the height direction of the dual-arm robot (100). The retractable structure includes a multi-nested sleeve structure (1321) and a telescopic mechanism (1322) for extending and retracting the sleeve structure (1321). The telescopic mechanism (1322) includes a lower screw drive assembly (1322a) and an upper screw drive assembly (1322b) that are partially nested together. The upper screw drive assembly (1322b) is connected to the inner cylinder (1321a) of the sleeve structure (1321) via an upper screw drive connector (1322c). The upper screw drive connector (1322c) is configured such that at least one hollow space (1324) is formed between the telescopic mechanism (1322) and the sleeve structure (1321) for accommodating a threading mechanism (1323) to provide a cable routing path. Multiple tool devices with different access methods and / or different types are respectively installed on at least two of the robotic arms via tool interfaces to perform diagnostic and treatment operations in collaboration or together.

2. The integrated liftable dual-arm robot (100) as described in claim 1, characterized in that, The common base (130) supports the column (132) and the robotic arm on it and defines the operating area (137).

3. The integrated liftable dual-arm robot (100) as described in claim 1, characterized in that, At least two of the robotic arms are each mounted on the robotic arm mounting end of the column in a manner that allows them to rotate relative to the corresponding column with at least three degrees of freedom.

4. The integrated liftable dual-arm robot (100) as described in claim 3, characterized in that, The at least three degrees of freedom include: The rotary joint (112, 122) at the mounting connection between the proximal end of the robotic arm and the robotic arm mounting end of the column (132) has at least one degree of rotational movement about a first axis (X1). The rotational movement of at least one degree of freedom about a second axis (X2) of the distal end of the robotic arm at the mounting connection point with another rotary joint (115, 125) of the tool interface; and The interface of the tool interface part rotates relative to itself about the third axis (X3). The first axis (X1) and the third axis (X3) are at least different from and not parallel to the second axis (X2).

5. The integrated liftable dual-arm robot (100) as described in claim 4, characterized in that, The robotic arm is hinged by two or more links (114), and provides more than one degree of freedom in the plane direction of the links (114) through the rotary joints (113, 123) that connect the two or more links (114) to each other.

6. The integrated liftable dual-arm robot (100) as described in claim 1, characterized in that, The column (132) also includes a spacer assembly, which includes a plurality of spacers (1325) disposed between adjacent cylinders of the sleeve structure (1321). At least one of the plurality of spacers (1325) includes: The abutting part (1325a) slides in contact with one of the inner cylinders of the adjacent cylinders of the sleeve structure (1321); A limiting part (1325b) is provided in the outermost cylinder of each adjacent cylinder of the sleeve structure (1321) and cooperates with a preset spatial shape of the side of the other cylinder. A gap adjusting part (1325c) is disposed between the abutting part (1325a) and the other cylinder; and Fastening part (1325d) is fixed to the other cylinder.

7. The integrated liftable dual-arm robot (100) as described in claim 6, characterized in that, The gap adjustment part (1325c) is in the shape of a sheet and includes at least one sheet of different thickness.

8. The integrated liftable dual-arm robot (100) as described in claim 6, characterized in that, The gap adjustment part (1325c) includes a threaded adjustment member (1325c1) and a threaded locking member (1325c2), wherein the threaded adjustment member (1325c1) is disposed in the limiting part (1325b) and abuts against the abutment part (1325a) and is partially screwed into the side of the other cylinder, and wherein the threaded locking member (1325c2) is screwed into the side of the other cylinder and abuts against the thread of the threaded adjustment member (1325c1) to prevent the threaded adjustment member (1325c1) from rotating.

9. The integrated liftable dual-arm robot (100) as described in any one of claims 1 to 8, characterized in that, Each of the plurality of said tool devices is selected from any of the following types of tool devices: diagnostic tool devices (i.e., diagnostic equipment), positioning tool devices (i.e., positioning equipment), endoscope tool devices (i.e., endoscope equipment), imaging tool devices (i.e., imaging equipment), drive tool devices (i.e., drive devices) on which compatible medical devices are further mounted, and auxiliary tool devices (i.e., auxiliary devices).

10. The integrated liftable dual-arm robot (100) as described in claim 9, characterized in that, Multiple tool devices using different access methods The tool devices with different access methods include those accessed via natural cavities and those accessed via the body surface. The transoral cavity approach and the transsurface approach tools and devices perform their respective diagnostic and treatment operations simultaneously, sequentially, or alternately from different approaches for different diagnostic and treatment locations.

11. The integrated liftable dual-arm robot (100) as described in claim 10, characterized in that... , A locator is installed on either the tool device with natural cavity access or the tool device with body surface access. The other of the tool device with natural cavity access and the tool device with body surface access uses the locator to spatially align the multiple robotic arms on which the tool device with natural cavity access and the tool device with body surface access are respectively installed.

12. The integrated liftable dual-arm robot (100) as described in claim 9, characterized in that, One of the plurality of tooling devices may be selected from the positioning device. The other of the plurality of said tools and devices may be any one of the diagnostic and treatment equipment, the endoscope, the imaging equipment, the drive device, and the auxiliary equipment. The positioning device enables spatial registration of the multiple robotic arms, each equipped with a plurality of the aforementioned tool devices.

13. The integrated liftable dual-arm robot (100) as described in claim 9, characterized in that, One of the plurality of tool devices may be selected from the diagnostic and therapeutic equipment, the endoscopic equipment, or the drive device. Another of the plurality of said tool devices may be the imaging device or the auxiliary device. Treatment is performed on the same access route by one of the multiple said tool devices in cooperation with another of the multiple said tool devices.

14. The integrated liftable dual-arm robot (100) as described in claim 9, characterized in that, One of the plurality of tool devices is selected as the first drive device of the drive device. Another of the plurality of tool devices is selected as the second drive device for the drive device. The first driving device drives the base of the compatible first medical device mounted on it to achieve the overall movement of the first medical device. The second driving device drives the front end of the first medical device mounted on the first driving device to achieve movement of the front end of the first medical device.

15. The integrated liftable dual-arm robot (100) as described in claim 9, characterized in that, The first tooling device mounted on a robotic arm is selected from any one of the diagnostic and treatment equipment, the endoscope, the imaging equipment, and the drive device. The second tooling device, mounted on another robotic arm, is selected as the gripping device for the auxiliary equipment. The gripping device assists the robotic arm in jointly gripping the first tooling device to provide a maximum load greater than the maximum load of the first tooling device that can be achieved on the robotic arm only through the tool interface.

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