Surgical robot and control method

Abstract

Disclosed are a surgical robot and a control method. The surgical robot comprises an operating arm, an endoscope assembly, a biopsy forceps assembly, a first pushing assembly, and a second pushing assembly. The operating arm is provided with a sliding guide rail, and an extending direction of the sliding guide rail is a first direction; the endoscope assembly and the biopsy forceps assembly are both arranged on the sliding guide rail in a sliding manner, and the endoscope assembly is formed with an instrument hole penetrating through in the first direction; the biopsy forceps assembly at least partially extends into the instrument hole; the first pushing assembly and the second pushing assembly are both arranged on the operating arm, the first pushing assembly is configured for driving the endoscope assembly to move in a reciprocating manner in the first direction, and the second pushing assembly is configured for driving the biopsy forceps assembly to move in a reciprocating manner in the first direction. By separately guiding the endoscope assembly and the biopsy forceps assembly to perform independent work, instead of manual operation, the automatic operation level of the surgical robot during a biopsy sampling process is improved, and the safety of the surgical procedure is increased.

Description

Surgical robot and control method TECHNICAL FIELD

[0001] The present application relates to the field of surgical robots, in particular to a surgical robot and control method. BACKGROUND

[0002] At present, the development of surgical medical robots has made a great progress. Compared with human beings, surgical medical robots have the characteristics of accurate positioning, stable operation, strong dexterity, large working range, no fear of radiation and infection, etc. Surgical medical robots can not only assist doctors to complete the precise positioning of surgical sites, solve the hand tremor, fatigue, muscle nerve feedback of surgeons, but also can achieve minimal surgical damage, improve the precision and quality of disease diagnosis and surgical treatment, increase the safety factor of surgery, shorten the treatment time and reduce the medical cost. In the application scenario of minimally invasive surgery, the operator can insert a minimally invasive medical instrument (including a surgical instrument, a diagnostic instrument, a therapeutic instrument or a biopsy instrument) through a natural orifice or a surgical incision of patient's anatomical structure to reach a target tissue location and perform a surgical procedure.

[0003] However, the existing surgical robots usually only control the action and direction of diagnostic instruments (such as endoscopes) by robots, and biopsy instruments (such as biopsy forceps) still need to be manually operated by operators. In the surgical process, manual operation and robot control processes are performed simultaneously or alternately, which is easy to cause conflicts and brings inconvenience to the surgical operation process. SUMMARY

[0004] The main purpose of the present application is to provide a surgical robot and control method, which aims to improve the shortcomings of the prior art, integrates diagnostic instruments and biopsy instruments, and solves the problem that the existing robot work and manual operation are performed simultaneously or alternately, which is easy to cause conflicts and the safety of the surgical process is insufficient.

[0005] To achieve the above purpose, the present application provides a surgical robot, which comprises:

[0006] An operation arm, wherein a sliding guide rail is arranged on the operation arm, and the extension direction of the sliding guide rail is a first direction;

[0007] An endoscope assembly, wherein the endoscope assembly is slidably arranged on the sliding guide rail, and the endoscope assembly is formed with an instrument hole penetrating along the first direction;

[0008] A biopsy forceps assembly, wherein the biopsy forceps assembly is slidably arranged on the sliding guide rail, and the biopsy forceps assembly at least partially extends into the instrument hole;

[0009] The first pushing assembly and the second pushing assembly are arranged on the operating arm, the first pushing assembly is in transmission connection with the endoscope assembly and is used for driving the endoscope assembly to reciprocate along a first direction, and the second pushing assembly is in transmission connection with the biopsy forceps assembly and is used for driving the biopsy forceps assembly to reciprocate along the first direction.

[0010] Optionally, the endoscope assembly comprises an endoscope driving box and an endoscope body, the endoscope driving box is slidably arranged on the sliding guide rail and is in transmission connection with the first pushing assembly, the endoscope body is arranged on one side of the endoscope driving box and extends along the first direction, and the instrument hole extends from the endoscope driving box into the endoscope body.

[0011] Optionally, the endoscope body comprises an endoscope bending section and an endoscope extension section, the endoscope extension section is connected with the endoscope driving box and extends along the first direction, the endoscope bending section is arranged on one side of the endoscope extension section away from the endoscope driving box, the endoscope driving box comprises a first bending device and a first traction rope, one end of the first traction rope is connected with the first bending device, and the other end of the first traction rope extends to the endoscope bending section along the first direction, and the first bending device is used for winding and unwinding the first traction rope.

[0012] Optionally, the first traction rope is provided with at least four first traction ropes, the at least four first traction ropes are arranged in a ring shape around the endoscope extension section, the first bending device is provided with at least four first bending devices, the first traction ropes are wound on the first bending devices, and the first bending device is used for winding and unwinding the first traction rope to guide the endoscope bending section to rotate in at least two degrees of freedom.

[0013] Optionally, the biopsy forceps assembly comprises a biopsy forceps driving box and a biopsy forceps body, the biopsy forceps driving box is slidably arranged on the sliding guide rail and is in transmission connection with the second pushing assembly, the biopsy forceps body is arranged on one side of the biopsy forceps driving box and extends along the first direction, and the biopsy forceps body at least partially penetrates through the endoscope driving box and extends to one end of the endoscope body away from the endoscope driving box.

[0014] Optionally, the biopsy forceps body comprises a biopsy forceps extension section, a biopsy forceps bending section and a biopsy clamp, the biopsy forceps extension section is connected with the biopsy forceps driving box and extends along the first direction; the biopsy forceps bending section is arranged at one end of the biopsy forceps extension section away from the biopsy forceps driving box; the biopsy clamp is arranged at the end of the biopsy forceps bending section; wherein the biopsy forceps extension section is hollow inside; the biopsy forceps driving box comprises a second bending device, a second traction rope, an opening and closing device and a third traction rope, one end of the second traction rope is connected with the second bending device, the other end of the second traction rope extends through the biopsy forceps extension section to be connected with the biopsy forceps bending section; the second bending device is used for winding and unwinding the second traction rope; one end of the third traction rope is connected with the opening and closing device, the other end of the third traction rope extends through the biopsy forceps extension section to be connected with the biopsy clamp; the opening and closing device is used for winding and unwinding the third traction rope to drive the biopsy clamp to open and close.

[0015] Optionally, the biopsy forceps driving box further comprises a rotating device and a traction structure, one end of the traction structure is connected with the biopsy forceps extension section, the other end of the traction structure is provided with a first bevel gear, the top end of the rotating device is provided with a second bevel gear, the first bevel gear is engaged with the second bevel gear; the rotating device is used for driving the traction structure to rotate, so as to guide the biopsy forceps extension section and the biopsy forceps bending section to rotate.

[0016] Optionally, the first pushing assembly comprises a first synchronous belt and a first driving device, one end of the first synchronous belt is connected with the output shaft of the first driving device, the other end of the first synchronous belt is connected with the endoscope assembly; the second pushing assembly comprises a second synchronous belt and a second driving device, one end of the second synchronous belt is connected with the output shaft of the second driving device, the other end of the second synchronous belt is connected with the biopsy forceps assembly; wherein the first driving device and the second driving device are arranged on the two sides of the sliding guide rail.

[0017] Optionally, the operation arm further comprises a guide plate, the biopsy forceps assembly, the endoscope assembly and the guide plate are sequentially arranged on the operation arm along the first direction; wherein the guide plate is provided with a guide hole, the guide hole is collinear with the instrument hole.

[0018] The application further discloses a control method of a surgical robot, which is used for the surgical robot as any one of the above; wherein the control method comprises:

[0019] acquiring a three-dimensional coordinate of a target object, and planning a moving path according to the three-dimensional coordinate;

[0020] driving the operation arm to move according to the moving path, so that the endoscope assembly is aligned with the access port;

[0021] Moving the endoscope assembly to intervene in the target cavity, collecting image information in the target cavity;

[0022] Determining the biopsy position based on the image information and converting it into biopsy coordinate information;

[0023] Driving the endoscope assembly to move according to the biopsy coordinate information, so that the instrument hole is aligned with the biopsy position;

[0024] Moving the biopsy forceps assembly to the front end of the endoscope assembly to perform sampling.

[0025] Beneficial effects: the surgical robot provided by the application drives the endoscope assembly and the biopsy forceps assembly to reciprocate in the first direction on the guide rail independently through the first pushing assembly and the second pushing assembly arranged on the operating arm, and the instrument hole is arranged on the endoscope assembly in the first direction, the biopsy forceps assembly penetrates the instrument hole and slides in the first direction under the guidance of the instrument hole, so as to achieve the effect that the endoscope assembly and the biopsy forceps assembly work together; during use, the working position is found through the endoscope assembly first, and then the biopsy forceps assembly is moved out of the instrument hole to sample the working position, the whole process is completed automatically through machinery, without manual operation, avoiding the problem that the endoscope assembly and the biopsy forceps assembly may interfere with each other during work, improving the convenience and accuracy of the surgical robot work, and improving the safety of use. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0027] Fig. 1 is a structural schematic diagram of the surgical robot disclosed in the application;

[0028] Fig. 2 is a partial structural schematic diagram of the surgical robot disclosed in the application;

[0029] Fig. 3 is a partial enlarged view of A in Fig. 2;

[0030] Fig. 4 is a partial enlarged view of B in Fig. 2;

[0031] Fig. 5 is a partial structural schematic diagram of the surgical robot disclosed in the application;

[0032] Fig. 6 is a partial enlarged view of C in Fig. 5;

[0033] Fig. 7 is a structural schematic diagram of the surgical robot system disclosed in the application;

[0034] Fig. 8 is a flow chart of a control method of a surgical robot according to the present disclosure.

[0035] BRIEF DESCRIPTION OF DRAWINGS 100, surgical robot; 110, operation arm; 111, sliding guide rail; 112, guide plate; 1121, guide hole; 120, endoscope assembly; 121, instrument hole; 122, endoscope driving box; 1221, first bending device; 1222, first traction rope; 123, endoscope body; 1231, endoscope bending section; 1232, endoscope extension section; 130, biopsy forceps assembly; 131, biopsy forceps driving box; 1311, second bending device; 1312, second traction rope; 1313, opening and closing device; 1314, third traction rope; 1315, rotating device; 1316, traction structure; 132, biopsy forceps body; 1321, biopsy forceps extension section; 1322, biopsy forceps bending section; 1323, biopsy clamp; 140, first pushing assembly; 150, second pushing assembly; 200, trolley; 300, multi-degree-of-freedom swing arm.

[0036] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments in combination with the accompanying drawings. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0038] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, motion condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0039] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the meaning of "and / or" appearing throughout the text is to include three parallel solutions, for example, "A and / or B" includes A solution, or B solution, or A and B solution. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0041] Referring to FIG. 1, the surgical robot 100 of the present application includes an operating arm 110, an endoscope assembly 120, a biopsy forceps assembly 130, a first pushing assembly 140 and a second pushing assembly 150. The operating arm 110 is provided with a sliding guide rail 111, the extension direction of the sliding guide rail 111 is a first direction; the endoscope assembly 120 and the biopsy forceps assembly 130 are slidably arranged on the sliding guide rail 111, the endoscope assembly 120 is formed with an instrument hole 121 penetrating along the first direction, and the biopsy forceps assembly 130 at least partially extends into the instrument hole 121; the first pushing assembly 140 and the second pushing assembly 150 are both arranged on the operating arm 110, the first pushing assembly 140 is in transmission connection with the endoscope assembly 120, and is used to drive the endoscope assembly 120 to reciprocate along the first direction; the second pushing assembly 150 is in transmission connection with the biopsy forceps assembly 130, and is used to drive the biopsy forceps assembly 130 to reciprocate along the first direction.

[0042] Specifically, in the present embodiment, the operating arm 110 is used to carry various components of the surgical robot 100, and the sliding guide rail 111 guides the endoscope assembly 120 and the biopsy forceps assembly 130 to be inserted into the target position during the operation of the surgical robot 100. The first pushing assembly 140 and the second pushing assembly 150 drive the endoscope assembly 120 and the biopsy forceps assembly 130 respectively, and the first pushing assembly 140 and the second pushing assembly 150 can be arranged in any one or a combination of motor drive, hydraulic drive or pneumatic drive, and the present application does not make specific limitation thereon, as long as it can achieve the purpose of driving the endoscope assembly 120 and the biopsy forceps assembly 130 to reciprocate along the first direction.

[0043] Specifically, in the embodiment, the first pushing assembly 140 and the second pushing assembly 150 are used to control the reciprocating movement of the endoscope assembly 120 and the biopsy forceps assembly 130 along the first direction, respectively, compared with the conventional way of manually controlling the biopsy forceps assembly 130 by the operator while robotically controlling the endoscope assembly 120, the degree of automation of the surgical robot 100 is improved to achieve the effect of the cooperation of the endoscope assembly 120 and the biopsy forceps assembly 130; in the use process, the working position is first found by the endoscope assembly 120, and then the biopsy forceps assembly 130 is moved to extend out of the instrument hole 121 to sample the working position, the whole process is completed by mechanical automation without manual operation, which avoids the problem that the endoscope assembly 120 and the biopsy forceps assembly 130 may interfere with each other during the work process, improves the convenience and accuracy of the work of the surgical robot 100, and improves the safety of use.

[0044] Specifically, in the field to which the present application belongs, the size of the lumen to be intervened is small, so it needs to be kept stable during the work process to avoid tearing the lumen. Therefore, the endoscope assembly 120 and the biopsy forceps assembly 130 are arranged in the first direction in sequence, and the instrument hole 121 is arranged at the front end of the endoscope assembly 120 in the first direction, and the biopsy forceps assembly 130 at the rear end at least partially extends into the instrument hole 121, so that during the work process of the surgical robot 100, when the endoscope assembly 120 extends into or moves out of the natural orifice or surgical incision along the first direction, the part of the biopsy forceps assembly 130 extending into the instrument hole 121 can extend into the lumen through the instrument hole 121 to achieve the surgical purpose. In this way, the biopsy forceps assembly 130 and the endoscope assembly 120 can avoid hindering each other during the movement in the same direction, and the stability of the work of the two is high, which further improves the work efficiency of the surgical robot 100, and there is no need to open multiple natural orifices or surgical incisions, which further reduces the surgical injury.

[0045] In an embodiment of the present application, with reference to FIG. 1, the operating arm 110 further comprises a guide plate 112, and the operating arm 110 sequentially has the biopsy forceps assembly 130, the endoscope assembly 120 and the guide plate 112 along the first direction; wherein the guide plate 112 is provided with a guide hole 1121, and the guide hole 1121 is collinear with the instrument hole 121.

[0046] Specifically, the guide plate 112 is arranged on the operation arm 110 at the front end of the sliding guide rail 111, and the biopsy forceps assembly 130, the endoscope assembly 120 and the guide plate 112 are arranged in the first direction in sequence. A guide hole 1121 extending in the first direction can be arranged on the guide plate 112 at a position corresponding to the instrument hole 121. The guide hole 1121 can be arranged to have the same shape and size as the instrument hole 121. The guide hole 1121 is collinear with the instrument hole 121. Therefore, the endoscope extension section 1232 extending in the first direction will be arranged in the guide hole 1121, which is beneficial to keeping the endoscope extension section 1232 in a straight line in the first direction, facilitating the advancement and further improving the operation convenience and working stability of the surgical robot 100.

[0047] In another embodiment of the present application, referring to FIGS. 1 and 2, the endoscope assembly 120 includes an endoscope driving box 122 and an endoscope body 123. The endoscope driving box 122 is slidably arranged on the sliding guide rail 111 and is in transmission connection with the first pushing assembly 140. The endoscope body 123 is arranged on one side of the endoscope driving box 122 and extends in the first direction. The instrument hole 121 extends from the endoscope driving box 122 into the endoscope body 123. In this embodiment, the endoscope body 123 is used to realize the function of acquiring image information. The endoscope driving box 122 connected to the sliding guide rail 111 drives the endoscope body 123 to move. Specifically, the endoscope driving box 122 can drive the endoscope body 123 by a motor driving mode, a hydraulic driving mode or a pneumatic driving mode, which is not limited in the present application.

[0048] In another embodiment of the present application, as shown in FIGS. 1, 2 and 3, the endoscope body 123 includes an endoscope bending section 1231 and an endoscope extension section 1232. The endoscope extension section 1232 is connected to the endoscope driving box 122 and extends in the first direction. The endoscope bending section 1231 is arranged on the side of the endoscope extension section 1232 away from the endoscope driving box 122. The endoscope driving box 122 includes a first bending device 1221 and a first traction rope 1222. One end of the first traction rope 1222 is connected to the first bending device 1221, and the other end extends in the first direction to be connected to the endoscope bending section 1231. The first bending device 1221 is used to wind and unwind the first traction rope 1222.

[0049] Specifically, the endoscope extension section 1232 disclosed in the embodiment is used to be inserted into a cavity to be close to a target biopsy position to shoot image information. The endoscope bending section 1231 disclosed in the embodiment is provided with a lens on the side away from the endoscope extension section 1232 to be used to acquire image information. The endoscope bending section 1231 is made of a flexible material, such as polyethylene, polypropylene, or other flexible plastic materials, which can be bent in at least one degree of freedom to drive the lens arranged thereon to change the view angle, thereby increasing the shooting angle, acquiring more image information, and improving the application range and working flexibility of the surgical robot 100.

[0050] The first bending device 1221 in the embodiment includes but is not limited to a stepping motor or a motor as a power source, and a rotating disc is arranged on the output shaft to wind the first traction rope 1222, so as to control the local stress of the endoscope bending section 1231 and realize the effect of bending action. Specifically, the first traction rope 1222 can be a plastic rope or a steel wire rope. The first traction rope 1222 can be arranged in the instrument hole 121 or arranged on the outer circumferential surface of the endoscope extension section 1232. A wire slot is arranged on the endoscope extension section 1232 to accommodate the first traction rope 1222, which is not limited in the application. The first traction rope 1222 is connected to the endoscope bending section 1231. When the first bending device 1221 is tightened, the rope length of the first traction rope 1222 is shortened, a pulling force is generated on the side of the endoscope bending section 1231 connected with the first traction rope 1222, the endoscope bending section 1231 is pulled to bend, and thus the shooting angle is changed.

[0051] It should be noted that the transmission mode disclosed in the embodiment is rope driving, which is only an example but not an exhaustive list. The transmission between the endoscope bending section 1231 and the first bending device 1221 can also be realized by a transmission rod, a conveyor belt, or hydraulic transmission, as an equivalent replacement of the concept of the application. Other types of transmission modes that can achieve the technical effects disclosed in the application should also be within the protection scope of the application.

[0052] In a preferred embodiment, the endoscope bending section 1231 and the endoscope extension section 1232 are integrally formed, and the instrument hole 121 is sequentially arranged in the endoscope bending section 1231 and the endoscope extension section 1232. In this way, the endoscope body 123 is hollow to facilitate the insertion of the biopsy forceps assembly 130.

[0053] In another embodiment of the application, the endoscope bending section 1231 and the endoscope extension section 1232 are made of a flexible material, which further reduces the production difficulty of the endoscope body 123 in the application and reduces the production cost of the surgical robot 100.

[0054] In an embodiment of the present application, as shown in FIG. 3, the first traction rope 1222 is provided with at least four, and the at least four first traction ropes 1222 are arranged in a ring around the endoscope extension section 1232. The at least four first traction ropes 1222 are arranged in a ring around the endoscope extension section 1232 in a circumferential direction, so that each traction motor can drive a traction member to bend in the direction of the degree of freedom through the winding process, that is, the at least four traction members are arranged to enable the endoscope bending section 1231 to bend in at least four directions. In this way, the control accuracy of the bending direction of the endoscope bending section 1231 is further improved, and the working flexibility and control accuracy of the surgical robot 100 are further improved. For example, four first traction ropes 1222 are arranged, and the interval between two adjacent first traction ropes 1222 is 90°, so that the endoscope bending section 1231 can be controlled to rotate in the up, down, left and right directions; of course, two first traction ropes 1222 can be pulled at the same time to control the endoscope bending section 1231 to move in more directions such as left up, left down, right up, right down, etc.

[0055] In the present embodiment, the first bending device 1221 is provided with at least four, and the first traction rope 1222 is wound on the first bending device 1221; the first bending device 1221 is used to wind and unwind the first traction rope 1222 to guide the endoscope bending section 1231 to rotate in at least two degrees of freedom. The first bending device 1221 is in one-to-one transmission with the first traction rope 1222, has high control accuracy, high flexibility, and is convenient and accurate to operate.

[0056] In another embodiment of the present application, as shown in FIGS. 1, 2 and 4, the biopsy forceps assembly 130 includes a biopsy forceps driving box 131 and a biopsy forceps body 132. The biopsy forceps driving box 131 is slidably arranged on the sliding guide rail 111 and is in transmission connection with the second pushing assembly 150. The biopsy forceps body 132 is arranged on one side of the biopsy forceps driving box 131 and extends in a first direction. The biopsy forceps body 132 at least partially penetrates the endoscope driving box 122 and extends to one end of the endoscope body 123 away from the endoscope driving box 122.

[0057] The biopsy forceps body 132 disclosed in the embodiment is used to obtain biopsy tissue, and the biopsy forceps driving box 131 connected to the sliding rail 111 drives the biopsy forceps body 132 to slide relative to the endoscope assembly 120. Specifically, the biopsy forceps driving box 131 can drive the endoscope body 123 in a motor driving mode, a hydraulic driving mode or a pneumatic driving mode, which is not limited in the present application. The working mode of separately arranging the biopsy forceps driving box 131 to drive the biopsy forceps body 132 further increases the working accuracy and controllability of the biopsy forceps assembly 130, replaces manual operation, avoids the possibility of conflict when operating the endoscope assembly 120 and the biopsy forceps assembly 130 at the same time, makes the working process of the surgical robot 100 more orderly, and is safer in the working process.

[0058] In an embodiment of the present application, with reference to FIGS. 1, 2, 4, 5 and 6, the biopsy forceps body 132 includes a biopsy forceps extension segment 1321, a biopsy forceps curved segment 1322 and a biopsy clamp 1323. The biopsy forceps extension segment 1321 is connected to the biopsy forceps driving box 131 and extends in a first direction. The biopsy forceps curved segment 1322 is arranged at one end of the biopsy forceps extension segment 1321 away from the biopsy forceps driving box 131, and the biopsy clamp 1323 is arranged at an end of the biopsy forceps curved segment 1322. The biopsy forceps extension segment 1321 is hollow inside. The biopsy forceps driving box 131 includes a second bending device 1311, a second traction rope 1312, an opening and closing device 1313 and a third traction rope 1314. One end of the second traction rope 1312 is connected to the second bending device 1311, and the other end of the second traction rope 1312 extends through the biopsy forceps extension segment 1321 to be connected to the biopsy forceps curved segment 1322. The second bending device 1311 is used to wind and unwind the second traction rope 1312. One end of the third traction rope 1314 is connected to the opening and closing device 1313, and the other end of the third traction rope 1314 extends through the biopsy forceps extension segment 1321 to be connected to the biopsy clamp 1323. The opening and closing device 1313 is used to wind and unwind the third traction rope 1314 to drive the biopsy clamp 1323 to open and close.

[0059] The second bending device 1311 in the embodiment is used to provide driving force to make the biopsy forceps curved segment 1322 curl, which can be provided with power in a pneumatic driving mode, a motor driving mode or a hydraulic driving mode, which is not limited in the present embodiment. The second bending device 1311 is arranged to drive the second traction rope 1312 to wind and unwind, so as to rotate the biopsy forceps curved segment 1322, thereby increasing the operation range and improving the working adaptability. The opening and closing device 1313 controls the third traction rope 1314 to drive the biopsy clamp 1323 to open and close, so as to complete the sampling action, achieve the purpose of automatic sampling, and increase the automation function of the surgical robot 100.

[0060] It should be noted that the biopsy forceps bending section 1322 is made of flexible material, such as polyethylene, polypropylene, etc. plastic material, which can be bent in at least one degree of freedom to drive the biopsy clamp 1323 fixed on the side of the biopsy forceps bending section 1322 away from the biopsy forceps extension section 1321, thereby making the biopsy clamp 1323 have a larger working range, further improving the application range and use flexibility of the surgical robot 100.

[0061] In a preferred embodiment, the biopsy forceps bending section 1322 is integrally formed with the biopsy forceps extension section 1321, which reduces the production difficulty of the biopsy forceps body 132 and further reduces the production cost of the surgical robot 100 through the integral molding process.

[0062] It can be understood that the second traction rope 1312 and the third traction rope 1314 are arranged along the length direction of the biopsy forceps extension section 1321, which can be clamped on the inner wall surface of the biopsy forceps extension section 1321 or the outer peripheral surface of the biopsy forceps extension section 1321, or an auxiliary through wire slot can be additionally arranged in the biopsy forceps bending section 1322 and the biopsy forceps extension section 1321, which is not limited in the present application.

[0063] It should be noted that the second traction rope 1312 and the third traction rope 1314 in the embodiment disclosed herein can adopt the same type of traction rope as the first traction rope 1222, and the second bending device 1311 and the opening and closing device 1313 can adopt the same structure as the first bending device 1221 assembled by the motor and the turntable; thereby simplifying the types of parts of the surgical robot 100, reducing the structure assembly difficulty, and saving the manufacturing cost.

[0064] In an embodiment of the present application, with reference to FIG. 4, the biopsy forceps driving box 131 further comprises a rotating device 1315 and a traction structure 1316, one end of the traction structure 1316 is connected with the biopsy forceps extension section 1321, and the other end is provided with a first bevel gear, the top end of the rotating device 1315 is provided with a second bevel gear, and the first bevel gear is engaged with the second bevel gear; the rotating device 1315 is used to drive the traction structure 1316 to rotate, so as to guide the biopsy forceps extension section 1321 and the biopsy forceps bending section 1322 to rotate.

[0065] In the embodiment, the driving force in the rotating device 1315 is transmitted to the biopsy forceps body 132 through the engagement of the first bevel gear and the second bevel gear, so that the biopsy forceps extension section 1321, the biopsy forceps bending section 1322 and the biopsy clamp 1323 rotate synchronously, which realizes the working requirement of adjusting the angle of the biopsy clamp 1323 by rotating the biopsy forceps extension section 1321 during the working process of the surgical robot 100, and further increases the control accuracy and working flexibility of the surgical robot 100 disclosed in the embodiment.

[0066] In an embodiment of the present application, the first pushing assembly 140 comprises a first synchronous belt and a first driving device, one end of the first synchronous belt is connected with an output shaft of the first driving device, and the other end is connected with the endoscope assembly 120; the second pushing assembly 150 comprises a second synchronous belt and a second driving device, one end of the second synchronous belt is connected with an output shaft of the second driving device, and the other end is connected with the biopsy forceps assembly 130; wherein the first driving device and the second driving device are oppositely arranged on both sides of the sliding rail 111.

[0067] Specifically, in the present embodiment, the first pushing assembly 140 and the second pushing assembly 150 are used to drive the linear movement of the endoscope assembly 120 and the biopsy forceps assembly 130 in the first direction, respectively, and the implementation can be any one or a combination of a ball screw, a synchronous belt, a push rod motor, an electric actuator, a linear motor, a gear rack, a cam mechanism, a pneumatic cylinder mechanism or a hydraulic cylinder mechanism, which is not limited in the present application. In a preferred embodiment, the driving is carried out in a conveyor belt manner, and the combination of the first synchronous belt and the first driving device, and the second synchronous belt and the second driving device is used to realize the driving function. Compared with other forms, it has constant transmission ratio, more stable transmission process and higher transmission efficiency, that is, the working efficiency of the surgical robot 100 is further improved.

[0068] The present application also provides a surgical robot system, as shown in FIG. 7, which comprises a trolley 200, a multi-degree-of-freedom swing arm 300 and the surgical robot 100 of any of the above embodiments. The multi-degree-of-freedom swing arm 300 is arranged on the trolley 200, and the operating arm 110 is connected with the multi-degree-of-freedom swing arm 300. The trolley 200 is used as a base, which is conducive to keeping the system stable. The processing terminal and the control panel can be placed on the trolley 200, so as to facilitate the processing of the data information collected by the surgical robot 100. In addition, the trolley 200 can be provided with rollers, so as to facilitate the movement of the surgical robot 100 system. The multi-degree-of-freedom swing arm 300 arranged on the trolley 200 can increase the flexibility of the position control of the surgical robot 100, and is convenient for adapting to various working conditions.

[0069] In addition, as shown in FIG. 8, the present application also provides a control method of a surgical robot, which is used for the surgical robot system as described above, and is used for controlling the surgical robot 100 as described above; wherein the control method specifically comprises:

[0070] S100, acquiring a three-dimensional coordinate of a target object, and planning a moving path according to the three-dimensional coordinate;

[0071] S200, driving the operating arm to move according to the moving path, so as to align the endoscope assembly with the access port;

[0072] S300, moving the endoscope assembly to intervene the target cavity, and collecting image information in the target cavity;

[0073] S400, determining a biopsy position based on the image information, and converting the biopsy position into biopsy coordinate information;

[0074] S500, driving the endoscope assembly to move according to the biopsy coordinate information, so that the instrument hole is aligned with the biopsy position;

[0075] S600, moving the biopsy forceps assembly to the front end of the endoscope assembly to perform sampling.

[0076] In the embodiment, the coordinate of the surgical robot and the coordinate of the target object are determined by establishing a coordinate system in three-dimensional space, so as to plan a moving path of the surgical robot moving to the working area; then the operating arm is moved according to the planned path, so that the endoscope is aligned with the access port, which is generally formed by the natural orifice of the patient's anatomical structure or the surgical incision; then the endoscope assembly is moved towards the specified position in the cavity. It can be understood that the endoscope assembly is provided with a sensing unit for collecting position information, for example, a camera device that can take pictures, whether the endoscope assembly moves to the target position can be determined by continuously collecting information along the way during the movement and real-time feedback of the sensing unit.

[0077] Specifically, the image information in the cavity is obtained according to the endoscope assembly, and then the biopsy position is determined; according to the image information of the biopsy position, it can be determined whether there is an abnormal situation in the corresponding internal environment of the body to be examined that hinders the subsequent work. After the endoscope assembly is moved to the position, the biopsy coordinate information is obtained, and the biopsy forceps assembly can be further controlled to move and extend from the instrument hole to perform sampling.

[0078] The above only describes the preferred embodiments of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made according to the inventive concept of the present application, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A surgical robot, characterized by, The utility model relates to a medical device, and more particularly to a medical device for biopsy. The medical device comprises: an operating arm provided with a sliding guide rail, the sliding guide rail extending in a first direction; an endoscope assembly slidably arranged on the sliding guide rail, the endoscope assembly being formed with an instrument hole extending in the first direction; a biopsy forceps assembly slidably arranged on the sliding guide rail, the biopsy forceps assembly at least partially extending into the instrument hole; 2. The surgical robot of claim 1, wherein, a first pushing assembly and a second pushing assembly, both provided on the operating arm, the first pushing assembly being in transmission connection with the endoscope assembly for driving the endoscope assembly to reciprocate in the first direction, and the second pushing assembly being in transmission connection with the biopsy forceps assembly for driving the biopsy forceps assembly to reciprocate in the first direction. The endoscope assembly comprises an endoscope driving box and an endoscope body, the endoscope driving box being slidably arranged on the sliding guide rail and in transmission connection with the first pushing assembly, and the endoscope body being provided on one side of the endoscope driving box and extending in the first direction; 3. The surgical robot of claim 2, wherein, wherein the instrument hole extends from the endoscope driving box into the endoscope body. The endoscope body comprises an endoscope bending section and an endoscope extension section, the endoscope extension section being connected with the endoscope driving box and extending in the first direction, and the endoscope bending section being provided on one side of the endoscope extension section away from the endoscope driving box.

4. The surgical robot of claim 3, wherein, The endoscope driving box comprises a first bending device and a first traction rope, one end of the first traction rope being connected with the first bending device and the other end extending in the first direction to be connected with the endoscope bending section, and the first bending device being used for winding and unwinding the first traction rope.

5. The surgical robot of claim 2, wherein, The first traction rope is provided with at least four first traction ropes, the at least four first traction ropes being annularly distributed around the endoscope extension section, the first bending device is provided with at least four first bending devices, the first traction ropes are wound on the first bending devices, and the first bending device is used for winding and unwinding the first traction ropes to guide the endoscope bending section to rotate in at least two degrees of freedom. The biopsy forceps assembly comprises a biopsy forceps driving box and a biopsy forceps body, the biopsy forceps driving box being slidably arranged on the sliding guide rail and in transmission connection with the second pushing assembly, and the biopsy forceps body being provided on one side of the biopsy forceps driving box and extending in the first direction; 6. The surgical robot of claim 5, wherein, wherein the biopsy forceps body at least partially passes through the endoscope driving box and extends to one end of the endoscope body away from the endoscope driving box. The biopsy forceps body comprises a biopsy forceps extension section, a biopsy forceps bending section and a biopsy clamp, the biopsy forceps extension section being connected with the biopsy forceps driving box and extending in the first direction, the biopsy forceps bending section being provided on one end of the biopsy forceps extension section away from the biopsy forceps driving box, and the biopsy clamp being arranged at the end of the biopsy forceps bending section, wherein the biopsy forceps extension section is hollow. The biopsy forceps driving box comprises a second bending device, a second traction rope, an opening and closing device and a third traction rope, one end of the second traction rope is connected with the second bending device, and the other end extends through the biopsy forceps extension section to be connected with the biopsy forceps bending section; the second bending device is used for winding and unwinding the second traction rope; one end of the third traction rope is connected with the opening and closing device, and the other end extends through the biopsy forceps extension section to be connected with the biopsy clamp; the opening and closing device is used for winding and unwinding the third traction rope to drive the biopsy clamp to open and close.

7. The surgical robot as claimed in claim 6, characterised in that, The biopsy forceps driving box further comprises a rotating device and a traction structure, one end of the traction structure is connected with the biopsy forceps extension section, and the other end is provided with a first bevel gear, the top end of the rotating device is provided with a second bevel gear, and the first bevel gear is engaged with the second bevel gear; the rotating device is used for driving the traction structure to rotate, so as to guide the biopsy forceps extension section and the biopsy forceps bending section to rotate.

8. The surgical robot of any one of claims 1 to 7, wherein, The first pushing assembly comprises a first synchronous belt and a first driving device, one end of the first synchronous belt is connected with the output shaft of the first driving device, and the other end is connected with the endoscope assembly; The second pushing assembly comprises a second synchronous belt and a second driving device, one end of the second synchronous belt is connected with the output shaft of the second driving device, and the other end is connected with the biopsy forceps assembly; The first driving device and the second driving device are arranged on the two sides of the sliding guide rail.

9. The surgical robot of any one of claims 1 to 7, wherein, The operation arm further comprises a guide plate, and the biopsy forceps assembly, the endoscope assembly and the guide plate are sequentially arranged on the operation arm along a first direction. The guide plate is provided with a guide hole, and the guide hole is collinear with the instrument hole.

10. A control method of a surgical robot for the surgical robot according to any one of claims 1 to 9, characterized by, The control method comprises: acquiring three-dimensional coordinates of a target object, and planning a moving path according to the three-dimensional coordinates; driving the operation arm to move according to the moving path, so that the endoscope assembly is aligned with the access port; moving the endoscope assembly to access the target lumen, and collecting image information in the target lumen; determining a biopsy position based on the image information, and converting the biopsy position into biopsy coordinate information; driving the endoscope assembly to move according to the biopsy coordinate information, so that the instrument hole is aligned with the biopsy position; moving the biopsy forceps assembly to the front end of the endoscope assembly to perform sampling.

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