Surgical system

Abstract

Provided is a surgical system (100), comprising a control system (20) and a plurality of mechanical arms (10). At least one mechanical arm (10) comprises three adjustment joints (121) adjacently connected in series, a yaw joint (131), a pitch mechanism (132), and a device connection mechanism (14). The yaw joint (131) is used to drive the pitch mechanism (132) and the device connection mechanism (14) to rotate around a yaw axis (F). The pitch mechanism (132) is used to drive the device connection mechanism (14) to rotate around a pitch axis (G). The device connection mechanism (14) is used to connect a surgical device (200) and allow the insertion of the surgical device (200) into a surgical subject along an insertion axis (H). The yaw axis (F), the pitch axis (G), and the insertion axis (H) all pass through a remote center (RC). The three adjustment joints (121) adjacently connected in series are a first adjustment joint (121a), a third adjustment joint (121c), and a second adjustment joint (121b), and at least two of the three adjustment joints (121) are rotary joints. The control system (20) is configured to control the coordinated motion of the three adjustment joints (121) when the surgical device (200) is inserted into the surgical subject through the remote center (RC) for operations, such that a trajectory (K) of any point on a joint axis (E) of the second adjustment joint (121b) in space is a circle or an arc.

Description

Surgical System Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a surgical system. Background Technology

[0002] In the existing technology, the operation of the robotic arm of the surgical robot is cumbersome and takes a long time when it needs to adjust the surgical workspace during the preoperative preparation stage, during the operation, or when the robotic arm collides and needs to be cleared, which is not conducive to the smooth progress of the operation. Summary of the Invention

[0003] In view of this, the present invention proposes a surgical system.

[0004] The surgical system proposed in the first aspect of the present invention includes a control system and a plurality of robotic arms, wherein at least one of the robotic arms comprises:

[0005] Three adjusting joints are connected in sequence, wherein the three adjusting joints are the first adjusting joint, the third adjusting joint, and the second adjusting joint, and at least two of the three adjusting joints are rotary joints;

[0006] A deflection joint, the deflection joint being connected to the second adjustment joint;

[0007] Pitch mechanism, the pitch mechanism being connected to the yaw joint; and

[0008] An instrument connection mechanism, wherein the instrument connection mechanism is connected to the pitch mechanism;

[0009] The deflection joint is used to drive the pitch mechanism and the instrument connection mechanism to rotate around the deflection axis. The pitch mechanism is used to drive the instrument connection mechanism to rotate around the pitch axis. The instrument connection mechanism is used to connect the surgical instruments and allow the surgical instruments to be inserted into the surgical object along the insertion axis. The deflection axis, the pitch axis, and the insertion axis all pass through the distal point.

[0010] The control system is configured to control the three adjustment joints to move in tandem during the operation of the surgical instrument inserted into the surgical object through the distal point, such that the trajectory of any point on the joint axis of the second adjustment joint in space is a circle or an arc.

[0011] The surgical system proposed in the second aspect of the present invention includes a control system and a plurality of robotic arms, wherein at least one of the robotic arms comprises:

[0012] At least three adjustment joints, including a first adjustment joint, a third adjustment joint and a second adjustment joint connected in sequence, and at least two of the three adjustment joints are rotary joints;

[0013] A deflection joint, the deflection joint being connected to the second adjustment joint;

[0014] Pitch mechanism, the pitch mechanism being connected to the yaw joint; and

[0015] An instrument connection mechanism, wherein the instrument connection mechanism is connected to the pitch mechanism;

[0016] The deflection joint is used to drive the pitch mechanism and the instrument connection mechanism to rotate around the deflection axis. The pitch mechanism is used to drive the instrument connection mechanism to rotate around the pitch axis. The instrument connection mechanism is used to connect the surgical instruments and allow the surgical instruments to be inserted into the surgical object along the insertion axis. The deflection axis, the pitch axis, and the insertion axis all pass through the distal point.

[0017] The control system is configured to control the first to third adjustment joints to move in tandem during the operation of the surgical instrument inserted into the surgical object through the distal point, such that the trajectory of any point on the joint axis of the second adjustment joint in space is a circle or an arc.

[0018] As can be seen from the above technical solution, the surgical system proposed in the first aspect of this invention, by setting up a control system to control three adjustment joints in conjunction during the insertion of the surgical instrument into the surgical object through the distal point, ensures that the trajectory of the second adjustment joint in space is a circle or arc. The movement of the second adjustment joint can drive the movement of the yaw joint and the pitch mechanism to change their posture. Thus, when the surgeon needs to adjust the surgical space, adjust the distance between the two robotic arms, or eliminate collisions, parameters can be input into the control system. The control system, by controlling the three adjustment joints in conjunction, can quickly change the posture of the yaw joint and the pitch mechanism to achieve the adjustment of the surgical workspace, the adjustment of the distance between the two robotic arms, and the elimination of collisions, allowing the surgery to proceed smoothly. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 is a schematic diagram of the structure of a surgical system according to an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of the structure of the adjustable joint proposed in an embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of the structure of the adjustable joint proposed in another embodiment of the present invention;

[0023] Figure 4 is a partial structural schematic diagram of the surgical system shown in Figure 1;

[0024] Figure 5 is a schematic diagram of the distance between the robotic arm and the patient in a surgical scenario according to the present invention;

[0025] Figure 6 is a schematic diagram of the distance between the robotic arm and the patient in another surgical scenario according to the present invention;

[0026] Figure 7 is a schematic diagram of the distance between two adjacent robotic arms in a surgical scenario according to the present invention;

[0027] Figure 8 is a schematic diagram of the distance between two adjacent robotic arms in another surgical scenario of the present invention;

[0028] Figure 9 is a schematic diagram of the structure of a robotic arm according to another embodiment of the present invention;

[0029] Figure 10 is a schematic diagram of the structure of a robotic arm according to another embodiment of the present invention;

[0030] Figure 11 is a schematic diagram of the structure of a robotic arm according to another embodiment of the present invention;

[0031] Figure 12 is a schematic diagram of the rotation range of surgical instruments in a surgical scenario according to the present invention;

[0032] Figure 13 is a schematic diagram of the rotation range of the surgical instruments in another surgical scenario according to the present invention;

[0033] Figure 14 is a schematic diagram of the pitch mechanism proposed in an embodiment of the present invention;

[0034] Figure 15 is a schematic diagram of the pitch mechanism proposed in another embodiment of the present invention;

[0035] Figure 16 is a schematic diagram of the pitch mechanism proposed in another embodiment of the present invention;

[0036] Figure 17 is a schematic diagram of the pitch mechanism proposed in another embodiment of the present invention;

[0037] Figure 18 is a schematic diagram of the pitch mechanism proposed in another embodiment of the present invention;

[0038] Figure 19 is a schematic diagram of the structure of a surgical system proposed in another embodiment of the present invention;

[0039] Figure 20 is a schematic diagram of the structure of a surgical system proposed in another embodiment of the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention.

[0041] Surgical systems (surgical robots) offer advantages such as reduced surgeon fatigue, less intraoperative bleeding, and shorter hospital stays, making them increasingly popular with doctors and patients. The robotic arms of the surgical system support and drive the movement of surgical instruments during surgery. These instruments, the end effectors of the surgical robot, are used to perform surgical operations such as cutting, gripping, lifting, and freeing organs and tissues. Before and during surgery, the robotic arms frequently require adjustments to fit the surgical workspace and prevent collisions. The ease of operation and the speed of handling unexpected problems are crucial for the successful execution of the surgery.

[0042] For example, during the preoperative preparation phase, the surgeon needs to perform the following operations on the robotic arm: First, operate the robotic arm to maintain a fist's distance from the patient to avoid collisions. Taking laparoscopic surgery as an example, during preoperative preparation, the surgeon needs to operate the robotic arm to maintain a fist's distance from the patient's abdomen. This distance provides space for the robotic arm to move during the subsequent surgery, preventing it from hitting the patient's abdomen and causing trauma or affecting the normal progress of the surgery. Second, operate different robotic arms to stagger them to avoid collisions. Third, adjust the robotic arms to match the surgical workspace. Fourth, adjust the robotic arms to match the required docking angle with the outside of the cavity. During the surgery, when the tilt angle of the operating table changes, the surgeon needs to readjust the robotic arms to avoid collisions with the patient. When collisions occur between different robotic arms, the surgeon needs to adjust the different robotic arms to different tilt angles to stagger them. When the surgical target point changes, the surgeon needs to readjust the robotic arms to match the surgical workspace.

[0043] In existing technologies, adjusting the robotic arms is inconvenient, especially when collisions occur between robotic arms. This often requires a secondary docking between the robotic arm and the patient's incision (i.e., the surgical instruments need to be removed from the incision, the robotic arm disconnected from the trocar, and after the collision is resolved, the surgical instruments are reinserted into the patient's body through the trocar). The trocar is a medical device used to pierce the abdominal wall and create a surgical channel; one end of the trocar is inserted into the skin, while the other end remains exposed. The surgical instrument's actuating end passes through the channel created by the trocar to perform the surgical procedure. This process is cumbersome, and the time required for the robotic arm to resolve the collision is lengthy, leading to increased bleeding and hindering the smooth progress of the surgery.

[0044] Based on this, embodiments of the present invention propose a surgical system.

[0045] As shown in Figures 1 to 4, the surgical system 100 proposed in the embodiments of the present invention includes a robotic arm 10 and a control system 20. There are multiple robotic arms 10, and at least one robotic arm 10 includes a first segment 12, a second segment 13, and an instrument connection mechanism 14 connected sequentially adjacent to each other. The first segment 12 includes three sequentially adjacent adjusting joints 121, wherein the three sequentially adjacent adjusting joints 121 are a first adjusting joint 121a, a third adjusting joint 121c, and a second adjusting joint 121b, and at least two of the three adjusting joints 121 are rotary joints. The second section 13 includes a deflection joint 131 and a pitch mechanism 132. The deflection joint 131 is connected to the second adjustment joint 121b. The deflection joint 131 drives the pitch mechanism 132 and the instrument connection mechanism 14 to rotate around the deflection axis F. The pitch mechanism 132 drives the instrument connection mechanism 14 to rotate around the pitch axis G. The instrument connection mechanism 14 connects the surgical instrument 200 and allows the surgical instrument 200 to be inserted into the surgical object along the insertion axis H. The deflection axis F, the pitch axis G, and the insertion axis H all pass through the telecentric point RC. The control system 20 is configured to control the three adjustment joints 121 to move in tandem during the operation when the surgical instrument 200 is inserted into the surgical object through the telecentric point, so that the trajectory K of any point on the joint axis E of the second adjustment joint 121b in space is a circle or an arc.

[0046] The adjusting joint 121 can be a rotary joint (as shown in Figure 2) or a linear joint (as shown in Figure 3). A rotary joint refers to a joint where the two components forming the joint are rotatably connected, while a linear joint refers to a joint where the two components forming the joint are slidably connected. When the adjusting joint 121 is a rotary joint, the "joint axis E" refers to the axis around which the component rotates (as shown in Figure 2). When the adjusting joint 121 is a linear joint, the "joint axis E" refers to the axis along which the component slides (as shown in Figure 3).

[0047] The linkage of adjustment joints 121 means that the adjustment joints 121 move on their own (i.e., rotate around their own joint axis or translate along the joint axis) and cooperate with each other, rather than being driven by other joints to achieve the overall unidirectional movement of multiple adjustment joints.

[0048] In some embodiments, the sequential adjacent connection of the three adjustment joints 121 can mean that each adjustment joint 121 is adjacent to the others, and two adjacent adjustment joints 121 can be connected by a link or the like, but there are no other joints between them.

[0049] Furthermore, the terms "adjacent" and "adjacent connection" used in this article emphasize adjacency in terms of connection relationship. For example, the first adjustment joint, the third adjustment joint, and the second adjustment joint are connected in sequence. The first adjustment joint and the third adjustment joint are adjacent, and the third adjustment joint and the second adjustment joint are adjacent. During the movement of the robotic arm 10, the first adjustment joint and the second adjustment joint are not adjacent regardless of their relative spatial positions.

[0050] The “distal center point RC”, also known as the distal center point or tool center point, refers to a point on the surgical instrument 200 whose coordinates remain unchanged during the operation of the robotic arm 10.

[0051] The surgical system 100 proposed in this embodiment of the invention, during the insertion of the surgical instrument 200 into the surgical object via the distal point RC, involves a control system 20 that controls three adjustment joints 121 in tandem. This causes the trajectory K of the second adjustment joint 121b in space to be a circle or an arc. The movement of the second adjustment joint 121b can drive the movement of the deflection joint 131 and the pitch mechanism 132 to change their posture. Thus, when the surgeon needs to adjust the surgical space, the distance between the two robotic arms, or to eliminate collisions, parameters can be input into the control system 20. The control system 20, by controlling the linkage of the adjustment joints 121, can quickly change the posture of the deflection joint 131 and the pitch mechanism 132 to adjust the surgical workspace, the distance between the two robotic arms, and eliminate collisions, allowing the surgery to proceed smoothly.

[0052] In some embodiments, the yaw axis F, pitch axis G, and insertion axis H are all perpendicular to each other.

[0053] In some embodiments, the deflection joint 132 is a rotation joint.

[0054] In some embodiments, the control system 20 is further configured to control the three adjustment joints 121 to move in tandem, so that at least one robotic arm 10 can adjust its posture while the distal point RC remains stationary. In this embodiment, by setting the control system 20 to control the linkage of the adjustment joints 121, the posture of the robotic arm 10 can be adjusted while the distal point RC remains stationary. Thus, when the surgeon needs to adjust the surgical space or resolve collisions, parameters can be input into the control system 20. The control system 20, by controlling the linkage of the adjustment joints 121, can quickly adjust the robotic arm 10 to the desired posture, thereby quickly and conveniently adjusting the surgical workspace, the distance between adjacent robotic arms 10, and resolving collisions, allowing the surgery to proceed smoothly. Moreover, since the distal point RC of the robotic arm 10 remains unchanged during the adjustment of the posture of the robotic arm 10, that is, if the distance between the distal point RC and the patient has been adjusted before adjusting the posture of the robotic arm 10, then after the posture of the robotic arm 10 is adjusted, there is no need to adjust the distance between the distal point RC and the patient again, which can save adjustment time and facilitate the rapid and efficient performance of the surgery.

[0055] In some embodiments, adjusting the attitude of the robotic arm 10 includes adjusting joint 121 to cause yaw joint 131 and pitch mechanism 132 to pitch in the pitch direction, thereby adjusting the pitch angle of yaw joint 131 and pitch mechanism 132. In other embodiments, adjusting the attitude of the robotic arm 10 includes adjusting joint 121 to cause yaw joint 131 and pitch mechanism 132 to yaw in the yaw direction and pitch in the pitch direction, thereby adjusting the yaw angle and pitch angle of yaw joint 131 and pitch mechanism 132.

[0056] The "pitch angle and yaw angle" mentioned above refer to the orientation of the robotic arm 10 in normal use. The adjustment of the pitch angle of the yaw joint 131 and the pitch mechanism 132 specifically involves the yaw joint 131 and the pitch mechanism 132 swinging upwards or downwards as a whole. Upward swinging includes swinging directly upwards or diagonally upwards; similarly, downward swinging includes swinging directly downwards or diagonally downwards. The adjustment of the yaw angle of the yaw joint 131 and the pitch mechanism 132 specifically involves the yaw joint 131 and the pitch mechanism 132 swinging to the left or right as a whole. Leftward swinging includes swinging directly to the left (9 o'clock position) or swinging to the upper left or lower left; similarly, rightward swinging includes swinging directly to the right (3 o'clock position) or swinging to the upper right or lower right. In this embodiment, by adjusting the pitch angle of the deflection joint 131 and the pitch mechanism 132, or by adjusting the pitch angle and yaw angle of the deflection joint 131 and the pitch mechanism 132, the surgical workspace can be quickly adjusted and collisions can be quickly resolved.

[0057] As shown in Figures 1 and 4, in some embodiments, the first adjusting joint 121a, the second adjusting joint 121b, and the third adjusting joint 121c are all rotary joints, and the joint axes E of adjacent adjusting joints 121 are transversely related. "Transversely related" includes the two joint axes E being approximately at a point, or the two joint axes E being spatially intersecting but staggered. Optionally, the joint axes of two adjacent adjusting joints are approximately perpendicular. "Approximately perpendicular" includes the two joint axes E being perpendicular to each other, or the two joint axes E being at an acute angle, for example, an acute angle of 1° to 5°.

[0058] As shown in Figures 1 and 4, in some embodiments, the joint axis E of the first adjusting joint 121a extends vertically, the joint axis E of the third adjusting joint 121c extends horizontally, and the joint axis E of the second adjusting joint 121b is orthographically projected onto a plane perpendicular to the joint axis E of the third adjusting joint 121c. The joint axis E of the second adjusting joint 121b is set at an angle to the joint axis E of the first adjusting joint 121a.

[0059] In this embodiment, the control system 20 controls the three adjustment joints 121 to move in tandem, so that the trajectory K of any point on the joint axis of the second adjustment joint 121b in space is a circle or an arc. The principle is as follows:

[0060] Referring to Figures 1 and 4, through simulation of the operation of the first adjusting joint 121a and the third adjusting joint 121c, when the first adjusting joint 121a rotates towards the direction K1 in Figure 1 at a preset speed, and the third adjusting joint 121c rotates towards the direction K2 in Figure 1 at a preset speed, the second adjusting joint 121b can be made to move towards the direction K3 in Figure 1 along a circular trajectory M, and vice versa. It can be understood that when the yaw joint 131 and the pitch mechanism 132 rotate following the second adjusting joint 121b, not only does the yaw angle of the yaw joint 131 and the pitch mechanism 132 change, but their pitch angle also changes.

[0061] The above principle is applied to the actual use scenario to adjust the distance between the robotic arm 10 and the patient as follows: When it is necessary to adjust the robotic arm 10 to increase the distance between the robotic arm 10 and the patient, specifically, as shown in Figures 5 and 6, when it is necessary to adjust point A (joint 1321) of the robotic arm 10 from the position in Figure 5 to the position in Figure 6, as mentioned above, the control system 20 can control any point on the joint axis of the second adjustment joint 121b to run along the trajectory K by controlling the linkage of the multiple adjustment joints 121. The running second adjustment joint 121b can drive the deflection joint 131 and the pitch mechanism 132 to rotate. During the upward rotation of the deflection joint 131 and the pitch mechanism 132, the position of point A can be gradually raised from the position in Figure 5 to the position in Figure 6, thereby increasing the distance between the robotic arm 10 and the patient.

[0062] The above principle is applied to practical use scenarios to adjust the distance between robotic arms 10 as follows: When it is necessary to adjust robotic arms 10 to increase the distance between them, specifically, as shown in Figures 7 and 8, when it is necessary to adjust the right robotic arm 10 from the position in Figure 7 to the position in Figure 8, as mentioned above, the control system 20 can control any point on the joint axis of the second adjustment joint 121b to run along the trajectory K by controlling the linkage of the adjustment joint 121. The running second adjustment joint 121b can drive the deflection joint 131 and the pitch mechanism 132 to rotate. During the rotation of the deflection joint 131 and the pitch mechanism 132 to the right, the right robotic arm 10 can be moved from the position in Figure 7 to the position in Figure 8, thereby increasing the distance between the right robotic arm 10 and the left robotic arm 10.

[0063] It should be noted that the first adjusting joint 121a, the second adjusting joint 121b, and the third adjusting joint 121c are not limited to being all rotary joints. For example, in some other embodiments, the first adjusting joint 121a, the second adjusting joint 121b, and the third adjusting joint 121c include one linear joint and two rotary joints.

[0064] For example, in some embodiments, as shown in FIG9, the first adjusting joint 121a is a linear joint, and the second adjusting joint 121b and the third adjusting joint 121c are rotary joints. In this embodiment, when the first adjusting joint 121a is stationary and the third adjusting joint runs along K2 in FIG1, the second adjusting joint 121b can be made to move towards K4 in FIG1 and along the arc trajectory N.

[0065] For example, in some embodiments, as shown in FIG10, the third adjusting joint 121c is a linear joint, and the first adjusting joint 121a and the second adjusting joint 121b are rotary joints. In this embodiment, when the third adjusting joint 121c is stationary and the first adjusting joint 121a is running, the running trajectory of the second adjusting joint 121b can be a circle or an arc.

[0066] For example, in some embodiments, as shown in FIG11, the second adjusting joint 121b is a linear joint, and the first adjusting joint 121a and the third adjusting joint 121c are rotary joints. In this embodiment, the principle that the running trajectory of the second adjusting joint can be a circle or an arc is as described above, and will not be repeated here.

[0067] As shown in Figure 19, an embodiment of the present invention also proposes a surgical system 100, which includes a robotic arm 10 and a control system 20. The robotic arm 10 can be multiple, and at least one robotic arm 10 includes an adjustment joint 121, a deflection joint 131, a pitch mechanism 132, and an instrument connection mechanism 14. The adjustment joint 121 has at least three joints, including a first adjustment joint 121a, a third adjustment joint 121c, and a second adjustment joint 121b connected sequentially, and at least two of the first to third adjustment joints are rotary joints. The deflection joint 131 is connected to the second adjustment joint 121b, the pitch mechanism 132 is connected to the deflection joint 131, and the instrument connection mechanism 14 is connected to the pitch mechanism 132. The deflection joint 131 drives the pitch mechanism 132 and the instrument connection mechanism 14 to rotate around the deflection axis F. The pitch mechanism 132 drives the instrument connection mechanism 14 to rotate around the pitch axis G. The instrument connection mechanism 14 connects the surgical instrument 200 and allows the surgical instrument 200 to be inserted into the surgical object along the insertion axis H. The deflection axis F, the pitch axis G, and the insertion axis H all pass through the telecentric point RC. The control system 20 is configured to control the first to third adjustment joints 121 to move in tandem during the operation when the surgical instrument 200 is inserted into the surgical object through the telecentric point RC, so that the trajectory K of any point on the joint axis E of the second adjustment joint 121b in space is a circle or an arc.

[0068] Sequential connection can mean that the adjustment joints are connected in sequence, and there may be other joints between two sequentially connected adjustment joints, such as manual joints, or other joints that are not linked to these two adjustment joints.

[0069] Specifically, as shown in Figure 19, joints 121a, 121b, 121c, 121d, and 121e are adjustable joints, while joint 15, located between joints 121a and 121c, is a non-adjustable joint. During operation, the control system 20 can control only joints 121a, 121b, and 121c to adjust the posture of at least one robotic arm 10 while keeping its distal point RC stationary.

[0070] In this embodiment, the three adjustment joints 121 include a first adjustment joint 121a, a third adjustment joint 121c, and a second adjustment joint 121b connected in sequence, wherein the first adjustment joint 121a, the second adjustment joint 121b, and the third adjustment joint 121c are all rotary joints.

[0071] The embodiment in Figure 19 is largely the same as the embodiment shown in Figure 1, and will not be described again here. The difference is that there is another joint, namely a fourth joint 15, between the first adjusting joint 121a and the third adjusting joint 121c. This fourth joint 15 does not participate in the linkage of the three adjusting joints. During the positioning process before surgery, medical staff can manually adjust the fourth joint 15 as needed. For example, the fourth joint 15 can be extended to lower the height of the third joint 121c, or it can be retracted to raise the height of the third joint 121c, thereby adjusting the height of the third joint 121c, and the second adjusting joint 121b, the deflection joint 131, and the pitch mechanism 132 connected to it.

[0072] As shown in Figure 5, in some embodiments, the surgical instrument 200 includes a connecting assembly 210, an instrument rod 220, and an end effector 230. The connecting assembly 210 is used to connect to the end of the robotic arm 10, and the instrument rod 220 connects the connecting assembly 210 and the end effector 230. When the surgical instrument 200 is mounted on the robotic arm 10, the centerline of the instrument rod 220 is the aforementioned insertion axis H.

[0073] In some embodiments, while controlling the linkage of the first to third adjustment joints, the control system 20 is further configured to: control the movement of the deflection joint 131 and / or the pitch mechanism 132 to adjust the posture of the robotic arm 10 while maintaining the position and orientation of the insertion axis H unchanged.

[0074] The phrase "the position and orientation of the insertion axis H remain unchanged" means that in three-dimensional space, the coordinates of each point on the insertion axis H remain unchanged, and the vector formed by any two points on the insertion axis H remains unchanged. In the context of the surgical instrument 200, this translates to the instrument rod 220 remaining in both position and orientation.

[0075] The control system 20 proposed in this embodiment is configured to control the linkage of the plurality of adjustment joints 121, deflection joints 132 and pitch mechanism 132, so as to change the posture of the robotic arm 10 while maintaining the position and orientation of the insertion axis H unchanged. The specific principle is as follows:

[0076] As described above, by controlling the linkage of the first adjusting joint 121a and the third adjusting joint 121c, the second adjusting joint 121b can be made to move towards direction K3 in Figure 1 and along the circular trajectory M. The second adjusting joint 121b drives the yaw joint 131 and the pitch mechanism 132 to rotate. When the yaw joint 131 and the pitch mechanism 132 rotate, their yaw and pitch angles change. Understandably, when the yaw and pitch angles of the yaw joint 131 and the pitch mechanism 132 change, the yaw and pitch angles of the insertion axis H of the instrument connection mechanism 14 will also change accordingly, that is, the position and orientation of the insertion axis H change. To address this, a yaw joint 131 and a pitch mechanism 132 are configured. The yaw joint 131 can correct the yaw of the insertion axis H by rotating when the yaw angle changes. For example, if the insertion axis H yaws to the left, the yaw joint 131 drives the pitch mechanism 132 to rotate to the right, thus preventing the insertion axis H from yawing. Similarly, the pitch mechanism 132 can correct the pitch of the insertion axis H by adjusting the pitch angle when the pitch angle changes. For example, if the insertion axis H tilts, the pitch mechanism 132 drives the device connection mechanism 14 to tilt, preventing the insertion axis H from tilting. Therefore, when multiple adjustment joints 121 are linked to adjust the posture of the robotic arm 10, the yaw joint 131 and the pitch mechanism 132 can work together to ensure that the position and orientation of the insertion axis H remain unchanged.

[0077] In this embodiment, while achieving rapid adjustment of the surgical workspace and rapid collision resolution, there is no need to re-connect the robotic arm 10 to the patient's incision, which can reduce the patient's bleeding and allow the surgery to proceed smoothly. Moreover, since the position and orientation of the insertion axis H can be maintained unchanged during the adjustment of the posture of the robotic arm 10, the position and orientation of the surgical instrument 200 will not be affected during the adjustment of the posture of the robotic arm 10. That is, after the posture of the robotic arm 10 is adjusted, there is no need to re-adjust the position and orientation of the surgical instrument 200, which can effectively reduce preoperative preparation time and reduce the difficulty of adjusting the robotic arm 10.

[0078] In some embodiments, the instrument connection mechanism 14 is at least capable of driving the end effector assembly of the surgical instrument 200 to rotate about the insertion axis H. When controlling the linkage of the first to third adjustment joints and controlling the movement of the deflection joint 131 and / or the pitch mechanism 132, the control system 20 is further configured to: control the rotation of the surgical instrument 200 to adjust the posture of the robotic arm 10 while maintaining the position and posture of the end of the surgical instrument 200 unchanged.

[0079] The phrase "the position and posture of the end of the surgical instrument 200 remain unchanged" means that the end of the surgical instrument 200 remains stationary.

[0080] The rotational linkage of multiple adjustment joints 121, yaw joints 131, pitch mechanism 132, and surgical instrument 200 proposed in this embodiment changes the posture of the robotic arm 10 while maintaining the position and posture of the end effector of the surgical instrument 200. The specific principle is as follows:

[0081] As described above, by controlling the linkage of the first adjusting joint 121a and the third adjusting joint 121c, the second adjusting joint 121b can be made to move towards the direction K3 in Figure 1 and along the circular trajectory M. This allows the second adjusting joint 121b to drive the yaw joint 131 and the pitch mechanism 132 to rotate. When the yaw joint 131 and the pitch mechanism 132 rotate, their yaw and pitch angles change, causing the yaw and pitch angles of the inserted axis H to change accordingly. How the yaw joint 131 and the pitch mechanism 132 correct the yaw and pitch angles of the inserted axis H can be found above and will not be elaborated here.

[0082] It should be noted that when the yaw joint 131 and the pitch mechanism 132 rotate, the insertion axis H changes not only the yaw and pitch angles, but also rotates around itself. This causes the yaw and pitch angles of the instrument connection mechanism 14 to change accordingly, and the instrument connection mechanism 14 also rotates around the insertion axis H. This results in the end effector of the surgical instrument 200 rotating accordingly, which may be undesirable in some cases. Therefore, by setting the instrument connection mechanism 14 to at least drive the end effector of the surgical instrument 200 to rotate around the insertion axis H, this undesirable rotation of the end effector of the surgical instrument 200 can be corrected by rotating the end effector of the surgical instrument 200 in the opposite direction around the insertion axis H, thus keeping the end effector of the surgical instrument 200 stationary.

[0083] In this embodiment, while achieving rapid adjustment of the surgical workspace and rapid resolution of collisions, there is no need for secondary docking of the robotic arm 10 with the patient's incision, and the end effector of the surgical instrument 200 does not need to release the held tissue, reducing patient bleeding and allowing the surgery to proceed smoothly. Furthermore, since the position and orientation of the end effector of the surgical instrument 200 can remain unchanged during the posture adjustment of the robotic arm 10, the end effector of the surgical instrument 200 can remain stationary. Thus, during the posture adjustment of the robotic arm 10, the end effector of the surgical instrument 200 can maintain its action on the organ tissue, such as the gripping action, without releasing the tissue. Therefore, once the posture of the robotic arm 10 is adjusted, the surgeon does not need to re-operate the end effector of the surgical instrument 200 to grip the tissue, reducing the difficulty of the surgery and allowing it to proceed smoothly and quickly.

[0084] In some embodiments, controlling the movement of the yaw joint 131 and / or the pitch mechanism 132 includes: controlling the yaw joint 131 to rotate about the yaw axis F, and controlling the pitch mechanism 132 to pitch around the pitch axis G.

[0085] In some other embodiments, controlling the movement of the yaw joint 131 and / or the pitch mechanism 132 includes controlling the pitch mechanism 132 to pitch about the pitch axis G while the yaw joint 131 does not rotate about the yaw axis F.

[0086] In some other embodiments, controlling the movement of the yaw joint 131 and / or the pitch mechanism 132 includes controlling the yaw joint 131 to rotate about the yaw axis F when the pitch mechanism 132 itself is not pitching about the pitch axis G.

[0087] In some embodiments, changing the posture of the robotic arm 10 includes adjusting the workspace of the surgical instrument 200. The specific process for adjusting the workspace of the surgical instrument 200 is as follows: As shown in Figures 12 and 13, when the robotic arm 10 is in the working posture shown in Figure 12, the remaining stroke of the pitch mechanism 132 is only θ1, and the end effector 230 of the surgical instrument 200 cannot reach the desired position Z. By adjusting the three adjustment joints 121, the deflection joint 131, and the pitch mechanism 132 in tandem, the posture of the robotic arm 10 is adjusted to the posture shown in Figure 13. While maintaining the position and orientation of the insertion axis H unchanged, the remaining stroke of the pitch mechanism 132 becomes θ2, meaning that the end effector 230 of the surgical instrument 200 can reach the desired position Z, thus increasing or changing the workspace of the robotic arm 10.

[0088] In some embodiments, changing the posture of the robotic arm 10 includes adjusting the distance between two adjacent robotic arms 10. How to adjust the distance between two adjacent robotic arms 10 can be found above and will not be repeated here.

[0089] In some embodiments, changing the posture of the robotic arm 10 includes adjusting the distance between the robotic arm 10 and the patient. How to adjust the distance between the robotic arm 10 and the patient can be found above and will not be repeated here.

[0090] In some embodiments, the linkage of at least two adjustment joints 121 causes the trajectory of the second adjustment joint 121b in space to be a circle or an arc, and the second adjustment joint 121b is used to cooperate with other adjustment joints to keep the position of the distal point RC unchanged.

[0091] In some embodiments, the joint axis E of each adjustment joint 121 does not pass through the distal point RC of the robotic arm 10. In this embodiment, the adjustment joint 121 is subject to fewer constraints, and the adjustment joint 121 can rotate independently when adjusting the posture of the robotic arm 10, which provides high adjustment flexibility and reduces the difficulty of adjustment.

[0092] In some embodiments, the first adjusting joint 121a, the second adjusting joint 121b, and the third adjusting joint 121c are all rotary joints, and the joint axes E of adjacent adjusting joints 121 are transverse to each other. The second adjusting joint 121b, the yaw joint 131, and the pitch mechanism 132 are located on the same side of the line connecting the first adjusting joint 121a and the third adjusting joint 121c, and the line connecting the first adjusting joint 121a and the third adjusting joint 121c and its extension do not intersect with the second adjusting joint 121b, the yaw joint 131, and the pitch mechanism 132.

[0093] In the embodiments described herein, the joint axes E of the first adjusting joint 121a, the second adjusting joint 121b, and the third adjusting joint 121c may intersect at a single point. This intersection at a single point does not imply a strict geometrical intersection. In order to implement the adjusting joints, each adjusting joint may have manufacturing or installation tolerances, and the deviations caused by such manufacturing or installation tolerances are all within the scope of this application.

[0094] As shown in Figure 20, an embodiment of the present invention also proposes a surgical system 100, which includes a robotic arm 10 and a control system 20. The robotic arm 10 can be multiple, and at least one robotic arm 10 includes an adjustment joint 121, a deflection joint 131, a pitch mechanism 132, and an instrument connection mechanism 14. The adjustment joint 121 can be at least three, the deflection joint 131 is connected to one of the adjustment joints 121, the pitch mechanism 132 is connected to the deflection joint 131, and the instrument connection mechanism 14 is connected to the pitch mechanism 132. The deflection joint 131 drives the pitch mechanism 132 and the instrument connection mechanism 14 to rotate around the deflection axis F. The pitch mechanism 132 drives the instrument connection mechanism 14 to rotate around the pitch axis G. The instrument connection mechanism 14 connects to the surgical instrument 200 and allows the surgical instrument 200 to be inserted into the surgical object along the insertion axis H. The deflection axis F, the pitch axis G, and the insertion axis H all pass through the distal point RC. The control system 20 is configured to control three of the at least three adjustment joints 121 to work together, so that the at least one robotic arm 10 adjusts its posture while the distal point RC remains stationary.

[0095] Specifically, as shown in Figure 20, joints 1211, 1212, 1213, 1214, and 1215 are adjustment joints. During operation, the control system 20 can control only the first adjustment joint 1212, the second adjustment joint 1213, and the third adjustment joint 1214 to work together, so that the at least one robotic arm 10 can adjust its posture while the distal point RC remains stationary.

[0096] In this embodiment, the deflection joint 131 is indirectly connected to the third adjustment joint 1214 via the fourth adjustment joint 1215.

[0097] As shown in Figure 14, in some embodiments, the pitch mechanism 132 includes a first rotary joint 1311, a second rotary joint 1312, a third rotary joint 1313, a first link L1, and a second link L2. The first rotary joint 1311 is connected to the yaw joint 132. The second rotary joint 1312 is connected to the first rotary joint 1311 via the first link L1. The third rotary joint 1313 is connected to the second rotary joint 1312 via the second link L2. The instrument connection mechanism 14 is connected to the third rotary joint 1313. Projected orthographically onto a plane perpendicular to the pitch axis G, the line connecting the joint axis E of the first rotary joint 1311, the joint axis E of the second rotary joint 1312, the joint axis E of the third rotary joint 1313, and the pitch axis G forms a parallelogram.

[0098] In some embodiments, the first rotary joint 1321, the second rotary joint 1322, and the third rotary joint 1323 are coupled together and driven by a motor, but this application is not limited thereto.

[0099] It should be noted that the pitch is not limited to the above-described implementation. For example, in some other embodiments, as shown in FIG15, the pitch mechanism 132 includes an arc guide rail 101 with the distal point RC as the center. The arc guide rail 101 is connected to the deflection joint 132, and the instrument connection mechanism 14 is slidably connected to the arc guide rail 101.

[0100] It should be noted that the pitch is not limited to the above-described embodiments. For example, in some other embodiments, as shown in FIG16, the pitch mechanism 132 includes a fourth rotary joint 1314, a first arc-shaped rod S1 and a second arc-shaped rod S2. The fourth rotary joint 1314 is connected to the deflection joint 132 through the first arc-shaped rod S1, and the instrument connection mechanism 14 is connected to the fourth rotary joint 1314 through the second arc-shaped rod S2. The joint axis E of the fourth rotary joint 1314 passes through the distal point RC.

[0101] It should be noted that the pitch is not limited to the above-described embodiments. For example, in some other embodiments, as shown in FIG17, the pitch mechanism 132 includes a fifth rotary joint 1315, a sixth rotary joint 1316, a seventh rotary joint 1317, an eighth rotary joint 1318, a ninth rotary joint 1319, a tenth rotary joint 1320, an eleventh rotary joint 1321, a third link L3, a fourth link L4, a fifth link L5, a sixth link L6, a seventh link L7, an eighth link L8, and a ninth link L9. The fifth rotary joint 1315 is connected to the deflection joint 132. The sixth rotary joint 1316 is connected to the fifth rotary joint 1315 via the third link L3. The seventh rotary joint 1317 is connected to the sixth rotary joint 1316 via the fourth link L4. The eighth rotary joint 1318 is connected to the seventh rotary joint 1317 via the fifth link L5. The eighth rotary joint 1318 is connected to the fifth rotary joint 1315 via the sixth link L6. The ninth rotary joint 1319 is connected to the seventh rotary joint 1317 via the seventh link L7. The tenth rotary joint 1320 is located between the seventh rotary joint 1317 and the eighth rotary joint 1318 and is connected to the fifth link L5. The eleventh rotary joint 1321 is connected to the ninth rotary joint 1319 via the eighth link L8. The eleventh rotary joint 1321 is connected to the tenth rotary joint 1320 via the ninth link L9. The instrument connection mechanism 14 is connected to the eleventh joint. Projected orthographically onto a plane perpendicular to the pitch axis G, the line connecting the joint axis E of the fifth rotary joint 1315, the joint axis E of the sixth rotary joint 1316, the joint axis E of the seventh rotary joint 1317, and the joint axis E of the eighth rotary joint 1318 forms a parallelogram; the line connecting the joint axis E of the seventh rotary joint 1317, the joint axis E of the ninth rotary joint 1319, the joint axis E of the tenth rotary joint 1320, and the joint axis E of the eleventh rotary joint 1321 forms a parallelogram; and the line connecting the joint axis E of the eighth rotary joint 1318, the joint axis E of the tenth rotary joint 1320, the joint axis E of the eleventh rotary joint 1321, and the pitch axis G forms a parallelogram.

[0102] It should be noted that the pitch is not limited to the above-described implementation. For example, in some other embodiments, as shown in FIG18, the pitch mechanism 132 includes a twelfth rotation joint 1322, which is connected to the yaw joint 132. The twelfth rotation joint 1322 is located at the distal point RC, and the instrument connection mechanism 14 is connected to the twelfth rotation joint 1322.

[0103] The structure, connection relationship, extended description and beneficial effects of other components of the surgical system 100 proposed in this embodiment can be referred to the embodiment described above, and will not be repeated here.

[0104] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions should all be covered within the scope of protection of the present invention.

Claims

1. A surgical system, characterized in that, Includes a control system and multiple robotic arms, wherein at least one of the robotic arms comprises: Three adjusting joints are connected in sequence, wherein the three adjusting joints are the first adjusting joint, the third adjusting joint, and the second adjusting joint, and at least two of the three adjusting joints are rotary joints; A deflection joint, the deflection joint being connected to the second adjustment joint; Pitch mechanism, the pitch mechanism being connected to the yaw joint; and An instrument connection mechanism, wherein the instrument connection mechanism is connected to the pitch mechanism; The deflection joint is used to drive the pitch mechanism and the instrument connection mechanism to rotate around the deflection axis. The pitch mechanism is used to drive the instrument connection mechanism to rotate around the pitch axis. The instrument connection mechanism is used to connect the surgical instruments and allow the surgical instruments to be inserted into the surgical object along the insertion axis. The deflection axis, the pitch axis, and the insertion axis all pass through the distal point. The control system is configured to control the three adjustment joints to move in tandem during the operation of the surgical instrument inserted into the surgical object through the distal point, such that the trajectory of any point on the joint axis of the second adjustment joint in space is a circle or an arc.

2. The surgical system as described in claim 1, characterized in that, The joint axes of the three adjustable joints do not pass through the distal point.

3. The surgical system as described in claim 1, characterized in that, The control system is also configured to control the three adjustment joints to work together so that the at least one robotic arm can adjust its posture while the distal point remains stationary.

4. A surgical system, characterized in that, Includes a control system and multiple robotic arms, wherein at least one of the robotic arms comprises: At least three adjustment joints, including a first adjustment joint, a third adjustment joint and a second adjustment joint connected in sequence, and at least two of the first to third adjustment joints are rotary joints; A deflection joint, the deflection joint being connected to the second adjustment joint; Pitch mechanism, the pitch mechanism being connected to the yaw joint; and An instrument connection mechanism, wherein the instrument connection mechanism is connected to the pitch mechanism; The deflection joint is used to drive the pitch mechanism and the instrument connection mechanism to rotate around the deflection axis. The pitch mechanism is used to drive the instrument connection mechanism to rotate around the pitch axis. The instrument connection mechanism is used to connect the surgical instruments and allow the surgical instruments to be inserted into the surgical object along the insertion axis. The deflection axis, the pitch axis, and the insertion axis all pass through the distal point. The control system is configured to control the first to third adjustment joints to move in tandem during the operation of the surgical instrument inserted into the surgical object through the distal point, such that the trajectory of any point on the joint axis of the second adjustment joint in space is a circle or an arc.

5. The surgical system as described in claim 4, characterized in that, The joint axes of the first to third adjustment joints do not pass through the distal point.

6. The surgical system as described in claim 4, characterized in that, The control system is further configured to control the linkage of the first to third adjustment joints, so that the at least one robotic arm can adjust its posture while the distal point remains stationary.

7. The surgical system as described in claim 1 or 4, characterized in that, Adjusting the posture of the robotic arm includes: The adjusting joint drives the yaw joint and the pitch mechanism to pitch in the pitch direction, thereby adjusting the pitch angle of the yaw joint and the pitch mechanism; or, The adjusting joint drives the yaw joint and the pitch mechanism to yaw in the yaw direction and pitch in the pitch direction, so as to adjust the yaw angle and pitch angle of the yaw joint and the pitch mechanism.

8. The surgical system as described in claim 1 or 4, characterized in that, When controlling the linkage of the first to third adjustment joints, the controller is also configured to: control the movement of the deflection joint and / or the pitch mechanism to adjust the posture of the robotic arm while maintaining the position and orientation of the insertion axis unchanged.

9. The surgical system as described in claim 8, characterized in that, The instrument connection mechanism is at least capable of driving the end effector assembly of the surgical instrument to rotate about the insertion axis; When controlling the linkage of the first to third adjustment joints and controlling the movement of the deflection joint and / or the pitch mechanism, the controller is further configured to: control the rotation of the surgical instrument to adjust the posture of the robotic arm while maintaining the position and posture of the end of the surgical instrument unchanged.

10. The surgical system as claimed in claim 8 or 9, characterized in that, Controlling the movement of the yaw joint and / or the pitch mechanism includes: Control the yaw joint to rotate around the yaw axis, and control the pitch mechanism itself to pitch around the pitch axis in conjunction; or, When the deflection joint does not rotate about the deflection axis, the pitch mechanism itself is controlled to pitch about the pitch axis; or... When the pitch mechanism itself does not pitch around the pitch axis, the yaw joint is controlled to rotate around the yaw axis.

11. The surgical system as described in claim 8 or 9, characterized in that, The change in the posture of the robotic arm includes at least one of the following: Adjust the working space of the surgical instruments; Adjust the distance between two adjacent robotic arms; Adjust the distance between the robotic arm and the patient.

12. The surgical system as described in claim 1 or 4, characterized in that, The first adjusting joint, the second adjusting joint, and the third adjusting joint are all rotary joints; The joint axis of the first adjusting joint extends vertically, the joint axis of the third adjusting joint extends horizontally, and the joint axis of the second adjusting joint is set at an angle to the joint axis of the first adjusting joint.

13. The surgical system as described in claim 1 or 4, characterized in that, The first adjusting joint is a linear joint, and the second and third adjusting joints are rotary joints; The joint axis of the first adjusting joint extends vertically, the joint axis of the third adjusting joint extends horizontally, and the joint axis of the second adjusting joint is set at an angle to the joint axis of the first adjusting joint.

14. The surgical system as described in claim 1 or 4, characterized in that, The third adjusting joint is a linear joint, while the first adjusting joint and the second adjusting joint are rotary joints. The joint axis of the first adjusting joint extends horizontally, and the joint axes of the second adjusting joint and the third adjusting joint extend in the same direction. The joint axis of the second adjusting joint is orthographically projected onto a plane perpendicular to the joint axis of the third adjusting joint. The joint axis of the second adjusting joint is set at an angle to the joint axis of the first adjusting joint.

15. The surgical system as described in claim 1 or 4, characterized in that, The second adjusting joint is a linear joint, while the first adjusting joint and the third adjusting joint are rotary joints; The joint axis of the first adjusting joint extends vertically, the joint axis of the third adjusting joint extends horizontally, and the joint axis of the second adjusting joint is set at an angle to the joint axis of the first adjusting joint.

16. The surgical system as claimed in claim 12, 13, or 15, characterized in that, The joint axes of two adjacent adjustable joints are approximately perpendicular.

17. The surgical system as claimed in claim 1 or 4, characterized in that, The joint axes of the first adjusting joint, the second adjusting joint, and the third adjusting joint intersect at a single point.

18. The surgical system as described in claim 1 or 4, characterized in that, The pitch mechanism includes a first rotary joint, a second rotary joint, a third rotary joint, a first connecting rod, and a second connecting rod. The first rotary joint is connected to the deflection joint. The second rotary joint is connected to the first rotary joint via the first connecting rod. The third rotary joint is connected to the second rotary joint via the second connecting rod. The instrument connection mechanism is connected to the third rotary joint. When projected onto a plane perpendicular to the pitch axis, the line connecting the joint axis of the first rotary joint, the joint axis of the second rotary joint, the joint axis of the third rotary joint, and the pitch axis is a parallelogram.

19. The surgical system as claimed in claim 1 or 4, characterized in that, The pitch mechanism includes an arc-shaped guide rail centered at the distal point, the arc-shaped guide rail being connected to the deflection joint, and the instrument connection mechanism being slidably connected to the arc-shaped guide rail.

20. The surgical system as claimed in claim 1 or 4, characterized in that, The pitch mechanism includes a fourth rotary joint, a first arc-shaped rod, and a second arc-shaped rod. The fourth rotary joint is connected to the deflection joint via the first arc-shaped rod. The instrument connection mechanism is connected to the fourth rotary joint via the second arc-shaped rod. The joint axis of the fourth rotary joint passes through the distal point.

21. The surgical system as described in claim 1 or 4, characterized in that, The pitch mechanism includes a fifth rotary joint, a sixth rotary joint, a seventh rotary joint, an eighth rotary joint, a ninth rotary joint, a tenth rotary joint, an eleventh rotary joint, a third link, a fourth link, a fifth link, a sixth link, a seventh link, an eighth link, and a ninth link. The fifth rotary joint is connected to the deflection joint; the sixth rotary joint is connected to the fifth rotary joint via the third link; the seventh rotary joint is connected to the sixth rotary joint via the fourth link; the eighth rotary joint is connected to the seventh rotary joint via the fifth link; the eighth rotary joint is connected to the fifth rotary joint via the sixth link; the ninth rotary joint is connected to the seventh rotary joint via the seventh link; the tenth rotary joint is located between the seventh and eighth rotary joints and is connected to the fifth link; the eleventh rotary joint is connected to the ninth rotary joint via the eighth link; the eleventh rotary joint is connected to the tenth rotary joint via the ninth link; and the instrument connection mechanism is connected to the eleventh joint. Projected orthographically onto a plane perpendicular to the pitch axis, the line connecting the joint axes of the fifth, sixth, seventh, and eighth rotary joints is a parallelogram; the line connecting the joint axes of the seventh, ninth, tenth, and eleventh rotary joints is also a parallelogram. The line connecting the joint axis of the eighth rotary joint, the joint axis of the tenth rotary joint, the joint axis of the eleventh rotary joint, and the pitch axis is a parallelogram.

22. The surgical system as described in claim 1 or 4, characterized in that, The pitch mechanism includes a twelfth rotary joint, which is connected to the yaw joint. The twelfth rotary joint is located at the distal point, and the instrument connection mechanism is connected to the twelfth rotary joint.

Images