Surgical system

Abstract

A surgical system, comprising a control system and a plurality of robotic arms. At least one of the robotic arms comprises three adjustment joints which are adjacently connected in sequence, a deflection joint, a pitch mechanism, and an instrument connection mechanism, wherein joint axes of two adjacently connected adjustment joints are transverse to each other, and the adjustment joints are all rotational joints; the deflection joint is used for driving the pitch mechanism and the instrument connection mechanism to rotate about a deflection axis, the pitch mechanism is used for driving the instrument connection mechanism to rotate about a pitch axis, and the instrument connection mechanism is used for connecting to a surgical instrument and allowing the surgical instrument to be inserted into a surgical subject along an insertion axis; the deflection axis, the pitch axis, and the insertion axis all pass through a remote center point. The control system is configured to control the linkage of the three adjustment joints, so that the robotic arm adjusts its posture while the remote center point remains stationary.

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 needs to be de-collided and the collision needs to be resolved, 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 joint axes of two adjacent adjusting joints are transverse to each other, and all adjusting joints are rotary joints;

[0006] A deflection joint, which is connected to one of the adjustment joints;

[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 work together so that the posture of at least one robotic arm is adjusted while the distal point remains stationary.

[0011] A second aspect of the invention provides a surgical system comprising a control system and a plurality of robotic arms, wherein at least one of the robotic arms comprises:

[0012] At least three adjusting joints, with the joint axes of two adjusting joints connected in sequence being transverse to each other;

[0013] A deflection joint, which is connected to one of the adjustment joints;

[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 only three of the at least three adjustment joints to move in tandem, so that the at least one robotic arm can adjust its posture while the distal point remains stationary.

[0018] As can be seen from the above technical solution, the surgical system proposed in the first aspect of the present invention can control three adjustment joints in a coordinated manner through a control system. This allows at least one robotic arm to adjust its posture while the distal point remains stationary. Thus, when the surgeon needs to adjust the surgical space, the distance between the two robotic arms, or to resolve collisions, parameters can be input into the control system. The control system, by controlling the three adjustment joints in a coordinated manner, can quickly adjust the robotic arm to the desired posture, thereby quickly and conveniently realizing the adjustment of the surgical workspace, the adjustment of the distance between the two robotic arms, and the resolution of collisions, enabling 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 partial structural schematic diagram of the robotic arm shown in Figure 9;

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

[0033] Figure 14 is a schematic diagram of the rotation range of the surgical instruments in another surgical scenario according to the present invention;

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

[0039] Figure 20 is a schematic diagram of the structure of a surgical system according to another embodiment of the present invention;

[0040] Figure 21 is a schematic diagram of the surgical system proposed in another embodiment of the present invention. Detailed Implementation

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] Based on this, embodiments of the present invention propose a surgical system.

[0046] As shown in Figures 1 and 2, the surgical system 100 proposed in the embodiment 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 section and a second section connected in sequence. The first section includes three adjacent adjustment joints 121 connected in sequence, wherein the joint axes E of two adjacent adjustment joints 121 are transversely related. The second section includes a deflection joint 131, a pitch mechanism 132, and an instrument connection mechanism 14 connected in sequence. 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 distal point RC. The control system 20 is configured to communicate with the robotic arm 10. The control system 20 is used to control the linkage of three adjustment joints 121, so that the at least one robotic arm 10 can adjust its posture while the distal point RC remains stationary. The number of adjustment joints 121 involved in the linkage is three, and the joint axes E of adjacent connected adjustment joints 121 are transversely related to each other.

[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 second adjustment joint, and the third adjustment joint are connected in sequence. The first adjustment joint and the second adjustment joint are adjacent, and the second adjustment joint and the third adjustment joint are adjacent. During the movement of the robotic arm 10, the first adjustment joint and the third adjustment joint are not adjacent regardless of their relative spatial position.

[0050] 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).

[0051] The term "mutually transverse" includes two joint axes E relative to a point, and also includes two joint axes E that are not coplanar in space but are intersecting, but staggered and do not intersect.

[0052] 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.

[0053] The surgical system 100 proposed in this embodiment of the invention, through the setting of a control system 20, can control the linkage of three adjustment joints 121, so that the posture of at least one robotic arm 10 can be adjusted while the distal point RC remains stationary. Thus, when the doctor needs to adjust the surgical space, adjust the distance between the two robotic arms, and resolve collisions, the parameters can be input into the control system 20. The control system 20, by controlling the linkage of the three adjustment joints 121, can quickly adjust the robotic arm 10 to the desired posture, thereby quickly and conveniently realizing the adjustment of the surgical workspace, the adjustment of the distance between the two robotic arms, and the resolution of collisions, so that the surgery can be performed smoothly.

[0054] 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. The adjustment of the "pitch angle and yaw angle" refers to the orientation of the robotic arm 10 in its normal operating state. Specifically, adjusting the pitch angle of yaw joint 131 and pitch mechanism 132 involves the entire yaw joint 131 and pitch mechanism 132 swinging upwards or downwards. Upward swinging includes swinging directly upwards and also swinging diagonally upwards; similarly, downward swinging includes swinging directly downwards and also swinging 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. The leftward swing includes swinging to the left (9 o'clock position) or swinging to the upper left or lower left. Similarly, the rightward swing includes swinging to the right (3 o'clock position) or swinging to the upper right or lower right. In this embodiment, by controlling the three adjustment joints 121 in tandem, the robotic arm 10 can adjust the pitch angle of the yaw joint 131 and the pitch mechanism 132, or adjust both the pitch angle and yaw angle of the yaw joint 131 and the pitch mechanism 132, while the distal point RC remains stationary. This allows for rapid adjustment of the surgical workspace and rapid collision resolution, avoiding the need for secondary docking of the robotic arm 10 with the patient's incision.

[0055] In some embodiments, three adjusting joints 121 are connected sequentially, and the joint axes E of two adjacent adjusting joints 121 are substantially perpendicular. "Substantially perpendicular" includes the two joint axes E being perpendicular to each other, and also includes the two joint axes E being set at an acute angle, for example, the two joint axes E forming an acute angle of 1° to 5°.

[0056] As shown in Figure 1, in some embodiments, all three adjusting joints 121 are rotary joints, and the joint axes E of two adjacent adjusting joints 121 are perpendicular to each other. Here, "adjacent" refers to being adjacent in terms of connection, not in terms of spatial location.

[0057] As shown in Figure 1, in some embodiments, the three adjustment joints 121 include a first adjustment joint 121a, a second adjustment joint 121b, and a third adjustment joint 121c connected in sequence, with the third adjustment joint 121c connected to the deflection joint 131. The joint axis E of the first adjustment joint 121a extends vertically, the joint axis E of the second adjustment joint 121b extends horizontally and is orthographically projected onto a plane perpendicular to the joint axis E of the second adjustment joint 121b, and the joint axis E of the third adjustment joint 121c is set at an angle to the joint axis E of the first adjustment joint 121a.

[0058] The first adjustment joint 121a, the second adjustment joint 121b, and the third adjustment joint 121c proposed in this embodiment can simultaneously adjust the pitch angle and yaw angle of the yaw joint 131 and the pitch mechanism 132 while the telecentric point RC remains stationary. The specific principle is as follows:

[0059] Referring to Figures 1 and 4, through simulation of the operation of the three adjustment joints 121, when the first adjustment joint 121a rotates towards direction K1 in Figure 1 at a preset speed, the second adjustment joint 121b rotates towards direction K2 in Figure 1 at a preset speed, and the third adjustment joint 121c rotates towards direction K3 in Figure 4 at a preset speed, it can be achieved that the third adjustment joint 121c moves towards direction K4 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 follow the movement of the third adjustment joint 121c, not only does the yaw angle of the yaw joint 131 and the pitch mechanism 132 change, but their pitch angle also changes.

[0060] 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, by controlling the linkage of the first adjustment joint 121a, the second adjustment joint 121b and the third adjustment joint 121c, the third adjustment joint 121c 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.

[0061] 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, by controlling the linkage of the first adjustment joint 121a, the second adjustment joint 121b, and the third adjustment joint 121c, the third adjustment joint 121c 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.

[0062] It should be noted that the three adjustment joints 121 are not limited to being all rotary joints. For example, in some other embodiments, as shown in Figures 9 to 11, the three adjustment joints 121 include one rotary joint and two linear joints, and the joint axes E of two adjacent adjustment joints 121 are perpendicular to each other.

[0063] For example, in some embodiments, as shown in FIG9, the three adjustment joints 121 include a first adjustment joint 121a, a second adjustment joint 121b and a third adjustment joint 121c connected in sequence, and the third adjustment joint 121c is connected to the deflection joint 131; wherein, the first adjustment joint 121a and the third adjustment joint 121c are linear joints and the second adjustment joint 121b is a rotary joint.

[0064] As shown in Figure 9, in some embodiments, the joint axis E of the first adjusting joint 121a extends vertically, the joint axis E of the second adjusting joint 121b extends horizontally and is orthographically projected on a plane perpendicular to the joint axis E of the second adjusting joint 121b, and the joint axis E of the third adjusting joint 121c is set at an angle to the joint axis E of the first adjusting joint 121a.

[0065] The first adjustment joint 121a, the second adjustment joint 121b, and the third adjustment joint 121c proposed in this embodiment can adjust the pitch angle of the deflection joint 131 and the pitch mechanism 132 while the distal point RC remains stationary. The specific principle is as follows:

[0066] Referring to Figures 9 and 12, through simulation of the operation of the three adjustment joints 121, when the first adjustment joint 121a extends towards direction K5 in Figure 9 at a preset speed, the second adjustment joint 121b rotates towards direction K6 in Figure 9 at a preset speed, and the third adjustment joint 121c extends towards direction K7 in Figure 9 at a preset speed, it can be achieved that the third adjustment joint 121c moves towards direction K8 in Figure 9 and along the arc-shaped trajectory N while the deflection axis F always passes through the centroid RC. When the third adjustment joint 121c moves along the arc-shaped trajectory N, it drives the deflection joint 131 and the pitch mechanism 132 to swing around the centroid RC, causing the pitch angle of the deflection joint 131 and the pitch mechanism 132 to change.

[0067] 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, as mentioned above, by controlling the linkage of the first adjustment joint 121a, the second adjustment joint 121b and the third adjustment joint 121c, the third adjustment joint 121c can drive the deflection joint 131 and the pitch mechanism 132 to run along the arc trajectory N. During the running of the deflection joint 131 and the pitch mechanism 132 along the arc trajectory N, the robotic arm 10 can be gradually raised, thereby increasing the distance between the robotic arm 10 and the patient.

[0068] For example, in some other embodiments, as shown in FIG10, the three adjustment joints 121 include a first adjustment joint 121a, a second adjustment joint 121b and a third adjustment joint 121c connected in sequence, wherein the third adjustment joint 121c is connected to the deflection joint 131; wherein the first adjustment joint 121a and the second adjustment joint 121b are linear joints and the third adjustment joint 121c is a rotary joint.

[0069] As shown in Figure 10, in some embodiments, the joint axis E of the first adjusting joint 121a extends vertically, the joint axis E of the second adjusting joint 121b extends horizontally along a first direction, and the joint axis E of the third adjusting joint 121c extends horizontally along a second direction, wherein the first direction and the second direction are different. Optionally, the first direction is perpendicular to the second direction.

[0070] The first adjustment joint 121a, the second adjustment joint 121b, and the third adjustment joint 121c proposed in this embodiment can adjust the pitch angle of the deflection joint 131 and the pitch mechanism 132 while the distal point RC remains stationary. The principle is similar to that of the embodiment shown in Figure 9, and will not be described in detail here.

[0071] The process of adjusting the distance between the robotic arm 10 and the patient proposed in this embodiment is similar to that of the embodiment shown in Figure 9, and will not be described in detail here.

[0072] For example, in some other embodiments, as shown in FIG11, the three adjustment joints 121 include a first adjustment joint 121a, a second adjustment joint 121b and a third adjustment joint 121c connected in sequence, and the third adjustment joint 121c is connected to the deflection joint 131; wherein, the first adjustment joint 121a is a rotary joint, and the second adjustment joint 121b and the third adjustment joint 121c are linear joints.

[0073] As shown in Figure 11, in some embodiments, the joint axis E of the first adjusting joint 121a extends horizontally along a third direction, the joint axis E of the second adjusting joint 121b extends vertically, and the joint axis E of the third adjusting joint 121c extends horizontally along a fourth direction, with the third direction being different from the fourth direction. Optionally, the third direction is perpendicular to the fourth direction.

[0074] The first adjustment joint 121a, the second adjustment joint 121b, and the third adjustment joint 121c proposed in this embodiment can adjust the pitch angle of the deflection joint 131 and the pitch mechanism 132 while the distal point RC remains stationary. The principle is similar to that of the embodiment shown in Figure 9, and will not be described in detail here.

[0075] The process of adjusting the distance between the robotic arm 10 and the patient proposed in this embodiment is similar to that of the embodiment shown in Figure 9, and will not be described in detail here.

[0076] 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 joints 121 can be at least three, with the joint axes E of two sequentially connected adjustment joints being transversely related. A deflection joint 131 is connected to one adjustment joint 121, and a pitch mechanism 132 is connected to the deflection joint 131. 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 a 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 only 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.

[0077] 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.

[0078] Specifically, as shown in Figure 20, joints 121a, 121b, 121c, 121d, and 121e are adjustable joints, while joint 15, located between joints 121a and 121b, 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.

[0079] In this embodiment, the three adjustment joints 121 include a first adjustment joint 121a, a second adjustment joint 121b, and a third adjustment joint 121c connected in sequence, wherein the first adjustment joint 121a, the second adjustment joint 121b, and the third adjustment joint 121c are all rotary joints.

[0080] The embodiment in Figure 20 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 second adjusting joint 121b. 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 second joint 121b, or it can be retracted to raise the height of the second joint 121b, thereby adjusting the height of the second joint 121b, and its connected third adjusting joint 121c, yaw joint 131, and pitch mechanism 132.

[0081] In some embodiments, the joint axes E of the at least three adjusting joints 121 do not pass through the distal point RC.

[0082] In some embodiments, adjusting the attitude of the robotic arm 10 includes: the three adjustment joints 121 driving the yaw joint 131 and the pitch mechanism 132 to pitch in the pitch direction to adjust the pitch angle of the yaw joint 131 and the pitch mechanism 132; and / or, the three adjustment joints 121 driving the yaw joint 131 and the pitch mechanism 132 to yaw in the yaw direction and pitch in the pitch direction to adjust the yaw angle and pitch angle of the yaw joint 131 and the pitch mechanism 132.

[0083] In some embodiments, the joint axes E of the two sequentially connected adjustment joints 121 are substantially perpendicular.

[0084] In some embodiments, the at least three adjustment joints 121 include three rotary joints.

[0085] As shown in Figures 9 to 11, in some embodiments, the at least three adjusting joints 121 include one rotary joint and two linear joints.

[0086] As shown in Figure 9, in some embodiments, the at least three adjustment joints 121 include a first adjustment joint 121a, a second adjustment joint 121b, and a third adjustment joint 121c connected in sequence, with the third adjustment joint 121c connected to the deflection joint 131; wherein, the first adjustment joint 121a and the third adjustment joint 121c are linear joints, and the second adjustment joint 121b is a rotary joint.

[0087] As shown in Figure 10, in some embodiments, the at least three adjustment joints 121 include a first adjustment joint 121a, a second adjustment joint 121b, and a third adjustment joint 121c connected in sequence, with the third adjustment joint 121c connected to the deflection joint 131; wherein, the first adjustment joint 121a and the second adjustment joint 121b are linear joints, and the third adjustment joint 121c is a rotary joint.

[0088] As shown in Figure 11, in some embodiments, the at least three adjustment joints 121 include a first adjustment joint 121a, a second adjustment joint 121b, and a third adjustment joint 121c connected in sequence, with the third adjustment joint 121c connected to the deflection joint 131; wherein, the first adjustment joint 121a is a rotary joint, and the second adjustment joint 121b and the third adjustment joint 121c are linear joints.

[0089] In some embodiments, when only three adjustment joints 121 are controlled to move in tandem, the control system 20 is also 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.

[0090] In some embodiments, the instrument connection mechanism 14 is at least capable of driving the end effector component 230 of the surgical instrument 200 to rotate about the insertion axis H. With only three adjustment joints 121 linked together and the movement of the deflection joint 131 and / or the pitch mechanism 132 controlled, the control system 20 is further configured to control the rotation of the surgical instrument 200 to adjust the attitude of the robotic arm 10 while maintaining the position and orientation of the end effector component 230 of the surgical instrument 200 unchanged.

[0091] 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 strictly geometrical intersection. To implement the adjusting joints, each adjusting joint may have manufacturing or installation tolerances, and deviations resulting from such tolerances are within the scope of this application. The structure, connection relationships, extended descriptions, and beneficial effects of other components of the surgical system 100 proposed in this embodiment can be referred to the embodiments described above, and will not be repeated here.

[0092] As shown in Figure 1, in some embodiments, the joint axes E of the three adjustment joints 121 do not pass through the centroid RC. In this embodiment, the three adjustment joints 121 are subject to fewer constraints, and when adjusting the posture of the robotic arm 10, the three adjustment joints 121 can rotate independently, which provides high flexibility in adjustment and reduces the difficulty of adjustment.

[0093] 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.

[0094] As shown in Figure 21, 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 21, 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] In some embodiments, the yaw axis F, pitch axis G, and insertion axis H are all perpendicular to each other.

[0098] In some embodiments, the deflection joint 131 is a rotation joint.

[0099] In some embodiments, when controlling the three adjustment joints 121 to move in tandem, 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.

[0100] 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.

[0101] In addition to controlling the three adjustment joints 121 to move in tandem, the control system 20 is also 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. The specific principle is as follows:

[0102] As described above, by controlling the linkage of the first adjusting joint 121a, the second adjusting joint 121b, and the third adjusting joint 121c, the third adjusting joint 121c can 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. 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 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 the first adjustment joint 121a, the second adjustment joint 121b, and the third adjustment joint 121c are linked to adjust the posture of the robotic arm 10, the yaw joint 131 and the pitch mechanism 132 can operate in coordination, ensuring that the position and orientation of the insertion axis H remain unchanged.

[0103] 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.

[0104] In some embodiments, the instrument connection mechanism 14 is at least capable of driving the end effector component of the surgical instrument 200 to rotate about the insertion axis H. When controlling the three adjustment joints 121 in linkage 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 orientation of the end effector component 230 of the surgical instrument 200 unchanged. Here, "the position and orientation of the end effector component of the surgical instrument 200 remains unchanged" means that the end effector component of the surgical instrument 200 remains stationary.

[0105] In some embodiments, the robotic arm 10 drives the instrument rod 220 and the end effector 230 to rotate about the insertion axis H via the connection assembly of the surgical instrument 200.

[0106] In addition to controlling the three adjustment joints 121 to move in tandem and controlling the movement of the deflection joint 131 and / or the pitch mechanism 132, the control system 20 is also configured to control the rotation of the surgical instrument 200 to adjust the posture of the robotic arm 10 while maintaining the position and orientation of the end effector 230 of the surgical instrument 200. The specific principle is as follows:

[0107] As described above, by controlling the linkage of the first adjusting joint 121a, the second adjusting joint 121b, and the third adjusting joint 121c, the third adjusting joint 121c can drive the yaw joint 131 and the pitch mechanism 132 to rotate. When the yaw joint 131 and the pitch mechanism 132 rotate, the yaw angle and pitch angle of the yaw joint 131 and the pitch mechanism 132 change, which in turn changes the yaw angle and pitch angle of the inserted axis H. How the yaw joint 131 and the pitch mechanism 132 correct the yaw angle and pitch angle of the inserted axis H can be found above, and will not be elaborated here.

[0108] 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.

[0109] During the process of the third adjusting joint 121c driving the yaw joint and pitch mechanism to rotate, the third adjusting joint 121c can rotate around a predetermined axis, but this application is not limited thereto.

[0110] 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.

[0111] 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 about the pitch axis G.

[0112] In some other embodiments, controlling the movement of the yaw joint 131 and / or the pitch mechanism 132 includes: the yaw joint 131 not rotating about the yaw axis F, and the pitch mechanism 132 pitching itself about the pitch axis G.

[0113] 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.

[0114] 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 13 and 14, when the robotic arm 10 is in the working posture shown in Figure 13, 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 14. 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.

[0115] 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.

[0116] 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.

[0117] In some embodiments, the three adjustment joints 121 include a first adjustment joint 121a, a second adjustment joint 121b, and a third adjustment joint 121c connected in sequence, with the third adjustment joint 121c connected to the deflection joint 131; the third adjustment joint 121c, the deflection joint 131, and the pitch mechanism 132 are located on the same side of the line connecting the first adjustment joint 121a and the second adjustment joint 121b, and the line connecting the first adjustment joint 121a and the second adjustment joint 121b and its extension do not intersect with the third adjustment joint 121c, the deflection joint 131, and the pitch mechanism 132.

[0118] As shown in Figures 1 and 15, in some embodiments, the pitch mechanism 132 includes a first rotary joint 1321, a second rotary joint 1322, a third rotary joint 1323, a first link L1, and a second link L2. The first rotary joint 1321 is connected to the yaw joint 131, the second rotary joint 1322 is connected to the first rotary joint 1321 via the first link L1, and the third rotary joint 1323 is connected to the second rotary joint 1322 via the second link L2. The instrument connection mechanism 14 is connected to the third rotary joint 1323. Projected orthographically onto a plane perpendicular to the pitch axis G, the line connecting the joint axis E of the first rotary joint 1321, the joint axis E of the second rotary joint 1322, the joint axis E of the third rotary joint 1323, and the pitch axis G forms a parallelogram.

[0119] 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.

[0120] It should be noted that the pitch is not limited to the above-described implementation. For example, in some other embodiments, as shown in FIG16, 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 131, and the instrument connection mechanism 14 is slidably connected to the arc guide rail 101.

[0121] It should be noted that the pitch is not limited to the above-described implementation. For example, in some other embodiments, as shown in FIG17, the pitch mechanism 132 includes a fourth rotary joint 1324, a first arc-shaped rod S1 and a second arc-shaped rod S2. The fourth rotary joint 1324 is connected to the deflection joint 131 through the first arc-shaped rod S1, and the instrument connection mechanism 14 is connected to the fourth rotary joint 1324 through the second arc-shaped rod S2. The joint axis E of the fourth rotary joint 1324 passes through the distal point RC.

[0122] It should be noted that the pitch is not limited to the above-described embodiments. For example, in some other embodiments, as shown in FIG18, the pitch mechanism 132 includes a fifth rotary joint 1325, a sixth rotary joint 1326, a seventh rotary joint 1327, an eighth rotary joint 1328, a ninth rotary joint 1329, a tenth rotary joint 1330, an eleventh rotary joint 1331, 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 1325 is connected to the deflection joint 131. The sixth rotary joint 1326 is connected to the fifth rotary joint 1325 via the third link L3. The seventh rotary joint 1327 is connected to the sixth rotary joint 1326 via the fourth link L4. The eighth rotary joint 1328 is connected to the seventh rotary joint 1327 via the fifth link L5. The eighth rotary joint 1328 is connected to the fifth rotary joint 1325 via the sixth link L6. The ninth rotary joint 1329 is connected to the seventh rotary joint 1327 via the seventh link L7. The tenth rotary joint 1330 is located between the seventh rotary joint 1327 and the eighth rotary joint 1328 and is connected to the fifth link L5. The eleventh rotary joint 1331 is connected to the ninth rotary joint 1329 via the eighth link L8. The eleventh rotary joint 1331 is connected to the tenth rotary joint 1330 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 1325, the joint axis E of the sixth rotary joint 1326, the joint axis E of the seventh rotary joint 1327, and the joint axis E of the eighth rotary joint 1328 forms a parallelogram; the line connecting the joint axis E of the seventh rotary joint 1327, the joint axis E of the ninth rotary joint 1329, the joint axis E of the tenth rotary joint 1330, and the joint axis E of the eleventh rotary joint 1331 forms a parallelogram; and the line connecting the joint axis E of the eighth rotary joint 1328, the joint axis E of the tenth rotary joint 1330, the joint axis E of the eleventh rotary joint 1331, and the pitch axis G forms a parallelogram.

[0123] It should be noted that the pitch is not limited to the above-described implementation. For example, in some other embodiments, as shown in FIG19, the pitch mechanism 132 includes a twelfth rotary joint, which is connected to the yaw joint 131. The twelfth rotary joint is located at the distal point RC, and the instrument connection mechanism 14 is connected to the twelfth rotary joint.

[0124] 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.

[0125] 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 joint axes of two adjacent adjusting joints are transverse to each other, and all adjusting joints are rotary joints; A deflection joint, which is connected to one of the adjustment joints; 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 work together, so that the at least one robotic arm can adjust its posture while the distal point remains stationary.

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, 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; and / 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.

4. The surgical system as described in claim 1, characterized in that, The joint axes of two adjacent adjustable joints are approximately perpendicular.

5. The surgical system as described in claim 4, characterized in that, The three adjustment joints include a first adjustment joint, a second adjustment joint, and a third adjustment joint, wherein the third adjustment joint is connected to the deflection joint; The joint axis of the first adjusting joint extends vertically, and the joint axis of the second adjusting joint extends horizontally. Projected orthogonally onto a plane perpendicular to the joint axis of the second adjusting joint, the joint axis of the third adjusting joint is set at an angle to the joint axis of the first adjusting joint.

6. 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 adjusting joints, with the joint axes of two adjusting joints connected in sequence being transverse to each other; A deflection joint, which is connected to one of the adjustment joints; 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 only three of the at least three adjustment joints to move in tandem, 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 6, characterized in that, The joint axes of the at least three adjustable joints do not pass through the distal point.

8. The surgical system as described in claim 6, characterized in that, Adjusting the posture of the robotic arm includes: The three adjustment joints drive 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; and / or, The three adjustment joints drive 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.

9. The surgical system as described in claim 6, characterized in that, The joint axes of the two sequentially connected adjustment joints are approximately perpendicular.

10. The surgical system as claimed in claim 6, characterized in that, The at least three adjustment joints include three rotational joints.

11. The surgical system as claimed in claim 6, characterized in that, The at least three adjustment joints include one rotary joint and two linear joints.

12. The surgical system as claimed in claim 11, characterized in that, The at least three adjustment joints include a first adjustment joint, a second adjustment joint, and a third adjustment joint connected in sequence, wherein the third adjustment joint is connected to the deflection joint; Wherein, the first adjusting joint and the third adjusting joint are linear joints, and the second adjusting joint is a rotary joint.

13. The surgical system as claimed in claim 12, characterized in that, The joint axis of the first adjusting joint extends vertically, and the joint axis of the second adjusting joint extends horizontally; when projected onto a plane perpendicular to the joint axis of the second adjusting joint, the joint axis of the third adjusting joint is set at an angle to the joint axis of the first adjusting joint.

14. The surgical system as claimed in claim 11, characterized in that, The at least three adjustment joints include a first adjustment joint, a second adjustment joint, and a third adjustment joint connected in sequence, wherein the third adjustment joint is connected to the deflection joint; Wherein, the first adjusting joint and the second adjusting joint are linear joints, and the third adjusting joint is a rotary joint.

15. The surgical system as claimed in claim 14, characterized in that, The joint axis of the first adjusting joint extends vertically, the joint axis of the second adjusting joint extends horizontally in a first direction, and the joint axis of the third adjusting joint extends horizontally in a second direction, wherein the first direction is different from the second direction.

16. The surgical system as claimed in claim 11, characterized in that, The at least three adjustment joints include a first adjustment joint, a second adjustment joint, and a third adjustment joint connected in sequence, wherein the third adjustment joint is connected to the deflection joint; Wherein, the first adjusting joint is a rotary joint, and the second and third adjusting joints are linear joints.

17. The surgical system as claimed in claim 16, characterized in that, The joint axis of the first adjusting joint extends horizontally along a third direction, the joint axis of the second adjusting joint extends vertically, and the joint axis of the third adjusting joint extends horizontally along a fourth direction, wherein the third direction is different from the fourth direction.

18. The surgical system as claimed in claim 1 or 6, characterized in that, When controlling the three adjustment joints to move in tandem or controlling only the three adjustment joints to move in tandem, the control system is further 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.

19. The surgical system as claimed in claim 18, 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 three adjustment joints or the three adjustment joints in linkage and controlling the movement of the deflection joint and / or the pitch mechanism, the control system 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 effector of the surgical instrument unchanged.

20. The surgical system as claimed in claim 18 or 19, characterized in that, Controlling the movement of the yaw joint and / or the pitch mechanism includes: Control the yaw joint to rotate about the yaw axis, and control the pitch mechanism itself to pitch about the pitch axis; 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.

21. The surgical system as described in claim 18 or 19, 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.

22. The surgical system as described in claim 1 or 6, characterized in that, The adjusting joint includes a first adjusting joint, a second adjusting joint, and a third adjusting joint connected in sequence, wherein the third adjusting joint is connected to the deflection joint; The third adjustment joint, the deflection joint, and the pitch mechanism are located on the same side of the line connecting the first adjustment joint and the second adjustment joint, and the line connecting the first adjustment joint and the second adjustment joint and its extension do not intersect the third adjustment joint, the deflection joint, and the pitch mechanism.

23. The surgical system as described in claim 1 or 6, characterized in that, The adjusting joint includes a first adjusting joint, a second adjusting joint, and a third adjusting joint connected in sequence, wherein the joint axes of the first adjusting joint, the second adjusting joint, and the third adjusting joint intersect at a point.

24. The surgical system as described in claim 1 or 6, 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.

25. The surgical system as described in claim 1 or 6, 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.

26. The surgical system as described in claim 1 or 6, 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.

27. The surgical system as claimed in claim 1 or 6, 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.

28. The surgical system as described in claim 1 or 6, 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.

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