CN115957007A - Surgical Robotic System - Google Patents

Abstract

The surgical robot system comprises a supporting assembly, an operating table and a plurality of groups of manipulator assemblies, wherein the operating table is arranged on the supporting assembly, the plurality of groups of manipulator assemblies are arranged on the supporting assembly at intervals along a first direction, each group of manipulator assemblies comprises a main manipulator and an auxiliary manipulator, the auxiliary manipulator can move along the first direction relative to the supporting assembly, the main manipulator can move along a second direction relative to the supporting assembly, and the first direction is different from the second direction. So, can reduce surgical robot system's occupation space for surgical robot system's simple structure, and the direction of motion of the main machinery hand of every group manipulator subassembly and auxiliary manipulator is different, can ensure that the manipulator subassembly can carry end effector and move almost all positions of setting for the space within range, thereby make the manipulator subassembly can support the operation type of multiple difference, improved surgical robot system's flexibility ratio.

Description

Surgical Robotic System

technical field

The invention relates to the technical field of medical instruments, in particular to a surgical robot system.

Background technique

The surgical robot system can keep the surgeon away from the operating table to perform surgery, making the surgical robot system widely used in the field of minimally invasive surgery. However, for the traditional surgical robot system, it usually has the defects of relatively complex structure and low flexibility, which makes the surgical robot system unable to meet the increasing surgical requirements.

Contents of the invention

A technical problem solved by the present invention is how to improve the flexibility of the surgical robot system on the basis of a simple structure; the present invention solves the above technical problem through the following technical solutions.

The present invention provides a surgical robot system, comprising:

support components;

an operating table disposed on the support assembly; and

Multiple sets of manipulator assemblies, multiple sets of manipulator assemblies are arranged at intervals along the first direction on the support assembly, each set of manipulator assemblies includes a main manipulator and an auxiliary manipulator, and the auxiliary manipulator can move along the first direction relative to the support assembly. moving in one direction, the main manipulator can move in a second direction relative to the supporting assembly, and the first direction is different from the second direction.

In one of the embodiments, each set of manipulator assemblies includes a plurality of main manipulators and at least one auxiliary manipulator, and each of the auxiliary manipulators is located between two of the main manipulators of the plurality of main manipulators. between.

In one embodiment, the operating table includes a head end and a tail end opposite to each other, and a direction from the head end to the tail end is consistent with the first direction.

In one of the embodiments, the main manipulator includes a main reference section, a main docking section and a main operating section, the main reference section is connected to the support assembly, and can move relative to the support assembly along the second direction , the main docking section is movably connected between the main reference section and the main operating section, and the main operating section can be detachably connected to an end effector.

In one of the embodiments, the main surgical section includes a first surgical joint and a second surgical joint, the first surgical joint is connected to the main butt joint and can rotate relative to the main butt joint, the second surgical joint is Two surgical joints are connected to the first surgical joint and can rotate relative to the first surgical joint. The rotational axis of the first surgical joint is perpendicular to the rotational axis of the second surgical joint. The first surgical joint and the second surgical joint form a mechanical distal point, the mechanical distal point is located on the end effector, and the main manipulator can drive the end effector to move relative to the mechanical distal point.

In one embodiment, the main surgical section further includes a third surgical joint, which is slidably connected to the second surgical joint and can be detachably connected to the end effector.

In one of the embodiments, the main docking section includes a plurality of pitch joints and a plurality of rotation joints, the main docking section is connected to the main reference section through the rotation joints, each of the rotation joints is connected to two between two pitch joints, and each pitch joint is connected between two rotation joints, the rotation axis of each rotation joint is perpendicular to the rotation axis of the adjacent pitch joint, one of which is The pitch joint is detachably connected to the adjacent rotation joint.

In one of the embodiments, the rotation joint detachably connected to the adjacent pitch joint can be detachably connected to the orthopedic surgery actuator.

In one embodiment, the manipulator assembly further includes a plurality of torque sensors, and the plurality of torque sensors are arranged on the main reference section and/or the main docking section.

In one of the embodiments, the auxiliary manipulator includes an auxiliary reference segment, an auxiliary docking segment and an auxiliary operation segment, the auxiliary reference segment is connected to the support assembly and can move in a third direction relative to the support assembly, so The first direction, the second direction, and the third direction are distinguished in pairs, the auxiliary butt joint segment is movably connected between the auxiliary reference segment and the auxiliary operation segment, and the auxiliary operation segment can be connected with The end effector is detachably connected.

In one of the embodiments, the support assembly includes a base and a column, the operating table and the base are arranged at intervals along the second direction, the column is connected between the base and the operating table, the The operating table is movably connected to the column, and the two sets of manipulator assemblies are respectively arranged on opposite sides of the column.

In one of the embodiments, the operating table has a first rotation axis and a second rotation axis, the first rotation axis extends along the first direction, and the second rotation axis extends along the direction perpendicular to the first direction. and the direction extending in the second direction.

In one embodiment, the operating table includes a bed board and a leg board, the leg board is connected to the end of the bed board, and an obtuse angle is formed between the plane where the bed board is located and the plane where the leg board is located.

Compared with the prior art, the surgical robot system provided by the present invention includes a support assembly, an operating table, and multiple sets of manipulator assemblies. The assembly includes a main manipulator and an auxiliary manipulator, the auxiliary manipulator can move relative to the support assembly along a first direction, and the main manipulator can move relative to the support assembly along a second direction different from the first direction. In this way, the occupied space of the surgical robot system can be reduced, the structure of the surgical robot system is simple, and the movement directions of the main manipulator and the auxiliary manipulator of each group of manipulator components are different, which can ensure that the manipulator components can carry the end effector to move to the set space Almost all points within the range, so that the manipulator assembly can support a variety of different types of surgery, improving the flexibility of the surgical robot system.

Description of drawings

FIG. 1 is a schematic structural diagram of a surgical robot system provided by the present invention.

FIG. 2 is another structural schematic diagram of the surgical robot system shown in FIG. 1 .

FIG. 3 is a schematic structural diagram of the main manipulator of the surgical robot system shown in FIG. 1 .

FIG. 4 is a schematic structural diagram of an auxiliary manipulator of the surgical robot system shown in FIG. 1 .

FIG. 5 is a working state diagram of the surgical robot system shown in FIG. 1 when performing interventional surgery on the natural passage of the head.

Fig. 6 is a working state diagram of the surgical robot system shown in Fig. 1 when performing interventional surgery on the genital tract.

FIG. 7 is a working state diagram of the surgical robot system shown in FIG. 1 when performing an interventional operation on a different side.

Fig. 8 is a working state diagram of the surgical robot system shown in Fig. 1 when performing double knee replacement surgery.

Detailed ways

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "inner", "outer", "left", "right" and similar expressions are used herein for the purpose of description only and do not represent the only embodiment.

The inventors of the present application found that the traditional surgical robot system mainly includes two types, one of which has the manipulator assembly and the operating bed separated, so that the manipulator assembly and the operating bed are in a completely independent state, so this type of surgery Robots are relatively complex in structure and take up a lot of space. Another type of surgical robot system is the combination of the manipulator assembly and the operating bed, that is, the manipulator assembly of this type of surgical robot system is set on the operating bed through the manipulator base, and the manipulator base can move relative to the operating bed, but this type of operation The manipulator base of the robot system can only move along a specific path, such as moving along a straight line, and the manipulator assembly cannot drive the end effector to certain points within the set space range, so it cannot support a variety of different surgical types , so the flexibility of this type of surgical robot system is relatively low, resulting in the inability to meet the surgical requirements of various movement forms.

In order to improve at least part of the above-mentioned problems, the present application provides a surgical robot system. By arranging multiple sets of manipulator components directly on the support component, it can be understood that the manipulator components are directly integrated on the support component, which can reduce the structure of the entire surgical robot system , thereby reducing the occupied space of the surgical robot system. At the same time, the number of manipulator components is multiple groups, and multiple sets of manipulator components are arranged at intervals along the first direction. Each manipulator component includes an auxiliary manipulator and a main manipulator. The auxiliary manipulator can move relative to the support component along the first direction, and the main manipulator can move relative to the support component Moving in a second direction, the second direction is different from the first direction, that is, the first direction is different from the second direction, so that the entire manipulator assembly can drive the end effector to move to almost all points within the set space range, Make the end effector move quickly and accurately to the designated point, improve the speed and accuracy of the end effector movement, thereby supporting a variety of different surgical types, improving the flexibility of the surgical robot system, and ensuring that the surgical machine system meets various Surgical requirements with varied forms of movement. The surgical robot system provided by the present application will be described in detail below in conjunction with specific implementation methods and accompanying drawings.

Referring to FIG. 1 and FIG. 2 , a surgical robot system 10 provided by an embodiment of the present invention includes a support assembly 101 , an operating table 102 and a manipulator assembly 103 . Both the manipulator assembly 103 and the operating table 102 are disposed directly on the support assembly 101 .

In some embodiments, the support assembly 101 includes a base 1011 and a column 1012. For example, the base 1011 can be a substantially rectangular flat plate structure. One end of the column 1012 is fixed on a surface in the thickness direction of the base 1011, and the other end of the column 1012 is opposite to the base. 1011 protrudes to a certain height, and the column 1012 and the base 1011 can be perpendicular to each other. For ease of description, the length direction of the base 1011 may be marked as a first direction, the thickness direction of the base 1011 may be marked as a second direction, and the width direction of the base 1011 may be marked as a third direction. The first direction, the second direction, and the third direction are perpendicular to each other, and the three can be regarded as the extension directions of the three coordinate axes of the space Cartesian coordinate system. Specifically, the first direction can be the X-axis direction, and the second direction can be the Z-axis direction, the third direction may be the Y-axis direction. The X-axis and the Y-axis can jointly define a horizontal plane, the Z-axis direction is vertical to the horizontal plane, and the Z-axis direction can be the gravity direction of the support assembly 101 when the surgical robot system 10 is in working state, so the Z-axis direction can also be understood as a vertical direction. In other embodiments, the first direction, the second direction and the third direction may not be perpendicular to each other, for example, any two of them may form an acute angle.

In some embodiments, the operating table 102 and the base 1011 are arranged at intervals along the second direction (ie, the Z-axis direction), and the operating table 102 is located above the base 1011 when the surgical robot system 10 is in a working state. Operating table 102 comprises relative head end 1023 and tail end 1024, and wherein, head end 1023 can correspond to patient's head, and tail end 1024 is corresponding to patient's buttocks and following position, and the direction from head end 1023 to tail end 1024 is the same as the first end 1024. One direction is the same, which can be generally understood as that the operating table 102 extends roughly along the first direction (that is, the X-axis direction), that is, multiple groups of manipulator assemblies 103 are arranged along the direction from the head end to the tail end 1024, so that it is convenient to pass through the corresponding manipulator assembly 103 to complete the corresponding operation, for example, the manipulator assembly 103 at the head end 1023 to complete the head natural passage intervention operation, and the manipulator assembly 103 at the tail end 1024 to complete the genital tract intervention operation, etc. The operating table 102 can include a bed board 1021, and the bed board 1021 can also be roughly a rectangular flat structure. Connected between the bed board 1021 and the base 1011 , the column 1012 provides support for the installation of the bed board 1021 .

Operating table 102 can also comprise leg board 1022, and the quantity of leg board 1022 can be two, and one end of two leg boards 1022 is all connected with the same end of bed board 1021, and the other end of leg board 1022 is free end, two legs The board 1022 is arranged along the width direction of the bed board 1021 , for example, two leg boards 1022 are arranged at intervals along the Y-axis direction. The plane where the bed board 1021 is located is set at an obtuse angle to the plane where the leg board 1022 is located. During the operation, the patient's head, waist and buttocks can be carried on the bed board 1021, and the patient's two legs can be carried on the two legs respectively. On the board 1022, it is convenient for the patient to bend the leg to expose the site to be operated, which is beneficial to the operation.

In this embodiment, the bed board 1021 can generate an overturning movement relative to the column 1012, so that the entire operating table 102 is overturned at a certain angle relative to the column 1012, so as to adjust the patient's body position to facilitate the operation. The bed board 1021 has a first rotation axis and a second rotation axis. The first rotation axis extends along a first direction (ie, the X-axis direction), and the second rotation axis extends along a third direction (ie, the Y-axis direction). When the bed board 1021 rotates around the first rotation axis, the angle between the plane where the bed board 1021 is located and the Y axis and the Z axis will change; when the bed board 1021 rotates around the second rotation axis, the plane where the bed board 1021 is located and the X axis and the Z axis The angle between the axes will vary. For example, a first rotating shaft that is rotatably connected to the column 1012 can be provided. The axis of the first rotating shaft is the first rotating axis. The bed board 1021 is fixedly connected with the first rotating shaft. The first axis of rotation produces a tumbling movement. For another example, the column 1012 can be divided into two sections, which are respectively marked as the first section and the second section, the first section is fixedly connected with the bed board 1021, the second section is fixedly connected with the base 1011, and the second section is connected with rotation There is a second rotating shaft, and the axis of the second rotating shaft is the second rotating axis. The first section is fixed on the second rotating shaft. When the first section produces a turning motion relative to the second section along the second rotating axis, the first section will drive The bed board 1021 produces an overturning motion relative to the column 1012 along the second rotation axis.

In some embodiments, the manipulator assembly 103 can be set on the base 1011, and end effectors such as surgical scissors or hemostats can be installed on the manipulator assembly 103, so that the manipulator assembly 103 can operate on the patient through the end effector. When the surgical robot system 10 is working, the manipulator assembly 103 is in an extended state, and the end effector installed on the manipulator assembly 103 will be located above the operating table 102; when the surgical robot system 10 is put on hold, the manipulator assembly 103 can be in a fully retracted state, At this time, the manipulator assembly 103 will be located under the operating table 102, so that the manipulator assembly 103 is accommodated in the space between the operating table 102 and the base 1011, thereby reducing the occupied space of the entire surgical robot system 10 and facilitating the handling of the surgical robot system 10 and storage.

In some embodiments, the number of manipulator assemblies 103 can be two groups, and the two groups of manipulator assemblies 103 are located on opposite sides of the column 1012, so that the column 1012 is located between the two groups of manipulator assemblies 103, so that the column 1012 can make full use of the two The installation space between the group manipulator assemblies 103 is conducive to improving the structural compactness of the entire surgical robot system 10 . Each group of manipulator assemblies 103 includes a plurality of main manipulators 100 and at least one auxiliary manipulator 200. The main manipulator 100 can be a manipulator for manual intervention. hole, so that the end effector installed on the main manipulator 100 enters the patient's body through the puncture sheath for surgical operation. The auxiliary manipulator 200 can be a natural channel interventional manipulator. Specifically, the auxiliary manipulator 200 can enter the body through the surgical instrument installed on itself and make full use of the patient's natural orifice, wherein the natural orifice can be the oral cavity, nasal cavity or genital cavity Road and so on.

In this embodiment, each auxiliary manipulator 200 is located between two main manipulators 100 of the plurality of main manipulators 100. Since the above-mentioned natural orifice is roughly located in the middle of the human body, by setting each auxiliary manipulator 200 on multiple Between the two main manipulators 100 of the main manipulator 100, it is convenient to set the position of the auxiliary manipulator 200 to roughly correspond to the position of the above-mentioned natural cavity, so that the auxiliary manipulator 20 is beneficial to perform natural channel interventional surgery. For example, each group of manipulator components 103 may include two main manipulators 100 and one auxiliary manipulator 200 , and the auxiliary manipulator 200 is located between the two main manipulators 100 . Specifically, for the same manipulator assembly 103, when the auxiliary manipulator 200 and the main manipulator 100 are in a fully retracted state, the auxiliary manipulator 200 and the main manipulator 100 are arranged at intervals along the third direction (that is, the Y-axis direction), so that the auxiliary manipulator 200 is located at two positions. Between 100 master manipulators. In this way, the auxiliary manipulator 200 makes full use of the accommodation space between the two main manipulators 100 , reduces the occupied space of the manipulator assembly 103 and the entire surgical robot system 10 , and is also conducive to improving the flexibility of the movement of the manipulator assembly 103 .

3, in some embodiments, the main manipulator 100 includes a main reference section 110, a main docking section 120 and a main operation section 130, the main reference section 110 is connected to the support assembly 101, for example, the main reference section 110 can be connected with the column 1012 along the second Sliding connection in two directions (ie, Z-axis direction), the main butt joint section 120 is movably connected between the main reference section 110 and the main operating section 130 . Wherein, the main reference section 110 is used to provide a reference position, and the main docking section 120 provides coordinated movement so that the main operation section 130 can move the end effector to a designated position. In this embodiment, the main operating segment 130 can be detachably connected to the end effector. When the surgical robot system 10 is working, the end effector is installed on the main operating segment 130 to perform surgical operations. It is unloaded from the main operation section 130, thereby improving the convenience of the surgical robot system 10 during the transportation process.

The main operation segment 130 includes a first operation joint 131 and a second operation joint 132. The first operation joint 131 is connected to the main butt joint 120. The first operation joint 131 can rotate relative to the main connection segment 120. The second operation joint 132 is connected to the second operation joint 132. An operation joint 131, the second operation joint 132 can rotate relative to the first operation joint 131, the rotation axis of the first operation joint 131 is perpendicular to the rotation axis of the second operation joint 132, the first operation joint 131 and the second operation joint 132 form The mechanical telecentric point 160 is located at the end effector, and the main manipulator 100 can drive the end effector to move relative to the mechanical telecentric point 160. Specifically, when the end effector moves relative to the mechanical telecentric point 160, the mechanical telecentric point The heart point 160 will not move, thereby ensuring the safety of the operation.

The main operation segment 130 also includes a third operation joint 133, which is slidably connected to the second operation joint 132. For example, the third operation joint 133 is provided with a chute, and the second operation joint 132 is provided with a sliding groove to slide with the chute. The matched slide rails can realize the sliding connection relationship between the third surgical joint 133 and the second surgical joint 132 in this way. The third surgical joint 133 can be detachably connected to the end effector, and the end effector can be unloaded from the third surgical joint 133 when shelving, thereby improving the convenience of the surgical robot system 10 during transportation.

The main docking section 120 includes a plurality of pitch joints 121 and a plurality of rotation joints 122, the main docking section 120 is connected with the main reference section 110 through the rotation joints 122, each rotation joint 122 is connected between two pitch joints 121, and each The pitch joint 121 is connected between the two rotary joints 122 , generally speaking, the rotary joint 122 and the pitch joint 121 are connected alternately in sequence. The rotation axis of each swivel joint 122 is perpendicular to the rotation axis of the adjacent pitch joint 121 .

In some embodiments, the rotary joint 122 may include a column part 1221 extending along a straight line, that is, the axis of the column part 1221 is a straight line, and the rotary joint 122 will rotate around the axis of the column part 1221 . When the swivel joint 122 is connected to the pitch joint 121 , the column portion 1221 of the swivel joint 122 is directly connected to the pitch joint 121 . For the rotary joint 122 connected between two adjacent pitch joints 121, when the pitch joint 121 directly connected to the column part 1221 is stationary, and the rotary joint 122 and another pitch joint 121 rotate, the axis of the column part 1221 and the The included angle between the pitch joints 121 directly connected to the column part 1221 remains unchanged, while the included angle between the axis of the column part 1221 and another pitch joint 121 will change.

In some embodiments, the main manipulator 100 may have twelve main joints, wherein the twelve main joints may be sequentially recorded as the first main joint 141, the second main joint 142 ... the twelfth main joint 152, the first The main joint 141 to the twelfth main joint 152 are connected in sequence. Specifically, the first main joint 141 can be slidably connected to the column 1012 along the second direction, the second main joint 142 is directly connected to the first main joint 141, the third main joint 143 is directly connected to the second main joint 142, and so on, That is, the N+1th main joint is directly connected to the Nth main joint (3≤N≤9), the eleventh main joint 151 is directly connected to the tenth main joint 150 , and the twelfth main joint 152 is directly connected to the eleventh main joint 151 .

The above-mentioned first main joint 141 to third main joint 143 can form the main reference segment 110, the fourth main joint 144 to the ninth main joint 149 can form the main butt joint segment 120, and the tenth main joint 150 to the twelfth main joint 152 can form A main surgical section 130 is formed. Therefore, the fourth main joint 144 to the ninth main joint 149 are the pitch joint 121 and the rotation joint 122; the tenth main joint 150 is the first operation joint 131; the eleventh main joint 151 is the second operation joint 132; The twelve main joints 152 are the above-mentioned third surgical joints 133 .

For example, the fourth main joint 144 is a rotary joint 122, and the column part 1221 of the fourth main joint 144 is directly connected with the third main joint 143. During the rotation of the fourth main joint 144, the column part 1221 of the fourth main joint 144 The included angle between the axis of the axis and the third main joint 143 can remain unchanged. The fifth main joint 145 is the pitch joint 121 , and when the fifth main joint 145 rotates, the angle between the axis of the column part 1221 of the fourth main joint 144 and the fifth main joint 145 changes. The sixth main joint 146 is a revolving joint 122 . During the rotation of the sixth main joint 146 , the included angle between the axis of the column part 1221 of the sixth main joint 146 and the fifth main joint 145 may remain unchanged. The seventh main joint 147 is the pitch joint 121 . During the rotation of the seventh main joint 147 , the angle between the axis of the column portion 1221 of the sixth main joint 146 and the seventh main joint 147 changes. The eighth main joint 148 is a revolving joint 122 . During the rotation of the eighth main joint 148 , the included angle between the axis of the column portion 1221 of the eighth main joint 148 and the seventh main joint 147 may remain unchanged. The ninth main joint 149 is the pitch joint 121 , and when the ninth main joint 149 rotates, the included angle between the axis of the column part 1221 of the eighth main joint 148 and the ninth main joint 149 changes. Therefore, the fourth main joint 144 is the rotation joint 122 , the fifth main joint 145 is the pitch joint 121 , the sixth main joint 146 is the rotation joint 122 , the seventh main joint 147 is the pitch joint 121 , and the eighth main joint 148 is the rotation joint 122 , the ninth main joint 149 is the pitch joint 121 . In other embodiments, the fourth main joint 144 is the pitch joint 121, the fifth main joint 145 is the rotation joint 122, the sixth main joint 146 is the pitch joint, the seventh main joint 147 is the rotation joint 122, and the eighth main joint 148 is the pitch joint 121 , and the ninth main joint 149 is the rotation joint 122 .

For the main reference segment 110 , the second main joint 142 may be the rotation joint 122 , and the third main joint 143 may be the pitch joint 121 . For the main operation section 130 , the tenth main joint 150 may be the rotation joint 122 , and the eleventh main joint 151 may be the pitch joint 121 .

Therefore, for the ten main joints such as the second main joint 142 to the eleventh main joint 151 in the main manipulator 100, according to the connection sequence of the ten main joints, the pitch joint 121 and the rotation joint 122 can appear alternately in turn, for example, When the second main joint 142 is the rotation joint 122, the third main joint 143 is the pitch joint 121, the fourth main joint 144 is the rotation joint 122, the fifth main joint 145 is the pitch joint 121, and the sixth main joint 146 is the rotation joint 122, the seventh main joint 147 is the pitch joint 121, the eighth main joint 148 is the rotation joint 122, the ninth main joint 149 is the pitch joint 121, the tenth main joint 150 is the rotation joint 122, and the eleventh main joint 151 is the pitch joint joint 121.

In view of the above-mentioned settings of the main manipulator 100, the twelfth main joint 152 can have a higher degree of freedom, so that the twelfth main joint 152 drives the end effector to quickly and accurately reach almost all points within the set space range , so that the twelfth main joint 152 can drive the end effector to support various types of operations, which improves the flexibility of the surgical robot system 10 .

During the use of the main manipulator 100 , a minimally invasive hole can be artificially opened on the patient's body, and a puncture sheath can be passed through the minimally invasive hole, so that the end effector can enter the patient's body through the puncture sheath to perform surgical operations. For the entire main manipulator 100 , the main reference section 110 mainly provides a reference position for the whole main manipulator 100 , so as to facilitate the docking of the docking device fixed on the tenth main joint 150 with the cannula. During the operation, the main operating section 130 provides various movements of surgical instruments relative to the mechanical apocentric point 160, the main reference section 110 and the main docking section 120 can be stationary, and the mechanical apocentric point 160 can be understood as a surgical intervention point. When the patient's body position needs to be adjusted, the postures of the main reference section 110 and the main butt joint section 120 can be directly adjusted by hand, so as to ensure that the surgical instrument accurately arrives at a safe surgical intervention point.

3 and 8, in some embodiments, in the main docking section 120 of the main manipulator 100, one of the pitch joints 121 is detachably connected to the adjacent rotary joint 122, and for the detachable connection with the pitch joint 121 The rotary joint 122 can be detachably connected with the orthopedic surgery implement 170 . For example, the ninth main joint 149 is the pitch joint 121 , the ninth main joint 149 is detachably connected to the eighth main joint 148 as the rotation joint 122 , and the orthopedic surgery actuator 170 can be detachably installed on the eighth main joint 148 . In double knee replacement surgery, the ninth main joint 149 can be unloaded from the eighth main joint 148, so that the ninth main joint 149 to the twelfth main joint 152 are all unloaded, and the orthopedic surgical actuator 170 is installed on the eighth main joint 148. Main joint 148 for double knee orthopedic surgery. In this way, the surgical robot system 10 is compatible with orthopedic surgery, which enables the surgical robot system 10 to have a wider application range, and improves the versatility of the surgical robot system 10 .

In some embodiments, the manipulator assembly 103 further includes a torque sensor (not shown in the figure), the number of the torque sensor may be multiple, and the multiple torque sensors are disposed on the main reference section 110 and/or the main docking section 120 . When the patient's body position is adjusted, the position of the end effector will also be adjusted at the same time. Usually, the doctor directly applies a drag force to the tenth main joint 150, so that the end effector moves to a designated position. During the movement of the tenth main joint 150, the main reference section 110 and/or the main butt joint section 120 will also move at the same time, and the torque sensor will detect the magnitude of the drag force, so that the motor will assist the movement of each main joint, This makes manual adjustment of the main manipulator 100 easier and more convenient, and also improves the safety of the main manipulator 100 carrying surgical instruments into the puncture sheath to a certain extent.

Referring to FIG. 1 , FIG. 2 and FIG. 4 , in some embodiments, the auxiliary manipulator 200 includes an auxiliary reference segment 210 , an auxiliary docking segment 220 and an auxiliary operation segment 230 . The auxiliary reference segment 210 is connected to the support assembly 101, and can move relative to the support assembly 101 along a third direction, the auxiliary docking segment 220 is movably connected between the auxiliary reference segment 210 and the auxiliary operation segment 230, and the auxiliary operation segment 230 can be connected to the end The actuator is detachably connected.

The auxiliary manipulator 200 includes a plurality of auxiliary joints, and the number of auxiliary joints in the same auxiliary manipulator 200 may be less than the number of main joints in the same main manipulator 100 . For example, the number of auxiliary joints in the auxiliary manipulator 200 can be eight, and further, the fourth main joint 144 in the main manipulator 100 can be unloaded from the fifth main joint 145, so that the first main joint 141 to the fourth main joint Joints 144 are fully unloaded. The remaining fifth main joint 145 to twelfth main joint 152 will form the above-mentioned auxiliary manipulator 200 . The eight auxiliary joints in the auxiliary manipulator 200 can be recorded as the first auxiliary joint 241 to the eighth auxiliary joint 248 respectively, and the first auxiliary joint 241 to the eighth auxiliary joint 248 are connected in sequence. Specifically, the first auxiliary joint 241 can be slidably connected to the base 1011 along the third direction (ie, the Z-axis direction), the second auxiliary joint 242 is directly connected to the first auxiliary joint 241 , and the third auxiliary joint 243 is directly connected to the second auxiliary joint. 242, and so on, that is, the N+1th main joint is directly connected to the Nth main joint (3≤N≤6), and the eighth auxiliary joint 248 is directly connected to the seventh auxiliary joint 247. The first auxiliary joint 241 can form the auxiliary reference segment 210 , the second auxiliary joint 242 to the fifth auxiliary joint 245 can form the auxiliary docking segment 220 , and the sixth to eighth auxiliary segments can form the auxiliary operation segment 230 .

Referring to the relevant description of the main manipulator 100 above, for the six auxiliary joints in the auxiliary manipulator 200, including the second auxiliary joint 242 to the seventh auxiliary joint 247, according to the connection sequence of the six auxiliary joints, the pitch joint 121 and the rotation joint 122 It can also appear alternately in sequence. For example, the second auxiliary joint 242 can be the rotation joint 122, the third auxiliary joint 243 can be the pitch joint 121, the fourth auxiliary joint 244 can be the rotation joint 122, the fifth auxiliary joint 245 can be the pitch joint 121, and the third auxiliary joint 243 can be the pitch joint 121. The sixth auxiliary joint 246 is the rotation joint 122 , and the seventh auxiliary joint 247 is the pitch joint 121 . For another example, the second auxiliary joint 242 can be the pitch joint 121, the third auxiliary joint 243 can be the rotation joint 122, the fourth auxiliary joint 244 can be the pitch joint 121, the fifth auxiliary joint 245 can be the rotation joint 122, and the sixth auxiliary joint 246 is the pitch joint 121 , and the seventh auxiliary joint 247 is the rotation joint 122 .

In view of the above-mentioned setting of the auxiliary manipulator 200, the eighth auxiliary joint 248 can have a relatively high degree of freedom, so that the eighth auxiliary joint 248 can drive the end effector to quickly and accurately reach the point within the set space range to greatly increase, Therefore, the eighth auxiliary joint 248 can drive the end effector to support more different types of operations, which improves the flexibility of the surgical robot system 10 . During the use of the auxiliary manipulator 200, the surgical instrument installed on the eighth auxiliary joint 248 can make full use of the patient's natural orifice to enter the body, wherein the natural orifice can be oral cavity, nasal cavity or reproductive cavity.

The surgical robot system 10 can complete interventional surgery on the natural passage of the head, interventional surgery on the genital tract, interventional surgery on the opposite side, or double knee replacement surgery. For convenience of description, when the number of manipulator assemblies 103 is two groups, the manipulator assembly 103 positioned under the patient's head in the fully contracted state will be denoted as the first manipulator assembly 1031, and will be positioned at the patient's leg in the fully contracted state. The lower manipulator assembly 103 is denoted as the second manipulator assembly 1032 .

Referring to FIG. 5 , for interventional surgery of the natural passage of the head, the two main manipulators 100 and the auxiliary manipulators 200 of the first manipulator assembly 1031 are stretched and started to work, and the two main manipulators 100 of the second manipulator assembly 1032 are stretched and started to work. The auxiliary manipulator 200 in the second manipulator assembly 1032 can be in a fully retracted state and not work. Referring to Fig. 6, for genital tract interventional operation, the two main manipulators 100 of the first manipulator assembly 1031 are stretched and start to work, and the auxiliary manipulator 200 in the first manipulator assembly 1031 can be in fully retracted state and do not work; The second manipulator assembly The two master manipulators 100 and auxiliary manipulators 200 in 1032 stretch and start working. Referring to Fig. 7, for the different-side interventional operation, the two main manipulators 100 of the first manipulator assembly 1031 are extended and start to work, and the auxiliary manipulator 200 in the first manipulator assembly 1031 can be in a fully retracted state and not work; the second manipulator assembly 1032 One of the main manipulators 100 in the second manipulator assembly 1032 is stretched and started to work, and the other main manipulator 100 and the auxiliary manipulator 200 in the second manipulator assembly 1032 can be in a fully retracted state and not work. 8, for double knee replacement surgery, the ninth main joint 149 of the two main manipulators 100 in the second manipulator assembly 1032 can be unloaded from the eighth main joint 148, so that the ninth main joint 149 to the twelfth main joint The joint 152 is fully unloaded, and the orthopedic operation actuator 170 is installed on the eighth main joint 148 to start working; the auxiliary manipulator 200 in the second manipulator assembly 1032 can be in a fully retracted state and does not work, and the entire first manipulator assembly 1031 also Can be in fully retracted state without working.

To sum up, for the surgical robot system 10 in the above embodiment, since multiple sets of manipulator assemblies 103 are installed on the support assembly 101 , the occupied space of the surgical robot system 10 can be reduced. Moreover, the structure of the main manipulator 100 and the auxiliary manipulator 200 is simple, and each manipulator assembly 103 has a high degree of freedom, which can ensure that the manipulator assembly 103 carries the end effector to move quickly and accurately to almost all points within the set space range, thereby The manipulator assembly 103 supports various types of operations, which improves the flexibility of the surgical robot system 10 .

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (13)

1. A surgical robot system, characterized in that, comprising: support components; an operating table disposed on the support assembly; and Multiple sets of manipulator assemblies, multiple sets of manipulator assemblies are arranged at intervals along the first direction on the support assembly, each set of manipulator assemblies includes a main manipulator and an auxiliary manipulator, and the auxiliary manipulator can move along the first direction relative to the support assembly. moving in one direction, the main manipulator can move in a second direction relative to the supporting assembly, and the first direction is different from the second direction. 2. The surgical robot system according to claim 1, wherein each set of manipulator assemblies includes a plurality of said main manipulators and at least one said auxiliary manipulator, and each said auxiliary manipulator is located at a plurality of said main manipulators. Between two of the main manipulators of the manipulator. 3 . The surgical robot system according to claim 1 , wherein the operating table comprises a head end and a tail end opposite to each other, and a direction from the head end to the tail end is consistent with the first direction. 4 . 4. The surgical robot system according to claim 1, wherein the main manipulator comprises a main reference section, a main docking section and a main operating section, the main reference section is connected to the support assembly, and can be relatively The support assembly moves along the second direction, the main docking section is movably connected between the main reference section and the main operating section, and the main operating section can be detachably connected to an end effector. 5. The surgical robot system according to claim 4, wherein the main operation section includes a first operation joint and a second operation joint, and the first operation joint is connected to the main docking section, and can be relatively The main docking section rotates, the second surgical joint is connected to the first surgical joint, and can rotate relative to the first surgical joint, the rotation axis of the first surgical joint is the same as that of the second surgical joint The rotation axis is vertical, the first surgical joint and the second surgical joint form a mechanical telecentric point, the mechanical telecentric point is located on the end effector, and the main manipulator can drive the end effector relative to the Mechanical telecentric movement. 6. The surgical robot system according to claim 5, wherein the main surgical section further comprises a third surgical joint, the third surgical joint is slidably connected to the second surgical joint, and can be connected to the The end effector is detachably connected. 7. The surgical robot system according to claim 4, wherein the main docking section comprises a plurality of pitch joints and a plurality of rotation joints, and the main docking section is connected with the main reference section through the rotation joints , each of the rotary joints is connected between two of the pitch joints, and each of the pitch joints is connected between two of the rotary joints, and the rotation axis of each of the rotary joints is the same as that of the adjacent The rotation axes of the pitch joints are vertical, and one of the pitch joints is detachably connected to the adjacent rotary joint. 8. The surgical robot system according to claim 7, wherein the rotary joint detachably connected to the adjacent pitch joint is detachably connectable to an orthopedic surgical actuator. 9 . The surgical robot system according to claim 4 , wherein the manipulator assembly further comprises a plurality of torque sensors, and the plurality of torque sensors are arranged on the main reference section and/or the main docking section. 10. The surgical robot system according to claim 1, wherein the auxiliary manipulator comprises an auxiliary reference segment, an auxiliary docking segment and an auxiliary operation segment, the auxiliary reference segment is connected to the support assembly, and can be relatively The support assembly moves along a third direction, the first direction, the second direction and the third direction are differentiated in pairs, and the auxiliary docking section is movably connected to the auxiliary reference section and the auxiliary operation section Between, the auxiliary operation segment can be detachably connected with the end effector. 11. The surgical robot system according to any one of claims 1-10, wherein the support assembly includes a base and a column, the operating table and the base are arranged at intervals along the second direction, the The upright is connected between the base and the operating table, the operating table is movably connected with the upright, and two sets of manipulator assemblies are respectively arranged on opposite sides of the upright. 12. The surgical robot system according to claim 11, wherein the operating table has a first axis of rotation and a second axis of rotation, the first axis of rotation extends along the first direction, and the second axis of rotation extends along the first direction. The axis of rotation extends in a direction perpendicular to the first direction and the second direction. 13. The surgical robot system according to any one of claims 1-10, wherein the operating table comprises a bed board and a leg board, the leg board is connected to the end of the bed board, and the bed board is located An obtuse angle is set between the plane and the plane where the leg board is located.

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