CN115568957A

CN115568957A - Surgical robot and surgical system

Info

Publication number: CN115568957A
Application number: CN202211063924.7A
Authority: CN
Inventors: 印世杰; 叶廷
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2023-01-06

Abstract

The present invention relates to a surgical robot and a surgical system. The surgical robot includes: a support structure for mounting the surgical robot to a mounting location; the adjusting mechanical arm is arranged on the supporting structure; the operation mechanical arm is arranged on the adjusting mechanical arm; the bearing structure is arranged on the operation mechanical arm and used for bearing an operation instrument; the adjusting mechanical arm drives the operating mechanical arm and the bearing structure to move so as to adjust the spatial position of the bearing structure, and the operating mechanical arm drives the bearing structure to move so as to adjust the pitching angle and the deflection angle of the bearing structure. Supporting structure, adjustment arm, operation arm and bearing structure carry out the modularized design, increase the flexibility of installation, and its simple structure, stability are high to make surgical robot's occupation space little, improve space utilization.

Description

Surgical robot and surgical system

Technical Field

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

Background

With the rapid development of the robot technology, the minimally invasive surgical robot is gradually and widely applied due to the advantages of less bleeding, quick recovery and the like. Surgical robots generally comprise a plurality of mechanical arms, in the conventional technology, the mechanical arms of the surgical robots are usually arranged in a centralized manner or in a distributed manner, and mechanical arm structures in the conventional technology, no matter arranged in a centralized manner or in a distributed manner, need to occupy a large space, and meanwhile, the problem of inflexibility in operation is caused, and the use performance of the surgical robots is affected.

Disclosure of Invention

Based on this, to the problem that surgical robot occupation space is big, the operation is inflexible, the application provides a surgical robot who reduces occupation space, increases the flexibility of operation.

A surgical robot, comprising:

a support structure for mounting the surgical robot to a mounting location;

the adjusting mechanical arm is arranged on the supporting structure;

the operation mechanical arm is arranged on the adjusting mechanical arm; and

the bearing structure is arranged on the operation mechanical arm and used for bearing operation instruments;

the adjusting mechanical arm drives the operating mechanical arm and the bearing structure to move so as to adjust the spatial position of the bearing structure, and the operating mechanical arm drives the bearing structure to move so as to adjust the pitching angle and the deflection angle of the bearing structure.

In one embodiment, the supporting structure includes a supporting base, a lifting member, a mounting member, and a first detaching structure, the lifting member is disposed on a surface of the supporting base, the adjusting arm is mounted on a top portion of the lifting member, the mounting member is rotatably disposed on a surface of the supporting base for being mounted on the mounting position, and the first detaching structure detachably connects the supporting base and the lifting member.

In one embodiment, the adjusting robot has at least four driving rotating members connected in series, and after the driving rotating members are connected in series, the head end of each driving rotating member is rotatably mounted on the lifting member, and the tail end of each driving rotating member is rotatably connected with the operating robot.

In one embodiment, the driving rotation member includes a rotation link and a rotation joint, the rotation joint is mounted on the rotation link, and an output end of the rotation joint is connected to the rotation link adjacent to the driving rotation member, the lifting member, or the operation robot arm.

In one embodiment, the operation arm includes first driving piece, second driving piece and telecentric components, the initiative rotating member is connected to the one end of first driving piece, and the one end of second driving piece is connected to the other end, the other end of second driving piece passes through telecentric components connects bearing structure.

The first driving piece drives the second driving piece to drive the telecentric assembly and the bearing structure to do deflection motion, and the second driving piece drives the telecentric assembly and the bearing structure to do pitching motion.

In one embodiment, the first driving part and the second driving part comprise a driving joint and a driving connecting rod;

the rotary joint reaches the drive joint all includes rotating electrical machines, driver, stopper, reduction gear, output flange and encoder, the rotating electrical machines electricity is connected the driver, the encoder with the driver electricity is connected, the output installation of rotating electrical machines the reduction gear reaches the output flange, the stopper is installed to the other end of rotating electrical machines, the output flange connection is adjacent the initiative rotating member the rotating connecting rod the lifting member or the operation arm.

In one embodiment, the surgical robot further includes a second detachment structure, the second detachment structure includes a fourth attachment portion and a third attachment portion, one of the fourth attachment portion and the third attachment portion is disposed at an end of each of the driving rotation members after being connected in series, and the other one of the fourth attachment portion and the third attachment portion is disposed on the second driving member, and the driving rotation members are detachably mounted on the driving link through the fourth attachment portion and the third attachment portion.

In one embodiment, the bearing structure comprises a linear motion assembly and a bearing part, the bearing part is connected with the tail end of the operation mechanical arm, the linear motion assembly is arranged on the bearing part and bears the operation instrument, and the poking card is detachably arranged on the bearing part and used for supporting and fixing the operation instrument.

In one embodiment, the mounting location is a hospital bed, a ceiling, a floor, a support platform, or a support rail.

A surgical system comprises a console and at least one surgical robot with any technical characteristics, wherein the at least one surgical robot is arranged at an installation position, the console is electrically connected with the surgical robot, and the surgical robot is controlled to perform surgery on a patient.

After the technical scheme is adopted, the invention at least has the following technical effects:

according to the surgical robot and the surgical system, the surgical robot is integrated with the adjusting mechanical arm, the operating mechanical arm and the bearing structure through the supporting structure, the surgical robot is mounted on the mounting position through the supporting structure, flexible mounting at different positions is achieved, the adjusting mechanical arm drives the operating mechanical arm and the bearing structure to move, the position of the bearing structure is adjusted, the operating mechanical arm drives the bearing structure to do pitching motion and deflection motion, the pitching angle and the deflection angle of the bearing structure and the operating instrument on the bearing structure are adjusted, the operating instrument is aligned to the surgical position on the body surface of a patient, the operating instrument is borne by the bearing structure, the operating instrument is driven to move, and the distance between the operating instrument and the surgical position is adjusted. The surgical robot provided by the invention has the advantages that the modular design is carried out on the supporting structure, the adjusting mechanical arm, the operating mechanical arm and the bearing structure, the mounting flexibility can be increased through the supporting structure, the structure is simple, the stability is high, the occupied space of the surgical robot is small, and the space utilization rate is improved.

Drawings

FIG. 1 is a perspective view of a surgical robot in accordance with one embodiment of the present invention;

fig. 2 is a schematic view of the surgical robot shown in fig. 1 mounted to a patient bed;

FIG. 3 is a schematic view of the surgical robot shown in FIG. 1;

FIG. 4 is a schematic view of a drive joint and a rotary joint of the surgical robot shown in FIG. 1;

fig. 5 is a schematic view of the surgical robot shown in fig. 2 mounted to a hospital bed, wherein the number of the surgical robots is three;

FIG. 6 is a schematic view of the surgical robot of FIG. 1 mounted to a ceiling;

FIG. 7 is a schematic view of the surgical robot of FIG. 6 mounted to a ceiling, wherein the number of surgical robots is three;

FIG. 8 is a schematic view of the surgical robot of FIG. 1 mounted to a support rail;

fig. 9 is a schematic view of the surgical robot of fig. 1 with the distal assembly shown with the encapsulated links removed.

Wherein: 100. a surgical robot; 110. a support structure; 111. a support base; 112. a lifting member; 113. a mounting member; 120. adjusting the mechanical arm; 121. a driving rotation member; 1211. a rotary joint; 12111. a rotating electric machine; 12112. a driver; 12113. a brake; 12114. a speed reducer; 12115. an output flange; 12116. an encoder; 122. a first active rotating member; 123. a second active rotating member; 124. a third active rotating member; 125. a fourth active rotating member; 130. operating the mechanical arm; 131. a first driving member; 132. a second driving member; 133. a telecentric assembly; 1331. a first transmission member; 13311. a first synchronous belt group; 13312. a first support shaft; 13313. a first link; 1332. a second transmission member; 13321. a second synchronous belt group; 13322. a second support shaft; 13323. a second link; 1333. a third transmission member; 13331. a third synchronous belt group; 13332. a third link; 140. a load bearing structure; 141. a linear motion assembly; 142. a carrier; 150. a first detachment structure; 160. a second disassembly structure; 200. a surgical instrument; 210. an operation end; 220. a power rod; 230. a power cartridge; 240. a distal instrument; 300. a hospital bed; 500. supporting the guide rail; 600. and (6) stamping the card.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. 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 "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 to 9, the present invention provides a surgical robot 100. The surgical robot 100 of the present invention is applied to a surgical system, and the surgical robot 100 can carry an operating instrument to perform a surgery on a lesion site of a patient. It is understood that the operation device includes, but is not limited to, a surgical device, an endoscope system, etc., wherein the surgical device 200 may be any of various conventional surgical devices.

At present, a surgical robot usually adopts a plurality of mechanical arms to be arranged in a concentrated mode or in a distributed mode, and the two arrangement modes have the problems of large occupied space, complex operation process and inflexibility in operation, so that the use performance of the surgical robot is influenced. Therefore, the present invention provides a novel surgical robot 100, and the surgical robot 100 adopts a modular design, so as to reduce the occupied space, ensure flexible operation, and realize flexible installation. The specific structure of the surgical robot 100 is described below:

referring to fig. 1-9, in one embodiment, a surgical robot 100 includes a support structure 110, an adjustment robot arm 120, a manipulation robot arm 130, and a carrying structure 140. The support structure 110 is used to mount the surgical robot 100 to the mounting location; the adjustment robot 120 is disposed on the support structure 110; the handling robot 130 is disposed on the adjusting robot 120; the bearing structure 140 is disposed on the operation mechanical arm 130, and is used for bearing operation instruments; the adjusting mechanical arm 120 drives the operating mechanical arm 130 and the carrying structure 140 to move so as to adjust the spatial position of the carrying structure 140, the operating mechanical arm 130 drives the carrying structure 140 to move so as to adjust the pitch angle and the yaw angle of the carrying structure 140, and the carrying structure 140 is used for driving the operating instrument to move.

The support structure 110 is a base of the surgical robot 100 for carrying and supporting the surgical robot 100; meanwhile, the support structure 110 is used to mount the surgical robot 100 to a mounting site. That is, the surgical robot 100 is mounted to the mounting position through the support structure 110, so that the position of the surgical robot 100 is fixed, and it is further ensured that the position of the surgical robot 100 does not move during the surgical procedure, and the safety during the surgical procedure is ensured. Here, the mounting position of the surgical robot 100 is described as a mounting position, and the position of the mounting position is not limited in practice as long as the surgical robot 100 can be mounted and the surgical robot 100 can perform a surgical operation. The specific location of the mounting locations is described in detail below.

The surgical robot 100 is detachably mounted to the mounting position through the supporting structure 110, the mounting position of the surgical robot 100 is more flexible, and the mounting position of the surgical robot 100 can be selected according to actual surgical needs, so that the surgical robot 100 can adapt to surgical positions of different patients, and the application range of the surgical robot is enlarged. When the surgical robot 100 is needed to be used for surgery, the supporting structure 110 is mounted on the mounting position, and after the surgery is completed, the supporting structure 110 is dismounted from the mounting position or the position of the supporting structure 110 is adjusted, so that medical staff, patients and the like are prevented from colliding with the surgical robot 100.

The adjusting mechanical arm 120 is disposed on the supporting structure 110, the operating mechanical arm 130 is disposed on the adjusting mechanical arm 120, the carrying structure 140 is disposed on the operating mechanical arm 130, and the operating device is mounted on the carrying structure 140. One end of the adjustment robot arm 120 is mounted to the support structure 110, the other end of the adjustment robot arm 120 is connected to one end of the operation robot arm 130, and the other end of the operation robot arm 130 is mounted to the support structure 140. The adjusting mechanical arm 120 has multiple degrees of freedom, and when the adjusting mechanical arm 120 moves, the adjusting mechanical arm can drive the operating mechanical arm 130 and the bearing structure 140 thereon to move synchronously, so that the bearing structure 140 moves to the vicinity of the focus position of the patient, the poking card 600 (detailed later) on the body surface of the patient can be butted with a butt joint port (mentioned later) on the bearing structure 140, and at this time, the operating mechanical arm 130 moves in place, and the adjustment of the spatial position of the bearing structure 140 is realized.

Subsequently, the operation mechanical arm 130 can drive the carrying structure 140 and the hand-operated instrument thereon to perform a pitching motion and a yawing motion so as to adjust the pitching angle and the yawing angle of the operation instrument, so that the operation instrument can be aligned with the focus position of the patient. The carrying structure 140 is used for driving the operation instrument to move and extend, so that the operation instrument can extend into the body of a patient to perform an operation on a lesion position. After the operation is completed, the carrying structure 140 drives the operation device to move and retract, so that the operation device moves out of the patient. In fig. 1 of the present invention, the operation instrument held by the surgical robot 100 is a surgical instrument 200; when three surgical robots 100 are used for surgery, the operation instrument clamped by two surgical robots 100 is the surgical instrument 200, and the operation instrument clamped by the other surgical robot 100 is the endoscope system, of course, the operation instruments on the three surgical robots 100 can also be adjusted according to the surgery requirements; of course, the number of the surgical robots 100 may be more, and the surgical instruments 200 may be arranged according to actual surgical requirements.

When the surgical robot 100 of the present invention performs a surgical operation on a focal region of a patient, such as an abdominal cavity, etc., the surgical robot 100 is installed at an installation site through the support structure 110, after the stab card 600 is installed on a body surface of the focal region of the patient, the adjustment mechanical arm 120 is controlled to drive the operation mechanical arm 130 and the carrying structure 140 to move, so that a docking port on the carrying structure 140 moves to a position near the stab card 600 on the body surface of the patient, the stab card 600 is installed at the docking port, and the pitch angle and the yaw angle of the carrying structure 140 and the surgical instrument 200 are adjusted through the operation mechanical arm 130, so that the operation instrument is aligned to the focal region of the patient, and then the carrying structure 140 is controlled to perform the surgical operation. It can be understood that the movement of the adjusting mechanical arm 120 and the operating mechanical arm 130 can be adjusted by manual dragging of a medical staff, or can be automatically controlled by a console.

In the surgical robot 100 of the above embodiment, the surgical robot 100 is formed by the supporting structure 110, the adjusting mechanical arm 120, the operating mechanical arm 130 and the bearing structure 140, so that the surgical robot 100 adopts a modular design, the structure is simple, the stability is high, the occupied space of the surgical robot 100 is small, and the space utilization rate is improved; moreover, the surgical robot 100 can be installed at any position through the support structure 110, thereby increasing the installation flexibility. The surgical robot 100 of the present invention controls the operation instruments through the supporting structure 110, the adjusting mechanical arm 120, the operating mechanical arm 130 and the bearing structure 140, so that the surgical robot 100 is flexible to operate, and the usability of the surgical robot 100 is ensured.

In one embodiment, the mounting location is a hospital bed, a ceiling, a floor, a support platform or a support rail 500, etc., that is, the surgical robot 100 can be mounted to different locations of the operating room through the mounting location.

Illustratively, the mounting location is located on a patient bed, and the support structure 110 is mounted to the side of the patient bed via the mounting location, as shown in fig. 2 and 5. Illustratively, the mounting location is located on the ceiling above the patient bed, in which case the support structure 110 is mounted to the ceiling via the mounting location and the surgical robot 100 is suspended above the patient bed, as shown in fig. 6 and 7.

As shown in fig. 8, the ceiling is provided with at least one support rail 500, and a sliding block is slidably disposed in the support rail 500, and is connected to the support structure 110, so that the whole surgical robot 100 is mounted to the sliding block. The support structure 110 is moved along the slide rails by the sliders to adjust the position of the surgical robot 100. The operating room moves the surgical robot 100 to the operating area through the cooperation of the sliding block and the supporting guide rail 500 according to the position of the hospital bed, and after the operation is completed, the surgical robot 100 is moved to the corner of the operating room through the cooperation of the sliding block and the supporting guide rail 500. The slider has a band-type brake therein, and after the surgical robot 100 moves to a desired position along the support rail 500, the slider is locked by the band-type brake, so that the position of the surgical robot 100 is fixed.

Alternatively, the support rail 500 is disposed parallel to the patient's bed, the support rail 500 is disposed at an angle to the patient's bed, or the support rail 500 is disposed in a curve, etc. Of course, the support rail 500 may be disposed on the ground in other embodiments of the present invention.

It should be noted that, in addition to the above-mentioned bed, ceiling and support rail 500, the installation site may also be a support platform or a support frame beside the bed; a support for other procedures or other structures that enable the surgical robot 100 to support.

Referring to fig. 1 and 3, in an embodiment, the supporting structure 110 includes a supporting base 111, a lifting member 112, and a mounting member 113, the lifting member 112 is disposed on a surface of the supporting base 111, the adjusting arm 120 is mounted on a top of the lifting member 112, and the mounting member 113 is rotatably disposed on a surface of the supporting base 111 for mounting at a mounting position.

The supporting base 111 is a base of the surgical robot 100, and the lifting member 112 is disposed on the supporting base 111 in a liftable manner. The mounting member 113 is provided on the support base 111, and the support base 111 is mounted to the mounting position by the mounting member 113. Referring to fig. 2 and 5, when the support structure 110 is located on the patient bed 300, the support structure 110 is connected to the patient bed 300, and the mounting member 113 is disposed on the same side as the lifting member 112; referring to fig. 6 to 8, when the support structure 110 is mounted to the ceiling or the support rail 500 on the ceiling, the mounting member 113 is coupled to the slider or the ceiling in the support rail 500, and the mounting member 113 is disposed at the support base 111 at the opposite side of the elevating member 112.

The lifting member 112 is a liftable structure, and is disposed behind the supporting base 111, and the adjusting mechanical arm 120 is mounted at an end of the lifting member 112, so that the lifting member 112 can drive the adjusting mechanical arm 120, the operating mechanical arm 130 and the bearing structure 140 to perform lifting motion to adjust the spatial height of the bearing structure 140, so that the adjusting mechanical portion is at an appropriate height, and the height of the bearing structure 140 can meet the surgical requirements. Especially, when the surgical robot 100 is hoisted to the ceiling, the lifting member 112 can be flexibly adjusted to suit the height of the hospital bed.

Optionally, the lifting member 112 is a telescopic rod with damping. After the medical staff operates the lifting part 112 to lift to the required height, the damping effect can enable the lifting part 112 to keep the required position, and the position of the lifting part 112 is prevented from moving. Of course, in other embodiments of the present invention, the lifting member 112 may also be a lifting motor or other structures capable of outputting lifting motion.

Optionally, the mounting member 113 is a flange. The installation of the installation member 113 to the installation site is achieved by the flange plate and the bolt. Of course, in other embodiments of the present invention, the mounting member 113 may also be other structures such as a platform, etc. capable of being fixed to the mounting position. In addition, the mounting member 113 is rotatably disposed on the supporting base 111, so that the spatial angle of the surgical robot 100 can be adjusted, and the position of the carrying structure 140 can be adjusted conveniently by adjusting the robot arm 120 and the operation robot arm 130 at a later stage. The mounting base is illustratively hingedly coupled to the mounting member 113, with set screws to constrain the direction of rotation,

referring to fig. 1 and 3, in an embodiment, the surgical robot 100 further includes a first detaching structure 150, and the first detaching structure 150 is disposed on the lifting member 112 and the supporting base 111 respectively, so as to achieve quick mounting and detaching of the lifting member 112 and the supporting base 111. After the first detaching structure 150 is arranged, when the lifting member 112 is mounted on the supporting base 111, the lifting member 112 is quickly and reliably mounted on the supporting base 111 through the first detaching structure 150. When the lifting member 112 is detached from the support base 111, the lifting member 112 is quickly detached from the support base 111 by the first detachment structure 150. This enables quick assembly of the surgical robot 100.

In one embodiment, the first detaching structure 150 includes a second mounting portion and a first mounting portion, one of the second mounting portion and the first mounting portion is disposed on the lifting member 112, the other is disposed on the supporting base 111, and the lifting member 112 is detachably mounted on the supporting base 111 through the second mounting portion and the first mounting portion.

When the lifting piece 112 is installed on the supporting base 111, the second installation part is connected with the first installation part in a matched mode, and the lifting piece 112 is guaranteed to be reliably fixed and installed on the supporting base 111 quickly. When the lifting member 112 needs to be disassembled, the second installation part is separated from the first installation part, so that the lifting member 112 is separated from the supporting base 111. The second installation part and the first installation part of the first dismounting structure 150 can be conveniently dismounted and mounted.

Optionally, the second mounting portion and the first mounting portion are a rotation locking structure. Exemplarily, the second installation portion is a locking groove, the first installation portion is a cylinder with a locking pin in the radial direction, and after the first installation portion is installed on the second installation portion, the locking pin of the first installation portion can be clamped at the edge of the second installation portion by rotating the first installation portion, so that the lifting piece 112 is fixed on the supporting base 111.

Of course, in other embodiments of the present invention, the second mounting portion and the first mounting portion may also be a bolt fixing structure, a magnetic attraction structure, a snap structure, or other structures that can realize that the lifting member 112 is reliably fixed on the supporting base 111.

Referring to fig. 1 and 3, in one embodiment, the adjusting robot arm 120 has at least four active rotating members 121, the at least four active rotating members 121 are connected in series, after the active rotating members 121 are connected in series, the head end thereof is rotatably mounted on the lifting member 112, and the tail end thereof is rotatably connected to the operating robot arm 130.

Each active rotating member 121 has a rotational axis capable of outputting a rotational motion about its rotational axis. After the at least four driving rotation members 121 are connected in series, they have at least four rotational degrees of freedom. The adjusting arm 120 formed by the serially connected driving rotating members 121 includes a head end and a tail end, the head end is connected to the lifting member 112, and the tail end is connected to the operating arm 130. In this way, the driving rotation member 121 can drive the operation arm 130 at the end to move after outputting the rotation motion, so as to adjust the spatial position of the bearing structure 140 on the operation arm 130.

In this embodiment, the number of the active rotating members 121 is four for an example, and when the number of the active rotating members 121 is more, the connection manner is substantially the same as the connection manner of the four active rotating members 121, which is not described herein again.

The four driving rotation members 121 are a first driving rotation member 122, a second driving rotation member 123, a third driving rotation member 124 and a fourth driving rotation member 125, respectively. The four driving rotating members 121 are connected in series. Specifically, the rotation output end of the first driving rotation member 122 is connected to the lifting member 112 to rotate relative to the lifting member 112, the rotation output end of the second driving rotation member 123 is connected to the first driving rotation member 122 to rotate relative to the first driving rotation member 122, the third driving rotation member 124 is located at the end of the second driving rotation member 123, the rotation output end of the third driving rotation member 124 is connected to the fourth driving rotation member 125, and the rotation output end of the fourth driving rotation member 125 is connected to the operation robot 130, so as to adjust the spatial position of the carrying structure 140.

The third driving rotation member 124 is disposed at an end of the second driving rotation member 123, that is, the third driving rotation member 124 and the second driving rotation member 123 form an integral structure, and two ends of the integral structure are rotation output ends respectively connected to the first driving rotation member 122 and the fourth driving rotation member 125. And, the rotation axis of the first driving rotation member 122 is disposed in a vertical direction, the rotation axis of the second driving rotation member 123 is located on a horizontal plane and is aligned with the rotation axis of the first driving rotation member 122, the rotation axis of the third driving rotation member 124 is parallel to the rotation axis of the second driving rotation member 123, and the rotation axis of the fourth driving rotation member 125 is located on a horizontal plane and is perpendicular to the rotation axis of the third driving rotation member 124.

In one embodiment, the driving rotating member 121 includes a rotating link and a rotating joint 1211, the rotating joint 1211 is mounted on the rotating link, and an output end of the rotating joint 1211 is connected to the rotating link of the adjacent driving rotating member 121, the lifting member 112 or the operating robot arm 130.

The rotary joint 1211 is a rotation member in the active rotation member 121, which is capable of outputting a rotational motion, and a housing of the rotary joint 1211 is installed in the rotary link. The rotary joint 1211 in the first driving rotation member 122 is connected to the lifting member 112, the rotary link of the first driving rotation member 122 is connected to the rotary joint 1211 of the second driving rotation member 123, the rotary link of the second driving rotation member 123 is connected to the rotary link of the third driving rotation member 124, the rotary joint 1211 of the third driving rotation member 124 is connected to the rotary link of the fourth driving rotation member 125, and the rotary joint 1211 in the fourth driving rotation member 125 is connected to the operation robot arm 130. The rotary joint 1211 rotates about its rotation axis to output a rotational motion.

It is worth noting that the rotary links of the different active rotary members 121 have different structural forms to adapt to the connected components and the positions. Illustratively, as shown in fig. 3, the rotary joint 1211 of the first driving rotary member 122 is located in the corresponding rotary link, and the output end of the rotary joint 1211 of the first driving rotary member 122 is connected to the lifting member 112. The rotation joint 1211 of the second driving rotation member 123 is located at one end of the corresponding rotation link and is connected to the rotation link of the first driving rotation member 122.

The rotation link of the third driving rotation member 124 and the rotation link of the second driving rotation member 123 are the same link, and the rotation joint 1211 of the second driving rotation member 123 and the rotation joint 1211 of the third driving rotation member 124 are disposed at two ends of the same link. Of course, in other embodiments of the present invention, the rotation link of the second driving rotating member 123 is connected to the rotation link of the third driving rotating member 124 such that the rotation joint 1211 of the second driving rotating member 123 and the rotation joint 1211 of the third driving rotating member 124 are located at both ends. The rotation joint 1211 of the fourth active rotation member 125 is located in the rotation link of the fourth active rotation member 125 connected to the rotation joint 1211 of the third active rotation member 124 and connected to the operation robot 130.

Of course, in other embodiments of the present invention, the first active rotating member 122, the second active rotating member 123, the third active rotating member 124 and the fourth active rotating member 125 may also be connected in series in a manner that the rotary joint 1211 is connected to the rotary link, or connected according to other connection manners as needed, so as to meet the use condition.

Referring to fig. 1 and 3, in an embodiment, the operation arm 130 includes a first driving member 131, a second driving member 132, and a telecentric assembly 133, wherein one end of the first driving member 131 is connected to the active rotating member 121, the other end of the first driving member is connected to one end of the second driving member 132, and the other end of the second driving member 132 is connected to the carrying structure 140 through the telecentric assembly 133. The first driving member 131 drives the second driving member 132, the telecentric element 133 and the carrying structure 140 to perform a deflection motion, and the second driving member 132 drives the telecentric element 133 and the carrying structure 140 to perform a pitch motion.

The first driving member 131 and the second driving member 132 are power sources for operating the robot arm 130. The first driving member 131 is installed on the rotary joint 1211 of the fourth active rotating member 121 at the end of the adjustment robot arm 120, the output end of the first driving member 131 is connected to the second driving member 132, the output end of the second driving member 132 is connected to the telecentric element 133, and the end of the telecentric element 133 is connected to the carrying structure 140.

After the card 600 is mounted to the interface of the carrier structure 140, the rotation axis of the first drive member 131 intersects the card 600 at a point, which is the far center point a. The first driving member 131 can output a deflection motion, and when the first driving member 131 outputs a rotation motion, the second driving member 132 can be driven to rotate around the rotation axis of the first driving member 131, and then the second driving member 132 drives the telecentric assembly 133 and the carrying structure 140 to swing left and right in the direction shown in fig. 3. The second driving member 132 can output a pitch motion, and when the second driving member 132 outputs a rotation motion, the second driving member 132 can drive the telecentric element 133 to rotate around the rotation axis of the second driving member 132, so that the carrying structure 140 of the second driving member 132 performs a pitch motion.

In one embodiment, the first driving member 131 and the second driving member 132 each include a driving joint and a driving link, the driving joint is disposed on the driving link, the driving joint is connected to the driving link or the telecentric element 133 of the second driving member 132, and the driving rotating member 121 is connected to the driving link of the first driving member 131. Specifically, the rotary joint 1211 of the fourth driving rotary member 125 is connected to the driving link of the first driving member 131, the driving joint of the first driving member 131 is connected to the driving link of the second driving member 132, and the driving joint of the second driving member 132 is connected to the telecentric element 133.

Referring to fig. 1, 3 and 9, in one embodiment, the telecentric assembly 133 includes a first transmission piece 1331, a second transmission piece 1332 and a third transmission piece 1333, the first transmission piece 1331 connects the driving joint of the second driving piece 132 and the second transmission piece 1332, the third transmission piece 1333 connects the second transmission piece 1332 and the carrying structure 140, and the first transmission piece 1331 is parallel to the third transmission piece 1333.

One end of the first transmission piece 1331 is connected to the driving joint of the second driving piece 132, the other end of the first transmission piece 1331 is connected to one end of the second transmission piece 1332, the other end of the second transmission piece 1332 is connected to one end of the third transmission piece 1333, and the other end of the third transmission piece 1333 is connected to the carrying structure 140. After the second transmission piece 1332 connects the first transmission piece 1331 and the third transmission piece 1333, the first transmission piece 1331 and the second transmission piece 1332 are disposed in parallel, so that the first transmission piece 1331, the second transmission piece 1332 and the third transmission piece 1333 form a parallelogram.

Specifically, after the extension line of the rotation axis of the first driving member 131 intersects the axis of the stamp card 600 at a point, the axes of the first transmission member 1331, the second transmission member 1332 and the third transmission member 1333 are sequentially connected on the intersection forming plane, and the axis of the third transmission member 1333 is connected to the remote center point a, so that the figure forming a parallelogram is obtained, as shown by the dotted line area in fig. 3. When the first driving member 131 and the second driving member 132 drive the telecentric assembly 133 to move, the telecentric assembly 133 always keeps a parallelogram.

Referring to fig. 9, in an embodiment, the first transmission part 1331 includes a first link 13313, a first timing belt set 13311 and a first support shaft 13312, the second transmission part 1332 includes a second link 13323, a second timing belt set 13321 and a second support shaft 13322, and the third transmission part 1333 includes a third link 13332, a third timing belt set 13331 and a third support shaft. The first timing belt group 13311 is disposed in the first link 13313 along the length direction of the first link 13313, one end of the first timing belt group 13311 is connected to the driving joint, the other end of the first timing belt group 13311 is mounted to the first support shaft 13312, the second timing belt group 13321 is disposed in the second link 13323 along the length direction of the second link 13323, one end of the second timing belt group 13321 is disposed in the first support shaft 13312, the other end of the second timing belt group 13321 is mounted to the second support shaft 13322, the third timing belt group 13331 is disposed in the third link 13332 along the length direction of the third link 13332, one end of the third timing belt group 13331 is mounted to the second support shaft 3222, the other end of the third timing belt group 13331 is mounted to the third support shaft, and the third support shaft is connected to the carrying structure 140.

The first synchronous belt group 13311, the second synchronous belt group 13321 and the third synchronous belt group 13331 all comprise a synchronous belt and three belt wheels, two of the three belt wheels are coaxially fixed and arranged at the input end of the synchronous belt, and the other belt wheel is arranged at the output end of the synchronous belt.

Like this, set up the mode of two band pulleys with the one end of hold-in range, can make the relative rotation dislocation of these two band pulleys in order to keep the pretightning force of hold-in range through the screw locking after the pretension. Of course, in other embodiments of the present invention, the first, second and third

timing belt groups

13311, 13321 and 13331 may each include a timing belt and two pulleys, wherein the two pulleys are disposed at both ends of the timing belt.

The first synchronous belt set 13311 is connected with the second synchronous belt set 13321 through a first support shaft 13312, the second synchronous belt set 13321 is connected with the third synchronous belt set 13331 through a second support shaft 13322, and the third synchronous belt set 13331 is connected with the carrying structure 140 through a third support shaft. The first link 13313 is a housing of the first timing belt group 13311, the second link 13323 is a housing of the second timing belt group 13321, and the third link 13332 is a housing of the third timing belt group 13331.

The driving joint of the second driving element 132 is connected to the belt wheel (input end) of the first synchronous belt set 13311, the other belt wheel (output end) of the first synchronous belt set 13311 is mounted on the first supporting shaft 13312 and is connected to the belt wheel (input end) of the second synchronous belt set 13321 through the first supporting shaft 13312, the other belt wheel (output end) of the second synchronous belt set 13321 is connected to the belt wheel (input end) of the third synchronous belt set 13331 through the second supporting shaft 13322, and the other belt wheel (output end) of the third synchronous belt set 13331 is connected to the carrying structure 140 through the third transmission shaft.

The first transmission piece 1331, the second transmission piece 1332 and the third transmission piece 1333 form a parallelogram transmission structure, the transmission structure and principle of which are shown in fig. 9, in which the first link 13313, the second link 13323 and the third link 13332 are hidden and replaced by a central line. When the second driving element 132 drives the pulleys at the input end of the first synchronous belt set 13311 to rotate clockwise by an angle, the pulleys at the output end of the first synchronous belt set 13311 are driven by the synchronous belt to rotate clockwise by the same angle, and simultaneously the second connecting rod 13323 fixedly connected with the pulleys are driven to rotate by the same angle, while the input end of the second synchronous belt set 13321 is fixedly connected to the first connecting rod 13313 by the first supporting shaft 13312, and the first connecting rod 13313 is kept still in the pitching motion of the parallelogram, so the second synchronous belt set 13321 is kept still. The second synchronous belt set 13321 is in transmission connection with the belt wheel at the output end through the belt wheel at the input end and the synchronous belt, when the belt wheel at the input end of the second synchronous belt set 13321 is not moved and the second connecting rod 13323 rotates clockwise, the belt wheel at the output end of the second synchronous belt set 13321 rotates anticlockwise by the same angle to drive the third connecting rod 13332 fixedly connected with the second synchronous belt set 13321 to rotate anticlockwise by the same angle, and at this time, the first connecting rod 13313 is still parallel to the third connecting rod 13332.

The third synchronous belt group 13331 is in transmission connection with the belt wheel at the input end, the synchronous belt and the belt wheel at the output end, and the belt wheel at the input end of the third synchronous belt group 13331 is fixedly connected to the second connecting rod 13323 through the second supporting shaft 13322, when the third connecting rod 13332 rotates counterclockwise relative to the second connecting rod 13323, the belt wheel at the input end of the third synchronous belt group 13331 does not move relative to the second connecting rod 13323, and the belt wheel at the output end of the third synchronous belt group 13331 rotates clockwise by the same angle under the synchronous belt transmission, so as to drive the bearing structure 140 fixedly connected with the same to rotate clockwise by the same angle, and at this time, the bearing structure 140 and the second connecting rod 13323 still keep parallel. That is to say, when the second driving element 132 drives the telecentric assembly 133 to perform the pitching motion, the synchronous belt drive driven joint always keeps a parallelogram, the position of the far center point a always keeps unchanged, and the far center point a always coincides with the axis of the deflection joint, which is the principle that the parallelogram keeps the far center point a motionless.

Optionally, the timing belt is a steel belt or a rubber belt. Of course, in other embodiments of the present invention, the first transmission piece 1331, the second transmission piece 1332 and the third transmission piece 1333 may also be chain transmission structures or other structures capable of realizing motion transmission.

Referring to fig. 1 and 4, in an embodiment, each of the rotary joint 1211 and the driving joint includes a rotary motor 12111, a driver 12112, a brake 12113, a reducer 12114, an output flange 12115, and an encoder 12116, the rotary motor 12111 is electrically connected to the driver 12112, the encoder 12116 is electrically connected to the driver 12112, the reducer 12114 and the output flange 12115 are installed at an output end of the rotary motor 12111, the brake 12113 is installed at the other end of the rotary motor 12111, and the output flange 12115 is connected to the rotary link of the adjacent driving rotary element 121, the lifting element 112, or the operating arm 130.

As shown in fig. 4, a brake 12113 is mounted above the rotary motor 12111, and an encoder 12116 and a driver 12112 are mounted above the brake 12113. A speed reducer 12114 and an output flange 12115 are mounted on an output side below the rotary motor 12111. The driver 12112 is connected to a console of the surgical system, the console sends a driving signal to the driver 12112, the driver 12112 controls the rotation of the rotating motor 12111, and the rotating motor 12111 is decelerated by the decelerator 12114 and then outputs a rotational motion via the output flange 12115. The encoder 12116 can detect the angle of the rotary motion output by the rotary motor 12111 and feed back to the driver 12112. If the rotary angle of the rotary motor 12111 is consistent with the rotary angle signal of the driver 12112, the driver 12112 controls the rotary motor 12111 to stop and brake to lock, so as to ensure the position fixing accuracy, and if the rotary angle of the rotary motor 12111 does not reach the rotary angle signal of the driver 12112, the driver 12112 controls the rotary motor 12111 to rotate continuously. Therefore, the rotating angle of the rotating motor 12111 can be ensured to be accurate, and the spatial pose of the bearing structure 140 can be accurately adjusted.

Moreover, the rotary joints 1211 of the at least four active rotary members 121 of the adjustment robot arm 120 and the driving joints of the first driving member 131 and the second driving member 132 are all the above structures, and during the movement, the rotary joints 1211 and the driving joints can ensure that the movement tracks of the adjustment robot arm 120 and the operation robot arm 130 are accurate, and further ensure that the movement track of the carrying structure 140 is accurate. The center axis of the rotary motor 12111 coincides with the rotation axis of the rotary joint 1211 and the drive joint. The housing of the reducer 12114 is fixed in the corresponding link by screws. Alternatively, the reducer 12114 is a planetary reducer, a harmonic reducer, or other type of reducer.

Further, the number of the encoders 12116 is two, one of the two encoders 12116 can detect the rotation angle of the rotating electrical machine 12111, and the other encoder 12116 verifies the previous encoder 12116, so that the accuracy of the detection of the rotation angle by the encoders 12116 is ensured. Of course, in other embodiments of the present invention, there may be one encoder. Alternatively, the rotating electrical machine 12111 is a torque motor. The rotary motors 12111 are mounted in the corresponding links.

Referring to fig. 1 and 3, in one embodiment, the surgical robot 100 further includes a second detachment structure 160. The second detaching structure 160 is respectively disposed on the rotating link of the fourth driving rotating member 121 at the end of the adjusting mechanical arm 120 and the first driving link of the first driving member 131, so as to realize quick mounting and detaching of the rotating link and the driving link. After the second detaching structure 160 is provided, when the operation arm 130 is mounted to the adjustment arm 120, the operation arm 130 is quickly and reliably mounted to the end of the adjustment arm 120 by the second detaching structure 160. When the handling robot 130 is detached from the alignment robot 120, the handling robot 130 is quickly detached from the alignment robot 120 by the second detachment structure 160. This enables quick assembly of the surgical robot 100.

In an embodiment, the second detaching structure 160 includes a fourth mounting portion and a third mounting portion, one of the fourth mounting portion and the third mounting portion is disposed at an end of the driving rotating member 121 after being connected in series, and the other is disposed on the driving link of the second driving member 132, and the driving rotating member 121 is detachably mounted on the driving link through the fourth mounting portion and the third mounting portion.

When the drive connecting rod is installed on the rotary connecting rod, the fourth installation part is connected with the third installation part in a matched mode, and the drive connecting rod is guaranteed to be reliably fixed and installed on the rotary connecting rod rapidly. When the driving connecting rod needs to be disassembled, the fourth installation part is separated from the third installation part, so that the driving connecting rod is separated from the rotating connecting rod. The fourth mounting portion and the third mounting portion of the second detachment structure 160 can be conveniently detached and mounted.

Optionally, the fourth mounting portion and the third mounting portion are rotation locking structures. Illustratively, the fourth installation department is locking groove, and the third installation department is the cylinder that has the lockpin radially, and after the fourth installation department was installed to the third installation department, the third installation department rotated, and the lockpin of third installation department can block in the edge of fourth installation department, realizes that the drive connecting rod is fixed to the drive connecting rod.

The second detaching structure 160 has an electrical interface, and when the adjustment robot 120 and the operation robot 130 are detached and attached, electrical connection and disconnection between the adjustment robot 120 and the operation robot 130 can be realized. Of course, in other embodiments of the present invention, the fourth mounting portion and the third mounting portion may also be a bolt fixing structure, a magnetic attraction structure, a fastening structure, or other structures that can reliably fix the driving link to the rotating link.

Referring to fig. 1, 3 and 9, in an embodiment, the bearing structure 140 includes a linear motion assembly 141 and a bearing 142, the bearing 142 is connected to the end of the operation robot arm 130, and the linear motion assembly 141 is disposed on the bearing 142 and bears the operation instrument. The carrier 143 has a docking port, the stab card 600 is generally placed on the body surface of the patient, the docking port of the carrier 142 is aligned with the stab card 600 after the manipulation robot 130 moves to the lesion of the patient, the stab card 600 is coupled to the carrier 142, and then, the manipulation instrument is mounted to the linear motion assembly 141 and protrudes through the stab card 600.

The linear motion assembly 141 is a body component of the carrying structure 140, and the carrier 142 is a mounting seat of the carrying structure 140. The linear motion assembly 141 is disposed on a carrier 142, and the carrier 142 is connected to the third support shaft of the telecentric assembly 133 away from the surface of the linear motion assembly 141. That is, the linear motion assembly 141 is disposed at one surface of the carrier 142, and the third support shaft is disposed at the other surface of the carrier 142. Thus, the telecentric assembly 133 can drive the carrying structure 140 to move synchronously through the carrying member 142. The linear end of the linear motion assembly 141 is connected to the operating device to drive the operating device to move. The carrier 142 has a docking interface thereon for removably mounting the poke card 600. The poke card 600 is mounted to the docking port on an extension of the rotational axis of the first driver 131.

After the stab card 600 is mounted to the docking port, the operating instrument is connected to the linear motion assembly 141 and protrudes through the stab card 600. As shown in fig. 3, the operating instrument carried by the carrier structure 140 may be a surgical instrument 200. The surgical instrument 200 includes an operation end 210, a power cartridge 230, a power rod 220, and a distal end instrument 240, wherein the operation end 210 and the distal end instrument 240 are respectively disposed at two ends of the power rod 220, and the power cartridge 230 is disposed on the power rod 220 and abuts against the operation end 210. The power cartridge 230 drives the operation end 210 to move the control end instrument 240 to perform a surgical operation.

Alternatively, the linear motion assembly 141 is a drive motor that engages a lead screw nut member, a gear tooth arrangement, or other component capable of outputting linear motion. Alternatively, the carrier 142 is a carrier housing, and the carrier 142 has a linear slot, and the linear end of the linear slot extends out of the linear slot and is connected to the distal end instrument 240, so that the linear motion assembly 141 outputs linear motion through the linear end and moves along the linear slot to realize the movement of the operation instrument. The working principle of the screw-nut member will not be described in detail here.

Referring to fig. 1 to 9, in the surgical robot 100 of the present embodiment, the operation robot 130 and the adjustment robot 120 are main structures thereof, the adjustment robot 120 has four active rotating members 121, the four active rotating members 121 are connected in series, a head end of the series is connected to the lifting member 112, a tail end of the series is connected to the first driving member 131 of the operation robot 130, and the four active rotating members 121 output a rotating motion through the rotating joints 1211 thereof. The operation mechanical arm 130 realizes the motion transmission through the first driving element 131, the second driving element 132 and the telecentric assembly 133, the first driving element 131 outputs deflection motion, the second driving element 132 outputs pitch motion, the telecentric assembly 133 adopts a synchronous belt group structure to realize the motion transmission, and the position of the far center point A is kept unchanged.

The adjusting mechanical arm 120 is used for moving the operating mechanical arm 130 to a position suitable for an operation, the operating mechanical arm 130 maintains the position of the remote center point a by a parallelogram mechanism, and the first driving element 131 and the second driving element 132 are used for driving to realize the deflection and the pitching motion of the operation. When performing an operation, the robot platform can be mounted on the side of a hospital bed to perform the operation, as shown in fig. 2. The robot platform may be mounted to a patient bed by means of a mount 113. After the stab card 600 is installed on the body surface corresponding to the focus of the patient, the mechanical arm 120 is adjusted to butt the butt joint port of the operation mechanical arm 130 with the stab card 600 through the movement of the four active rotating pieces 121; after the butt joint is completed, the pose of the mechanical arm 120 is adjusted and locked through the band-type brake. The operation mechanical arm 130 and the bearing structure 140 drive the operation instrument to realize deflection action through the rotation of the driving part; the second driving element 132 rotates to enable the parallelogram telecentric assembly 133 to drive the bearing structure 140 and the operating instrument to realize pitching motion; the linear motion assembly 141 drives the power box 230 to move, so that the operation instrument can extend and retract. Through the structure form of function separation, the safety, the reliability and the like of the system of the robot can be effectively improved.

The surgical robot 100 of the present invention can be quickly installed on a hospital bed, and also can be installed on a ceiling, and can be flexibly and freely arranged according to the needs of medical care personnel and the space of an operating room. The lifter 112 is supported by the support structure 110, the adjustment arm 120 is attached to the lifter 112, the operation arm 130 is attached to the adjustment arm 120, and the operation device is supported by the operation arm 130, and the first detachment structure 150 and the second detachment structure 160 are coupled to form the surgical robot 100 as a modular platform. The surgical robot 100 is modularized, has a simple structure and good rigidity, and is safe and reliable to separate and kill the surgical robot 100 with functions of various structures, so that the use performance of the surgical robot 100 is ensured.

The invention further provides a surgical system, which comprises a console, a hospital bed 300 and at least one surgical robot 100 in any one of the above embodiments, wherein the hospital bed 300 bears a patient, the at least one surgical robot 100 is arranged at the installation position, and the console is electrically connected with the surgical robot 100 to control the surgical robot 100 to perform surgery on the patient. After the surgical system of the present invention adopts the surgical robot 100 of the above embodiment, the flexibility of the installation position of the surgical robot 100 is high, and the use requirement of the surgical system can be satisfied.

Illustratively, the surgical system employs three surgical robots 100, and the three surgical robots 100 are mounted to a patient bed, as shown in fig. 5. Three surgical robots 100 are arranged on the bed side. When the hospital bed is arranged, the support base 111 preassembled below the hospital bed is rotated to a state of extending out of the edge of the hospital bed and is manually locked; then, the adjusting mechanical arm 120 is butted with the supporting base 111 through the lifting piece 112 (a first quick-release structure), and the lifting rod is manually adjusted to a proper height; the manipulator arm 130 is then structurally and electrically docked with the adjustment arm 120 (second quick release configuration). At this point, the surgical robot 100 is ready to be in place. An endoscope system is installed in the first surgical robot 100 to provide an intraoperative field of view screen; the second and third surgical robots 100 mount the surgical instruments 200 and correspond to the left and right master hands of the console one-to-one and form master-slave mapping; when the doctor operates the master hand of the console, the surgical robot 100 will perform the corresponding surgical action in cooperation with the operation instruments.

As shown in fig. 6 and 7, the hoist mount of the surgical robot 100 is schematically illustrated. The three surgical robots 100 are fixed on the ceiling through the corresponding mounting members 113, the corresponding surgical robot 100 platform can be hoisted above the hospital bed, the three surgical robots 100 are arranged at intervals, the three surgical robots 100 perform surgery cooperatively, and the instruments and the control modes clamped by the three surgical robots 100 are substantially the same as those of the above embodiment and are not repeated herein.

Of course, in other embodiments of the present invention, the surgical system may also employ one, two or even more surgical robots 100 to perform the surgical procedure.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A surgical robot (100), comprising:

a support structure (110) for mounting the surgical robot (100) in a mounting position;

an adjustment robot arm (120) disposed on the support structure (110);

an operation robot (130) provided to the adjustment robot (120); and

a bearing structure (140) arranged on the operation mechanical arm (130) and used for bearing an operation instrument;

the adjusting mechanical arm drives the operating mechanical arm (130) and the bearing structure (140) to move so as to adjust the spatial position of the bearing structure (140), and the operating mechanical arm (130) drives the bearing structure (140) to move so as to adjust the pitching angle and the yawing angle of the bearing structure (140).

2. The surgical robot (100) according to claim 1, wherein the supporting structure (110) comprises a supporting base (111), a lifting member (112), a mounting member (113), and a first detaching structure (150), the lifting member (112) is disposed on a surface of the supporting base (111), the adjusting mechanical arm (120) is mounted on a top portion of the lifting member (112), the mounting member (113) is rotatably disposed on a surface of the supporting base (111) for being mounted on the mounting position, and the first detaching structure (150) detachably connects the supporting base (111) and the lifting member (112).

3. The surgical robot (100) of claim 2, wherein the adjustment robot arm (120) has at least four active rotating members (121), the at least four active rotating members (121) are connected in series, and after the active rotating members (121) are connected in series, the head end thereof is rotatably mounted to the lifting member (112) and the tail end thereof is rotatably connected to the operation robot arm (130).

4. The surgical robot (100) according to claim 3, characterized in that the active rotating member (121) comprises a rotating link and a rotating joint (1211), the rotating joint (1211) is mounted to the rotating link, and an output end of the rotating joint (1211) is connected to the rotating link, the lifting member (112) or the operating robot arm (130) adjacent to the active rotating member (121).

5. The surgical robot (100) according to claim 4, wherein the manipulator arm (130) comprises a first driving member (131), a second driving member (132) and a telecentric assembly (133), wherein one end of the first driving member (131) is connected to the active rotating member (121), the other end of the first driving member is connected to one end of the second driving member (132), and the other end of the second driving member (132) is connected to the carrying structure (140) through the telecentric assembly (133);

the first driving piece (131) drives the second driving piece (132) to drive the telecentric assembly (133) and the bearing structure (140) to do deflection motion, and the second driving piece (132) drives the telecentric assembly (133) and the bearing structure (140) to do pitching motion.

6. The surgical robot (100) of claim 5, wherein the first drive (131) and the second drive (132) each comprise a drive joint and a drive link;

the rotary joint (1211) and the driving joint respectively comprise a rotary motor (12111), a driver (12112), a brake (12113), a speed reducer (12114), an output flange (12115) and an encoder (12116), the rotary motor (12111) is electrically connected with the driver (12112), the encoder (12116) is electrically connected with the driver (12112), the speed reducer (12114) and the output flange (12115) are installed at the output end of the rotary motor (12111), the brake (12113) is installed at the other end of the rotary motor (12111), and the output flange (12115) is connected with the rotary connecting rod of the adjacent driving rotating element (121), the lifting element (112) or the operating mechanical arm (130).

7. The surgical robot (100) of claim 6, wherein the surgical robot (100) further comprises a second detaching structure (160), the second detaching structure (160) comprises a fourth mounting portion and a third mounting portion, one of the fourth mounting portion and the third mounting portion is disposed at an end of each of the driving rotation members (121) connected in series, and the other one of the fourth mounting portion and the third mounting portion is disposed at the second driving member (132), and the driving rotation members (121) are detachably mounted to the driving link through the fourth mounting portion and the third mounting portion.

8. The surgical robot (100) according to any one of claims 1 to 7, characterized in that the carrying structure (140) comprises a linear motion assembly (141) and a carrying member (142), the carrying member (142) is connected with the end of the operating mechanical arm (130), the linear motion assembly (141) is arranged on the carrying member (142) and carries the operating instrument, and a poking card (600) is detachably arranged on the carrying member (142) for supporting and fixing the operating instrument.

9. The surgical robot (100) according to any of claims 1 to 7, characterized in that the mounting site is a hospital bed, a ceiling, a floor, a support platform or a support rail (500).

10. Surgical system, characterized in that it comprises at least one surgical robot (100) according to any one of claims 1 to 9 and a console, at least one surgical robot (100) being arranged in a mounting position, said console being electrically connected to said surgical robot (100) for controlling said surgical robot (100) to perform a surgical operation on a patient.