CN109998685A - A kind of single, double arm assisted minimally invasive surgical operation robot and cooperative inclusion robot system - Google Patents

Abstract

The invention discloses a single-arm and double-arm auxiliary minimally invasive surgical robot and a cooperative combined robot system, comprising a base, a column and an operating arm. The base supports and fixes the entire auxiliary minimally invasive surgical robot; the column is vertically fixed on the base It supports and fixes the operating arm of the auxiliary minimally invasive surgical robot; the connecting seat of the operating arm is connected to a quick-connect joint, and the endoscope or surgical instrument is installed on the quick-connect joint, and the surgical instrument surrounds the "incision point of the human surgical site" Do a "ball spin" motion. Take four or more single-arm combined collaborative minimally invasive surgical robots to collaborate in surgical operations. The upright column and the arm segment one are of a "hollow" structure, and the adjacent arm segments of the upright column, the operating arm and the connecting seat can pass through the rotary joint between the arm segments. The relative rotation is "nested", so that each arm segment of the operating arm, the connecting seat and the surgical instrument are "nested" inside the column.

Description

A single-arm and double-arm assisted minimally invasive surgical robot and collaborative combined robot system

technical field

The invention relates to a medical device in the field of minimally invasive surgery, in particular to a single-arm and dual-arm assisted minimally invasive surgical robot and a collaborative combined robot system suitable for minimally invasive surgery of thoracic cavity and abdominal cavity.

Background technique

Minimally invasive surgery represented by laparoscopic surgery is known as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the use of slender surgical instruments by doctors to probe into the body through tiny incisions on the surface of the human body. surgical operation. Compared with traditional open surgery, it has the advantages of smaller incision, less blood loss, smaller postoperative scar, and faster recovery time, which greatly reduces the pain suffered by patients; for this reason, minimally invasive surgery is widely used in clinical operations. Minimally invasive surgery can bring many benefits to patients, but it adds a series of difficulties to the operation of doctors, such as: 1) Due to the limitation of insertion holes on the body surface, the degree of freedom of tools is reduced to four, and the flexibility is greatly reduced; 2) The operation direction of the instrument is opposite to the doctor's intuition, and the coordination is poor; 3) The shaking of the doctor's hand may be magnified by the slender surgical instruments; 4) The surgical field is a two-dimensional plane imaging, lacking the sense of depth; 5) Lack of force Feel. Therefore, doctors must undergo long-term training to be able to perform minimally invasive surgery. Even so, minimally invasive surgery is currently only used in relatively simple surgical procedures. Therefore, in the field of minimally invasive surgery, there is an urgent need for a robotic system to assist doctors to overcome the above shortcomings and to more easily complete minimally invasive surgical operations. At present, there is still no self-produced assisted minimally invasive surgical robotic system that can be directly used in clinical use in the Chinese market.

Auxiliary minimally invasive surgical robots are precision equipment. The flexibility of the auxiliary minimally invasive surgical robot’s layout under working conditions will directly determine the performance of the auxiliary minimally invasive surgical robot. The layout of the auxiliary minimally invasive surgical robot reflects the overall surgical robot system. key factor in performance levels. The force balance of the overall structural arrangement of the assisted minimally invasive surgical robot directly affects the deformation of the assisted minimally invasive surgical robot due to gravity. The decrease in the use accuracy of the surgical robot is not conducive to the long-term maintenance of the auxiliary minimally invasive surgical robot and prolonging the service life of the auxiliary minimally invasive surgical robot. The service life of surgical robots is of great significance. In addition, the space of the operating room is limited, and the space occupancy of the auxiliary minimally invasive surgical robot in the non-working state has an important impact on the layout of the operating room. The optimization of the space occupancy of the auxiliary minimally invasive surgical robot is of great significance to the layout of the operating room .

In my country, the research and development of assisted minimally invasive surgical robots is still in its infancy, and there is still a big gap between the research on assisted minimally invasive surgical robots and foreign technologies. Auxiliary minimally invasive surgical robots with large stiffness, reasonable force, optimized layout, convenient transportation and long service life are of great significance to fill the domestic gap and promote technological progress in related fields.

SUMMARY OF THE INVENTION

In order to solve the problems of the flexibility of the layout of the assisted minimally invasive surgical robot in the working state, the balance of the overall structure of the assisted minimally invasive surgical robot in the non-working state, the rationality of the force of the parts and the protection of the surgical instruments, and the auxiliary minimally invasive surgical robot. For the optimization problem of the overall space occupation of the surgical robot, the present invention proposes a single-arm and double-arm cooperation that is convenient for disassembly, flexible adjustment, accurate positioning, high rigidity, reasonable force, optimized layout, convenient transportation and long service life. Type-assisted minimally invasive surgical robot and collaborative combined robot system.

The first purpose of the present invention is to provide a single-arm assisted minimally invasive surgical robot. In order to achieve this purpose, the technical solutions adopted in the present invention are as follows:

A single-arm assisted minimally invasive surgical robot, comprising a base, a column and an operating arm, the base is used to support and fix the column and the operating arm; one end of the column is vertically arranged at the position through a first Z-axis rotation joint. On the base, it is used to support and fix the operating arm, and the other end is connected with the operating arm through the first X-axis rotation joint;

The operating arm includes an arm section 1, an arm section 2, an arm section 3, an arm section 4 and an arm section 5; The two arm segments are connected by a second X-axis rotary joint, the arm segment two and the arm segment three are connected by a Z-axis rotation joint; the arm segment three and the arm segment four are connected by a third X-axis rotary joint Connected, the arm segment four and the arm segment five are connected by a fourth X-axis rotary joint, and the arm segment five and the connecting seat are connected by a second X-axis rotary joint; the base is mounted with a corresponding surgical instrument Or the endoscope is retractable.

Further, in the single-arm assisted minimally invasive surgical robot, the axes of the arm segment 3 and the arm segment 5 are parallel, and the arm segment 4 is parallel to the line passing through the axis of the connecting seat and parallel to the axis of the arm segment 4, The four constitute a "parallelogram" structure; the arm section 3, arm section 4, arm section 5 and the connecting seat swing in a "parallelogram" structure;

The third arm, the fourth arm, the fifth arm and the connecting seat are centered on the point in the "parallelogram" opposite to the intersection of the axis of the third arm and the straight line passing through the axis of the connecting seat and parallel to the axis of the fourth arm, Swing movement around the axis of arm section three;

The "intersection point" of "a straight line passing through the axis of the connecting seat and parallel to the axis of the fourth arm segment" and "the three axes of the arm segment" is the "rotation fixed point";

The axis of the surgical tool installed and fixed on the connecting seat passes through the "rotational fixed point", and the surgical tool installed and fixed on the connecting seat takes the "rotational fixed point" as the "rotation center". The "parallelogram swings back and forth" and the "left and right swing" movement around the axis of the arm segment 3, so that the surgical tool performs a "spherical rotation" movement around the "rotation fixed point".

The second purpose of the present invention is to provide another single-arm assisted minimally invasive surgical robot. In order to achieve this purpose, the technical solution adopted by the present invention is as follows:

A single-arm assisted minimally invasive surgical robot, comprising a base, a column and an operating arm, the base is used to support and fix the column and the operating arm; one end of the column is vertically arranged at the position through a first Z-axis rotation joint. On the base, it is used to support and fix the operating arm, and the other end is connected with the operating arm;

The operating arm includes an arm section 1, an arm section 2, an arm section 3, an arm section 4, an arm section 5, an arm section 6 and an arm section 7; The arm segment one and the arm segment two are connected through the first Z-axis rotation joint, the arm segment two and the arm segment three are connected through the second Z-axis rotation joint, and the arm segment three is connected with the arm segment four. They are connected by the third Z-axis rotation joint;

The arm segment 4 and the arm segment 5 are connected by a fourth Z-axis autorotation joint;

The arm segment 5 and the arm segment 6 are connected through the first X-axis rotation joint, and the arm segment 6 and the arm segment 7 are connected through the second X-axis rotation joint; the arm segment 7 is connected with the The connecting seats are connected in turn through the X-axis rotary joint.

The third object of the present invention is to provide a cooperative combined robot system including at least two of the aforementioned single-arm assisted minimally invasive surgical robots.

The fourth object of the present invention is to provide a dual-arm assisted minimally invasive surgical robot, including a base, a post and an operating arm, the base is used to support and fix the post and the operating arm; The base is fixedly connected, and the other end of the column is connected with the two mechanical arms respectively through two Y-axis rotary joints; the structures of the two mechanical arms are exactly the same;

Each robotic arm includes arm segment 1, arm segment 2, arm segment 3, arm segment 4, arm segment 5, arm segment 6 and arm segment 7; Section 7 and arm section 1 are connected by a first X-axis rotary joint, arm section 1 and arm section 2 are connected by a second X-axis rotary joint, and arm section 2 and arm section 3 are connected by a second X-axis rotary joint. The Z-axis rotation joint is connected; the arm segment 3 and the arm segment 4 are connected through the third X-axis rotation joint, the arm segment 4 and the arm segment 5 are connected through the fourth X-axis rotation joint, and the arm segment 5 is connected with the The bases are connected through a second X-axis rotation joint; the base is provided with corresponding surgical instruments or endoscopes.

Further, in the dual-arm assisted minimally invasive surgical robot, the axes of the arm segment 3 and the arm segment 5 are parallel, and the arm segment 4 is parallel to the line passing through the axis of the connecting seat and parallel to the axis of the arm segment 4, and the four constitute A "parallelogram" structure is adopted; the arm section 3, arm section 4, arm section 5 and the connecting seat are oscillated in a "parallelogram" structure;

The third arm, the fourth arm, the fifth arm and the connecting seat are centered on the point in the "parallelogram" opposite to the intersection of the axis of the third arm and the straight line passing through the axis of the connecting seat and parallel to the axis of the fourth arm, Swing movement around the axis of arm section three;

The "intersection point" of "a straight line passing through the axis of the connecting seat and parallel to the axis of the fourth arm segment" and "the three axes of the arm segment" is the "rotation fixed point";

The axis of the surgical tool installed and fixed on the connecting seat passes through the "rotational fixed point", and the surgical tool installed and fixed on the connecting seat takes the "rotational fixed point" as the "rotation center". The "parallelogram swings back and forth" and the "left and right swing" movement around the axis of the arm segment 3, so that the surgical tool performs a "spherical rotation" movement around the "rotation fixed point".

The fifth object of the present invention is to provide a dual-arm assisted minimally invasive surgical robot, including a base, a post and an operating arm, the base is used to support and fix the post and the operating arm; The base is fixedly connected, and the uprights are respectively connected with the two robotic arms; the structures of the two robotic arms are exactly the same;

The operating arm includes an arm section 1, an arm section 2, an arm section 3, an arm section 4, an arm section 5, an arm section 6 and an arm section 7; The arm segment one and the arm segment two are connected through the first Z-axis rotation joint, the arm segment two and the arm segment three are connected through the second Z-axis rotation joint, and the arm segment three is connected with the arm segment four. They are connected by the third Z-axis rotation joint;

The arm segment 4 and the arm segment 5 are connected by a fourth Z-axis autorotation joint;

The arm segment 5 and the arm segment 6 are connected through the first X-axis rotation joint, and the arm segment 6 and the arm segment 7 are connected through the second X-axis rotation joint; the arm segment 7 is connected with the The connecting seats are connected in turn through the X-axis rotary joint.

The sixth object of the present invention is to provide a cooperative combined robot system, comprising at least two of the dual-arm assisted minimally invasive surgical robots.

The working process of the present invention is as follows:

In the working state, the column can be rotated to an appropriate angle relative to the base along the rotation joint between the column and the base in the horizontal direction, the column and the operation Between the adjacent arm sections of the arm, between the adjacent arm sections of the operating arm, and between the connecting seat and the adjacent arm sections of the operating arm The relative rotation of the rotary joint adjusts the included angle for more flexible and optimal arrangement, so that the surgical instruments fixed at the end of the connecting base can more easily reach the target position of the patient's surgical site at the best angle, which is beneficial to the operation and deployment of the surgery.

The axes of the arm segment 3 and the arm segment 5 are parallel, and the arm segment 4 is parallel to the line passing through the axis of the connecting seat and parallel to the axis of the arm segment 4. The four constitute a "parallelogram" structure; Section 4, arm section 5 and connecting seat swing in a "parallelogram" structure; arm section 3, arm section 4, arm section 5 and connecting seat are in the "parallelogram" with the axis of arm section 3 and the axis passing through the connecting seat and The point opposite to the intersection of the straight line parallel to the axis of the arm segment 4 is the center, and the swing motion is performed around the axis of the arm segment 3.

The "intersection point" of "a straight line passing through the axis of the connecting seat and parallel to the axis of the fourth arm segment" and "the three axes of the arm segment" is the "rotation fixed point". The axis of the surgical tool installed and fixed on the connecting seat passes through the "rotational fixed point", and the surgical tool installed and fixed on the connecting seat takes the "rotational fixed point" as the "rotation center" to perform "parallelism". The quadrilateral swings back and forth" and performs a "left and right swing" movement around the axis of the arm section 3, so that the surgical tool performs a "spherical rotation" movement around the "rotation fixed point". By "coinciding" this "rotational fixation point" with the "entry point of the human surgical site", the surgical tool can be safely positioned by the robotic arm without exerting dangerous forces on the human abdominal wall.

In the working state, four or more single-arm combined collaborative minimally invasive surgical robots can be used to perform surgical operations cooperatively according to the surgical needs. The single-arm combined collaborative minimally invasive surgical robot can be flexibly arranged according to the needs of the operation, and both can be placed on one side of the operating bed; two can be placed on one side of the operating bed, and the other two can be placed on the other side of the operating bed. side; three can also be placed on one side of the operating table and one on the other side of the operating table. The legs on the base of the single-arm combined collaborative minimally invasive surgical robot can be telescopic relative to the base, and in the working state, the legs on the base of the single-arm combined collaborative minimally invasive surgical robot can be relative to the base. The base is in an extended state to expand the support area and prevent the single-arm combined collaborative minimally invasive surgical robot from tipping over. The legs on the base of the single-arm combined collaborative minimally invasive surgical robot can be extended to an appropriate length relative to the base as required, and the left and right sides of the base of the single-arm combined collaborative minimally invasive surgical robot are A connection device is installed on the outrigger, and the connection device on the outrigger can connect and fix the adjacent bases to prevent the adjacently placed single-arm combined collaborative minimally invasive surgical robot from tipping.

In the non-working state, the arm section one of the upright column and the operating arm is a "hollow" structure, and between the adjacent arm sections of the upright column and the operating arm, the operating arm The adjacent arm segments, the connecting seat and the adjacent arm segments of the operating arm can be rotated relative to each other through the rotation joints between the arm segments to a direction parallel to the length axis of the component. "Nesting" placement, so that each arm segment of the operating arm, the connecting seat and the surgical instrument are "nested" on the inside of the column, which not only optimizes the force balance of the overall structure of the auxiliary minimally invasive surgical robot in the non-working state and the components The rationality of the force and the overall space occupation of the auxiliary minimally invasive surgical robot are also beneficial to protect the surgical instruments from being damaged and affecting the use.

The upright column and the first arm section of the operating arm adopt a "hollow" structure, which increases the "rigidity" of the upright column and the arm section one of the operating arm and reduces the The "weight" of the first arm section of the operating arm improves the "precision" of the auxiliary minimally invasive surgical robot.

In a non-working state, the legs on the base of the single-arm combined collaborative minimally invasive surgical robot can be in a retracted state relative to the base, so as to reduce the base of the single-arm combined collaborative minimally invasive surgical robot. space footprint on the outriggers.

In the non-working state, between the upright column and the adjacent arm sections of the operating arm, between the adjacent arm sections of the operating arm, the connecting seat and the operating arm The optimal layout of the adjacent arm segments through the relative rotation of the rotating joints between the arm segments to "nested" placement along the direction parallel to the length axis of the components can make the column, operating arm of the entire auxiliary minimally invasive surgical robot possible. Each arm segment, connecting seat and surgical instrument only bear axial tension or axial pressure, but not bending moment, which optimizes the overall force balance of the auxiliary minimally invasive surgical robot and the force state of each component, effectively It effectively prevents the deformation of the auxiliary minimally invasive surgical robot due to the bending moment caused by gravity, and avoids the problem of lowering the use accuracy of the auxiliary minimally invasive surgical robot due to deformation. This is beneficial to the long-term maintenance of the auxiliary minimally invasive surgical robot. , and can prolong the service life of the assisted minimally invasive surgical robot. The "nested" layout of each arm section of the column and the operating arm and the surgical instruments is beneficial to protect the surgical instruments from being damaged and affecting the use. The single-arm collaborative auxiliary minimally invasive surgical robot proposed by the present invention occupies a small space after being folded in a non-working state, and is especially suitable for limited space in operating places, such as ships, submarines, etc. At the same time, the structure also provides an auxiliary minimally invasive surgical robot. The convenience of packaging and transportation.

The beneficial effects of the present invention are:

The present invention proposes a single-arm collaborative auxiliary minimally invasive surgical robot with convenient disassembly, flexible adjustment, accurate positioning, high rigidity, reasonable force, optimized layout, convenient transportation and long service life. In the minimally invasive surgical robot, there are the flexibility of the auxiliary minimally invasive surgical robot layout in the working state, the balance of the overall structure of the auxiliary minimally invasive surgical robot in the non-working state, the rationality of the force of the parts and the protection of the surgical instruments Problems and optimization of the overall space occupancy of the assisted minimally invasive surgical robot. At the same time, the single-arm collaborative assisted minimally invasive surgical robot also improves the "accuracy" of the assisted minimally invasive surgical robot, avoids the problem of decreased use accuracy caused by the deformation of the assisted minimally invasive surgical robot, and solves the problem of the protection of surgical instruments Therefore, the single-arm cooperative auxiliary minimally invasive surgical robot proposed by the present invention occupies a small space after being folded in a non-working state, and is beneficial to the long-term maintenance, packaging and transportation of the minimally invasive surgical robot.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic front view of the working state of Embodiment 1 of the single-arm assisted minimally invasive surgical robot of the present invention.

FIG. 2 is a schematic front view of the single-arm assisted minimally invasive surgical robot according to Embodiment 1 of the present invention in a non-working state.

FIG. 3 is a schematic front view of the non-working state of Embodiment 1 of the single-arm assisted minimally invasive surgical robot of the present invention.

4 and 5 are a schematic front view and a schematic top view of the base outrigger retracted state in the non-working state of Embodiment 1 of the single-arm assisted minimally invasive surgical robot of the present invention.

6 and 7 are a schematic front view and a schematic plan view of the base outrigger in the non-working state of Embodiment 1 of the single-arm assisted minimally invasive surgical robot of the present invention in the retracted state.

8 and 9 are a schematic front view and a schematic plan view of the base outrigger in the working state of the first embodiment of the single-arm assisted minimally invasive surgical robot of the present invention.

10 and 11 are a schematic front view and a schematic top view of the base outrigger in the working state of the single-arm assisted minimally invasive surgical robot of the first embodiment of the present invention in the unfolded state.

FIG. 12 is a schematic front view of the double-sided collaborative arrangement in the working state of the collaborative combined robot system corresponding to the single-arm assisted minimally invasive surgical robot of the present invention in Embodiment 1. FIG.

13 is a schematic front view of a single-sided cooperative arrangement in a non-working state of Embodiment 1 of the collaborative combined robot system corresponding to the single-arm assisted minimally invasive surgical robot of the present invention.

14 is a schematic top view of a single-sided collaborative arrangement in the working state of the collaborative combined robot system corresponding to the single-arm assisted minimally invasive surgical robot of the present invention in Example 1.

FIG. 15 is a schematic front view of the double-sided collaborative arrangement of the working state of the collaborative combined robot system corresponding to the single-arm assisted minimally invasive surgical robot of the present invention in Example 1. FIG.

FIG. 16 is a schematic top view of the arrangement of bilateral cooperation in the working state of Embodiment 1 of the collaborative combined robot system corresponding to the single-arm assisted minimally invasive surgical robot of the present invention.

17 is a schematic front view of the second embodiment of the double-sided collaborative arrangement in the working state of the collaborative combined robot system corresponding to the single-arm assisted minimally invasive surgical robot of the present invention.

FIG. 18 is a schematic top view of the second embodiment of the double-sided collaborative arrangement in the working state of the collaborative combined robot system corresponding to the single-arm assisted minimally invasive surgical robot of the present invention.

FIG. 19 is a schematic front view of the structure of Embodiment 2 of the single-arm assisted minimally invasive surgical robot of the present invention. FIG. 20 is a schematic diagram of the movement principle of a part of the arm segment mechanism of the single-arm assisted minimally invasive surgical robot in Embodiment 1 of the present invention.

Fig. 21 is an enlarged schematic view of a partial structure of a part of the arm segment mechanism of the single-arm assisted minimally invasive surgical robot of Embodiment 1 of the present invention. Fig. 22 is an enlarged schematic diagram of a partial structure of a part of the arm segment mechanism of the second embodiment of the single-arm assisted minimally invasive surgical robot of the present invention.

23 is a schematic front view of the working state of Embodiment 3 of the dual-arm assisted minimally invasive surgical robot of the present invention;

24 is a schematic front view of the non-working state of Embodiment 3 of the dual-arm assisted minimally invasive surgical robot of the present invention;

FIG. 25 is a schematic front view of the double-sided cooperative arrangement in the working state of Embodiment 3 of the cooperative combined robot system corresponding to the double-arm assisted minimally invasive surgical robot of the present invention.

26 is a schematic front view of a single-sided collaborative arrangement in the working state of Embodiment 3 of the collaborative combined robot system corresponding to the dual-arm assisted minimally invasive surgical robot of the present invention.

27 is a schematic top view of a single-sided collaborative arrangement in the working state of Embodiment 3 of the collaborative combined robot system corresponding to the dual-arm assisted minimally invasive surgical robot of the present invention.

FIG. 28 is a schematic diagram of the second front view of the two-sided collaborative arrangement in the working state of Embodiment 3 of the collaborative combined robot system corresponding to the double-arm assisted minimally invasive surgical robot of the present invention.

FIG. 29 is a schematic top view of the second embodiment of the double-sided cooperation arrangement in the working state of the collaborative combined robot system corresponding to the double-arm assisted minimally invasive surgical robot of the present invention.

30 is a schematic front view of the non-working state of Embodiment 4 of the dual-arm assisted minimally invasive surgical robot of the present invention;

FIG. 31 is a schematic side view of the non-working state of Embodiment 4 of the dual-arm assisted minimally invasive surgical robot of the present invention. Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

As shown in Figures 1 to 18, in order to solve the flexibility of the layout of the assisted minimally invasive surgical robot in the working state, the balance of the overall structure of the auxiliary minimally invasive surgical robot in the non-working state, and the rationality of the force on the parts and components The problem of the protection of surgical instruments and the optimization of the overall space occupied by the auxiliary minimally invasive surgical robot, the present invention proposes a convenient disassembly, flexible adjustment, accurate positioning, high rigidity, reasonable force, optimized layout, convenient transportation, A single-arm collaborative assisted minimally invasive surgical robot with a long service life. Through the optimized structural layout, the assisted minimally invasive surgical robot can coordinate the layout under the working state, so that the operating arm can reach the patient's surgical site at the best angle. The target position is convenient for surgical operations, which optimizes the flexibility of the auxiliary minimally invasive surgical robot in the working state of the layout and cooperation, and can also optimize the overall structure and force balance of the auxiliary minimally invasive surgical robot in the non-working state. The force state of each component effectively prevents the deformation of the auxiliary minimally invasive surgical robot due to the bending moment caused by gravity, and avoids the occurrence of the problem of decreased use accuracy caused by the deformation of the auxiliary minimally invasive surgical robot. The long-term maintenance of the minimally invasive surgical robot can prolong the service life of the auxiliary minimally invasive surgical robot. The "nested" layout of each arm section of the column and the operating arm and the surgical instruments is beneficial to protect the surgical instruments from being damaged and affecting the use. The single-arm collaborative auxiliary minimally invasive surgical robot proposed by the present invention occupies a small space after being folded in a non-working state, and is especially suitable for limited space in operating places, such as ships, submarines, etc. At the same time, the structure also provides an auxiliary minimally invasive surgical robot. The convenience of packaging and transportation.

As shown in Figure 1, a single-arm collaborative auxiliary minimally invasive surgical robot includes a base 1, a column 2, an arm segment 1 3, an arm segment 2 4, an arm segment 3 5, an arm segment 4 6, and an arm segment 5 7 , connecting seat 8, patient 9, operating bed 10, the base 1 supports and fixes the entire single-arm collaborative auxiliary minimally invasive surgical robot; the column 2 is vertically fixed on the base 1, which supports and Fixing the arm section 1 3, arm section 2 4, arm section 3 5, arm section 4 6, arm section 5 7, connecting seat 8 of the auxiliary minimally invasive surgical robot; The rotary joint 1-2 between the base 1 and the base 1 rotates 360 degrees in the horizontal direction; the bottom of the base 1 is provided with a roller 1-1-1 and a support 1-1-2 to assist minimally invasive surgery The robot can move to the corresponding position.

Further, the upright column 2 and the arm segment one 3 are connected by a rotary joint 2-3, and the arm segment one 3 and the arm segment two 4 are connected by a rotary joint 3-4. , the arm segment two 4 and the arm segment three 5 are connected by a rotary joint 4-5, the arm segment four 6 described in the arm segment three 5 are connected by a rotary joint 5-6, The arm segment four 6 and the arm segment five 7 are connected by a rotary joint 6-7, and the arm segment five 7 and the connecting seat 8 are connected by a rotary joint 7-8, and The connecting seat 8 is connected to a quick-connect joint, and an endoscope or a surgical instrument is installed on the quick-connect joint.

Further, the column 2 and the arm segment one 3 are "hollow" structures, the column 2 and the arm segment one 3, the arm segment two 4, the arm segment three 5, the arm segment four 6 , Arm segment five 7, connecting seat 8 can pass through the rotating joint 2-3 between the arm segments, the rotating joint 3-4, the rotating joint 4-5, the rotating joint 5-6, the rotating joint 6-7, the rotating joint 7-8 are "nested" by relative rotation, so that the arm segment one 3, the arm segment two 4, the arm segment three 5, the arm segment four 6, the arm segment five 7, the connecting seat 8 and the surgical instrument are "nested". "In the inner side of column 2, it not only optimizes the force balance of the overall structure of the auxiliary minimally invasive surgical robot under the non-working state, the rationality of the force of the components and the overall space occupation of the auxiliary minimally invasive surgical robot, but also helps to protect the operation. The instrument will not be damaged and affect the use.

The working process of the present invention is as follows:

In the working state, the column 2 can be rotated to an appropriate angle relative to the base 1 along the rotation joint 1-2 between the column 2 and the base 1 in the horizontal direction. The upright column 2 and the arm segment one 3, the arm segment two 4, the arm segment three 5, the arm segment four 6, the arm segment five 7, and the connecting seat 8 can pass through the rotating joints 2-3 between the arm segments, Revolving joint 3-4, revolving joint 4-5, revolving joint 5-6, revolving joint 6-7, revolving joint 7-8 relative rotation to adjust the included angle so as to optimize the arrangement more flexibly and fix the end of the connection seat 8 It is easier for the instrument to reach the target position of the patient's surgical site at the best angle, which is beneficial to the operation of the operation.

The axes of the arm segment three 5 and the arm segment five 7 are parallel, the arm segment four 6 is parallel to the straight line passing through the axis of the connecting seat 8 and parallel to the axis of the arm segment four 6, and the four constitute a "parallelogram" structure; Arm section three 5, arm section four 6, arm section five 7 and connecting seat 8 swing in a "parallelogram" structure; arm section three 5, arm section four 6, arm section five 7 and connecting seat 8 are in a "parallelogram" The point opposite to the intersection of the axis of the arm segment 3 5 and the straight line passing through the axis of the connecting seat 8 and parallel to the axis of the arm segment 4 6 is the center, and the swing motion is performed around the axis of the arm segment 3 5 .

The "intersection point" of "a straight line passing through the axis of the connecting seat 8 and parallel to the axis of the arm segment 4 6" and "the axis of the arm segment 3 5" is the "rotation fixed point". The axis of the surgical tool installed and fixed on the connecting seat 8 passes through the "rotational fixed point", and the surgical tool installed and fixed on the connecting seat 8 takes the "rotational fixed point" as the "rotation center". The "parallelogram swings back and forth" and the "left and right swing" movement around the axis of the arm segment 3 5, so that the surgical tool performs a "spherical rotation" movement around the "rotation fixed point". By "coinciding" this "rotational fixation point" with the "entry point of the human surgical site", the surgical tool can be safely positioned by the robotic arm without exerting dangerous forces on the human abdominal wall.

In the working state, four or more single-arm combined collaborative minimally invasive surgical robots can be used to perform surgical operations according to the needs of the operation, as shown in Figures 8 to 14. Take collaborative operation as an example, the single-arm combined collaborative minimally invasive surgical robot can be flexibly arranged according to the needs of the operation, and both can be placed on one side of the operating table; two can also be placed on one side of the operating table and the other two. One is placed on the other side of the operating bed; three can be placed on one side of the operating bed and the other one on the other side of the operating bed. The legs 1-1-3 on the base 1 of the single-arm combined collaborative minimally invasive surgical robot can be telescopic relative to the base 1. In the working state, as shown in Figures 6 to 7, the single-arm combined collaborative The legs 1-1-3 on the base 1 of the minimally invasive surgical robot can be in an extended state relative to the base 1, so as to expand the support area and prevent the single-arm combined collaborative minimally invasive surgical robot from tipping. The legs 1-1-3 on the base 1 of the single-arm combined collaborative minimally invasive surgical robot can be extended to an appropriate length relative to the base 1 as required, and the single-arm combined collaborative minimally invasive surgical robot Connecting devices 1-1-3-1 are installed on the legs 1-1-3 on the left and right sides of the base 1, and the connecting devices 1-1-3 on the legs 1-1-3 3-1 The adjacent bases 1 can be connected and fixed to prevent the adjacently placed single-arm combined collaborative minimally invasive surgical robot from tipping over.

In the non-working state, the column 2 and the arm segment one 3 are "hollow" structures, the column 2 and the arm segment one 3, the arm segment two 4, the arm segment three 5, the arm segment Section four 6, arm section five 7, connecting seat 8 can pass through the rotating joint 2-3, rotating joint 3-4, rotating joint 4-5, rotating joint 5-6, rotating joint 6-7 between the arm sections , The rotating joints 7-8 are relatively rotated to be "nested" along the direction parallel to the length axis of the parts, so that the arm section one 3, arm section two 4, arm section three 5, arm section four 6, arm section Section 5 7. The connecting seat 8 and the surgical instrument are "nested" inside the column 2, which not only optimizes the balance of the force of the overall structure of the auxiliary minimally invasive surgical robot in the non-working state, the rationality of the force of the components, and the auxiliary minimally invasive surgery. The problem of the overall space occupation of the surgical robot is also beneficial to protect the surgical instruments from being damaged and affecting the use.

The upright column 2 and the arm segment one 3 are of "hollow" structure, which increases the "rigidity" of the upright column 2 and the arm segment one 3 and reduces the The "weight" of the arm segment 1 3 mentioned above improves the "precision" of the auxiliary minimally invasive surgical robot.

In the non-working state, as shown in FIGS. 4 to 5 , the legs 1-1-3 on the base 1 of the single-arm combined collaborative minimally invasive surgical robot can be in a retracted state relative to the base 1 to reduce The space occupied by the legs 1-1-3 on the base 1 of the single-arm combined collaborative minimally invasive surgical robot.

In the non-working state, between the column 2 and the arm segment 1 3, arm segment 2 4, arm segment 3 5, arm segment 4 6, arm segment 5 7, and connecting seat 8 can pass through the arm segment. Rotation joint 2-3, rotary joint 3-4, rotary joint 4-5, rotary joint 5-6, rotary joint 6-7, rotary joint 7-8 are relatively rotated to the direction parallel to the longitudinal axis of the component. The optimized layout of "nested" placement can make the whole auxiliary minimally invasive surgical robot's post 2 and arm segment 1 3, arm segment 2 4, arm segment 3 5, arm segment 4 6, arm segment 5 7, connecting seat 8, patient 9. The operating table 10 and the surgical instruments only bear the axial tension or axial pressure, but not the bending moment, which optimizes the overall force balance of the auxiliary minimally invasive surgical robot and the force state of each component, effectively preventing It avoids the deformation of the auxiliary minimally invasive surgical robot due to the bending moment caused by gravity, and avoids the problem of lowering the use accuracy of the auxiliary minimally invasive surgical robot due to deformation. The service life of the auxiliary minimally invasive surgical robot can be prolonged. The "nested" layout of each arm section of the column and the operating arm and the surgical instruments is beneficial to protect the surgical instruments from being damaged and affecting the use. The single-arm collaborative auxiliary minimally invasive surgical robot proposed by the present invention occupies a small space after being folded in a non-working state, and is especially suitable for limited space in operating places, such as ships, submarines, etc. At the same time, the structure also provides an auxiliary minimally invasive surgical robot. The convenience of packaging and transportation.

The present invention proposes a single-arm collaborative auxiliary minimally invasive surgical robot with convenient disassembly, flexible adjustment, accurate positioning, high rigidity, reasonable force, optimized layout, convenient transportation and long service life. In the minimally invasive surgical robot, there are the flexibility of the auxiliary minimally invasive surgical robot layout in the working state, the balance of the overall structure of the auxiliary minimally invasive surgical robot in the non-working state, the rationality of the force of the parts and the protection of the surgical instruments Problems and optimization of the overall space occupancy of the assisted minimally invasive surgical robot. At the same time, the single-arm collaborative assisted minimally invasive surgical robot also improves the "accuracy" of the assisted minimally invasive surgical robot, avoids the problem of decreased use accuracy caused by the deformation of the assisted minimally invasive surgical robot, and solves the problem of the protection of surgical instruments , and is conducive to the long-term maintenance, packaging and transportation of the minimally invasive surgical robot.

A single-arm collaborative assisted minimally invasive surgical robot proposed by the present invention can, on the basis of Embodiment 1, combine the arm segments 1 3 and 3 between the arm segment 3 5 described in FIG. 1 and the upright column 2 The second arm segment 4, the rotating joint 2-3, the rotating joint 3-4 are replaced with the arm segment one 3-1, the arm segment two 3-2, the arm segment three 3-3, the arm segment four 3-4 and the movement in Figure 15. Joint 2-3-1, rotary joint 3-1-3-2, rotary joint 3-1-3-3, rotary joint 3-1-3-4, while removing the column 2 and The other structures of the rotary joints 1-2 between the bases 1 remain unchanged, and the function of positioning the operating arm for the surgical operation of the surgical instrument can also be realized. details as follows:

Example 2

The specific structure is shown in Figure 19:

On the basis of Example 1, the arm segment 1 3, the arm segment 2 4, the rotary joint 2-3 and the rotary joint 3-4 between the arm segment 3 5 and the upright column 2 described in FIG. 1 are replaced In Figure 15, arm segment one 3-1, arm segment two 3-2, arm segment three 3-3, arm segment four 3-4, moving joint 2-3-1, rotating joint 3-1-3-2, Rotating joints 3-1-3-3, 3-1-3-4, and removing the rotating joints 1-2 between the column 2 and the base 1 in Example 1, the rest of the structures are maintained The same, the function of positioning the operating arm for the surgical operation of the surgical instrument can also be realized.

In the working state, the arm segment one 3-1 can move the joint 2-3- relative to the upright post 2 along the axial direction between the arm segment one 3-1 and the upright post 2. 1 Move to a suitable height in the vertical direction, the arm segment one 3-1, arm segment two 3-2, arm segment three 3-3, can pass through the rotating joint between the arm segments 3-1- 3-2. The rotating joint 3-2-3-3 and the rotating joint 3-3-3-4 are relatively rotated to adjust the angle so as to be more flexible and optimally arranged, so that the surgical instruments fixed at the end of the connecting seat 8 can be more easily and The optimal angle reaches the target position of the patient's surgical site, which is conducive to the operation of the operation.

Example 3

This embodiment provides a collaborative combined robot system, including at least two single-arm assisted minimally invasive surgical robots described in Embodiment 1 and Embodiment 2. For example, four or more single-arm combined collaborative minimally invasive surgical robots can be used to perform surgical operations in cooperation according to surgical requirements. The single-arm combined collaborative minimally invasive surgical robot can be arranged flexibly according to the surgical needs, and can be placed on one side of the operating bed; two can be placed on one side of the operating bed, and the other two can be placed on the other side of the operating bed; Three can be placed on one side of the operating table and one on the other side of the operating table.

Example 4

As shown in FIGS. 23 to 29 , this embodiment discloses a dual-arm collaborative assisted minimally invasive surgical robot, which is based on Embodiment 1, and uses the upright column 2 in Embodiment 1 as a new For the arm segment, a T-shaped column 11 is newly added. The T-shaped column 11 is connected to the two arm segments 12 through the two Y-axis rotating joints 11-12 respectively. The axial rotation joints 1-2 are connected with the column 2 in the embodiment 1, and the rest of the structure is exactly the same as that in the embodiment 1; Hence the dual-arm manipulator.

Example 5

The specific structures are shown in Figures 30 to 31: In this embodiment, on the basis of Embodiment 2, the column 2 in Embodiment 2 is modified to have a T-shaped structure, and two machines identical to those in Embodiment 2 are installed in the T-shaped structure. arm, the specific connection method is exactly the same.

Example 7

The present invention also provides a collaborative combined robot system, comprising at least two single-arm assisted minimally invasive surgical robots described in Embodiment 4 or Embodiment 5. For example, four or more single-arm combined collaborative minimally invasive surgical robots can be used to perform surgical operations in cooperation according to surgical requirements. The single-arm combined collaborative minimally invasive surgical robot can be arranged flexibly according to the surgical needs, and can be placed on one side of the operating bed; two can be placed on one side of the operating bed, and the other two can be placed on the other side of the operating bed; Three can be placed on one side of the operating table and one on the other side of the operating table.

Through the optimized structural layout, the invention enables the auxiliary minimally invasive surgical robot to coordinate the layout in the working state, so that the operating arm can reach the target position of the patient's surgical site at the best angle, so that the operation can be conveniently performed, and the auxiliary minimally invasive surgical operation is optimized. The flexibility of the surgical robot’s layout and collaboration in the working state can also optimize the balance of the overall structure of the auxiliary minimally invasive surgical robot and the force state of each component in the non-working state, effectively preventing the auxiliary microsurgery. The bending moment deformation of the invasive surgical robot due to gravity avoids the problem of lowering the accuracy of use of the assisted minimally invasive surgical robot due to deformation. This is conducive to the long-term maintenance of the assisted minimally invasive surgical robot, and can prolong the auxiliary operation. The service life of minimally invasive surgical robots. The "nested" layout of each arm section of the upright column and the operating arm and the surgical instruments is beneficial to protect the surgical instruments from being damaged and affecting the use. The single-arm collaborative auxiliary minimally invasive surgical robot proposed by the present invention occupies a small space after being folded in a non-working state, and is especially suitable for limited space in operating places, such as ships, submarines, etc. At the same time, the structure also provides an auxiliary minimally invasive surgical robot. the convenience of packaging and transportation.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they do not limit the scope of protection of the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to pay creative efforts. Various modifications or deformations that can be made are still within the protection scope of the present invention.

Claims (10)

1. a single-arm assisted minimally invasive surgical robot is characterized in that: comprising a base, a column and an operating arm, and the base is used to support and fix the column and the operating arm; one end of the column passes through the first Z-axis The rotating joint is vertically arranged on the base, which is used for supporting and fixing the operating arm, and the other end is connected with the operating arm through the first X-axis rotating joint; The operating arm includes an arm section 1, an arm section 2, an arm section 3, an arm section 4 and an arm section 5; The two arm segments are connected by a second X-axis rotary joint, the arm segment two and the arm segment three are connected by a Z-axis rotation joint; the arm segment three and the arm segment four are connected by a third X-axis rotary joint Connected, the arm segment four and the arm segment five are connected by a fourth X-axis rotary joint, and the arm segment five and the connecting seat are connected by a second X-axis rotary joint; the base is mounted with a corresponding surgical instrument Or the endoscope is retractable. 2. The single-arm auxiliary minimally invasive surgical robot as claimed in claim 1, wherein: The axes of the arm segment 3 and the arm segment 5 are parallel, and the arm segment 4 is parallel to the line passing through the axis of the connecting seat and parallel to the axis of the arm segment 4. The four constitute a "parallelogram" structure; Section 4, arm section 5 and the connecting seat swing in a "parallelogram" structure; The third arm, the fourth arm, the fifth arm and the connecting seat are centered on the point in the "parallelogram" opposite to the intersection of the axis of the third arm and the straight line passing through the axis of the connecting seat and parallel to the axis of the fourth arm, Swing movement around the axis of arm section three; The "intersection point" of "a straight line passing through the axis of the connecting seat and parallel to the axis of the fourth arm segment" and "the three axes of the arm segment" is the "rotation fixed point"; The axis of the surgical tool installed and fixed on the connecting seat passes through the "rotational fixed point", and the surgical tool installed and fixed on the connecting seat takes the "rotational fixed point" as the "rotation center". The "parallelogram swings back and forth" and the "left and right swing" movement around the axis of the arm segment 3, so that the surgical tool performs a "spherical rotation" movement around the "rotation fixed point". 3. A single-arm auxiliary minimally invasive surgical robot, characterized in that: Including a base, a column and an operating arm, the base is used to support and fix the column and the operating arm; one end of the column is vertically arranged on the base through the first Z-axis rotation joint, which is used for supporting and fixing the operating arm, the other end is connected with the operating arm; The operating arm includes an arm section 1, an arm section 2, an arm section 3, an arm section 4, an arm section 5, an arm section 6 and an arm section 7; The arm segment one and the arm segment two are connected through the first Z-axis rotation joint, the arm segment two and the arm segment three are connected through the second Z-axis rotation joint, and the arm segment three is connected with the arm segment four. They are connected by the third Z-axis rotation joint; The arm segment 4 and the arm segment 5 are connected by a fourth Z-axis autorotation joint; The arm segment 5 and the arm segment 6 are connected through the first X-axis rotation joint, and the arm segment 6 and the arm segment 7 are connected through the second X-axis rotation joint; the arm segment 7 is connected with the The connecting seats are connected in turn through the X-axis rotary joint. 4. A single-arm assisted minimally invasive surgical robot according to claim 1 or 3, wherein the cross-section of the column and the plurality of arm segments connected in series gradually decreases, and a nest is formed by rotating joints structure; Further, the side of the base is provided with legs, and the legs are provided with connecting devices for connecting adjacent bases; and the legs can be telescopic relative to the base, and the bottom of the legs is equipped with rollers; Further, a roller and a support are arranged at the bottom of the base. 5 . A cooperative combined robot system, characterized in that it comprises at least two single-arm assisted minimally invasive surgical robots according to any one of claims 1 to 4 . 6 . 6. A dual-arm assisted minimally invasive surgical robot, characterized in that it comprises a base, a column and an operating arm, and the base is used to support and fix the column and the operating arm; Fixed connection, the other end of the column is connected to the two mechanical arms through two Y-axis rotary joints respectively; the structures of the two mechanical arms are exactly the same; Each robotic arm includes arm segment 1, arm segment 2, arm segment 3, arm segment 4, arm segment 5, arm segment 6 and arm segment 7; Section 7 and arm section 1 are connected by a first X-axis rotary joint, arm section 1 and arm section 2 are connected by a second X-axis rotary joint, and arm section 2 and arm section 3 are connected by a second X-axis rotary joint. The Z-axis rotation joint is connected; the arm segment 3 and the arm segment 4 are connected through the third X-axis rotation joint, the arm segment 4 and the arm segment 5 are connected through the fourth X-axis rotation joint, and the arm segment 5 is connected with the The bases are connected through a second X-axis rotation joint; the base is provided with corresponding surgical instruments or endoscope telescopic. 7 . The dual-arm assisted minimally invasive surgical robot according to claim 6 , wherein the axes of the arm segment three and the arm segment five are parallel, and the arm segment four and the axis passing through the connecting seat are parallel to the axis of the arm segment 5 . 8 . The lines parallel to the axes of the fourth section are parallel, and the four constitute a "parallelogram" structure; the arm section three, arm section four, arm section five and the connecting seat swing in a "parallelogram" structure; The third arm, the fourth arm, the fifth arm and the connecting seat are centered on the point in the "parallelogram" opposite to the intersection of the axis of the third arm and the straight line passing through the axis of the connecting seat and parallel to the axis of the fourth arm, Swing movement around the axis of arm segment three; The "intersection point" of "a straight line passing through the axis of the connecting seat and parallel to the axis of the fourth arm segment" and "the three axes of the arm segment" is the "rotation fixed point"; The axis of the surgical tool installed and fixed on the connecting seat passes through the "rotational fixed point", and the surgical tool installed and fixed on the connecting seat takes the "rotational fixed point" as the "rotation center". The "parallelogram swings back and forth" and the "left and right swing" movement around the axis of the arm segment 3, so that the surgical tool performs a "spherical rotation" movement around the "rotation fixed point". 8. A dual-arm assisted minimally invasive surgical robot, characterized in that it comprises a base, a column and an operating arm, and the base is used to support and fix the column and the operating arm; Fixed connection, the other end of the column is connected to the two mechanical arms respectively through two Y-axis rotary joints; the structures of the two mechanical arms are exactly the same; The operating arm includes an arm section 1, an arm section 2, an arm section 3, an arm section 4, an arm section 5, an arm section 6 and an arm section 7; The arm segment one and the arm segment two are connected through the first Z-axis rotation joint, the arm segment two and the arm segment three are connected through the second Z-axis rotation joint, and the arm segment three is connected with the arm segment four. They are connected by the third Z-axis rotation joint; The arm segment 4 and the arm segment 5 are connected by a fourth Z-axis autorotation joint; The arm segment 5 and the arm segment 6 are connected through the first X-axis rotation joint, and the arm segment 6 and the arm segment 7 are connected through the second X-axis rotation joint; the arm segment 7 is connected with the The connecting seats are connected in turn through the X-axis rotary joint. 9. A dual-arm assisted minimally invasive surgical robot according to any one of claims 6-8, characterized in that, the cross-sections of the upright column and the plurality of arm segments connected in series gradually decrease, and are formed by rotating joints. nested structure; Further, the side of the base is provided with legs, and the legs are provided with connecting devices for connecting adjacent bases; and the legs can be telescopic relative to the base, and the bottom of the legs is equipped with rollers; Further, a roller and a support are arranged at the bottom of the base. 10 . An inter-cooperative combined robot system, characterized in that it comprises at least two dual-arm assisted minimally invasive surgical robots according to any one of claims 6 to 8 .