CN111374777A - Master-slave robot system for pleuroperitoneal cavity minimally invasive surgery and configuration method - Google Patents

Abstract

The invention discloses a robot system for a pleuroperitoneal cavity minimally invasive surgery, which comprises a double-arm surgery vehicle, a main operating platform and an instrument vehicle. 2 brand-new slave arms are arranged on the operation trolley through the upright post, and the operation arms can move up and down along the upright post. The doctor operating table is provided with 2 main operating hands and an endoscope display device. The operation vehicle can be moved by key control or remote control, and comprises advancing, retreating, turning with zero radius in situ, and can also be moved by manual push-pull. After the position is determined, the operation vehicle automatically completes parking locking. The surgical arm comprises: a pre-adjustment section, a compensation adjustment section, a centering movement section, and a surgical instrument (or endoscope). The pre-adjusting mechanism is compact and flexible, and can conveniently and quickly pre-position the centering point of the surgical instrument. The redundancy compensation adjusting mechanism carries out correction adjustment on the distribution position of the controlled operation space in the operation process so as to facilitate the operation of a master surgeon, thereby reducing fatigue and achieving the best operation effect. The system may be deployed in a variety of combinations in an operating room.

Description

Master-slave robot system for pleuroperitoneal cavity minimally invasive surgery and configuration method

Technical Field

The invention relates to the field of medical equipment for pleuroperitoneal cavity minimally invasive surgery, in particular to a novel surgical robot, which derives a plurality of operating room configuration modes from a minimum system to a maximum system based on the structural characteristics of the surgical robot so as to adapt to the requirements of hospitals with different levels and different operation types, and particularly relates to a master-slave type robot system for pleuroperitoneal cavity minimally invasive surgery and a configuration method.

Background

Minimally invasive surgery has many advantages over traditional open surgery, including:

reduction of pain, reduction of hospital stays, fast recovery, and low trauma to the patient; has few complications.

Reduce fatigue to the doctor.

The slender instrument rod of the traditional minimally invasive surgery can amplify the shaking, and the surgical effect is influenced. And the robot operation can eliminate the shake influence, and the operation is more accurate.

The laparoscope is a surgical instrument directly held by a doctor, and the robot minimally invasive surgery is a doctor operation machine which is used for performing the surgery, so that the laparoscope is more precise and in-place;

for complex surgery, simulation surgery can be performed before the surgery to ensure success rate;

the operation area can be preset before the operation, so that the error injury in the operation process is prevented;

the system has a memory function and can accurately return to the last operation area and the operation position;

telesurgery may also be performed using the surgical robot. For example, to perform surgery on patient personnel in remote areas, troops, ships, including complex surgeries that may be performed by high-level physicians.

The existing abdominal cavity minimally invasive surgery robot represented by Da Vinci (DaVinci) has the following defects:

the volume is too large, and the structure is in the high vicinity;

the installation and debugging are complex, and the preoperative preparation process is long;

the purchase cost is high, for example, the total purchase cost of the da vinci system is more than 2000 ten thousand;

consumables cost is high, such as $ 2000 surgical instrument used 10 times, 2000 rmb with an antibacterial plastic sleeve;

the maintenance cost is high, and 20-300 million RMB are needed each time.

A porous abdominal cavity minimally invasive surgery robot has also been developed internationally, such as in korea, usa, germany, uk, etc. Wherein Korea would like the company Revo-I to approach or reach the level of DaVinci Si, Xi. Both germany and uk are bedside architectures and rely on software rather than organizations to implement RCM functionality, which is a lot of debate in terms of security.

The existing research and development in China is advanced by the wonderful hand of Tianjin university and has a better comparison between Hagongdahang phases. But still has a gap with the international mainstream products. The SSI innovative surgical robot of zhejiang surgical creation is suspected of requiring too much motion space, is prone to collision, and may affect the operation of medical personnel.

Therefore, the novel abdominal cavity minimally invasive surgery robot is researched and developed to be close to or reach the performance of the current international mainstream products, is more compact, flexible and portable, can meet the requirements of hospitals with different levels and operation types, is convenient to popularize and apply, has completely independent intellectual property rights, and is a preoccupation emergency meeting the development and overall situation of national and international medical services.

Disclosure of Invention

The invention aims to provide a novel robot system for a pleuroperitoneal cavity minimally invasive surgery and a configuration method thereof, which can overcome the defects of huge structure, excessive occupied land, complex adjustment, high price and the like of the international mainstream minimally invasive surgery robot.

The technical purpose of the invention is realized by the following technical scheme:

a master-slave robot system for a pleuroperitoneal cavity minimally invasive surgery comprises a surgeon console, a bedside operation arm trolley system and an imaging and instrument system; the surgeon console is respectively in communication connection with the bedside operating arm trolley system and the imaging and instrument system; wherein,

the bedside operation arm trolley system comprises an upright post assembly, and 2 operation arms are arranged on the upright post assembly; the upright post assembly is arranged on the side surface of an operating table through a trolley moving mechanism in the operation preparation process, and the trolley moving mechanism is static relative to the operating table in the operation process;

the imaging and instrumentation system includes an endoscope disposed on either side of an operating table.

In the technical scheme, the number of the operation arms is configured according to the operation requirement, and the operation is simple. Greatly reduces the working intensity of surgeons and improves the safety of minimally invasive surgery.

Preferably, the trolley moving mechanism is a surgical trolley, the surgical trolley comprises a movable or static and locked chassis assembly, and the upright post assembly is fixedly arranged on the chassis assembly.

In the preferred technical scheme, the upright post assembly and the operation arm are carried by the operation vehicle, and then the operation vehicle is driven to generate relative displacement relative to the operation table, so that the operation arm is adjusted to a position suitable for performing minimally invasive operations on a patient.

Preferably, the surgeon console comprises a master hand, a master hand motor and a driver thereof, a control panel, a master hand sampling control panel and an EtherCAT master controller; the signal of the last a plurality of encoders that set up of master hand is gathered to master hand sampling control panel, and the action command that the encoder gathered master hand is uploaded to EtherCAT main control unit with its signal form that converts to can communicate, and EtherCAT main control unit transmits the action command of master hand to the operation arm, makes the operation arm carry out the operation action.

In the preferred technical scheme, the surgeon console is used as a control center of the whole set of system and is used for acquiring the positions of all joints and joint nodes of the operation arm, acquiring data of the encoder sent by the master hand sampling control panel to realize the operation of various mathematical models, realizing corresponding control according to the processed data, and controlling the operation trolley and the upright columns and all the operation arms on the operation trolley to perform related operation actions through an EtherCAT protocol.

Preferably, the operation trolley is provided with an operation trolley control panel and an operation trolley control board, the control panel comprises a touch screen and a control board, and the touch screen and the control board are in communication connection through an upper computer; the control panel of the control panel is in communication connection with the control panel of the operating trolley through a CAN bus; the control panel of the operating trolley control panel is in communication connection with the master hand sampling control panel.

In the preferred technical scheme, the field control of the surgical cart and the remote control of the surgeon console can be realized through the control panel and the surgical cart control board on the surgical cart.

Preferably, the upright post assembly comprises an upright post, a lead screw transmission device, a brake device and a position sensor, the upright post is vertically arranged on the chassis assembly, the lead screw transmission device is axially arranged on the upright post along the upright post, the brake device is assembled on an output shaft of a motor of the lead screw transmission device, the position sensor is arranged on a rotating slide block of the lead screw transmission device, and the operation arm is arranged on the rotating slide block; still include stand motor control panel and motor drive, brake equipment and position sensor communication connection, stand motor drive is connected with drive lead screw transmission's motor electricity, stand motor control panel passes through CAN bus and operation car control panel's control panel and master's hand sampling control panel communication connection.

In the preferred embodiment, the height of the surgical arm relative to the surgical table is adjusted by the column assembly, either in situ via a control panel of the surgical cart or remotely via a control panel of the surgeon's console.

Preferably, the chassis assembly includes chassis, traveling system, intelligent strutting arrangement and on-vehicle electrical power generating system, intelligent strutting arrangement and traveling system all set up in the chassis below, on-vehicle electrical power generating system sets up in the chassis, on-vehicle electrical power generating system is connected with intelligent strutting arrangement and traveling system's driving source electricity.

In the preferred technical scheme, the moving, in-place leveling and positioning and power-off auxiliary power supply of the operation vehicle are met through the walking and supporting of the chassis and the vehicle-mounted power supply system, so that the adjustment and fixation of the position of the operation arm relative to the operation table are completed, and the operation is prevented from being interrupted when an abrupt power-off condition is generated.

Preferably, the surgical arm comprises a cross arm assembly, a spatial pre-adjustment mechanism, a redundancy compensation adjustment mechanism, a transition arm, an RCM assembly, an instrument arm and an instrument assembly, the cross arm assembly is mounted on the rotary slide block, the spatial pre-adjustment mechanism is mounted on the cross arm assembly, the redundancy compensation adjustment mechanism is mounted on the spatial pre-adjustment mechanism, the RCM assembly and the redundancy compensation adjustment mechanism are connected through the transition arm, the instrument arm is hinged to the RCM assembly, and the instrument assembly is mounted on the instrument arm.

In the preferred embodiment, the spatial and configuration pre-adjustment of the surgical arm and the real-time movement during the surgical procedure are achieved by the cooperation of the mechanical execution units.

Preferably, the walking system comprises two driving wheels and two driven wheels which are respectively arranged at four corners of the bottom of the chassis, the wheel abdomen parts of the driving wheels are driving wheel servo motors, and rubber spokes are sleeved outside the driving wheel servo motors; the two driven wheels are universal wheels; and a motor driver of the driving wheel servo motor is in communication connection with the control board of the surgical vehicle.

In the preferred technical scheme, the servo motor of the driving wheel is used for realizing the accurate control of the moving process of the operation vehicle.

Preferably, the intelligent supporting device comprises three electric supporting legs and one intelligent supporting leg, and the electric supporting legs and the intelligent supporting legs are lifted and lowered along the vertical direction; the electric support legs and the intelligent support legs are driven to ascend and descend by a motor, and a motor driver of the motor is in communication connection with the control board of the surgical vehicle.

In the preferred technical scheme, the whole operation trolley is supported by the electric support feet to complete the support and the positioning of the operation trolley; leveling is performed by three electric support legs.

Preferably, the cross arm assembly comprises a first cross arm, a second cross arm and a third cross arm which are sequentially connected through a rotating shaft, the rotating shafts of the first cross arm, the second cross arm and the third cross arm are axially upward and vertically, the axes of the rotating shafts of the first cross arm, the second cross arm and the third cross arm are not overlapped with each other, the first cross arm is fixedly installed on a rotating slide block of the upright post assembly, the second cross arm is installed on the first cross arm through the rotating shaft, the third cross arm is installed on the second cross arm through the rotating shaft, the second cross arm and the third cross arm both rotate around the rotating shaft of the second cross arm and the third cross; cross arm control plates are arranged corresponding to the first cross arm, the second cross arm and the third cross arm, and the absolute position encoders are respectively in communication connection with the corresponding cross arm control plates; the cross arm control panel is in communication connection with the master hand sampling control panel through a CAN bus.

In the preferred embodiment, the horizontal position adjustment of the surgical arm is accomplished by a cross arm assembly.

Preferably, a power-off electromagnetic brake is mounted on the driving wheel servo motor.

In the preferred technical scheme, after the operation vehicle is moved to a designated position, the operation vehicle is braked by the power-off electromagnetic brake; meanwhile, the power-off electromagnetic brake can save the electric energy consumption in a longer operation process.

Preferably, a motor differential is mounted on the driving wheel servo motor.

In the preferred technical scheme, the two driving wheel servo motors can generate a rotation speed difference through the motor differential, so that the operation vehicle can turn or even rotate in situ by 0 radius.

Preferably, force feedback sensors are arranged on the electric supporting feet and the intelligent supporting feet, and the force feedback sensors are in communication connection with the control board of the operation trolley.

In the preferred technical scheme, the stress condition of each electric supporting leg is collected through the force feedback sensor, and the stress balance of three electric supporting legs and one electric supporting leg is finally completed according to the data fed back by the force feedback sensor, so that whether the current operating trolley is in a horizontal state or not is judged.

Preferably, the space pre-adjusting mechanism comprises a pitching adjusting unit and a rolling adjusting unit, wherein openings are formed in one ends of the pitching adjusting unit and the rolling adjusting unit, a hinge shaft (76) is fixedly arranged on the side wall of the opening of the rolling adjusting unit, and the opening end of the pitching adjusting unit is hinged to the hinge shaft; a driving piece is fixedly installed on a hinged shaft in an opening of the rolling adjusting unit, and a fine-tuning self-locking mechanism in the pitching adjusting unit drives the driving piece to rotate so as to adjust the pitching angle of the pitching arm.

In the preferred technical scheme, the joint of the subsequent operation arm can be conveniently and quickly adjusted, and after the adjustment is finished, the relative locking can be carried out through the structure of the joint, so that the locked position is relatively stable, the safety of the medical surgical operation is ensured, and meanwhile, the joint adjusting device has much convenience, operability and controllability for a user

Preferably, the structure of the fine adjustment self-locking mechanism in the pitch adjustment unit is as follows: bearings are respectively arranged on two opposite sides in the pitching adjusting unit, a fine adjusting worm with the axis vertical to the axis of the hinged shaft is arranged between the two bearings, one end of the fine adjusting worm penetrates through the corresponding bearing, a pinion is arranged at the end extending out of the bearing, a main gear meshed with the pinion is rotatably arranged in the pitching adjusting unit, and the main gear is arranged on an inner hexagonal bolt with one end extending out of the pitching adjusting unit.

In this preferred technical scheme, utilize the mixed collocation setting of fine setting worm, gear structure for this mechanism have good adjustability and self-locking function, when needs fine setting, only need to rotate the fine setting axle can.

Preferably, the pitching adjustment unit is provided with mounting tables at positions corresponding to the bearings, the two mounting tables are respectively provided with a through hole, and the two bearings are respectively mounted in the corresponding mounting tables.

In this preferred technical scheme, because the restriction of use scene also has comparatively strict demand to robot system's occupation space, this design utilizes the mount table to fix the bearing, can effectively utilize the space in the fine setting arm, can carry out effectual utilization like this in the mount table with the space between the inner wall of corresponding every single move adjustment unit for the further reduction of occupation space of this product.

Preferably, a regulating platform is arranged in the pitching adjusting unit at a position corresponding to the inner hexagon bolt, a through hole is formed in the regulating platform, and the inner end of the inner hexagon bolt extends into the through hole and is matched with the through hole through a bearing.

In this preferred technical scheme, set up the regulation cabinet, can carry out effectual utilization to the space in the every single move adjustment unit on the one hand, stability when on the other hand can improve the regulation of hexagon socket head cap screw, when avoiding using the instrument to adjust the hexagon socket head cap screw, make the holding capacity of regulation cabinet hexagon socket head cap screw receive certain sharing, its leading reasons are, the occupation space of this product is less relatively, inside spare part is also less relatively, consequently, need carry out abundant utilization and sharing to the atress, avoid operating too well, lead to spare part to damage.

Preferably, the transmission ratio between the main gear and the secondary gear is less than 1; the driving piece is a sector worm wheel meshed with the fine tuning worm.

In the preferred technical scheme, the design of the transmission ratio can further improve the adjustment precision, and under the condition of relatively small transmission, the adjustment range of the mechanism is extremely small even if a relatively large force is accidentally applied, so that the safety of the medical surgical operation can be ensured to a great extent; the fan-shaped worm wheel can be well matched with the fine tuning worm, the rotating head can be effectively driven to rotate synchronously, and meanwhile, the fan-shaped worm wheel and the fine tuning worm have a good self-locking function, so that the use safety is improved.

Preferably, the rolling adjustment unit is internally provided with a rotating shaft with one end extending out of one side opposite to the opening, a driving disc is installed on the rotating shaft extending out of one side opposite to the opening, and a fine adjustment self-locking mechanism matched with the rotating shaft and used for adjusting the rotating angle of the rotating shaft is arranged in the rolling adjustment unit.

In this preferred technical scheme, set up fine setting self-locking mechanism to the axis of rotation in the adjustment unit that rolls to form second fine setting structure, can revise once more the position after fine setting mechanism finely tunes, improved the precision that this product used.

Preferably, the structure of the fine adjustment self-locking mechanism in the rolling adjustment unit is as follows: a worm wheel is arranged in the middle of the rotating shaft, an adjusting worm meshed with the worm wheel is arranged in the rolling adjusting unit on one side of the worm wheel, and two ends of the adjusting worm extend out of two opposite side walls of the rolling adjusting unit and are rotatably connected with the two side walls; the end parts of the adjusting worms extending out of the two opposite side walls of the rolling adjusting unit are respectively provided with adjusting threads, and the end parts of the corresponding adjusting worms are respectively provided with adjusting nuts which are in matched connection with the adjusting threads; the adjusting worm and the worm wheel are double-lead worm and worm wheel.

In the preferred technical scheme, the fine adjustment function is realized through the structural arrangement of the worm gear and the worm, the self-locking function is achieved, the fine adjustment precision is ensured, and the adjustment is convenient and quick; meanwhile, the wear of the worm gear and the worm in the using process can be effectively compensated by the design of the double-lead worm and the worm wheel, the inaccuracy in fine adjustment is avoided, and the insecurity in the medical surgical operation is eliminated.

Preferably, an encoder is installed at a position corresponding to the inner end of the adjusting worm in the rolling adjusting unit, and a shaft sleeve of the encoder is fixedly connected with the adjusting worm.

In this preferred technical scheme, utilize the encoder to monitor the turned angle of axis of rotation in real time, can play fine additional action to user's regulation, also can help the user to carry out quick adjustment moreover to can in time discover the degree of influence of the worm gear loss among the above-mentioned to medical surgery operation.

In the preferred technical scheme, the elevation angle and the inclination angle in the vertical plane of the front end instrument arm of the surgical arm are adjusted through a pitching adjusting unit and a rolling adjusting unit; the adjustment is completed through the transmission matching of the driving wheel and the worm gear.

Preferably, the first cross arm and the second cross arm are provided with shells, bosses are arranged on the upper end surfaces of the first cross arm, the second cross arm and the shells, and a rotating shaft connecting the first cross arm and the second cross arm and connecting the second cross arm and the third cross arm penetrates out of the bosses; the lower end surfaces of the corresponding second cross arm and the third cross arm are provided with concave platforms which are in concave-convex fit with the bosses, and the bosses are rotationally connected with the concave platforms; a rotating shaft connecting the first cross arm and the second cross arm is inserted into a shell of the second cross arm through a concave platform, and a rotating shaft connecting the second cross arm and the third cross arm is inserted into a shell of the third cross arm through the concave platform; and a power-off electromagnetic brake is arranged on the rotating shaft in the concave table and is in communication connection with the cross arm control panel.

In the preferred technical scheme, the final state maintenance of the cross arm assembly relative to the stand column assembly is completed through the power-off brake; meanwhile, the power-off electromagnetic brake can save the electric energy consumption in a longer operation process.

Preferably, an absolute position encoder is arranged corresponding to each worm wheel shaft, and the absolute position encoders acquire the rotation angle and the absolute position of the worm wheel shaft and upload the rotation angle and the absolute position to the master hand sampling control board.

In the preferred technical scheme, the configuration state of the current cross arm assembly is acquired through an absolute position encoder, and is uploaded to a master hand sampling control board, and then the configuration state is uploaded to an EtherCAT master controller through the master hand sampling control board to complete mathematical model operation.

Preferably, one end of the transition arm is fixedly connected with a worm gear shaft protruding out of the rolling adjustment unit shell, the transition arm rotates around the axis of the worm gear shaft, and the redundancy compensation adjustment mechanism is arranged at the other end of the transition arm; the redundancy compensation adjusting mechanism comprises a pitching compensation servo motor and a rolling compensation servo motor, encoders are mounted on output shafts of the pitching compensation servo motor and the rolling compensation servo motor, and the encoders are used for acquiring rotation angle and position information of the motors and uploading the rotation angle and position information to the master hand sampling control board; the axis of the output shaft of the rolling compensation servo motor is parallel to the axis of the worm wheel shaft, the pitching compensation servo motor is fixedly installed on the output shaft of the rolling compensation servo motor, and the axes of the rolling compensation servo motor and the pitching compensation servo motor are perpendicular to each other.

In the preferred technical scheme, the pitch angles of the redundancy compensation adjusting mechanism and the subsequent connecting structure thereof are adjusted through the rolling adjusting unit; and the rotation angles of the RCM assembly and the instrument arm around the output shaft of the servo motor of the redundancy compensation adjusting mechanism are adjusted in a small range through the redundancy compensation adjusting mechanism.

Preferably, the pitching adjusting unit and the rolling adjusting unit both further comprise inner hexagon bolts, and the inner hexagon bolts are inserted into the shell and fixedly connected with the pinion; the auxiliary gear is driven to output power by rotating the inner hexagon bolt.

In the preferred technical scheme, the inner hexagon bolt is rotated through the inner hexagon wrench, and the rotation of the worm is completed by the inner hexagon bolt and the gear transmission mechanism.

Preferably, the pitching adjusting unit and the rolling adjusting unit both further comprise inner hexagon bolts, the inner hexagon bolts are inserted into the shell and fixedly connected with a driving wheel, and the auxiliary gear is matched with the driving wheel in a meshing or synchronous belt transmission mode; the driving gear and the auxiliary gear are driven to output power by rotating the hexagon socket head cap screw.

In the preferred technical scheme, the inner hexagon bolt is rotated through the inner hexagon wrench, and the rotation of the worm is completed by the inner hexagon bolt and the gear transmission mechanism.

Preferably, the third cross arm is provided with a shell, a boss is arranged on the upper end surface of the shell, and a rotating shaft for connecting the third cross arm and the pitching adjusting unit penetrates out of the boss; a concave platform which is in concave-convex fit with the boss is correspondingly arranged on the lower end surface of the shell of the pitching adjusting unit, and the boss is rotationally connected with the concave platform; a rotating shaft connecting the third cross arm and the pitching adjusting unit is inserted into a shell of the pitching adjusting unit; and a power-off electromagnetic brake is arranged on the rotating shaft in the concave table and is in communication connection with the cross arm control panel.

In the preferred technical scheme, the final state maintenance of the space pre-adjusting mechanism relative to the cross arm assembly is completed through the power-off brake; meanwhile, the power-off electromagnetic brake can save the electric energy consumption in a longer operation process.

Preferably, the RCM assembly includes a drive motor, a first forearm, a second forearm, and a third forearm; the driving motor is arranged on the output shaft of the servo motor of the redundancy compensation adjusting mechanism through the mounting seat; a bearing seat is installed at one end of the first front arm, and an output shaft of the driving motor is assembled on the first front arm through the bearing seat; the other end of the first front arm, the end parts of the second front arm and the third front arm are sequentially connected through a rotating shaft, each rotating shaft is provided with an encoder for acquiring a rotating angle corresponding to the rotating shaft, and the encoders upload acquired rotating angle information to the EtherCAT main controller; synchronous belts or steel belts are arranged on the first forearm, the second forearm and the third forearm, the driving motor drives the first forearm, the second forearm and the third forearm to move through the synchronous belts or the steel belts, the first forearm and the third forearm keep parallel in the moving process, and the second forearm rotates relative to the rotating shaft hinged with the first forearm and the third forearm.

In this preferred embodiment, the pitch motion of the arm is realized by the RCM assembly.

Preferably, the instrument arm is arranged at one end of the third front arm far away from the second front arm through a rotating shaft; the instrument assembly comprises an instrument seat, a servo motor, an instrument rod, a sheath tube clamping mechanism, an end effector and a screw nut, wherein an output shaft of the servo motor is fixedly connected with the screw, the instrument seat is fixedly connected with the nut, the instrument seat is driven by the screw nut to do linear reciprocating motion along an instrument arm, the relative displacement of the instrument seat and the instrument arm is uploaded to a master hand sampling control panel through a sensor, and the instrument rod is arranged on the side face of the instrument seat; the sheath tube clamping mechanism is installed at the lower end of the instrument arm, the instrument rod penetrates through the clamping space of the sheath tube clamping mechanism, and the end effector is installed at the lower end of the instrument rod.

In the preferred technical scheme, the adjustment of the distance between the instrument assembly at the lower end of the instrument arm and the surgical site of a human body is completed through the screw nut and the servo motor for driving the screw nut.

Preferably, the RCM point of the RCM assembly is the intersection between the second forearm centerline and the instrument shaft axis.

In the preferred technical scheme, the RCM point is static relative to the human body operation part through the integral action of the RCM assembly and the relative action of the RCM assembly and the instrument arm, so that the injury to the non-operation part of the human body due to the large displacement of the instrument assembly at the lower end of the instrument arm is avoided.

Preferably, install surgical instruments box on the instrument seat, surgical instruments box installs on the instrument seat through aseptic adapter, is provided with joint spare at aseptic adapter both sides face, all is provided with the draw-in groove at the upper and lower both ends of joint spare, is provided with the elasticity buckle on instrument seat and the surgical instruments box that correspond, and instrument seat and surgical instruments box realize dismantling the connection through elasticity buckle and draw-in groove cooperation.

In the preferred technical scheme, the surgical instrument box is quickly installed and replaced relative to the instrument seat in an elastic clamping matching mode.

Preferably, a main driving assembly is arranged in the first forearm close to the tail end of the first forearm; the main driving assembly drives a first movable mechanism between the tail end of the second forearm and the head end of the first forearm to enable the second forearm to rotate along a first connecting shaft at the tail end of the second forearm; the first movable mechanism drives the second movable mechanism between the tail end of the third forearm and the head end of the second forearm to enable the third forearm to rotate along the hinged position of the tail end of the third forearm so as to achieve the aim that the first forearm and the third forearm are always kept parallel; the second movable mechanism drives the auxiliary driving assembly at the head end of the third forearm to synchronously work.

In the preferred technical proposal, the main driving component in the first forearm drives the first movable mechanism to rotate, the first movable mechanism drives the second movable mechanism to rotate, during the rotation process, the first forearm and the third forearm are always parallel, the second forearm plays a role of a diagonal line of a parallelogram formed by virtually connecting the head end and the tail end of the first forearm and the third forearm, and based on the principle, when the surgical arm is in the position adjusting process, the track of the head end displacement of the third forearm is an arc line with a fixed center of a circle, meanwhile, the auxiliary driving part rotates synchronously, the mechanical arm can be driven to rotate correspondingly to match with the arc-shaped track to ensure that the end part of the instrument acting on a certain part of the body of a patient does not deviate (namely, an RCM point is kept still), in the operation process, the device has higher stability, and can effectively ensure the safety of medical surgery operation.

Preferably, the surgical instrument cartridge comprises a wire and an end effector drive mechanism; the device comprises an instrument rod, a first sleeve, a second sleeve, a first pin shaft, a second sleeve and a third sleeve, wherein the instrument rod is a hollow rod, the lower end of the instrument rod is provided with the first sleeve through the first pin shaft, the axes of the first sleeve and the instrument rod are overlapped, and the first pin shaft drives the first sleeve to rotate relative to the instrument rod; a second sleeve is arranged at the lower end of the first sleeve through a second pin shaft, the axis of the second sleeve is overlapped with that of the instrument rod, the second pin shaft drives the second sleeve to rotate relative to the first sleeve, and the first pin shaft and the second pin shaft are arranged in a cross shape relatively; the lower end of the second sleeve is provided with an end effector; the end effector driving mechanism comprises a plurality of servo motors, a speed reducer, a rotary encoder and a steel wire are arranged corresponding to each servo motor, the speed reducer is connected to an output shaft of the servo motor, and the rotary encoders are arranged on output shafts of the speed reducer and the servo motor; each servo motor is provided with a wire roller parallel to the axis of the servo motor, and the servo motors drive the wire rollers to rotate in a reciprocating manner; the steel wires are respectively wound on the first pin shaft, the second pin shaft and the upper end of the instrument rod, two ends of the same steel wire are wound on the same wire roller, and one steel wire is wound on each wire roller; the servo motor drives the wire roller to reciprocate, and the first pin shaft and the second pin shaft are pulled through the transmission matching of the pulley block to respectively drive the first sleeve and the second sleeve to rotate; the instrument rod rotates around the axis of the instrument rod under the pulling of the steel wire; servo motor and rotary encoder all with EtherCAT main control unit communication connection.

In the preferred technical scheme, the output torque of the driving motor is transmitted to the instrument rod, the first pin shaft and the second pin shaft through the steel wire, and the end effector moves in multiple degrees of freedom by means of the rotation of the first pin shaft, the second pin shaft and the instrument rod.

Preferably, a hall sensor is provided within the instrument holder.

In this preferred embodiment, the hall sensor detects whether the surgical instrument cassette is attached to the instrument holder.

Preferably, a counting chip is installed in the surgical instrument box and used for recording the times of the operation completed when the end effector is installed on the instrument seat.

In the preferred technical scheme, the number of times that the surgical instrument box and the corresponding end effector have completed the surgery is calculated through a counting chip; surgical instrument boxes and corresponding end effectors adopt steel wire transmission, and due to reasons such as abrasion and stretching, when the same surgical instrument box is used for a certain number of times, action conduction is not accurate enough, so that the surgical instrument box needs to be replaced in time. Typically, the surgical instrument cartridge is replaced after 10 uses.

Preferably, the surgical instrument box further comprises an RFID tag and an RFID reader, wherein the RFID tag and the RFID reader are respectively arranged on the instrument seat and the surgical instrument box and used for identifying the installation and the positioning of the instrument.

In the preferred technical scheme, which surgical tool the end effector corresponding to the currently assembled surgical instrument box is specific to is confirmed through the radio frequency identification tag and the video reader-writer; meanwhile, whether the surgical instrument box is installed in place on the instrument seat is positioned through the relative position relationship between the radio frequency identification tag and the radio frequency reader-writer.

Preferably, the ventilation cavity is communicated with an air inlet valve, and the air inlet valve is installed on the side wall of the ventilation cavity in a threaded mode.

In the preferred technical scheme, the communication between the ventilation cavity and an external air source is realized through the air inlet valve.

Preferably, the first movable mechanism is structured as follows: the head end of the first forearm and one side facing the second forearm are provided with a third hinging hole, one side of the tail end of the second forearm opposite to the third hinging hole is provided with a first hinging sleeve matched with the third hinging hole, a main belt wheel fixedly mounted between the first hinging sleeve and the third hinging hole is arranged in the first forearm, and the main belt wheel is driven to rotate by a main driving assembly.

In this preferred technical scheme, utilize the main drive subassembly to pass through the main belt pulley and drive the rotation of middle regulating arm, effectively utilize the structure of every regulating arm self, need not too big and diverse transmission system, the space that this kind of design can reduce the product occupies to a certain extent.

Preferably, the end effector is a clamp or a shearing tool, a driven arm of the clamp or the shearing tool is fixedly connected with the lower end of the second sleeve, a driving arm of the clamp or the shearing tool rotates around the driven arm through a rotating shaft of the driving arm, a steel wire is wound on the rotating shaft of the clamp or the shearing tool, and two ends of the steel wire are wound on the same wire roller.

In the preferred solution, the clamping and shearing actions are accomplished by pulling the master arm and the slave arm of the clamp or the shearing tool relatively closer or farther from each other by the wire.

Preferably, the end effector is a cauterization tool or an ultrasonic cutter.

In the preferred technical scheme, the surgical action with multiple degrees of freedom of the cauterization tool or the ultrasonic cutter is completed through the instrument rod, the first pin shaft and the second pin shaft.

Preferably, the surgical instrument box is further provided with an indicator light on the instrument base, and whether the surgical instrument box is arranged in place on the instrument base is indicated through different colors of the indicator light.

In the preferred technical scheme, whether the surgical instrument box is installed in place on the instrument seat is prompted through the cooperation of the indicator lamp, the radio frequency identification tag and the radio frequency reader-writer.

Preferably, a through hole on the ventilation cavity for inserting the instrument rod extends into the cavity to form a guide tube.

In the preferred technical scheme, the instrument rod can be smoothly inserted into the trachea through the ventilation cavity by the guiding action of the guide tube.

Preferably, the main driving assembly is a belt pulley which is arranged in the first forearm and is close to the tail end and driven by a power device, and the belt pulley and the main belt pulley transmit power through a synchronous belt.

In this preferred technical scheme, transmit power with belt drive's mode through power device direct drive belt pulley, noise when can effectual reduction instrument work, the smoothness also has apparent promotion simultaneously.

Preferably, the first movable mechanism further comprises a second flange fixedly connected between the first front arm and the first front arm, a first connecting shaft extending into the second front arm through the first hinge sleeve is arranged in the middle of the second flange, and a driving wheel for driving the second movable mechanism is fixedly mounted on the first connecting shaft in the second front arm.

In the preferred technical scheme, a first diagonal rotation point of the parallelogram structure is formed, and the second front arm rotates relative to the third front arm, so that the transmission wheel performs a relative rotation action with the second front arm. Simultaneously, this kind of design, the space that can effectual utilization product, the precision also has showing promotion simultaneously.

Preferably, the side wall of the vent cavity is provided with an air inlet corresponding to the valve port of the vent valve, and the vent cavity is internally provided with an air channel communicated with the air inlet, and the air channel is communicated and isolated with the vent cavity through a sealing plate.

In the preferred technical scheme, the ventilation of the pleuroperitoneal cavity of the human body is realized in the operation process through the sealing plate; the closure of the gas channel is achieved during non-surgical procedures.

Preferably, the second movable mechanism is structured as follows: the head end of the second forearm and one side towards the third forearm are provided with a fourth hinge hole, one side of the tail end of the third forearm opposite to the fourth hinge hole is provided with a second hinge sleeve matched with the fourth hinge hole, a first secondary belt wheel fixedly mounted between the second hinge sleeve and the second hinge sleeve is arranged in the second forearm at the fourth hinge hole, and the first secondary belt wheel is driven to rotate by a driving wheel.

In this preferred technical scheme, when the second forearm rotated for the third forearm, make to form the rotating relation between drive wheel and the first band pulley, and then make the third forearm rotate in step, in order to reach the state that first forearm and third forearm remain parallel all the time, utilize the drive wheel to drive the third forearm through first band pulley and rotate, effectively utilize the structure of first forearm, second forearm and third forearm self, do not need too big and diverse transmission system, this kind of design is simple relatively not only, and can reduce the space occupation of product to a certain extent.

Preferably, the opening end surface of the gas channel communicated with the ventilation cavity and the opening end surface of the guide pipe are positioned on the same plane; the sealing plate is rotatably arranged in the sealing cavity through a rotating shaft, one end of the torsional spring is fixed on the rotating shaft, and the other end of the torsional spring is fixed on the rotating cavity wall of the sealing plate which is in rotating fit with the rotating shaft; the sealing plate simultaneously closes the openings of the guide tube and the gas passage.

In the preferred technical scheme, the sealing plate is pushed by the instrument rod, so that the gas channel, the ventilation cavity, the trachea and the thoracic and abdominal cavities of the human body are communicated. After the operation is finished, the instrument rod is separated from the ventilation cavity, the sealing plate is sealed under the action of the torsion spring, and an external air source and an air flow channel of the pleuroperitoneal cavity of the human body are disconnected.

Preferably, be equipped with in the second forearm with between the third forearm fixed connection third flange dish, the middle part of third flange dish is equipped with and passes the articulated cover of second and extend the second connecting axle in the third forearm, fixed mounting has the second band pulley on the second connecting axle in the third forearm.

In the preferred technical scheme, a second diagonal rotation point of the parallelogram structure is formed, and meanwhile, the design scheme can effectively utilize the space of a product and obviously improve the precision.

Preferably, the lower end opening of the guide pipe is an inclined plane, the corresponding opening end face of the gas channel is also an inclined plane with the same inclination direction, the sealing plate is arranged in a corresponding inclined manner, and the rotating shaft of the sealing plate is positioned on the higher side edge of the sealing plate.

In the preferred technical scheme, the internal space of the ventilation cavity is small, the plane where the rotating track of the sealing plate is located and the plane where the guide tube opening and the gas channel opening are located are kept parallel to each other, and the instrument rod can penetrate through the ventilation cavity and the gas channel can be opened under the condition that the rotating sector of the sealing plate is small.

Preferably, the auxiliary driving assembly is a third rotating shaft arranged at the head end of a third forearm, and an output wheel which transmits power through a synchronous belt with a second auxiliary pulley is rotatably arranged on the third rotating shaft.

In this preferred technical scheme, utilize belt drive between third axis of rotation and the second auxiliary pulley, effectual promoted equipment when using, when acting on the instrument of a certain position of patient's health by the drive of auxiliary drive assembly, auxiliary drive assembly can keep in step with first, two moving mechanism's operation, can guarantee the displacement along the arc orbit of concentric circles in addition, make the instrument tip not take place the skew, have higher stationarity, simultaneously can the effectual security that ensures medical surgery.

Preferably, a sealing ring is arranged at the through hole.

In this preferred embodiment, the sealing of the ventilation lumen is achieved by the sealing ring cooperating with the instrument stem.

Preferably, still be equipped with the end cover on the ventilation cavity, the end cover compresses tightly at the up end of ventilation cavity through joint spare.

In this preferred technical scheme, be convenient for change the sealing washer of through-hole department through the cooperation of end cover and joint spare.

Preferably, a concave platform is arranged at the center of the upper end face of the ventilation cavity, the through hole is arranged at the center of the concave platform, and the sealing ring is arranged on the concave platform.

In the preferred technical scheme, the sealing ring and the through hole are centered through the centering guide effect of the concave table.

Preferably, the end cover is provided with a boss which is in concave-convex fit with the boss, and a through hole is also formed in the position, corresponding to the through hole, of the end cover.

In the preferred technical scheme, the mounting and positioning of the end cover are completed through the matching of the boss and the wall surface of the concave table.

Preferably, the sealing ring deforms under the pressing action of the boss of the end cover, and the inner ring of the deformed sealing ring wraps the instrument rod to realize sealing.

In the preferred technical scheme, the sealing ring is finally deformed through the pressure conduction of the clamping piece to the end cover, and the sealing of the sealing ring to the fit clearance between the instrument rod and the inner wall surface of the through hole is completed.

Preferably, the electric coagulation instrument further comprises a pedal controller, wherein the pedal controller comprises a confirmation button, an electric knife button, an electric coagulation button, a power amplification button and a clutch pedal, and the confirmation button, the electric knife button, the electric coagulation button, the power amplification button and the clutch pedal are all in communication connection with a control board of the pedal controller.

In the preferred technical scheme, the switching of the surgical instruments is completed through the pedal controller, when the instruments are switched each time, the clutch pedal needs to be pressed down, then the button corresponding to the corresponding instrument is pressed down, finally the confirmation piece is pressed down, and the switching control of the surgical arm corresponding to the required end effector is completed.

Preferably, the surgical cart further comprises an absolute position detection sensor for detecting the absolute position of the surgical cart, and the absolute position detection sensor is arranged at the upper end of the upright post.

In the preferred technical scheme, the current position of the surgical cart is confirmed through an absolute position detection sensor, and the absolute position detection sensor is used for judging whether the surgical cart moves to a preset surgical position.

Preferably, the vehicle-mounted power supply system comprises a power supply control panel and a lithium battery pack, wherein the power supply control panel controls the on and off of the lithium battery pack; the power supply control panel is respectively in communication connection with the control panel of the operating trolley control panel and the master hand sampling control panel through a CAN bus.

In the preferred technical scheme, the vehicle-mounted power supply system is adopted as the standby power supply, and when the operating room is powered off accidentally, the vehicle-mounted power supply system can continue to supply power required by the operation arm on the operating trolley for performing operation until the standby power generation device in the operating room is started or the power in the operating room is restored.

Preferably, a voice interaction system is arranged in each of the surgeon console and the bedside surgical arm trolley system.

In the preferred technical scheme, a surgeon operating a master hand at a surgeon console communicates and transmits instructions with a nurse beside an operating table through a voice interaction system.

Preferably, the surgeon's console further comprises a console master control board, a console display handrail position adjustment drive, and a drive for a master hand motor; the control panel comprises a console touch display screen, a sensor data acquisition interface and a console I/O signal interface, the console touch display screen is in communication connection with a console upper computer, the console upper computer is in communication with a console control board through an RS232 protocol, and the sensor acquisition interface and the console I/O interface are integrated on the control board; the console main control board is communicated with the console display handrail position adjusting driver, the master hand position adjusting driver and the pedal position adjusting driver by adopting an RS232 protocol, the console display handrail position adjusting driver, the master hand position adjusting driver and the pedal position adjusting driver are respectively connected with the motors, and the handrail position, the master hand position and the pedal position of the console display are adjusted by the motors.

In the preferred technical scheme, heights, body types and operation habits of different doctors are different, the position of a master hand, the position of a pedal and the position of a handrail of a display of a control console are adjusted through a touch display screen of the control console, the adjustment result is combined with the identity information of the corresponding doctor, and when the same doctor performs minimally invasive surgery again next time, the adjustment of the positions can be automatically completed according to the input identity information of the doctor.

A configuration method of a pleuroperitoneal cavity minimally invasive surgery robot is characterized in that a bedside operation arm trolley system is arranged on either side or both sides of an operation table.

Preferably, the bedside surgical arm trolley system comprises a stand column assembly, and one to two surgical arms are arranged on each stand column assembly; the trolley moving mechanism is static relative to the operating table in the operation process.

Preferably, the bedside surgical arm trolley system comprises a movable or stationary and locked chassis assembly, and the column assembly is fixedly mounted on the chassis assembly.

Preferably, the number of the bedside surgical arm trolley systems is one, and two surgical arms are arranged on the upright post assembly.

Preferably, the number of the bedside surgical arm trolley systems is two or three.

Preferably, a lens holding clamp is arranged on the opposite side of the operating table with the bedside operating arm trolley system, the endoscope is installed through the lens holding clamp, and the configuration of the three-hole operation is completed by matching with two operating arms of the bedside operating arm trolley system.

Preferably, two bedside operation arm trolley systems are arranged on the same side of the operation table, surgical instruments are arranged on two operation arms of one bedside operation arm trolley system, the surgical instruments are arranged on one operation arm of the other bedside operation arm trolley system, and an endoscope is arranged on the other operation arm, so that the configuration of the four-hole operation is completed.

Preferably, two bedside operation arm trolley systems are arranged on the opposite side of the operation table, surgical instruments are arranged on two operation arms of one bedside operation arm trolley system, the surgical instruments are arranged on one operation arm of the other bedside operation arm trolley system, and an endoscope is arranged on the other operation arm, so that the configuration of the four-hole operation is completed.

Preferably, two bedside operation arm trolley systems are arranged on the same side of the operation table, operation instruments are arranged on operation arms of the bedside operation arm trolley systems, a lens holding clamp is arranged on the opposite side of the operation table, which is provided with the bedside operation arm trolley systems, and an endoscope is arranged through the lens holding clamp to complete the configuration of the five-hole operation.

Preferably, three bedside operation arm trolley systems are arranged on two sides of the operation table, surgical instruments are installed on operation arms of the two bedside operation arm trolley systems, the surgical instruments are installed on one operation arm of the rest bedside operation arm trolley system, and an endoscope is installed on the other operation arm, so that the configuration of the six-hole operation is completed.

In conclusion, the invention has the following beneficial effects:

the invention configures the number of operation arm trolleys according to requirements, realizes the minimum configuration of 2 arms, the standard configuration of 4 arms and the maximum configuration combination of 5-6 arms so as to meet the requirements of various types of operations.

The system has compact structure and flexible placement, and pursues the ergonomic effect. Can be well adapted to the requirements from smaller hospitals to high-end hospitals.

The method has good applicability to military, ships, field, disaster relief and other places and conditions.

Drawings

Fig. 1 is a schematic structural diagram of a master-slave robot system for a minimally invasive thoracic and abdominal cavity surgery of the invention.

Fig. 2 is a schematic structural view of the surgical cart of the present invention.

Fig. 3 is a schematic view of the assembly structure of the chassis assembly and the column assembly of the surgical cart of the present invention.

Fig. 4 is a schematic structural view of a chassis assembly of the surgical cart of the present invention.

Fig. 5 is a schematic structural view of the surgical arm of the present invention.

Fig. 6 is a cross-sectional view of the cross arm mounting structures in the cross arm assembly of the present invention.

Fig. 7 is a schematic structural diagram of a pitch adjustment unit and a schematic structural diagram of a worm and gear assembly of a roll adjustment unit according to the present invention.

Fig. 8 is a sectional view of an assembly structure of a pitch adjusting unit and a roll adjusting unit of the present invention.

Fig. 9 is a schematic structural view of an RCM assembly of the present invention.

Fig. 10A is a schematic sectional view of the plane a-a in fig. 9.

Fig. 10B is a schematic cross-sectional view taken along the plane B-B in fig. 9.

Fig. 11 is a schematic view of the instrument holder and surgical instrument cassette assembly of the present invention.

Fig. 12 is a schematic diagram of the construction of the sterile adaptor of the present invention.

FIG. 13 is a schematic view of a multiple degree of freedom assembly between an end effector and an instrument shaft of the present invention.

Fig. 14 is a schematic structural view of the sheath clamping mechanism of the present invention.

Fig. 15 is a schematic cross-sectional view of the sheath clamping mechanism of the present invention.

FIG. 16 is a schematic view of the surgeon's console of the present invention.

FIG. 17 is a schematic diagram of the control system of the present invention.

Fig. 18 is a schematic view of the same lateral arrangement of two surgical carts of the present invention.

Fig. 19 is a schematic illustration of a contralateral arrangement of two surgical carts in accordance with the present invention.

Fig. 20 is a schematic view of two surgical carts of the present invention configured ipsilaterally and one clip for holding a mirror configured contralaterally.

Fig. 21 is a schematic view of three surgical carts according to the present invention respectively disposed on both sides of an operating table.

FIG. 22 is a schematic view of an opposite side arrangement of a surgical cart and a scope holding clamp of the present invention.

In the figure; 1. a surgeon console; 2. a bedside surgical arm trolley system; 3. imaging and instrumentation systems; 4. a column assembly; 5. an operating arm; 6. an instrument assembly; 7. a surgical cart; 8. a chassis assembly; 9. a master hand; 10. a column; 11. a lead screw drive; 12. rotating the slide block; 13. a chassis; 14. a cross arm assembly; 15. a spatial pre-adjustment mechanism; 16. a redundancy compensation adjustment mechanism; 17. a transition arm; 18. an RCM assembly; 19. an instrument arm; 20. a drive wheel; 21. a universal wheel; 22. an electric stand bar; 23. an intelligent supporting leg; 24. a first cross arm; 25. a second cross arm; 26. a third cross arm; 27. a housing; 28. a power-off electromagnetic brake; 29. a pitch adjustment unit; 30. a roll adjustment unit; 31. finely adjusting the worm; 32. a sector worm gear; 33. a pinion gear; 34. a pitch compensation servo motor; 35. a roll compensation servo motor; 36. a hexagon socket head cap screw; 37. a mechanical seat; 38. an encoder; 39. an instrument stem; 40. a sheath clamping mechanism; 41. a surgical instrument cassette; 42. elastic buckle; 43. a steel wire; 44. a first sleeve; 45. a second sleeve; 46. an end effector; 47. a console display; 48. a third forearm; 49. a first forearm; 50. a second forearm; 51. a belt pulley; 52. a first hinge sleeve; 53. a primary pulley; 54. a second flange plate; 55. a first connecting shaft; 56. a driving wheel; 57. a second hinge sleeve; 58. a first secondary pulley; 59. a third flange plate; 60. a second connecting shaft; 61. a second secondary pulley; 62. a third rotating shaft; 63. a lens holding fixture; 64. a sterile adapter; 65. a clamping piece; 66. a ventilation cavity; 67. an air tube; 68. an intake valve; 69. a guide tube; 70. a gas channel; 71. a sealing plate; 72. an end cap; 73. a card slot; 74. a hole of abdication; 75. a yielding groove; 76. hinging a shaft; 77. a main gear; 78. a bearing; 79. an installation table; 80. a through hole; 81. an adjusting table; 82. a through hole; 83. a rotating shaft; 84. a worm gear; 85. and adjusting the worm.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, the thoracic and abdominal cavity minimally invasive surgery system is composed of a surgeon console 1, a bedside operation arm trolley system 2 and an imaging and instrument system 3, and the bedside operation arm trolley system 2 is controlled by a master hand 9 and a pedal controller on the surgeon console 1 to pre-adjust and pre-position the operation position. The imaging and instrument system 3 is used for observing the operation position in real time, and assisting a doctor to observe the wound position, so that the doctor can remotely operate the bedside operation arm trolley system 2 to perform minimally invasive surgery. The bedside surgical arm trolley system 2 can be arranged separately from the operating table by means of an operating trolley 7. In order to facilitate the configuration and have strong adaptability to different operations, the present embodiment mainly uses the operation cart 7 as the moving and supporting foundation of the bedside operation arm trolley system 2 to perform the technical scheme introduction of the system.

In the operation process, a nurse is arranged beside an operation table to assist in cooperation with a doctor site operating the surgeon console 1, and the nurse and the doctor respectively transmit instructions and feed back site conditions through a voice interaction system on the surgeon console 1.

The completion of the whole operation comprises the configuration of the number of the operation carts 7 before the operation, and the specific operation after the configuration comprises the adjustment of the position of the control mechanism on the surgeon console 1 and the position adjustment of the operation carts 7. After the operation trolley 7 is moved in place, the operation trolley 7 needs to be positioned and locked, the upright post assembly 4 and the operation arm 5 on the operation trolley 7 are pre-adjusted, and the real-time control is carried out in the operation process.

Referring to fig. 17, the low-speed signal is transmitted by using a CAN bus during the pre-adjustment process, and the high-speed signal is transmitted by Ethernet (Ethernet) during the real-time control during the operation.

The pre-adjustment process is as follows:

firstly, a doctor adjusts the pitching angle of a display screen on a surgeon console 1 and the positions of a master hand 9 and a pedal relative to a seat of the surgeon console 1 according to the height, the body type and the operation habit of the doctor, the surgeon console 1 memorizes and stores the final state of corresponding adjustment according to the identity information of different doctors, and when the same doctor operates again next time, the pitching angle of the display screen, the position of the master hand 9 and the position of the pedal are directly adjusted to the same position as the previous time according to the identity information of the doctor, and repeated operation is not needed.

The adjustment is accomplished by the master hand sampling control panel of the surgeon's console 1, the EtherCAT (ethernet control automation technology) master controller, the control panel, and the console master control panel. The control panel comprises a control panel, a console I/O signal interface, a console sensor data acquisition interface and a touch screen, corresponding angles are input through the touch screen, position adjustment commands are input through the touch screen, the touch screen is in communication connection with the control panel through a console upper computer, the control panel is in communication connection with a console main control panel, the console main control panel is in communication connection with a console display handrail position adjustment driver, a master hand position adjustment driver and a pedal position adjustment driver adopt RS232 protocol communication, the console display handrail position adjustment driver, the master hand 9 position adjustment driver and the pedal position adjustment driver are respectively connected with a motor, and the handrail position of the console display 47, the position of the master hand 9 and the position of the pedal are adjusted through the motors. After the adjustment is finished, the angle and the position information are uploaded to a master hand sampling control panel through a CAN bus, and then uploaded to an EtherCAT main controller through Ethernet for calculation and modeling.

And secondly, adjusting the position of the operation trolley 7.

The operation trolley 7 is provided with an operation trolley control panel and an operation trolley control board, the control panel comprises a touch screen and a control board, and the touch screen and the control board are in communication connection through an upper computer; the control panel of the control panel is in communication connection with the control panel of the surgical vehicle through a CAN bus, and the control panel of the surgical vehicle is in communication connection with the motor driver, the force sensor and the surgical vehicle motion driver respectively; the operation trolley motion driver drives the driving wheel servo motor to rotate, so that the operation trolley 7 runs to a preset position on one side of an operation table, whether the operation trolley is in place or not is judged through an absolute position detection sensor arranged at the upper end of an upright post 10 of the operation trolley 7, and the position of the operation trolley 7 is collected through the absolute position detection sensor to be matched with the preset position for reference. In addition, the operation trolley 7 can complete the forward and backward movement under the driving of the driving wheel servo motors, and the motor differential arranged on the driving wheel servo motors can enable the two driving wheel servo motors to generate output rotating speed difference, so that the operation trolley 7 can turn or even rotate in situ by 0 radius.

After the operation trolley 7 reaches a preset position, the servo motor of the driving wheel is powered off, the power-off electromagnetic brake arranged on the output shaft of the motor brakes, and the operation trolley 7 cannot move.

As shown in fig. 4, the motor driver drives the motors of the three electric supporting legs 22 and the intelligent supporting leg 23 to rotate, so as to drive the electric supporting legs 22 and the intelligent supporting leg 23 to descend. The descending process is that the three electric supporting feet 22 descend synchronously, and then the intelligent supporting foot 23 descends again. Force sensors are provided on the three powered feet 22. The trolley is supported by the three electric supporting feet 22, so that the driving wheel 20 and the universal wheel 21 below the base are not stressed, and the three electric supporting feet 22 are finely adjusted according to data fed back by the three force sensors until the data fed back by the three force sensors indicate that the pressure born by the three electric supporting feet 22 is the same. After the adjustment of the electric supporting legs 22 is finished, the intelligent supporting legs 23 descend under the drive of the motor, the force sensors are arranged on the intelligent supporting legs 23, and when the pressure borne by the intelligent supporting legs 23 is the same as the pressure borne by any one of the three electric supporting legs 22, the leveling is finished.

After the leveling of the operation trolley 7 and the operation trolley 7 is finished, the information is fed back to the operation trolley control board, the operation trolley control board uploads the information to the control board of the operation trolley control panel, the control board uploads the information to the master sampling control board through the CAN bus, and then the information is uploaded to the EtherCAT main controller through the Ethernet for calculation and modeling.

And thirdly, pre-adjusting the upright post assembly 4 and the operation arm 5.

As shown in fig. 2 and 5, the surgical arm 5 includes a cross arm assembly 14, a spatial pre-adjustment mechanism 15, a redundancy compensation adjustment mechanism 16, a transition arm 17, an RCM assembly 18, an instrument arm 19, and an instrument assembly 6, the cross arm assembly 14 is mounted on the rotary slide block 12, the spatial pre-adjustment mechanism 15 is mounted on the cross arm assembly 14, the redundancy compensation adjustment mechanism 16 is mounted on the spatial pre-adjustment mechanism 15, the RCM assembly 18 and the redundancy compensation adjustment mechanism 16 are connected by the transition arm 17, the instrument arm 19 is hinged to the RCM assembly 18, and the instrument assembly 6 is mounted on the instrument arm 19.

Of the above-described structures of the surgical arm 5, the structures that require pre-adjustment prior to surgery include the cross arm assembly 14, the spatial pre-adjustment mechanism 15, the transition arm 17, and the instrument arm 19. The RCM assembly 18 needs to be synchronized during the procedure according to commands sent at the surgeon's console 1.

Adjusting the column assembly 4:

as shown in fig. 3, the column assembly 4 includes a column 10, a screw transmission device 11, a brake device and a position sensor, the column 10 is vertically installed on the chassis assembly 8, the screw transmission device 11 is installed on the column 10 along the axial direction of the column 10, the brake device is assembled on the output shaft of the motor of the screw transmission device 11, the position sensor is arranged on the slide block 12 of the screw transmission device 11, and the surgical arm 5 is installed on the rotary slide block 12; still include stand motor control panel and motor drive, brake equipment and position sensor communication connection, stand 10 motor drive is connected with drive screw transmission 11's motor electricity, stand motor control panel passes through CAN bus and operation car control panel's control panel and master hand sampling control panel communication connection. The motor drives the lead screw of the lead screw transmission device 11 to rotate, the slide block 12 on the lead screw is driven by the lead screw to lift along the vertical direction, and the positioning is carried out according to the height required by the operation. The position sensor collects the height information of the rotary slide block 12 in real time, and the motor is powered off to stop outputting power after the preset height is reached. Wherein, the braking device is preferably a power-off electromagnetic brake 28. After the adjustment is finished, the height and position information of the upright post 10 on the cross arm is uploaded to the master arm sampling control panel by the upright post motor control panel through the CAN bus, and then the height and position information is uploaded to the EtherCAT main controller through the Ethernet for mathematical model operation. The height of the surgical arm 5 relative to the operating table is adjusted by the column assembly 4, either in situ via the operating cart control panel or remotely via the control panel of the surgeon's console 1.

Adjustment of the cross arm assembly 14:

as shown in fig. 2, the cross arm assembly 14 includes a first cross arm 24, a second cross arm 25 and a third cross arm 26 which are connected in sequence through rotating shafts, the rotating shafts of the first cross arm 24, the second cross arm 25 and the third cross arm 26 are all vertically upward, and the axes are not overlapped with each other, the first cross arm 24 is fixedly installed on the column assembly 4, the second cross arm 25 is installed on the first cross arm 24 through a rotating shaft, the third cross arm 26 is installed on the second cross arm 25 through a rotating shaft, the second cross arm 25 and the third cross arm 26 both rotate around the rotating shaft thereof along the circumferential direction, and each rotating shaft is equipped with an absolute position encoder; cross arm control plates are arranged corresponding to the first cross arm 24, the second cross arm 25 and the third cross arm 26, and absolute position encoders are respectively in communication connection with the corresponding cross arm control plates; the cross arm control panel is in communication connection with the master hand sampling control panel through a CAN bus.

As shown in fig. 5 and 6, the first and second cross arms 24 and 25 have housings 27, bosses are provided on upper end faces of the housings 27 of the first and second cross arms 24 and 25, and a spindle penetration boss connecting the first and second cross arms 24 and 25 and the second and third cross arms 25 and 26; the lower end surfaces of the corresponding second cross arm 25 and the corresponding third cross arm 26 are provided with concave platforms which are in concave-convex fit with the convex platforms, and the convex platforms are rotationally connected with the concave platforms; the shaft connecting the first and second cross arms 24, 25 is inserted into the housing 27 of the second cross arm 25 via a recess, and the shaft connecting the second and third cross arms 25, 26 is inserted into the housing 27 of the third cross arm 26 via a recess; and a power-off electromagnetic brake 28 is arranged on the rotating shaft in the concave table, and the power-off electromagnetic brake 28 is in communication connection with the cross arm control board.

The third cross arm 26 is provided with a shell 27, the upper end surface of the shell 27 is provided with a boss, and a rotating shaft connecting the third cross arm 26 and the pitching adjusting unit 9 penetrates out of the boss; correspondingly, a concave platform which is in concave-convex fit with the boss is arranged on the lower end surface of the shell 27 of the pitching adjusting unit 9, and the boss is rotationally connected with the concave platform; the rotating shaft connecting the third cross arm 26 and the pitch adjustment unit 9 is inserted into the housing of the pitch adjustment unit 9; and a power-off electromagnetic brake 28 is arranged on the rotating shaft in the concave table, and the power-off electromagnetic brake 28 is in communication connection with the cross arm control board.

The adjustment of the cross arm assembly 14 is accomplished manually. The transverse arm assembly 14 is mainly used for adjusting the instrument arm 19 in the horizontal direction, and the adjustment is mainly realized through the relative rotation of the second transverse arm 25 and the first transverse arm 24, the relative rotation of the third transverse arm 26 and the second transverse arm 25 and the relative rotation of the space pre-adjusting mechanism 15 relative to the third transverse arm 26. The power-off electromagnetic brake 28 arranged on the basis of the relative rotation node releases the locking of the rotation node when being powered on, so that the rotation between structures which are in mutual rotation fit is completed. The absolute position encoders arranged at the rotating nodes are used for acquiring corresponding structures (real-time rotation angles and positions of the three cross arms and the space pre-adjusting mechanism 15, the power-off electromagnetic brake 28 is powered off after the three cross arms and the space pre-adjusting mechanism reach a preset position, and the rotating nodes are locked again, so that the adjustment of the cross arm assembly 14 is completed.

After adjustment is finished, the cross arm control panel arranged on each cross arm uploads the current position of each cross arm and the rotation angle information relative to the initial state to the master hand sampling control panel through the CAN bus, and then uploads the information to the EtherCAT main controller through the Ethernet for mathematical model operation.

The space pre-adjusting mechanism 15 adjusts:

as shown in fig. 7 and 8, the spatial pre-adjustment mechanism 15 includes a pitch adjustment unit 29 and a roll adjustment unit 30, wherein one end of each of the pitch adjustment unit 29 and the roll adjustment unit 30 is provided with an opening, a hinge shaft 76 is fixedly provided on a side wall of the opening of the roll adjustment unit 30, and an opening end of the pitch adjustment unit 29 is hinged on the hinge shaft 76; a driving member is fixedly installed on the hinge shaft 76 in the opening of the roll adjusting unit 30, and a fine-tuning self-locking mechanism in the pitch adjusting unit 29 drives the driving member to rotate to adjust the pitch angle of the pitch arm.

The structure of the fine adjustment self-locking mechanism in the pitch adjustment unit 29 is as follows: bearings 78 are respectively installed on two opposite sides in the pitch adjusting unit 29, a trimming worm 31 with the axis vertical to the axis of the hinge shaft 76 is installed between the two bearings 78, one end of the trimming worm 31 passes through the corresponding bearing 78, a pinion 33 is installed on the end extending out of the bearing 78, a main gear 77 meshed with the pinion 33 is rotatably arranged in the pitch adjusting unit 29, and the main gear 77 is installed on an inner hexagon bolt 36 with one end extending out of the pitch adjusting unit 29.

The pitch adjustment unit 29 is provided with mounting tables 79 at positions corresponding to the bearings 78, the mounting tables 79 are provided with through holes 80, and the bearings 78 are mounted in the corresponding mounting tables 79.

An adjusting platform 81 is arranged in the pitch adjusting unit 29 at a position corresponding to the hexagon socket head cap screw 36, a through hole 82 is arranged on the adjusting platform 81, and the inner end of the hexagon socket head cap screw 36 extends into the through hole 82 and is matched with the through hole 82 through a bearing 78.

The transmission ratio between the primary gear 77 and the secondary gear 33 is less than 1; the drive is a sector worm gear 32 which meshes with a vernier worm 31.

A rotating shaft 83 with one end extending out of one side opposite to the opening is rotatably arranged in the rolling adjusting unit 30, a driving disc is mounted on the rotating shaft 83 extending out of one side opposite to the opening, and a fine adjustment self-locking mechanism matched with the rotating shaft 83 and used for adjusting the rotating angle of the rotating shaft 83 is arranged in the rolling adjusting unit 30.

The structure of the fine adjustment self-locking mechanism in the rolling adjustment unit 30 is as follows: a worm gear 84 is mounted in the middle of the rotating shaft 83, an adjusting worm 85 meshed with the worm gear 84 is arranged in the rolling adjusting unit 30 on one side of the worm gear 84, and two ends of the adjusting worm 85 extend out of two opposite side walls of the rolling adjusting unit 30 and are rotatably connected with the two side walls; the end parts of the adjusting worms 85 extending out of the two opposite side walls of the rolling adjusting unit 30 are respectively provided with adjusting threads, and the end parts of the corresponding adjusting worms 85 are respectively provided with adjusting nuts 34 which are in fit connection with the adjusting threads; the adjusting worm 85 and the worm wheel 84 are double lead worm and worm wheels.

An encoder 38 is installed in the roll adjusting unit 30 at a position corresponding to the inner end of the adjusting worm 85, and a shaft sleeve of the encoder 38 is fixedly connected with the adjusting worm 85.

And absolute position encoders are arranged corresponding to each worm wheel shaft, acquire the rotation angle and the absolute position of the worm wheel shaft, upload the rotation angle and the absolute position to a master hand sampling control board, and upload the rotation angle and the absolute position to an EtherCAT main controller through Ethernet to perform mathematical model operation.

The worm gear of the pitch adjustment unit 9 rotates relatively to adjust the pitch angle of the roll adjustment unit 30, and the roll adjustment unit 30 can adjust the rotation angle of the transition arm 17 around the worm gear shaft of the pitch adjustment unit 9. When the pinion 33 is output in a rotating manner, the pinion is directly or indirectly output by adopting the hexagon socket head cap screw 36, namely the hexagon socket head cap screw 36 can directly and fixedly connect with the rotating center of the pinion 33 through the shell; or the other driving wheel is matched with the pinion 33 in a meshing or synchronous belt transmission mode to transmit power, so that the worm is driven to rotate.

The robot arm 19 adjusts:

as shown in fig. 5 and 9, the instrument arm 19 is mounted on the end of the third front arm 48 far from the second front arm 50 through a rotating shaft; the instrument assembly 6 comprises an instrument seat 37, a servo motor, an instrument rod 39, a sheath tube clamping mechanism 40, an end effector 46 and a screw nut, wherein an output shaft of the servo motor is fixedly connected with the screw, the instrument seat 37 is fixedly connected with the nut, the instrument seat 37 is driven by the screw nut to do linear reciprocating motion along an instrument arm 19, the relative displacement of the instrument seat 37 and the instrument arm 19 is uploaded to a master hand sampling control board through a sensor, and the instrument rod 39 is installed on the side surface of the instrument seat 37; a sheath clamping mechanism 40 is arranged at the lower end of the instrument arm 19, an instrument rod 39 passes through the clamping space of the sheath clamping mechanism 40, and an end effector 46 is arranged at the lower end of the instrument rod 39. The adjustment of the distance between the instrument assembly 6 at the lower end of the instrument arm 19 and the operation position of the human body is completed through a screw nut and a servo motor for driving the screw nut.

The sheath tube clamping mechanism 40 mainly has the main functions of keeping the air pressure required by the operation in the human body thoracoabdominal cavity through ventilating the human body wound to the thoracoabdominal cavity in the operation process; while providing a guiding and righting action for the implement shaft 39.

Specifically, as shown in fig. 14 and 15, the sheath holding mechanism 40 includes a ventilation cavity 66, a through hole through which the instrument rod 39 passes is formed in the center of the ventilation cavity 66, an air tube 67 is integrally formed below the ventilation cavity 66 corresponding to the through hole, the instrument rod 39 enters the air tube 67 through the through hole and passes out from the other end of the air tube 67, and an annular space is formed between the instrument rod 39 and the inner wall of the air tube 67. An intake valve 68 is connected to the vent chamber 66, and the intake valve 68 is screwed to a side wall of the vent chamber 66. A through hole in the ventilation lumen 66 for insertion of the instrument shaft 39 extends into the lumen to form a guide tube 69. The side wall of the vent cavity 66 is provided with an air inlet corresponding to the valve port of the vent valve 68, an air channel 70 communicated with the air inlet is arranged in the vent cavity 66, and the air channel 70 is communicated and isolated with the vent cavity 66 through a sealing plate 71. The opening end surface of the gas channel 70 communicated with the ventilation cavity 66 and the opening end surface of the guide pipe 69 are positioned on the same plane; the sealing plate 71 is rotatably arranged in the sealing cavity 66 through a rotating shaft, one end of the torsion spring is fixed on the rotating shaft, and the other end of the torsion spring is fixed on the wall of the rotating cavity of the sealing plate 71 which is in rotating fit with the rotating shaft; the sealing plate 71 closes both the opening of the guide tube 69 and the gas passage 70. The lower end opening of the guide tube 69 is an inclined surface, the opening end surface of the corresponding gas channel 70 is also an inclined surface with the same inclined direction, the sealing plate 71 is correspondingly arranged in an inclined manner, and the rotating shaft of the sealing plate 71 is positioned on the higher side edge of the sealing plate 71.

In the operation process, the process of ventilating the sheath tube clamping mechanism 40 into the thoracoabdominal cavity is as follows:

the external gas source is communicated with the vent valve 68, after the vent valve 68 is opened, the gas enters the gas channel 70 from the vent valve, and the gas cannot enter the vent cavity 66 from the blocking effect of the sealing plate 71.

The instrument rod 39 is inserted into the vent lumen 66 from a through hole in the vent lumen 66. The instrument tube 39 passes through the guide tube 69 and simultaneously pushes the sealing plate 71 open, the sealing plate 71 loses the sealing function on the gas channel 70, and the gas pumped in from the external gas source enters the pleuroperitoneal cavity through the vent valve 68, the gas channel 70, the vent cavity 66 and the gas tube 67. After the instrument rod 39 passes through the trachea 67, the air flow enters the thoracic cavity from the annular space between the trachea 67 and the instrument rod 39.

To avoid air flow escaping through the vent cavity 66, a sealing ring is provided at the vent. An end cover 72 is also assembled on the ventilation cavity 66, and the end cover 72 is pressed on the upper end surface of the ventilation cavity 66 through a clamping piece. The center of the upper end face of the ventilation cavity 66 is provided with a concave table, the through hole is arranged at the center of the concave table, and the sealing ring is arranged on the concave table. The end cover 72 has a boss which is in concave-convex fit with the boss, and a through hole is also formed at a position of the end cover 72 corresponding to the through hole. The sealing ring deforms under the pressing action of the boss of the end cover 72, and the inner ring of the deformed sealing ring wraps the instrument rod 39 to realize sealing.

The control part of the instrument arm 19 is related to, the instrument arm 19 comprises an instrument arm I/O control board, a position sensor drive board, a motor driver and a brake drive board, the instrument arm I/O control board sends a command to the motor driver to drive the motor to rotate, the motor drives a lead screw to rotate so as to enable the instrument seat 37 to lift, the instrument seat 37 is adjusted in place, the brake drive board controls an electromagnetic brake to brake and position, the position sensor drive board starts the current position information of the position sensor collector instrument seat 37 and uploads the position information to the instrument arm I/O control board, the instrument arm I/O control board uploads the absolute position information to a master hand sampling control board through a CAN bus, and then the absolute position information is uploaded to an EtherCAT master controller through Ethernet to calculate and model.

Fourth, the surgical instrument cartridge 41 is validated for the type of end effector 46.

As shown in fig. 11, the surgical instrument cartridge 41 includes a wire 43 and an end effector drive mechanism; the instrument rod 39 is a hollow rod, a first sleeve 44 is mounted at the lower end of the instrument rod 39 through a first pin shaft, the axes of the first sleeve 44 and the instrument rod 39 are overlapped, and the first pin shaft drives the first sleeve 44 to rotate relative to the instrument rod 39; a second sleeve 45 is arranged at the lower end of the first sleeve 44 through a second pin shaft, the axes of the second sleeve 45 and the instrument rod 39 are overlapped, the second pin shaft drives the second sleeve 45 to rotate relative to the first sleeve 44, and the first pin shaft and the second pin shaft are arranged in a cross shape relatively; an end effector 46 is arranged at the lower end of the second sleeve 45; the end effector 46 driving mechanism comprises a plurality of servo motors, a speed reducer, a rotary encoder and a steel wire 43 are arranged corresponding to each servo motor, the speed reducer is connected to an output shaft of the servo motor, and the rotary encoders are arranged on the output shafts of the speed reducer and the servo motor; each servo motor is provided with a wire roller parallel to the axis of the servo motor, and the servo motors drive the wire rollers to rotate in a reciprocating manner; the steel wire 43 is respectively wound at the upper ends of the first pin shaft, the second pin shaft and the instrument rod 39, two ends of the same steel wire 43 are wound on the same wire roller, and each wire roller is wound with one steel wire 43; the servo motor drives the wire roller to reciprocate, and the first pin shaft and the second pin shaft are pulled through the transmission matching of the pulley block to respectively drive the first sleeve 44 and the second sleeve 45 to rotate; the instrument rod 39 rotates around its axis under the pull of the steel wire 43; servo motor and rotary encoder all with EtherCAT main control unit communication connection.

Through the technical means, the steel wire 43 transmits the output torque of the driving motor to the instrument rod 39, the first pin shaft and the second pin shaft, and the end effector 46 completes the motion in multiple degrees of freedom by means of the rotation of the first pin shaft, the second pin shaft and the instrument rod 39, so that the motion of the forearm and the wrist of a human body is simulated.

When end-effector 46 is an ultrasonic blade or cauterizing tool, the several degrees of freedom described above are sufficient to accomplish the desired surgical action. However, when end-effector 46 is a clamp or shear tool, it is necessary to conduct power through wire 43 of the end-effector 46 drive mechanism. Specifically, as shown in fig. 13, a driven arm of the clamp or the shearing tool is fixedly connected with the lower end of the second sleeve 45, a driving arm of the clamp or the shearing tool rotates around the driven arm through a rotating shaft of the driving arm, a steel wire 43 is wound on the rotating shaft of the clamp or the shearing tool, and two ends of the steel wire 43 are wound on the same wire roller. The clamping and shearing actions are accomplished by pulling the master arm and the slave arm of the clamp or shear tool relatively closer or farther from each other through the wire 43.

As shown in fig. 12, in order to facilitate quick installation and replacement of the surgical instrument box 41 on the instrument base 37, the surgical instrument box 41 is installed on the instrument base 37 through the sterile adapter 64, the clamping members 65 are arranged on two side surfaces of the sterile adapter 64, the upper end and the lower end of each clamping member 65 are respectively provided with a clamping slot 73, the corresponding instrument base 37 and the corresponding surgical instrument box 41 are respectively provided with an elastic buckle 42, in a natural state, the elastic buckles 42 are retracted, when the elastic buckles 42 are buckled on the clamping members 65, the end portions of the clamping members 65 push the elastic buckles 42 outwards, when the elastic buckles 42 reach the clamping slot positions of the clamping members 65, the elastic buckles 42 are buckled into the clamping slots 73 under the elastic action, and the installation of the surgical instrument box 41 and the instrument base 37 is completed. When the surgical instrument box 41 needs to be removed, the elastic buckles 42 on the two sides are broken off and taken down. The instrument seat 37 and the surgical instrument box 41 are detachably connected through the cooperation of the elastic buckle 42 and the clamping groove. The servo motor and the reducer for driving the steel wire 43 are both mounted on the instrument base 37, the wire roller for winding the steel wire 43 is arranged on the surgical instrument box 41, the output shaft of the wire roller corresponding to the reducer is provided with a cavity, and the position of the sterile adapter 64 corresponding to the reducer is provided with a relief hole 74 and a relief groove 75.

In order to detect whether the surgical instrument box 41 is mounted on the instrument base 37, the instrument base 37 is combined with the mounting end face of the surgical instrument box 41 in a magnetic adsorption mode, a hall sensor is mounted in the instrument base 37, a magnetic field is changed along with the mutual approaching of the instrument base 37 and the surgical instrument box 41 in the mounting process, the change of the magnetic field is detected by the hall sensor and converted into a voltage signal to be output, and therefore the voltage signal confirms whether the surgical instrument box 41 is mounted on the instrument base 37.

The surgical instrument cassette 41 and the corresponding end effector 46 are driven by the wire 43, and due to wear, stretching and the like, when the same surgical instrument cassette 41 is used for a certain number of times, the action conduction is not accurate enough, so that the surgical instrument cassette 41 and the end effector need to be replaced in time. Typically, the surgical instrument cartridge 41 is replaced after 10 uses. Based on this, a counter chip for recording the number of times the end effector 46 has been mounted on the instrument holder 37 to complete the operation is mounted in the surgical instrument box 41.

Different end effectors 46, such as clamps, cutters, ultrasonic cutters, etc., may be mounted on the surgical instrument magazine 41, and a detailed reading of the end effectors 46 is required to confirm which end effector 46 is specifically mounted on the surgical instrument magazine 41. In this regard, an RFID tag is provided on the surgical instrument box 41, and information including at least the type of the end effector 46 is recorded in the RFID tag. Correspondingly, an RFID reader/writer is provided on the instrument holder 37, and when the surgical instrument cassette 41 is mounted on the instrument holder 37, the reader/writer reads the type of the end effector 46 in the tag, thereby completing the type judgment of the end effector 46. Meanwhile, since the reader/writer needs to read information of the tag, when the reader/writer reads the information in the tag, it can be determined that the surgical instrument box 41 and the instrument holder 37 are assembled in place, and the positioning operation is completed.

In order to facilitate the doctor and the nurse to confirm whether the surgical instrument cassette 41 is currently mounted in place on the instrument holder 37, a striking indicator light is provided on the instrument holder 37, and the indicator light is lighted with different colors to indicate whether the surgical instrument cassette 41 and the instrument holder 37 are mounted in place. The implementation is easy, and when the prompting lamp is turned on to be green, the prompting lamp and the prompting lamp are installed in place; the beam wonder red indicates that the two are not in place.

After the pre-adjustment is completed, the minimally invasive surgery can be performed. The redundant compensation adjusting mechanism 16 and the RCM assembly 18 are used together to complete the adjustment and operation of the instrument arm 19 in the minimally invasive surgery process. Wherein:

as shown in fig. 5, one end of the transition arm 17 is fixedly connected with a worm gear shaft protruding out of the housing 27 of the roll adjustment unit 30, the transition arm 17 rotates around the axis of the worm gear shaft, and the redundancy compensation adjustment mechanism 16 is disposed at the other end of the transition arm 17; the redundancy compensation adjusting mechanism 16 comprises a pitch compensation servo motor 34 and a rolling compensation servo motor 35, encoders are mounted on output shafts of the pitch compensation servo motor 34 and the rolling compensation servo motor 35, and rotation angle and position information of the motors are collected through the encoders and uploaded to the master sampling control board; the axis of the output shaft of the roll compensation servo motor 35 is parallel to the axis of the worm wheel shaft, the pitch compensation servo motor 34 is fixedly installed on the output shaft of the roll compensation servo motor 35, and the axes of the roll compensation servo motor 35 and the pitch compensation servo motor 34 are perpendicular to each other.

The redundant compensation adjusting mechanism 16 is used for compensation adjustment of the spatial pre-adjusting mechanism 15, the spatial pre-adjusting mechanism 15 only performs coarse adjustment on the pitch angle and the inclination angles towards two sides of the instrument arm 19, and two groups of servo motors of the redundant compensation adjusting mechanism 16 are required to perform real-time fine adjustment on the pitch angle and the inclination angles towards two sides according to operation requirements in the operation process.

As shown in fig. 9, 10A and 10B, the RCM assembly 18 includes a drive motor, a first forearm 49, a second forearm 50 and a third forearm 48; the driving motor is arranged on the output shaft of the servo motor of the redundancy compensation adjusting mechanism 16 through a mounting seat; a bearing seat is installed at one end of the first front arm 49, and an output shaft of the driving motor is assembled on the first front arm 49 through the bearing seat; the other end of the first front arm 49, the end of the second front arm 50 and the end of the third front arm 48 are sequentially connected through rotating shafts, each rotating shaft is provided with an encoder for acquiring a rotating angle of the corresponding rotating shaft, and the encoders upload acquired rotating angle information to the EtherCAT main controller; the first forearm 49, the second forearm 50 and the third forearm 48 are all provided with a synchronous belt or a steel belt, the driving motor drives the first forearm 49, the second forearm 50 and the third forearm 48 to move through the synchronous belt or the steel belt, the first forearm 49 and the third forearm 48 are kept parallel in the moving process, and the second forearm 50 rotates relative to a rotating shaft hinged with the first forearm 49 and the third forearm 48. The RCM assembly 18 must be moved while keeping the first forearm 49 and the third forearm 48 parallel to each other to ensure that the RCM point remains stationary at a certain position. The specific structure for realizing synchronous motion is as follows:

referring to fig. 9, the RCM assembly 18 includes a third forearm 48 and a first forearm 49 that are relatively parallel to each other, and a second forearm 50, the first and second ends of which are hinged to the ends of the third forearm 48 and the first forearm 49, respectively, so that the mechanical arm in this embodiment is required to ensure good smoothness and safety in use. Therefore, during the work, the movable and first front arms 49 are always parallel, and the synchronous operation of the parallel four-side type is required, and the second front arm 50 is required to function as the diagonal line of the parallelogram.

Wherein, a main driving component is arranged in the first front arm 49 near the tail end thereof; the main drive assembly is a powered pulley 51 disposed within the first forearm 49 near the distal end. The power device may be a motor, or a reducer driven by the motor, or other devices capable of driving the pulley 51 to rotate.

Referring to fig. 10A, a first movable mechanism is disposed between the end of the second forearm 50 and the head end of the first forearm 49, and the pulley 51 drives the first movable mechanism to rotate the second forearm 50 along the hinged position of the end thereof; the first movable mechanism has the structure that: a third hinge hole is formed in one side, facing the second forearm 50, of the head end of the first forearm 49, a first hinge sleeve 52 matched with the third hinge hole is arranged on one side, opposite to the third hinge hole, of the tail end of the second forearm 50, a main belt pulley 53 fixedly mounted between the first hinge sleeve 52 and the third hinge hole is arranged in the first forearm 49 and located at the third hinge hole, and the belt pulley 51 and the main belt pulley 53 transmit power through a synchronous belt; in addition, a second flange 54 fixedly connected with the first forearm 49 is arranged in the first forearm 49, a first connecting shaft 55 extending into the second forearm 50 through the first hinge sleeve 52 is arranged in the middle of the second flange 54, and a driving wheel 56 for driving the second movable mechanism is fixedly arranged on the first connecting shaft 55 in the second forearm 50. Wherein the output shaft of the motor assembly corresponding to the first forearm 49 drives the pulley 51 in operation.

Referring to fig. 10B, a second movable mechanism is disposed between the end of the third forearm 48 and the head end of the second forearm 50, and the driving wheel 56 drives the second movable mechanism to rotate the third forearm 48 along the hinged position of the end thereof so as to keep the movable and first forearms 49 parallel to each other; the structure of the second movable mechanism is as follows: a fourth hinge hole is formed in the side, facing the third front arm 48, of the head end of the second front arm 50, a second hinge sleeve 57 matched with the fourth hinge hole is arranged on the side, opposite to the fourth hinge hole, of the tail end of the third front arm 48, a first secondary pulley 58 fixedly mounted between the second hinge sleeve 57 and the fourth hinge hole is arranged in the second front arm 50, and the first secondary pulley 58 is driven to rotate by a driving wheel 56; a third flange plate 59 fixedly connected with the third front arm 48 is arranged in the second front arm 50, a second connecting shaft 60 penetrating through the second hinge sleeve 57 and extending into the third front arm 48 is arranged in the middle of the third flange plate 59, and a second auxiliary pulley 61 is fixedly mounted on the second connecting shaft 60 in the third front arm 48.

The second secondary pulley 61 drives the auxiliary driving assembly at the head end of the third front arm 48 to work synchronously, the auxiliary driving assembly is a third rotating shaft 62 arranged at the head end of the third front arm 48, and an output wheel which transmits power through a synchronous belt with the second secondary pulley 61 is arranged on the third rotating shaft 62 in a rotating manner.

In the embodiment of the telescopic mechanical arm, the belt pulley 51 drives the main belt pulley 53 to rotate through the power device, the main belt pulley 53 rotates to drive the second front arm 50 to rotate around the axis of the first hinge sleeve 52 relative to the first front arm 49, during the rotation, since the second flange 54 is fixedly connected with the first front arm 49, and the second flange 54, the first connecting shaft 55 and the driving wheel 56 are in a relatively fixed relationship, when the second front arm 50 rotates, a relative rotation relationship is formed between the driving wheel 56 and the second front arm 50, the driving wheel 56 and the first secondary belt pulley 58 transmit power through belt transmission, and the first secondary belt pulley 58 can rotate relative to the second front arm 50, during the rotation of the second front arm 50, the included angle between the second front arm 50 and the first front arm 49 increases or decreases, at the same time, the synchronous belts between the transmission wheel 56 and the first secondary pulley 58 respectively change with the tight surfaces of the transmission wheel 56 and the first secondary pulley 58, namely when the synchronous belts transfer with the contact surfaces between the transmission wheel 56 and the first secondary pulley 58, the transmission wheel 56 is fixed, the transferred force drives the first secondary pulley 58 to rotate correspondingly, and further the third front arm 48 realizes synchronous rotation and always meets the parallel work requirement with the first front arm 49.

Then, as for the working principle of the third flange plate 59 and the second secondary pulley 61, the same working principle as that of the second flange plate 54 and the driving wheel 56 is applied, and in the process that the third front arm 48 and the second front arm 50 both rotate, the output wheel of the secondary driving assembly also rotates synchronously, and in the rotating process, the running track of the head end of the third front arm 48 is arc-shaped, so in order to make the accuracy of the arc-shaped track higher, the operability of the equipment is better, and the effect can be realized by utilizing the synchronous rotation of the output wheel.

The minimally invasive surgery process is as follows:

a doctor operates a master hand 9 on a surgeon console 1 to perform actions (push, pull, rotate, grasp, stretch and the like), corresponding action signals are compiled and converted into signals which can be used for communication, transmission and storage through a plurality of encoders arranged on the master hand 9, and a master hand sampling control panel acquires the signals from the encoders and uploads the signals to an EtherCAT main controller; meanwhile, the sensors related to the position acquisition of each mechanical arm in the bedside operation arm trolley system 2 and the encoders assembled on the motors at the joints upload the state information of the mechanical arms at the moment to the EtherCAT main controller, and the EtherCAT main controller synchronously controls the actions of each arm and each joint in the RCM assembly 18 according to the modeling in the pre-adjustment process and the command of the lower master hand 9. Meanwhile, a plurality of groups of motors for controlling the steel wires 43 on the instrument seat 37 move, and the steel wires 43 drive the instrument to perform corresponding operation actions.

In addition, the operation trolley 7 is provided with a vehicle-mounted power supply system, and a power supply control panel of the vehicle-mounted power supply system is communicated with the lithium battery pack through an RS232 protocol. After power failure occurs in the operation process, the lithium battery pack can still provide power supply for the operation trolley 7 for at least 10 minutes, and the standby power supply in the operation room can be started in sufficient time. When the turnover of different operating rooms or buildings is needed, the vehicle-mounted power supply system can ensure the driving of the horizontal movement of the operating trolley 7 for half an hour.

According to specific operation requirements and habits of medical staff, the configuration modes of the pleuroperitoneal cavity minimally invasive operation system are various, and the configuration modes specifically comprise the following configuration modes:

arrangement 1 (fig. 18):

the two bedside operation arm trolley systems 2 placed on the same side can be configured, the operation arms 5 are respectively installed on two sides of the upright post assembly 4 on the two bedside operation arm trolley systems 2, the surgical instruments are installed on the instrument arms 19 of the two operation arms 5 on one bedside operation arm trolley system 2, the surgical instruments are installed on one operation arm 5 on the other bedside operation arm trolley system 2, and the endoscope is installed on the other operation arm 5, so that the operation of the four-hole operation is completed.

Arrangement 2 (fig. 19):

two bedside operation arm trolley systems 2 placed on opposite sides can be configured, operation arms 5 are respectively installed on two sides of a stand column assembly 4 on the two bedside operation arm trolley systems 2, operation instruments are installed on instrument arms 19 of the two operation arms 5 on one bedside operation arm trolley system 2, operation instruments are installed on one operation arm 5 on the other bedside operation arm trolley system 2, and an endoscope is installed on the other operation arm 5, so that the operation of four-hole operation is completed.

Arrangement 3 (fig. 20):

two bedside surgical arm trolley systems 2 and a scope holding clamp 63 can be configured, and an endoscope is installed through the scope holding clamp 63. The lens holding clamp 63 is fixed on one side of the operation table, and the two bedside operation arm trolley systems 2 are arranged on the other side of the operation table. The two sides of the upright post assembly 4 on the two bedside operation arm trolley systems 2 are respectively provided with an operation arm 5, and an instrument arm 19 of each operation arm 5 is provided with an operation instrument to complete the operation of five-hole operation by matching with an endoscope.

Arrangement 4 (fig. 21):

the three bedside operation arm trolley systems 2 can be configured, the operation arms 5 are respectively arranged on two sides of the upright post assembly 4 on the three bedside operation arm trolley systems 2, wherein the surgical instruments are respectively arranged on the instrument arms 19 of the two operation arms 5 on the two bedside operation arm trolley systems 2, the surgical instruments are arranged on one operation arm 5 on the rest bedside operation arm trolley system 2, and the endoscope is arranged on the other operation arm 5, so that the operation of the six-hole operation is completed. The three bedside operation arm trolley systems 2 are respectively arranged on two sides of an operation table, the bedside operation arm trolley system 2 positioned on the same side of the operation table is controlled and operated by one surgeon control table 1, and the bedside operation arm trolley system 2 on the opposite side is controlled and operated by the other surgeon control table 1.

Arrangement 5 (fig. 22):

a bedside surgical arm cart system 2 and a scope holding clamp 63 can be provided, and an endoscope can be mounted through the scope holding clamp 63. The lens holding clamp 63 is fixed on one side of the operating table, and the bedside operating arm trolley system 2 and the lens holding clamp 63 are respectively arranged on two sides of the operating table. The two sides of the upright post assembly 4 on the bedside operation arm trolley system 2 are respectively provided with an operation arm 5, and an instrument arm 19 of each operation arm 5 is provided with an operation instrument to complete the operation of three-hole operation by matching with an endoscope.

The number of access carts 7 in the system is determined by the communication relationship established by the communication interfaces between the surgeon's console 1 and the carts 7, and a communication interface forming a complete communication loop represents an access of one cart 7 in the system.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

Claims (68)

1. A master-slave robot system for a pleuroperitoneal cavity minimally invasive surgery is characterized by comprising a surgeon console (1), a bedside operation arm trolley system (2) and an imaging and instrument system; the surgeon console (1) is respectively in communication connection with the bedside operating arm trolley system (2) and the imaging and instrument system (3); wherein,

the bedside operation arm trolley system (2) comprises an upright post assembly (4), and 2 operation arms (5) are arranged on the upright post assembly (4); the upright post assembly (4) is arranged on the side surface of an operating table through a trolley moving mechanism in the operation preparation process, and the trolley moving mechanism is static relative to the operating table in the operation process;

the imaging and instrumentation system (3) comprises an endoscope, which is arranged on either side of the operating table.

2. The master-slave robotic system for minimally invasive pleuroperitoneal surgery as claimed in claim 1, wherein said trolley moving mechanism is provided as a surgical trolley (7), the surgical trolley (7) comprises a chassis assembly (8) which can be moved or is stationary and locked, and said column assembly (4) is fixedly mounted on the chassis assembly (8).

3. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 2, characterized in that the surgeon console (1) comprises a master hand (9), a master hand motor and its driver, a control panel, a master hand sampling control panel and an EtherCAT master controller; the signal of the last a plurality of encoders that set up of master hand (9) is gathered to master hand sampling control panel, and the action command that master hand (9) were gathered to the encoder is converted it into signal form that can communicate and is uploaded to EtherCAT main control unit, and EtherCAT main control unit transmits the action command of master hand (9) to operation arm (5), makes operation arm (5) carry out the operation action.

4. The master-slave robot system for minimally invasive thoracic and abdominal surgery as claimed in claim 3, wherein the operation cart (7) is provided with an operation cart control panel and an operation cart control board, the control panel comprises a touch screen and a control board, and the touch screen and the control board are in communication connection through an upper computer; the control panel of the control panel is in communication connection with the control panel of the operating trolley through a CAN bus; the control panel of the operating trolley control panel is in communication connection with the master hand sampling control panel.

5. The master-slave robot system for minimally invasive thoracic and abdominal surgery as claimed in claim 4, wherein the column assembly (4) comprises a column (10), a screw transmission device (11), a brake device and a position sensor, the column (10) is vertically installed on the chassis assembly (8), the screw transmission device (11) is installed on the column (10) along the axial direction of the column (10), the brake device is assembled on the motor output shaft of the screw transmission device (11), the position sensor is arranged on the rotating slide block (12) of the screw transmission device (11), and the surgical arm (5) is installed on the rotating slide block (12); still include stand motor control panel and motor drive, brake equipment and position sensor communication connection, stand (10) motor drive and the motor electrical connection who drives lead screw transmission (11), stand motor control panel passes through CAN bus and operation car control panel's control panel and master's hand sampling control panel communication connection.

6. The master-slave robot system for minimally invasive thoracic and abdominal surgery as claimed in claim 4, wherein the chassis assembly (8) comprises a chassis (13), a walking system, an intelligent support device and a vehicle-mounted power system, the intelligent support device and the walking system are both arranged below the chassis (13), the vehicle-mounted power system is arranged in the chassis (13), and the vehicle-mounted power system is electrically connected with the intelligent support device and a driving source of the walking system.

7. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 5, wherein the surgical arm (5) comprises a cross arm assembly (14), a spatial pre-adjustment mechanism (15), a redundant compensation adjustment mechanism (16), a transition arm (17), an RCM assembly (18), an instrument arm (19) and an instrument assembly (6), the cross arm assembly (14) is mounted on the rotary slider (12), the spatial pre-adjustment mechanism (15) is mounted on the cross arm assembly (14), the redundant compensation adjustment mechanism (16) is mounted on the spatial pre-adjustment mechanism (15), the RCM assembly (18) and the redundant compensation adjustment mechanism (16) are connected through the transition arm (17), the instrument arm (19) is hinged with the RCM assembly (18), and the instrument assembly (6) is mounted on the instrument arm (19).

8. The master-slave robot system for the minimally invasive thoracic and abdominal surgery as claimed in claim 6, wherein the walking system comprises two driving wheels (20) and two driven wheels which are respectively arranged at four corners of the bottom of the chassis (13), the wheel abdomen of the driving wheels (20) is a driving wheel servo motor, and rubber spokes are sleeved outside the driving wheel servo motor; the two driven wheels are universal wheels (21); and a motor driver of the driving wheel servo motor is in communication connection with the control board of the surgical vehicle.

9. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 6, wherein the intelligent supporting device comprises three electric legs (22) and one intelligent supporting leg (23), and the electric legs (22) and the intelligent supporting leg (23) are vertically lifted; the electric supporting foot (22) and the intelligent supporting foot (23) are driven to ascend and descend by a motor, and a motor driver of the motor is in communication connection with the control board of the operation trolley.

10. The master-slave robot system for minimally invasive thoracic and abdominal surgery as claimed in claim 7, wherein the cross arm assembly (14) comprises a first cross arm (24), a second cross arm (25) and a third cross arm (26) which are sequentially connected through a rotating shaft, the rotating shafts of the first cross arm (24), the second cross arm (25) and the third cross arm (26) are axially upward and do not coincide with each other, the first cross arm (24) is fixedly installed on a rotating slide block (12) of the column assembly (4), the second cross arm (25) is installed on the first cross arm (24) through the rotating shaft, the third cross arm (26) is installed on the second cross arm (25) through the rotating shaft, the second cross arm (25) and the third cross arm (26) rotate around the rotating shafts thereof along the circumferential direction, and each rotating shaft is equipped with an absolute position encoder; cross arm control plates are arranged corresponding to the first cross arm (24), the second cross arm (25) and the third cross arm (26), and absolute position encoders are in communication connection with the corresponding cross arm control plates respectively; the cross arm control panel is in communication connection with the master hand sampling control panel through a CAN bus.

11. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 8, wherein a power-off electromagnetic brake is mounted on the driving wheel servo motor.

12. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 8, wherein the drive wheel servo motor has a motor differential mounted thereon.

13. The master-slave robotic system for minimally invasive pleuroperitoneal surgery as claimed in claim 9, characterized in that force feedback sensors are provided on both the motorized support legs (22) and the intelligent support legs (23), said force feedback sensors being in communication connection with the control board of the surgical cart.

14. The master-slave robotic system for minimally invasive thoracic and abdominal surgery as claimed in claim 10, wherein the spatial pre-adjustment mechanism (15) comprises a pitch adjustment unit (29) and a roll adjustment unit (30), wherein an opening is formed at one end of each of the pitch adjustment unit (29) and the roll adjustment unit (30), a hinge shaft (76) is fixedly arranged on a side wall of the opening of the roll adjustment unit (30), and an open end of the pitch adjustment unit (29) is hinged on the hinge shaft (76); a driving piece is fixedly arranged on a hinged shaft (76) in an opening of the rolling adjusting unit (30), and a fine adjustment self-locking mechanism in the pitching adjusting unit (29) drives the driving piece to rotate so as to adjust the pitching angle of the pitching arm.

15. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 14, wherein: the structure of the fine adjustment self-locking mechanism in the pitching adjustment unit (29) is as follows: bearings (78) are respectively installed on two opposite sides in the pitch adjusting unit (29), a fine adjustment worm (31) with the axis vertical to the axis of the hinge shaft (76) is installed between the two bearings (78), one end of the fine adjustment worm (31) penetrates through the corresponding bearing (78), a pinion (33) is installed at the end extending out of the bearing (78), a main gear (77) meshed with the pinion (33) is rotatably arranged in the pitch adjusting unit (29), and the main gear (77) is installed on an inner hexagon bolt (36) with one end extending out of the pitch adjusting unit (29).

16. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 15, wherein: mounting platforms (79) are arranged in the pitching adjusting unit (29) at positions corresponding to the bearings (78), through holes (80) are formed in the two mounting platforms (79), and the two bearings (78) are mounted in the corresponding mounting platforms (79).

17. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 15, wherein: an adjusting platform (81) is arranged in the pitching adjusting unit (29) at a position corresponding to the inner hexagon bolt (36), a through hole (82) is formed in the adjusting platform (81), and the inner end of the inner hexagon bolt (36) extends into the through hole (82) and is matched with the through hole (82) through a bearing (78).

18. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 15, wherein: the transmission ratio between the main gear (77) and the secondary gear (33) is less than 1; the driving piece is a sector worm wheel (32) meshed with the fine tuning worm (31).

19. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 14, wherein: the turning adjusting unit (30) is internally provided with a fine adjustment self-locking mechanism which is matched with the rotating shaft (83) to adjust the rotating angle of the rotating shaft (83).

20. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 19, wherein: the structure of the fine adjustment self-locking mechanism in the rolling adjustment unit (30) is as follows: a worm wheel (84) is installed in the middle of the rotating shaft (83), an adjusting worm (85) meshed with the worm wheel (84) is arranged in the rolling adjusting unit (30) on one side of the worm wheel (84), and two ends of the adjusting worm (85) extend out of two opposite side walls of the rolling adjusting unit (30) and are rotatably connected with the two side walls; the end parts of the adjusting worms (85) extending out of the two opposite side walls of the rolling adjusting unit (30) are respectively provided with adjusting threads, and the end parts of the corresponding adjusting worms (85) are respectively provided with adjusting nuts (34) which are in fit connection with the adjusting threads; the adjusting worm (85) and the worm wheel (84) are double-lead worm and worm wheel.

21. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 20, wherein: an encoder (38) is installed at a position corresponding to the inner end of the adjusting worm (85) in the rolling adjusting unit (30), and a shaft sleeve of the encoder (38) is fixedly connected with the adjusting worm (85).

22. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 10, wherein the first cross arm (24) and the second cross arm (25) have a housing (27), wherein bosses are provided on upper end surfaces of the first cross arm (24), the second cross arm (25) and the housing (27), and wherein a rotating shaft connecting the first cross arm (24) and the second cross arm (25) and the third cross arm (26) passes out of the bosses; concave platforms which are in concave-convex fit with the bosses are arranged on the lower end surfaces of the corresponding second cross arm (25) and the corresponding third cross arm (26), and the bosses are rotationally connected with the concave platforms; the rotating shaft connecting the first cross arm (24) and the second cross arm (25) is inserted into a shell (27) of the second cross arm (25) through a concave platform, and the rotating shaft connecting the second cross arm (25) and the third cross arm (26) is inserted into a shell (27) of the third cross arm (26) through a concave platform; and a power-off electromagnetic brake (28) is arranged on the rotating shaft positioned in the concave table, and the power-off electromagnetic brake (28) is in communication connection with the cross arm control board.

23. The master-slave robotic system for minimally invasive thoracic abdominal surgery as defined in claim 20, wherein one end of the transition arm (17) is fixedly connected with a rotation shaft (83) of a housing (27) of the protruding roll adjustment unit (30), the transition arm (17) rotates around an axis of the rotation shaft (83), and the redundancy compensation adjustment mechanism (16) is disposed at the other end of the transition arm (17); the redundancy compensation adjusting mechanism (16) comprises a pitching compensation servo motor (34) and a rolling compensation servo motor (35), encoders are mounted on output shafts of the pitching compensation servo motor (34) and the rolling compensation servo motor (35), and rotation angle and position information of the motors are collected through the encoders and uploaded to the master hand sampling control board; the axis of the output shaft of the rolling compensation servo motor (35) is parallel to the axis of the worm wheel shaft, the pitching compensation servo motor (34) is fixedly installed on the output shaft of the rolling compensation servo motor (35), and the axes of the rolling compensation servo motor (35) and the pitching compensation servo motor (34) are perpendicular to each other.

24. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 22, wherein the third cross arm (26) has a housing (27), a boss is provided on an upper end surface of the housing (27), and a rotation shaft connecting the third cross arm (26) and the pitch adjustment unit (29) penetrates the boss; a concave platform which is in concave-convex fit with the boss is correspondingly arranged on the lower end surface of the shell (27) of the pitching adjusting unit (29), and the boss is rotationally connected with the concave platform; a rotating shaft connecting the third cross arm (26) and the pitching adjusting unit (29) is inserted into a shell (27) of the pitching adjusting unit (29); and a power-off electromagnetic brake (28) is arranged on the rotating shaft positioned in the concave table, and the power-off electromagnetic brake (28) is in communication connection with the cross arm control board.

25. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 23, wherein the RCM assembly (18) includes a drive motor, a first forearm (49), a second forearm (50), and a third forearm (48); the driving motor is arranged on a servo motor output shaft of the redundancy compensation adjusting mechanism (16) through a mounting seat; a bearing seat is arranged at one end of the first front arm (49), and an output shaft of the driving motor is assembled on the first front arm (49) through the bearing seat; the other end of the first front arm (49), the end parts of the second front arm (50) and the third front arm (48) are sequentially connected through rotating shafts, each rotating shaft is provided with an encoder for acquiring a rotating angle corresponding to the rotating shaft, and the encoders upload acquired rotating angle information to an EtherCAT main controller; synchronous belts or steel belts are arranged on the first front arm (49), the second front arm (50) and the third front arm (48), the driving motor drives the first front arm (49), the second front arm (50) and the third front arm (48) to move through the synchronous belts or the steel belts, the first front arm (49) and the third front arm (48) are kept parallel in the moving process, and the second front arm (50) rotates relative to a rotating shaft hinged with the first front arm (49) and the third front arm (48).

26. Master-slave robotic system for minimally invasive thoracic abdominal surgery according to claim 25, characterized in that the robotic arm (19) is mounted by means of a spindle at an end of the third forearm (48) remote from the second forearm (50); the instrument assembly (6) comprises an instrument seat (37), a servo motor, an instrument rod (39), a sheath tube clamping mechanism (40), an end effector (46) and a screw nut, an output shaft of the servo motor is fixedly connected with the screw, the instrument seat (37) is fixedly connected with the screw nut, the instrument seat (37) is driven by the screw nut to do linear reciprocating motion along an instrument arm (19), the relative displacement of the instrument seat (37) and the instrument arm (19) is uploaded to a master hand sampling control board through a sensor, and the instrument rod (39) is installed on the side surface of the instrument seat (37); a sheath tube clamping mechanism (40) is arranged at the lower end of the instrument arm (19), the instrument rod (39) penetrates through the clamping space of the sheath tube clamping mechanism (40), and the end effector (46) is arranged at the lower end of the instrument rod (39).

27. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 26, wherein the RCM point of the RCM assembly (18) is an intersection between a second forearm (50) centerline and an instrument bar (39) axis.

28. The master-slave robot system for minimally invasive thoracic and abdominal surgery as claimed in claim 26, wherein a surgical instrument box (41) is mounted on the instrument base (37), the surgical instrument box (41) is mounted on the instrument base (37) through a sterile adapter (64), clamping members (65) are arranged on two side faces of the sterile adapter (64), clamping grooves (73) are arranged at the upper end and the lower end of each clamping member (65), elastic buckles (42) are arranged on the corresponding instrument base (37) and the corresponding surgical instrument box (41), and the instrument base (37) and the surgical instrument box (41) are detachably connected through the cooperation of the elastic buckles (42) and the clamping grooves (73).

29. The master-slave robot system for minimally invasive thoracic and abdominal surgery as claimed in claim 26, wherein the sheath clamping mechanism (40) comprises a ventilation cavity (66), a through hole for passing the instrument rod (39) is formed in the center of the ventilation cavity (66), a gas pipe (67) is integrally formed below the ventilation cavity (66) and corresponds to the through hole, the instrument rod (39) enters the gas pipe (67) from the through hole and passes out from the other end of the gas pipe (67), and an annular space is formed between the instrument rod (39) and the inner wall of the gas pipe (67).

30. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 27, wherein a master drive assembly is provided in the first forearm (49) near a distal end thereof; the main driving component drives a first movable mechanism between the tail end of the second front arm (50) and the head end of the first front arm (49) to enable the second front arm (50) to rotate along a first connecting shaft (55) at the tail end of the second front arm; the first movable mechanism drives the second movable mechanism between the tail end of the third forearm (48) and the head end of the second forearm (50) to enable the third forearm (48) to rotate along the hinged position of the tail end of the third forearm so as to achieve the aim that the first forearm and the third forearm are always parallel; the second movable mechanism drives the auxiliary driving component at the head end of the third front arm (48) to work synchronously.

31. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 28, wherein the surgical instrument cartridge (41) includes a wire (43) and an end effector drive mechanism; the instrument rod (39) is a hollow rod, a first sleeve (44) is mounted at the lower end of the instrument rod (39) through a first pin shaft, the axes of the first sleeve (44) and the instrument rod (39) are overlapped, and the first pin shaft drives the first sleeve (44) to rotate relative to the instrument rod (39); a second sleeve (45) is mounted at the lower end of the first sleeve (44) through a second pin shaft, the axes of the second sleeve (45) and the instrument rod (39) are overlapped, the second pin shaft drives the second sleeve (45) to rotate relative to the first sleeve (44), and the first pin shaft and the second pin shaft are arranged in a cross shape relatively; an end effector (46) is arranged at the lower end of the second sleeve (45); the end effector driving mechanism comprises a plurality of servo motors, a speed reducer, a rotary encoder and a steel wire (43) are arranged corresponding to each servo motor, the speed reducer is connected to an output shaft of the servo motor, and the rotary encoders are mounted on the output shafts of the speed reducer and the servo motor; each servo motor is provided with a wire roller parallel to the axis of the servo motor, and the servo motors drive the wire rollers to rotate in a reciprocating manner; the steel wire (43) is respectively wound on the first pin shaft, the second pin shaft and the upper end of the instrument rod (39), two ends of the same steel wire (43) are wound on the same wire roller, and one steel wire (43) is wound on each wire roller; the servo motor drives the wire roller to reciprocate, and the first pin shaft and the second pin shaft are pulled through the transmission matching of the pulley block to respectively drive the first sleeve (44) and the second sleeve (45) to rotate; the instrument rod (39) rotates around the axis of the instrument rod under the pulling of the steel wire (43); servo motor and rotary encoder all with EtherCAT main control unit communication connection.

32. Master-slave robotic system for minimally invasive thoracic abdominal surgery according to claim 28, characterized in that a hall sensor is provided in the instrument holder (37).

33. Master-slave robotic system for minimally invasive pleuroperitoneal surgery according to claim 28, characterized in that a counter chip is mounted in the surgical instrument box (41) for recording the number of times the end effector (46) is mounted on the instrument holder (37) to complete the surgery.

34. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 28, further comprising an RFID radio frequency identification tag and an RFID radio frequency reader-writer, which are respectively disposed on the instrument holder (37) and the surgical instrument box (41) for identifying the installation and positioning of instruments.

35. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 29, wherein an air inlet valve (68) is communicated to the air cavity (66), and the air inlet valve (68) is threadedly mounted on a side wall of the air cavity (66).

36. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 30, wherein the first movable mechanism is structured to: the head end of first forearm (49) and the one side towards second forearm (50) are equipped with the third and articulate the hole, and the end of second forearm (50) is equipped with third and articulate hole assorted first hinge cover (52) with the opposite side in hole of third, lie in first forearm (49) third and articulate hole department be equipped with first hinge cover (52) between fixed mounting's primary pulley (53), primary pulley (53) are driven its rotation by main drive assembly.

37. The master-slave robotic system for minimally invasive thoracic and abdominal surgery as claimed in claim 32, wherein the end effector (46) is a clamp or a cutting tool, a passive arm of the clamp or the cutting tool is fixedly connected with a lower end of the second sleeve (45), a driving arm of the clamp or the cutting tool rotates around the passive arm through a rotating shaft of the driving arm, a steel wire (43) is wound on the rotating shaft of the clamp or the cutting tool, and two ends of the steel wire (43) are wound on the same wire roller.

38. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 32, wherein the end effector (46) is a cauterization tool or an ultrasonic cutter.

39. The master-slave robotic system for minimally invasive pleuroperitoneal surgery of claim 34, further comprising an indicator light on the instrument holder (37), wherein the indicator light is illuminated in different colors to indicate whether the surgical instrument cartridge (41) is in place on the instrument holder (37).

40. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 35 wherein the through hole of the vent lumen (66) for insertion of the instrument rod (39) extends inwardly of the lumen to form a guide tube (69).

41. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 36, wherein the primary driving assembly is a pulley (51) disposed in the first forearm (49) near the distal end and driven by a power device, and the pulley (51) and the primary pulley (53) transmit power through a synchronous belt.

42. The master-slave robotic system for minimally invasive thoracoabdominal surgery as defined in claim 36, wherein the first moving mechanism further comprises a second flange (54) fixedly connected between the inside of the first forearm (49) and the first forearm (49), a first connecting shaft (55) extending into the second forearm (50) through the first hinge sleeve (52) is arranged in the middle of the second flange (54), and a driving wheel (56) for driving the second moving mechanism is fixedly mounted on the first connecting shaft (55) in the second forearm (50).

43. The master-slave robot system for minimally invasive pleuroperitoneal surgery as claimed in claim 40, wherein the side wall of the vent cavity (66) is opened with an air inlet hole corresponding to the valve port of the vent valve (68), a gas channel (70) communicated with the air inlet hole is arranged in the vent cavity (66), and the gas channel (70) is communicated with and isolated from the vent cavity (66) through a sealing plate (71).

44. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 42, wherein the second movable mechanism is structured to: the head end of second forearm (50) and the one side towards third forearm (48) are equipped with the fourth hinge hole, the terminal one side relative with the fourth hinge hole of third forearm (48) is equipped with and articulates cover (57) with fourth hinge hole assorted, lie in fourth hinge hole department in second forearm (50) and be equipped with and articulate first auxiliary pulley (58) of fixed mounting between cover (57) with the second, first auxiliary pulley (58) are driven its rotation by drive wheel (56).

45. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 43, wherein an opening end surface of the gas channel (70) communicating with the gas cavity (66) is positioned on the same plane as an opening end surface of the guide tube (69); the sealing plate (71) is rotatably arranged in the sealing cavity (66) through a rotating shaft, one end of the torsion spring is fixed on the rotating shaft, and the other end of the torsion spring is fixed on the wall of the rotating cavity, rotatably matched with the rotating shaft, of the sealing plate (71); the sealing plate (71) closes the openings of the guide tube (69) and the gas passage (70) at the same time.

46. The master-slave robotic system for pleuroperitoneal minimally invasive surgery of claim 44, wherein: be equipped with in second forearm (50) with fixed connection third flange dish (59) between third forearm (48), the middle part of third flange dish (59) is equipped with and passes second hinge cover (57) and extend second connecting axle (60) in third forearm (48), fixed mounting has second band pulley (61) on second connecting axle (60) in third forearm (48).

47. The master-slave robot system for minimally invasive thoracic and abdominal surgery as claimed in claim 45, wherein the lower opening of the guide tube (69) is a slope, the corresponding opening end surface of the gas channel (70) is a slope with the same slope direction, the sealing plate (71) is correspondingly arranged in a slope manner, and the rotating shaft of the sealing plate (71) is located at the higher side of the sealing plate (71).

48. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 46, wherein: the auxiliary driving assembly is a third rotating shaft (62) arranged at the head end of a third front arm (48), and an output wheel which transmits power through a synchronous belt is arranged on the third rotating shaft (62) in a rotating mode and between the third rotating shaft and a second auxiliary pulley (61).

49. The master-slave robotic system for minimally invasive thoracic abdominal surgery of claim 47, wherein a sealing ring is disposed at the through hole.

50. Master-slave robotic system for minimally invasive thoracic abdominal surgery according to claim 49, characterized in that an end cap (72) is further fitted on the ventilation cavity (66), the end cap (72) being pressed against the upper end face of the ventilation cavity (66) by means of a snap-in connection.

51. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 50, wherein a concave platform is formed at the center of the upper end surface of the ventilation cavity (66), the through hole is formed at the center of the concave platform, and the sealing ring is arranged on the concave platform.

52. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 51, wherein the end cap (72) has a boss which is concave-convex matched with the boss, and a through hole is formed at a position of the end cap (72) corresponding to the through hole.

53. The master-slave robotic system for minimally invasive pleuroperitoneal surgery as claimed in claim 52, wherein the seal ring is deformed by pressing down on a boss of the end cap (72), and an inner ring of the deformed seal ring wraps the instrument stem (39) to realize sealing.

54. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 2, further comprising a pedal controller, the pedal controller including a confirmation button, an electrotome button, an electrocoagulation button, a power amplification button and a clutch pedal, the confirmation button, the electrotome button, the electrocoagulation button, the power amplification button and the clutch pedal all being in communication with a control panel of the pedal controller.

55. Master-slave robotic system for minimally invasive pleuroperitoneal surgery according to claim 4, characterized in that it further comprises an absolute position detection sensor for detecting the absolute position of the trolley (7), said absolute position detection sensor being arranged at the upper end of the upright (10).

56. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 6, wherein the vehicle-mounted power system comprises a power control board and a lithium battery pack, the power control board controls on and off of the lithium battery pack; the power supply control panel is respectively in communication connection with the control panel of the operating trolley control panel and the master hand sampling control panel through a CAN bus.

57. Master-slave robotic system for minimally invasive thoracic and abdominal surgery according to claim 1, characterized in that a voice interaction system is provided in both the surgeon console (1) and the bedside surgical arm trolley system (2).

58. The master-slave robotic system for minimally invasive thoracic and abdominal surgery of claim 1, wherein the surgeon console (1) further comprises a console master control board, a console display (47) armrest position adjustment driver, and a driver of a master hand motor; the control panel comprises a console touch display screen, a sensor data acquisition interface and a console I/O signal interface, the console touch display screen is in communication connection with a console upper computer, the console upper computer is in communication with a console control board through an RS232 protocol, and the sensor acquisition interface and the console I/O interface are integrated on the control board; the console main control board is communicated with a console display (47) handrail position adjusting driver, a master hand position adjusting driver and a pedal position adjusting driver by adopting an RS232 protocol, the console display (47) handrail position adjusting driver, the master hand position adjusting driver and the pedal position adjusting driver are respectively connected with a motor, and the handrail position, the master hand (9) position and the pedal position of the console display (47) are adjusted by the motors.

59. A master-slave robot configuration method for a pleuroperitoneal cavity minimally invasive surgery is characterized in that a bedside operation arm trolley system (2) is arranged on any side or two sides of an operation table.

60. The master-slave robotic configuration method for minimally invasive thoracic abdominal surgery of claim 59, wherein the bedside surgical arm trolley system (2) comprises one column assembly (4), and one to two surgical arms (5) are arranged on each column assembly (4); the trolley moving mechanism is static relative to the operating table in the operation process.

61. Master-slave robotic configuration method for minimally invasive thoracic abdominal surgery according to claim 60, characterized in that the bedside surgical arm trolley system (2) comprises a movable or stationary and locked chassis assembly (8), the column assembly (4) being fixedly mounted on the chassis assembly (8).

62. The master-slave robot configuration method for minimally invasive thoracic and abdominal surgery of claim 61, characterized in that the number of the bedside surgical arm trolley systems (2) is one, and two surgical arms (5) are arranged on the column assembly (4).

63. Master-slave robotic configuration method for minimally invasive thoracic abdominal surgery according to claim 61, characterized in that the number of bedside surgical arm trolley systems (2) is two or three.

64. The master-slave robot configuration method for minimally invasive thoracic and abdominal surgery as claimed in claim 62, wherein a scope holding clamp (63) is arranged at the opposite side of the operating table with the bedside operating arm trolley system (2), an endoscope is installed through the scope holding clamp (63), and the configuration of the three-hole surgery is completed by matching with the two operating arms (5) of the bedside operating arm trolley system (2).

65. The master-slave robot configuration method for minimally invasive thoracic and abdominal surgery as claimed in claim 63, wherein two bedside surgical arm trolley systems (2) are arranged on the same side of an operating table, surgical instruments are mounted on two surgical arms (5) of one bedside surgical arm trolley system (2), surgical instruments are mounted on one surgical arm (5) of the other bedside surgical arm trolley system (2), and an endoscope is mounted on the other surgical arm (5), so that the configuration of a four-hole surgery is completed.

66. The configuration method of master-slave robot for minimally invasive thoracic and abdominal surgery according to claim 63, wherein two bedside operation arm trolley systems (2) are arranged on opposite sides of an operation table, surgical instruments are arranged on two operation arms (5) of one bedside operation arm trolley system (2), surgical instruments are arranged on one operation arm (5) of the other bedside operation arm trolley system (2), and an endoscope is arranged on the other operation arm (5), so that the configuration of four-hole surgery is completed.

67. The master-slave robot configuration method for minimally invasive thoracic and abdominal surgery as claimed in claim 63, wherein two bedside surgical arm trolley systems (2) are arranged on the same side of the operating table, surgical instruments are mounted on the surgical arms (5) of the bedside surgical arm trolley systems (2), a lens holding clamp (63) is arranged on the opposite side of the operating table with the bedside surgical arm trolley systems (2), and an endoscope is mounted through the lens holding clamp (63), so that the configuration of five-hole surgery is completed.

68. The master-slave robot configuration method for minimally invasive thoracic and abdominal surgery according to claim 63, wherein three bedside surgical arm trolley systems (2) are arranged on two sides of an operating table, surgical instruments are mounted on the surgical arms (5) of two bedside surgical arm trolley systems (2), the surgical instruments are mounted on one surgical arm (5) of the remaining bedside surgical arm trolley system (2), and an endoscope is mounted on the other surgical arm (5), so that the configuration of six-hole surgery is completed.

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