WO2025002455A1

WO2025002455A1 - A surgical robot for operating intracavity devices

Info

Publication number: WO2025002455A1
Application number: PCT/CN2024/102934
Authority: WO
Inventors: Xiaohui Peng; Yunfei CAO; Ann XIN
Original assignee: Shenzhen Tonglu Technology Co Ltd
Current assignee: Shenzhen Tonglu Technology Co Ltd
Priority date: 2023-06-30
Filing date: 2024-07-01
Publication date: 2025-01-02
Anticipated expiration: 2025-12-30
Also published as: CN119257743A

Abstract

Herein disclosed is a surgical robot having a first surgical execution device, a control device, a griping member and a second surgical execution device, holding an intracavity medical device sequentially along a longitudinal direction. The first surgical execution device is slidably attached to a main track. The gripping member and the second surgical device are mounted on a second track, parallel to the main track in its longitudinal direction. The control device, being releasably attached either to the griping member or the support frame on either side, changing back and forth from sliding on the second track and the main track respectively. The control device suitable to hold a Luer connector, controls the linear and rotational movements of the intracavity medical device, having a rotational driven member driven by a rotational driving member in a non-contact manner, separating the sterile side from non-sterile side.

Description

A SURGICAL ROBOT FOR OPERATING INTRACAVITY DEVICES

CROSS-REFERENCE TO RELATED APPLICATION

The present disclosure claims priority to and/or benefit of Chinese Patent Application Ser. No. 202310800906.0, entitled "A SURGICAL ROBOT" , filed on Jun. 30, 2023, Chinese Patent Application Ser. No. 202310729743.1, entitled "A ROBOTIC ARM" , filed on Jun. 19, 2023, Chinese Patent Application Ser. No. 202211105526.7, entitled "A SURGICAL ROBOT" , filed on Sep. 9, 2022, Chinese Patent Application Ser. No. 202211146397.6, entitled "A FORCE MEASURING SURGICAL ROBOT" , filed on Sep. 20, 2022, Chinese Patent Application Ser. No. 202210803401.5, entitled "A SURGICAL ROBOT DEVICE" , filed on Jul. 7, 2022, Chinese Patent Application Ser. No. 202310237481.7, entitled "A SURGICAL EXECUTION DEVICE AND A SURGICAL ROBOT HAVING THE SURGICAL EXECUTION DEVICE" , filed on Mar. 2, 2023, Chinese Patent Application Ser. No. 202310460639.7, entitled "A SURGICAL ROBOT DELIVERY APPARATUS" , filed on Apr. 21, 2023, Chinese Patent Application Ser. No. 202310517391.3, entitled "AN OPEN STERILE BOX" , filed on May. 9, 2023, Chinese Patent Application Ser. No. 202310565522.5, entitled "A SURGICAL EXECUTION DEVICE AND A SURGICAL ROBOT" , filed on May. 17, 2023, Chinese Patent Application Ser. No. 202310315778.0, entitled "AN INTRACAVITARY MEDICAL DEVICE CONTROL DEVICE AND ITS CONNECTING VALVE" , filed on Mar. 16, 2023, and Chinese Patent Application Ser. No. 202310270354.7, entitled "AN INTRACAVITARY MEDICAL DEVICE CONTROL DEVICE AND ITS DRIVING METHOD" , filed on Mar. 16, 2023, all of which are herein incorporated by reference as a whole and for all purposes.

TECHNICAL FIELD

This application relates generally to surgical robots, particularly to surgical robots for operating intracavity medical instruments, such as catheters, guiding catheters, intravascular devices, etc.

BACKGROUND

Currently, in manually conducted surgeries involving the use of catheter guidewires, the surgeon needs to stand near the patient to operate intracavitary medical devices such as guidewires, guide catheters or angioplasty catheters into or out of the patient's body. The surgeon is exposed to the radiation of medical imaging equipment throughout the whole process. Although there are protective facilities such as lead clothing, the long-term wearing of lead clothing increases the surgeon's physical exertion, which not only increases the risk of hand tremors, but also brings quality concerns to the already inefficient surgery, resulting high occupational injuries to the surgeon, and high labor cost.

For these reasons, being able to provide the intracavity procedures using surgical robots is sought after by the need in the medical field. Furthermore, being able to operate the surgical robots in a contactless manner from sterile to non-sterile eliminates the need for resterilization, while also reducing the cost of surgical procedures, can lead to improvements in both patient safety and hospital efficiency. Accordingly, herein disclosed methods and apparatus are directed to solve one or more problems set forth above and other problems.

SUMMARY

In accordance with a first aspect of the present disclosure, herein disclosed is a surgical robot having a first surgical execution device, a control device, a griping member and a second surgical execution device, sequentially holding an intracavity medical device along a longitudinal direction. The first surgical execution device is slidably attached to a main track. The gripping member and the second surgical device are mounted on a second track, parallel to the main track in its longitudinal direction. The control device, being releasably attached either to the griping member or the support frame on either side, changing back and forth from sliding on the second track and the main track respectively. The control device suitable to hold a Luer connector, controls the linear and rotational movements of the intracavity medical device, having a rotational driven member driven by a rotational driving member in a non-contact manner, separating the sterile side from non-sterile side.

In an example, the hold-down device also includes a base and a tubular connecting member rotatably attached to the base, the connecting member is configured to connect the intracavitary medical device, and the rotational driven member is configured to be attached to the connecting member or directly to the intracavitary medical device.

Yes in another example, the surgical robot includes a gripping member between the control device and the second surgical execution device, and when the support frame approaches the gripping member, a second plug-in portion of the base of the control device is inserted into the second attaching grooves of the gripping member and is held by an electromagnet and another electromagnet releases a first plug-in portion of the base of the control device so that the first driver moves backward with the support frame and the first plug-in portion of the base departs the first fixing grooves.

As such, the handle and the probe can be easily attached and detached together with the electrical function, the optical function and the mechanical function connected and disconnect respectively prior to a clinical operation and at the completion of the operation. The probe can therefore be discarded after the operation to avoid risk of contamination or costly sterilization process. The handle, with the most costly parts, such as a camera, a computing processor or even a high end light source, do not come into contact with the source of contamination, and can be safely.

The control device, being releasably attached either to the griping member or the support frame on either side, changing back and forth from sliding on the second track and the main track respectively. The control device suitable to hold a Luer connector, controls the linear and rotational movements of the intracavity medical device, having a rotational driven member driven by a rotational driving member in a non-contact manner, separating the sterile side from non-sterile side.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings are not necessarily to scale, emphasis instead generally being placed upon illustrating the apparatus or method of the present disclosure are not intended as limiting. For purposes of clarity, not every component is labeled in every drawing. In the following description, various embodiments are described with reference to the following drawings.

Fig. 1 is a schematic assembly diagram of the surgical robot, in which the control device is attached to both the gripping member and the first surgery execution device, moving towards to the second surgery execution device according with the present disclosure.

Fig. 2 is a schematic assembly diagram of the surgical robot of the present disclosure, in which the control device is attached to the first surgical execution device in accordance with the present disclosure.

Fig. 3 is a schematic assembly diagram of the surgical robot, in which the control device is detached from the first surgical execution device, in transition to switch from the first surgery execution device to the second surgery execution device according to the present disclosure.

Fig. 4 is an enlarged view of the control device of the surgical robot according with the present disclosure.

Fig. 5 is another state diagram of FIG. 1.

DETAILED DESCRIPTION

The forgoing description of the partially reusable endoscopes uses an ureteroscope as an example. It should be appreciated that the scope and spirit of this disclosure is not limited to this example. The term of endoscope or scope can be interchangeable used with many types of endoscopes, such as ureteroscope, cystoscope, bronchoscope, and laparoscope, etc.

In the description of the present disclosure, the term "proximal end" refers to the end close to the operator, and the term "distal end" refers to the end away from the operator; the terms "delivery" , "push" , "advance" , "pull" or "drag" refer to the process of moving from a place away from the operator toward a place near the operator, and the terms "withdrawal" , "withdrawal" or "backward" refer to the process of moving from a place close to the operator toward a place away from the operator, and the terms "horizontal" , "vertical" , "up" , "down" , "left" , "right" , "inside" , "outside" , "between" , "between" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present disclosure. Unless otherwise clearly specified and limited, the terms "connection" , "connected" , "fixed" , "installed" , etc. should be understood in a broad sense, for example, it can be fixed connection, detachable connection, or integral connection; it can be mechanical connection, electrical connection or magnetic connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

The surgical robot of the present disclosure is used to clamp, deliver or withdraw, for example, intracavitary medical devices. It should be understood that the term "intracavitary" includes cavities such as natural cavities, pan-vascular cavities, and organ cavities. The term "intracavitary medical device" may refer to any shape or any type of catheter, finger guide wire, guide catheter, angioplasty catheter, or endoscope, various laparoscopes, tube mirrors, etc., including any catheter-type or guidewire-type consumable or non-consumable devices suitable for natural cavities, pan-vascular intervention, electrophysiology, structural heart disease and other procedures. The guidewires here include but are not limited to guide wires, loach guidewires, angiographic guidewires and micro-guidewires, etc., and guiding and supporting intracavitary medical devices (also known as guidewire-type intracavitary medical devices) , and catheters include but are not limited to guide catheters, microcatheters, angiographic catheters, intermediate tubes (also known as intermediate catheters) , thrombolytic catheters, balloon dilatation catheters and balloon expansion stent catheters, etc. Diagnosis and treatment intracavitary medical devices (also known as catheter-type intracavitary medical devices) . It should be understood that the scope and spirit of the present disclosure are not limited to these examples of the present disclosure.

Referring to Figs. 1 to 5, schematic diagrams of the first embodiment of the surgical robot according to the present disclosure are shown for delivering or withdrawing intracavitary medical devices 80 and 84 into or out of a patient's body. It should be appreciated that, some parts are omitted in the figures to assist the clear displays of the surgical robot herein described, although the omitted parts are still important for the operation.

Referring to Fig. 1, the surgical robot includes a robotic arm 10, a first surgical execution device 50, two transmission devices 20, and a second surgical execution device 40 fixed to the transmission device 20.

Referring to Figs. 1 and 2, the robotic arm 10 includes an elongated main track 12, a support arm 14 rotatably mounted at the end of the main track 12, and a rotating joint 16 mounted at the end of the support arm 14. Specifically, the description of the robotic arm made to Chinese patent application 202310729743.1, which is herein incorporated by reference as a whole, will not be repeated.

The first surgical execution device 50 includes a first linear guide mechanism, a first driver 53, a first linear movement mechanism, a support frame 58, a first delivery device 59 and a control device 60. In this embodiment, the first linear guide mechanism is a first slide rail and slider mechanism 51, which includes a slide rail 512 fixed to the main track 12 and a slider 514 slidably mounted on the slide rail 512. The first driver 53 is fixed to the slider 514 of the first slide rail and slider mechanism 51 through a first attaching plate 57. In this embodiment, the first driver 53 is a steering gear. In this embodiment, the first linear moving mechanism is a first gear rack mechanism 55, which includes a rack 552 fixed to the main track 12 parallel to the slide rail 512 and a gear 554 installed on the output shaft of the first driver 53 and meshing with the rack 552. The support frame 58 includes a column 582 fixed to the first attaching plate 57 and a frame 584 horizontally fixed to the end of the column 582.

As shown in Fig. 3, the frame 584 is provided with a first accommodating space 586 at one end and two first fixing grooves 588 respectively provided on two opposite side walls in the first accommodating space 586. A first electromagnet 589 is installed in the first accommodation space 586. The first delivery device 59 is fixed to the other opposite end of the frame 584.

Referring to Fig. 5, and with continued reference to other figures, a support plate 22 is mounted on the rotating joint 16. Each transmission device 20 includes a third linear guide mechanism, a third driver 25 and a third motion conversion mechanism 30 mounted on the support plate 22. In this embodiment, the two third linear guide mechanisms of the two transmission devices 20 are both third slide rail slider mechanisms 24, both fixed to the upper side of the support plate 22. The two third drivers 25 are both preferably the type of servomotors, both affixed to the lower side of the support plate 22. The third slide rail slider mechanism 24 includes a slide rail 26 fixed to the support plate 22 and a slider 28 slidably mounted on the slide rail 26. The third motion conversion mechanism 30 includes a linkage 32 connected to the slider 28 and a rotating wheel 34 that can move in coordination with the linkage 32. The linkage 32 is provided with an elongated slide groove 36, the extension direction of which is perpendicular to the extension direction of the slide rail 26 (i.e., the axial delivery or withdrawal direction of the intracavitary medical device 80) . A sliding column 38 slidably engaged in the slide groove 36 is convexly provided on one side of the rotating wheel 34. Through the coordinated movement of the rotating wheel 34 and the linkage 32, the rotational movement of the third driver 25 is converted into the linear reciprocating motion of the slider 28 along the slide rail 26. For more details, description of a surgical robot in Chinese patent application 202211105526.7 and the description of a force measuring surgical robot in Chinese patent application 202211146397.6 are all herein incorporated by reference.

The second surgical execution device 40 includes a second attaching plate 42 fixed to the slider 28 of the third slide rail slider mechanism 24 of one of the transmission devices 20 (the one closer to the distal end in this embodiment) and a second delivery device 44 fixed to the second attaching plate 42. A gripper 46 is fixed to the slider 28 of the third slide rail slider mechanism 24 of another transmission device 20. The gripper 46 has a substantially U-shaped cross section, and has a second accommodating space 462 and two second fixing grooves 464 respectively opened on two opposite side walls in the second accommodating space 462, and a second electromagnet 466 is installed in the second accommodating space 462. As for the first delivery device 59 and the second delivery device 44, they both include a driving component and an operating component that moves under the non-contact air control of the driving component, the operating component is used to clamp the intracavitary medical device and drive the intracavitary medical device to move, and the operating component and the driving component are respectively located on the sterile side and the non-sterile side separated by the sterile barrier. In this way, the intracavitary medical device is delivered into or withdrawn from the patient's body by applying a linear force along the intracavitary medical device and/or applying a torsional force/torque on the intracavitary medical device to rotate it around the axis. For the non-contact remote control between the driving component (having a rotating active part such as a driving part and a moving active part such as a driving block) and the operating component (having a rotating driven part such as a sensing part and a moving driven part such as a sensing block) , the operating component drives the intracavitary medical device to move linearly and/or rotate, including permanent magnet/electromagnetic drive, electromagnetic induction, electric field coupling, DC resonance and other non-contact remote control/transmission methods. For details, refer to Chinese patent application 202210803401.5 describing a surgical robot device and its operating method, and Chinese patent application 202211105526.7 describes a surgical robot, Chinese patent application 202310237481.7 describes a surgical execution device and a surgical robot having the surgical execution device, Chinese patent application 202310460639.7 describes a surgical robot delivery apparatus, Chinese patent application 202310517391.3 describes an open sterile box, and Chinese patent application 202310565522.5 describes a surgical execution device and a surgical robot, all of which are introduced into the present disclosure.

Still referring to Figs. 1 and 2, the control device 60 includes a control component 61 and a hold-down 66, and the hold-down 66 and the control component 61 are respectively located on the sterile side and the non-sterile side separated by a sterile barrier (not shown) , which requires that the control component 61 can control the movement of the hold-down 66 in the air without contact. The control component 61 includes a base 62, a controller holding frame 63 fixed to the top of the base 62, a second driver 64 fixed to the controller holding frame 63, and a driving member 65 fixed to the output shaft of the second driver 64.

Reference now is made to Figs. 1, 2, 3, and 4. The base 62 includes a first plug-in portion 624 that can be inserted into the two first fixing grooves 588 of the support frame 58 and a second plug-in portion 622 that can be inserted into the two second fixing grooves 464 of the gripping member 46. The fixing frame 63 includes two side edges 632 disposed opposite to each other and two mounting arms 634 extending from the two side edges 632 respectively.

Referring to Fig. 4, a first driving block 636 is installed on each mounting arm 634, and a second driving block 638 is installed on both sides 632. In this embodiment, the second driver 64 is a steering gear. The fixing component 66 (Fig. 2) includes a base 67, a connecting piece 68 rotatably fixed on the base 67, and an induced conductor piece 69 fixed on the connecting piece 68. The base 67 is provided with the magnetic inductors 672 on both sides corresponding to the two first driving blocks 636 and the corresponding second driving blocks 638, so that the first driving blocks 636 and the second driving blocks 638 in a contactless manner magnetically-hold the magnetic inductors 672 in any directions or dimensions. The magnetic inductor 672 is held by gravity. The connector 68 includes a male Luer connector 682 and a female Luer connector 684 located at two opposite ends, respectively connected to the female Luer connector 82 at the proximal end of the intraluminal medical device 80 and the male Luer connector 72 at the valve 70. The connecting member 68 is provided with a through hole 686 going through between the male Luer connector 682 and the female Luer connector 684. The connecting valve 70 can be a two-port two-way valve, a three-port three-way valve, a through valve, a T valve or a Y valve, etc. The male Luer connector 682 and the female Luer connector 684 of the connecting member 68 are located on both sides of the base 67. In this exemplary embodiment, the driving member 65 and the induced conductor piece 69may be a magnetic driving wheel and a magnetic induction wheel, such as a permanent magnetic wheel, an electromagnetic wheel or a permanent and electromagnetic hybrid type. The magnetic induction wheel is attached to one end of the connector 68 provided with a male Luer connector 682 and rotates under the non-contact remote control of the magnetic driving wheel. For details, reference can be made to the description of an intracavitary medical device control device and its connecting valve in Chinese patent application 202310315778.0, and the description of an intracavitary medical device control device and its driving method in Chinese patent application 202310270354.7, all of which are herein incorporated by reference. The first driving block 636 and the second driving block 638 can be driving magnetic blocks, and the magnetic inductor 672 can be a sensing magnetic block, such as a permanent magnetic block, an electromagnetic magnetic block or a permanent and electromagnetic hybrid magnetic block.

Referring to Figs. 3 to 5, when preparing for an operation, the support arm 14 can be adjusted to rotate relative to the main track 12, and the support plate 22 can be adjusted to rotate through the rotating joint 16 thereon. The first plug-in portion 624 of the base 62 of the control device 60 is inserted into the two first fixing grooves 588 of the support frame 58, and held by the first electromagnet 589. The female Luer connector 82 of the intracavitary medical device 80 (such as a catheter) is connected to the male Luer connector 682 of the connector 68, and clamped in the second delivery device 44. The intracavitary medical device 84 (seen in Fig. 2, such as a guide wire) passes through the intracavitary medical device 80, and its proximal end passes through the first delivery device 59 and is clamped, with its distal end passes through the distal end of the intracavitary medical device 80. Then, the fixing component 66 of the control device 60 is placed on the control component 61 (generally, the control component 61 has a shell, and the fixing component 66 is placed outside the shell of the control component 61) , and the first driving block 636 (such as a driving magnetic block) and the second driving block 638 (such as a driving magnetic block) on the control component 61 are magnetically-held from multiple directions or multiple dimensions to position each other with the magnetic inductor 672 (such as an induction magnetic block) on the fixing component 66.

Still referring to Figs. 2 and 5, at the start of the operation, the first driver 53 (Fig. 5) is started to drive the gear 554 (Fig. 2) of the first gear rack mechanism 55 (Fig. 5) to move linearly along the rack 552 (Fig. 2) , thereby driving the support frame 58 (Fig. 1) to move linearly on the slide rail 512 (Fig. 2) of the first slide rail slider mechanism 51 (Fig. 1) . Then the first driving block 636 (shown in Fig. 4, such as a driving magnetic block) and the second driving block 638 (such as a driving magnetic block) on the control component 61 (Fig. 2) firmly and in a contactless manner magnetically-hold the magnetic inductor 672 (Fig. 4) on the fixed component 66 from multiple directions or multiple dimensions, thereby achieving driving the hold-down 66 to move linearly through the control in a non-contact manner.

Referring to Fig. 5, at the same time, the third driver 25 (Fig. 2) of the transmission device 20 is started, and the third motion conversion mechanism 30 (Fig. 5) is used to convert the rotational motion of the third driver 25 into the linear motion of the slider 28 along the slide rail 26, in order to drive the second delivery device 44 to move linearly, so that the control device 60 and the second delivery device 44 can deliver the intracavitary medical device 80 (the catheter) together. When the support frame 58 approaches the gripping member 46 (Fig. 5) , the second plug-in portion 622 of the base 62 (Fig. 2) is inserted into the two second fixing grooves 464 (Fig. 2) of the gripping member 46 (Fig. 5) , and is held by the second electromagnet 466 (Fig. 2) , and the first electromagnet 589 (Fig. 3) releases the first plug-in portion 624 of the base 62, so that the first driver 53 moves backward with the support frame 58, and the first plug-in portion 624 of the base 62 leaves the two first fixing grooves 588. At this time, the third driver 25 of another transmission device 20 is started, and the third motion conversion mechanism 30 converts the rotational motion of the third driver 25 into the linear motion of the slider 28 along the slide rail 26, so that the gripping member 46 continues to move linearly with the control device 60. As such, with the intracavitary medical device 80 (catheter) being further advanced, it maximizes the use of the length of the intracavitary medical device 80 (catheter) . At the same time or at different times, the control component 61 of the control device 60 and the drive component of the second delivery device 44 respectively control the fixing component 66 and the operating component in a non-contact manner, so that the intracavitary medical device 80 (catheter) rotates. Specifically, the second driver 64 of the control component 61 drives the driving member 65 (magnetic driving wheel) to rotate, thereby in a non-contact manner controlling the induced conductor piece 69 (magnetically induced wheel) to rotate, thereby driving the intracavitary medical device 80 (catheter) fixed to the connecting member 68 to rotate. At the same time or at different times, the first driver 53 can also be used to drive the support frame 58, thereby driving the first delivery device 59 to move linearly to drive the intracavitary medical device 84 (guidewire) to move linearly. Concurrently or at different times, the driving component of the first delivery device 59 controls its operating component in a non-contact manner to rotate the intracavitary medical device 84 (guidewire) . Thus, the delivery of the intracavitary medical devices 80 and 84 is achieved. Preferably, the control device 60 and the second delivery device 44 are synchronously moved linearly to make the intracavitary medical device 80 straight without being tortuous.

In addition, the intracavitary medical device 84 (guidewire) can be delivered to the position by the first delivery device 59 or the second delivery device 44, and accordingly the intracavitary medical device 80 (catheter) can be delivered by the control device 60 and the second delivery device 44. At this time, the intracavitary medical device 84 (guidewire) is only supported in the first delivery device 59 without being clamped. When the base 62 is fixed on the gripping member 46, the first driver 53 can drive the support frame 58 away from the second surgical execution device 40. It’s known to those skilled in the art that it is best to ensure that the intracavitary medical device 84 (guidewire) does not move.

In other surgical operations, there may be no intracavitary medical device 84 (guidewire) , and only the intracavitary medical device 80 (catheter) that needs to be delivered.

In addition, the withdrawal process of the intracavitary medical device 80 (catheter) and the intracavitary medical device 84 (guidewire) is basically the same as the delivery process, andare not be repeated here.

In other embodiments, a transmission device 20 can be set on the frame 584 of the support frame 58. In this way, the first delivery device 59 can move linearly relative to the control device 60, making it more convenient to deliver and/or withdraw the intracavitary medical device 84.

In other embodiments, as shown in Fig. 3, a force measuring mechanism is preferably provided between the transmission device 20 and the delivery devices 44 and 59. For details, refer to the description of a force measuring surgical robot described in Chinese patent application 202211146397.6, all of which are herein incorporated by reference.

In other embodiments, as shown in Fig. 4, the connecting valve 70 can be directly fixed to the base 67 of the fixing assembly 66 of the control device 60, so that the female Luer connector 82 of the intracavitary medical device 80 is directly connected to the male Luer connector 72 of the connecting valve 70. In addition, the induction member 69 can also be fixed to the intracavitary medical device 80.

In other embodiments, for the above-mentioned linear moving mechanism and drive, in addition to the gear rack mechanism and the steering gear, the linear moving mechanism can also be a screw and a steering gear (or a motor) , a conveyor belt (or a synchronous belt) or a cable and a rotating wheel and a steering gear (or a motor) and other mechanisms.

The non-contact control between the above-mentioned driving member 65 and the induced conductor piece 69 can be magnetically induced not only by permanent magnet, but also by electromagnetic drive, electromagnetic induction, electric field coupling, DC resonance and the like. It can be seen from this that the "non-contact control/transmission" of the present disclosure refers to the control/transmission achieved without contact in space by the transmission mechanism, rather than control/transmission through the air medium, that is, it can also achieve air-to-air control in a vacuum. In short, the "non-contact control/transmission" of the present disclosure is driven by various field forces such as electric field force and magnetic field force, without the need for a medium, and in a vacuum. Therefore, the use of any field to exert force on the material placed therein to achieve "non-contact control/transmission" is also applicable to the present disclosure. For more details, one can also refer to a surgical execution device and a surgical robot having the surgical execution device described in Chinese patent application 202310237481.7, a surgical robot device and its operation method described in Chinese patent application 202210803401.5, and a surgical robot described in Chinese patent application 202211105526.7, all of which are herein incorporated by reference. Therefore, in essence, the above-mentioned driving member 65 and the induced conductor piece 69 can also be regarded as a general active rotating member and a driven rotating member, respectively, and contactless and frictionless power transmission is achieved between them through the "non-contact control/transmission" method.

Referring to Fig. 4, similarly, the mutual attraction and positioning of the first driving block 636 and the second driving block 638 on the control component 61 and the magnetic inductor 672 on the hold-down 66 can be achieved not only by permanent magnetism, but also by electromagnetic drive, electromagnetic induction, electric field coupling, DC resonance and other non-contact air-space control methods. Then, in essence, the first drive block 636, the second drive block 638 and the magnetic inductor 672 can also be regarded as the mobile active member and the mobile driven member in the general sense, respectively, and the power transmission between them is realized by the "non-contact control/transmission" method. For details, refer to a surgical execution device and a surgical robot having the surgical execution device described in Chinese patent application 202310237481.7, a surgical robot device and its operation method described in Chinese patent application 202210803401.5, and a surgical robot described in Chinese patent application 202211105526.7, all of which are herein incorporated by reference.

Regarding the relative positional relationship between the control component 61 and the hold-down 66 of the control device 60 and the shell setting thereof, refer to a surgical robot delivery apparatus described in Chinese patent application 202310460639.7, all of which are herein incorporated by reference.

In summary, the first surgical execution device 50 has a first driver 53, which can drive the first linear moving mechanism to make the support frame 58 move linearly on the first linear guide mechanism, so that the control component 61 fixed to the support frame 58 drives the hold-down 66 to move through a non-contact remote control method, so that the intracavitary medical device 80 fixed to the hold-down 66 can be delivered into the patient's body or withdrawn from the patient's body, to assist the operator in performing the operation, which not only improves the efficiency of the operation, but also reduces the labor intensity of the operator.

The above magnetic drive wheel and magnetic induction wheel can also be called magnetic wheel, magnetic wheel, magnetic gear, magnetic gear, magnetic gear, magnetic suspension wheel, magnetic power wheel, non-contact transmission wheel, magnetic coupler, magnetic transmission, etc.

The above-mentioned embodiments only express limited implementation methods of the disclosure, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the disclosure patent. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the disclosure, several deformations and improvements or deteriorations can be made. For example, the driver in the present disclosure can also be a motor, a stepper motor, a servo motor or a motor, etc., and the support frame 58 can be set to a lifting type, so that the control device 60 can be raised or lowered as needed. These all belong to the scope of protection of the disclosure. Therefore, the scope of protection of the disclosure patent shall be based on the claims.

Additionally, it is contemplated that systems, devices, methods, and processes of the present application encompass variations and adaptations developed using information from the embodiments described in the following description. Adaptation or modification of the methods and processes described in this specification may be performed by those of ordinary skill in the relevant art.

Throughout the description, where compositions, compounds, or products are described as having, including, or comprising specific components, or where processes and methods are described as having, including, or comprising specific steps, it is contemplated that, additionally, there are articles, devices, and systems of the present application that consist essentially of, or consist of, the recited components, and that there are processes and methods according to the present application that consist essentially of, or consist of, the recited processing steps.

It should be understood that the order of steps or order for performing certain action is immaterial so long as the described method remains operable. Moreover, two or more steps or actions may be conducted simultaneously.

Claims

A surgical robot comprising:

an elongated main track;

a first surgical execution device having a support frame slidably attached to the main track and a first driver;

a control device slidably attached to a second track placed parallel to the main track in its longitudinal direction, the control device having a controller and a hold-down device releasably attached to the support frame, the controller includes a second driver driving at least one pair of a rotational driving member and a rotational driven member, the rotational driven member is driven by the corresponding rotational driving member in a non-contact manner;

wherein the controller controls the first driver to drive the support frame to move linearly along the main track in such a way that an elongated intracavitary medical device, being held by the held-down device along a direction parallel to the elongated direction of the main track, is delivered into or withdraw from the patient's body, and the controller effectuates rotational moves of the intracavitary medical device via the rotational driving member and the rotational driven member.
The surgical robot as claimed in claim 1, wherein the hold-down device also includes a base and a tubular connecting member rotatably attached to the base, the connecting member is configured to connect the intracavitary medical device, and the rotational driven member is configured to be attached to the connecting member or directly to the intracavitary medical device.
The surgical robot as claimed in claim 2, wherein the connecting member is further configured to connect a connecting valve with the intracavitary medical device.
The surgical robot as claimed in claim 3, wherein the connecting member is respectively coupled to the intracavitary medical device and the connecting valve through a Luer connector.
The surgical robot as claimed in claim 1, wherein the rotational driving member is a magnetic driving wheel, and the rotating driven member is a magnetic induction wheel.
The surgical robot as claimed in claim 1, wherein the controller is configured to be remotely controlled.
The surgical robot as claimed in claim 1, wherein the rotational driving member is configured to be kept in position at multiple positions corresponding to the rotational driven member to drive the hold-down device to move in multiple dimensions.
The surgical robot as claimed in claim 7, wherein the control device further comprises a controller holding frame having two oppositely arranged sides and two mounting arms extending from the two sides, each mounting arm is mounted with a first shaft stud and a second shaft stud, correspondingly attached to the rotational driven members on both sides.
The surgical robot as claimed in claim 8, wherein the second driver is attached to the controller holding frame, the rotational driving member of the second driver is a magnetic drive wheel attached to an output shaft of the second driver, and the rotational driven member of the hold-down device is a magnetic induction wheel.
The surgical robot as claimed in claim 1, wherein the support frame is provided with a first attaching groove facing the control device, the control device further includes a base configured to accommodate the controller holding frame to be attached to attaching groove.
The surgical robot as claimed in claim 10, and wherein the base includes a first plug-in portion configured to be attachably inserted into the first attaching groove.
The surgical robot as claimed in claim 11, wherein the support frame has a first accommodating space at one end, and a first electromagnet being installed in the first accommodating space for magnetically attracting the first plug-in portion of the base.
The surgical robot as claimed in claim 1, wherein the main track is a first rail slider, the first driver is slidably attached to the first rail slider through a first attaching plate, and the support frame is fixed to the first attaching plate.
The surgical robot as claimed in claim 1, wherein the surgical robot also includes a second surgical execution device slidably attached to the second track, the second surgical execution device having a third driver effectuating a linear motion of the second surgical execution device along the second track.
The surgical robot as claimed in claim 14, wherein the third driver is configured to be coupled with a third motion converter converting rotational motion of the third driver into the linear motion of the second surgical execution device on the second track via a support plate.
The surgical robot as claimed in claim 14, wherein the control device is located between the first surgical execution device and the second surgical execution device along the longitudinal direction of the main track.
The surgical robot as claimed in claim 16 further comprises a second attaching plate, the second surgical execution device is mounted onto the second track via the second attaching plate.
The surgical robot as claimed in claim 14 further comprises a gripping member slidably mounted onto the second track, the gripping member is positioned between the control device and the second the second surgical execution device, the gripping member has a second attaching groove, and the base of the control device also includes a second plug-in portion that is configured to be inserted into the second attaching groove.
The surgical robot as claimed in claim 11, wherein when the first plug-in portion is inserted into the first attaching groove, the control device moves together with the first surgical execution device on the main track.
The surgical robot as claimed in claim 18, wherein when the second plug-in portion of the control device is inserted into the second attaching groove of the gripping member, the control device moves together with the gripping member on the second track.
The surgical robot as claimed in claim 11, wherein when the first plug-in portion is inserted into the first attaching groove, the control device moves together with the first surgical execution device on the main track.
The surgical robot as claimed in claim 20 is configured in such a way that wherein when the support frame approaches the gripping member, the second plug-in portion the base of the control device is inserted into the second attaching grooves of the gripping member and is held by an electromagnet and another electromagnet releases the first plug-in portion of the base of the control device so that the first driver moves backward with the support frame and the first plug-in portion of the base departs the first fixing grooves.