WO2025209274A1 - Patient-side operation device, surgical robot, and surgical medical system - Google Patents

Abstract

The present disclosure provides a patient-side operation device, a surgical robot, and a surgical medical system. The patient-side operation device comprises a base, a position adjustment mechanism, a posture adjustment mechanism, and an end effector holding mechanism that are sequentially connected. The position adjustment mechanism is configured for moving the posture adjustment mechanism and the end effector holding mechanism. The end effector holding mechanism is configured for mounting a surgical end effector and is provided with a pitching joint rotatable around a pitching axis, and the pitching axis is perpendicular to the extending direction of the surgical end effector. The posture adjustment mechanism is provided with a first pivotable joint rotating around a first pivoting axis and a second pivotable joint rotating around a second pivoting axis, wherein the first pivoting axis is at an angle to the second pivoting axis, and at least one of the first pivoting axis and the second pivoting axis is at an angle to the pitching axis.

Description

Patient-side operating equipment, surgical robots and surgical medical systems

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese patent applications No. 202410405632X filed on April 3, 2024, No. 2024206874287 filed on April 3, 2024, No. 2024216164424 filed on July 9, 2024, and No. 2024109188255 filed on July 9, 2024, all of which are incorporated herein by reference in their entirety.

Technical Field

The present application relates to the technical field of surgical robots, and more specifically to a patient-side operating device, a surgical robot, and a surgical medical system.

Background Art

As a medical assistance system, surgical robots have obvious advantages such as reducing incisions and improving surgical success rates, and are increasingly being used in clinical medicine. Surgical robots include patient-side operating devices that perform surgical operations next to the patient. In some scenarios, the patient-side operating device has multiple robotic arms that can operate independently of each other. Before or during the operation, the posture and position of the robotic arms need to be adjusted to achieve the target state to perform the surgical operation. This type of multi-arm patient-side operating device has problems such as large size and inflexible preoperative positioning, which is not conducive to its application in environments with relatively narrow surgical operating space.

Summary of the Invention

The Summary of the Invention introduces a series of simplified concepts that will be further described in the Specific Examples section. The Summary of the Invention section of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

To at least partially solve the above-mentioned problems, the first aspect of the present application provides an adjacent-to-patient operation device for use in a medical system, comprising a base, a position adjustment mechanism, a posture adjustment mechanism, and a device holding mechanism connected in sequence. The position adjustment mechanism is used to move the posture adjustment mechanism and the device holding mechanism. The device holding mechanism is used to install a surgical instrument, and the device holding mechanism has a first pitch joint that rotates around a first pitch axis, and the first pitch axis is perpendicular to the extension direction of the surgical instrument. The posture adjustment mechanism has a first deflection joint that rotates around a first deflection axis and a second deflection joint that rotates around a second deflection axis, the first deflection axis is at an angle to the second deflection axis, and at least one of the first deflection axis and the second deflection axis is at an angle to the first pitch axis.

A second aspect of the present application provides a surgical robot comprising a doctor's console, an imaging device, and at least one patient-side operating device according to the first aspect of the present application.

A third aspect of the present application provides a surgical medical system, comprising: a plurality of slave operating devices; and a master operating device capable of communicating with the plurality of slave operating devices, so that the master operating device can simultaneously control at least one of the plurality of slave operating devices.

The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

FIG1 is a perspective schematic diagram of the patient-side operation device in one state according to the first embodiment of the present application;

FIG2 is a perspective schematic diagram of the patient-side operation device of the first embodiment of the present application in another state;

FIG3 is a perspective schematic diagram of the patient-side operation device in one state according to the second embodiment of the present application;

FIG4 is a perspective schematic diagram of the patient-side operation device according to the second embodiment of the present application in another state;

FIG5 is a perspective schematic diagram of the patient-side operation device in one state according to the third embodiment of the present application;

FIG6 is a perspective schematic diagram of the patient-side operation device according to the third embodiment of the present application in another state;

FIG7 is a perspective schematic diagram of the patient-side operation device in one state according to the fourth embodiment of the present application;

FIG8 is a perspective schematic diagram of the patient-side operation device according to the fourth embodiment of the present application in another state;

FIG9 is a perspective schematic diagram of the patient-side operation device in one state according to the fifth embodiment of the present application;

FIG10 is a perspective schematic diagram of the patient-side operation device in one state according to the sixth embodiment of the present application;

FIG11 is a perspective schematic diagram of the patient-side operation device according to the sixth embodiment of the present application in another state;

Figure 12 is an orthopedic surgery operation module;

FIG13 is a schematic diagram of an application scenario of a surgical medical system according to an embodiment of the present application.

DETAILED DESCRIPTION

In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, some technical features well known in the art are not described to avoid confusion with the present application embodiments.

Herein, ordinal numbers such as “first” and “second” cited in this application are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term “first component” itself does not imply the existence of a “second component”, and the term “second component” itself does not imply the existence of a “first component”.

In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and/or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

Terms such as "center," "parallel," "perpendicular," "aligned," and the like as used in this application do not necessarily require precision and may include typical engineering tolerances.

Unless otherwise stated, numerical ranges herein include not only the entire range between its two endpoints but also the several sub-ranges contained therein.

Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of this application thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

The surgical robot according to an embodiment of the present application is a robot that can be remotely controlled to perform surgery. The surgical robot may include a doctor's console, a robotic arm system, and a video system.

The doctor's console is the core component of the surgical robot. The surgeon uses the console to remotely control the robot. The console is typically equipped with a high-definition display, allowing the surgeon to observe real-time images of the surgical area. The console is also equipped with various buttons and handles, enabling precise control of the robot's movements and the movement of surgical instruments, enabling human-machine interaction.

The vision system is the "eyes" of the surgical robot, transmitting real-time images of the surgical area to the display screen on the surgeon's console, allowing the surgeon to clearly see what's happening. A vision system typically consists of a camera that captures images of the surgical area and an image transmission device that transmits them in real time to the console.

A robotic arm system, typically a surgical cart equipped with a robotic arm, is a crucial component of a surgical robot. The robotic arm, the core mechanical structure of the surgical cart, is used to hold surgical instruments at the patient's side to perform surgical procedures. Therefore, a robotic arm system is also referred to as a patient-side manipulation device. A robotic arm system may include at least one robotic arm with several connected arms. Adjacent arms can move relative to each other with specific degrees of freedom, enabling the distal end of the robotic arm to achieve multiple degrees of freedom. A holding arm is located at the distal end of the robotic arm, to which surgical instruments are removably attached, allowing them to be replaced and used as needed. Surgical instruments can include instruments used to perform surgical procedures, such as electrocautery devices, clamps, and vascular occluders; cameras used to capture images of the surgical area, such as endoscopes; or other auxiliary surgical instruments, such as uterine manipulators. The holding arm may be equipped with a cannula, which is operably attached to the holding arm. The surgical instrument passes through the cannula and enters the body, providing support for the instrument's shaft. At the initial stage of the operation, the position of the cannula relative to the human body is determined first, that is, the orientation of the surgical instrument entering the human body is determined first, and then the instrument holding mechanism is dragged to dock with the cannula.

The movements of several connected arms of a robotic arm can be coupled mechanically or through software control, enabling the robotic arm to move surgical instruments mounted on the arm around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is the port used to enter the patient's abdominal cavity during surgery. During the procedure, surgical instruments enter the patient's body through this port and can perform movements such as pitch, yaw, insertion, and rotation around the center point. This ensures that the movement of the surgical instruments does not deviate from the preset trajectory, thereby preventing unnecessary harm to the patient.

In common application scenarios, the para-patient operation device needs to hold multiple surgical instruments to perform surgical operations. The para-patient operation device can be a device for performing multi-port laparoscopic surgery, usually equipped with 3 to 4 robotic arms on a surgical cart, each of which can hold a surgical instrument. The para-patient operation device can also be a device for performing multi-port laparoscopic surgery, usually equipped with a robotic arm on a surgical cart, which can hold 3 to 4 surgical instruments. These devices have problems such as large size and inflexible preoperative positioning, which are not conducive to application in environments with relatively narrow surgical operating spaces.

For example, in some laparoscopic surgery scenarios, the end of the robotic arm of the para-patient operation device can be used to install electrocautery, clamps, vascular occluders, etc. to perform surgical operations, or to install an endoscope to provide a view of the patient's abdominal cavity. During surgery, surgical instruments are usually inserted into the patient's abdominal cavity through a small hole pre-opened in the human abdomen. Therefore, surgical instruments are usually inserted into the abdominal cavity from the upper or upper side of the human abdomen. Due to the complex anatomy of the human body, when entering the abdominal cavity, surgical instruments need to avoid various irrelevant internal organs to reach the lesion for surgery, so sufficient flexibility and controllability are required. For some more complex surgical procedures, in order to obtain a larger surgical operating space, it is necessary to enter the human abdominal cavity from different directions to perform the surgery. The span between these directions is large. Due to the limitations of the position of the operating vehicle and the flexibility of the robotic arm itself, current para-patient operation devices are difficult to meet the wide operating range. In this case, it is desirable to be able to place the robotic arms on different sides of the patient's body, which means that at least two para-patient operation devices are required. Since there are several other medical auxiliary facilities placed around the patient, such as monitors, surgical instrument trolleys, etc., space needs to be reserved for medical staff to perform some auxiliary operations and observe the patient at any time. Therefore, the space on the patient's side that can be used to place patient-side operating equipment and for robotic arm operations is limited, and collisions between robotic arms or with surrounding medical instruments are likely to occur.

For another example, in the application scenario of gynecological surgery, a uterine manipulator is required as an auxiliary operation, and the end of the robotic arm of the patient-side operation device can be used to install the uterine manipulator. During the operation, the uterine manipulator is usually inserted into the uterus through the vagina in a roughly horizontal direction between the patient's legs, and the uterus is supported by the uterine cup at the end of the uterine manipulator. The position and angle of the uterus can be adjusted by manipulating the uterine manipulator, which plays a role in assisting the surgical operation. In this application scenario, in order to maximize the operable range of the uterine manipulator, the patient-side operation device is suitable for being placed between the patient's legs. However, since the space between the legs is usually narrow, there are certain requirements for the volume of the patient-side operation device and the flexibility of the robotic arm, otherwise the robotic arm may interfere with the legs or other instruments.

The patient-side operation device of the present application can improve or overcome the above-mentioned problems and enhance the convenience of operation in a confined environment.

The patient-side operation device of the present application includes a base 100, a position adjustment mechanism, a posture adjustment mechanism and a device holding mechanism which are connected in sequence.

The base 100 is primarily used to position the patient-side operating device before surgery, thereby achieving preliminary positioning of the instrument holding mechanism. In one example, the base 100 can be placed on the ground, for example, the bottom of the base 100 can be provided with wheels for easy mobility. In another example, the base can also be suspended from a wall or ceiling, for example, the base can be mounted on a wall or ceiling via rails for easy movement. In yet another example, the base can also be mounted on or integrated into the operating table.

The position adjustment mechanism is mounted to the base 100. The position adjustment mechanism is mainly used to accurately position the instrument holding mechanism before the operation, and is used to drive the instrument holding mechanism to move around the RCM point together with the posture adjustment mechanism during the operation. Through the base 100 and the position adjustment mechanism, the instrument holding mechanism holding the surgical instrument can be accurately positioned to the area where the surgical operation is required, ensuring the accuracy and precision of the subsequent surgical operation. Specifically, the position adjustment mechanism is used to translate the posture adjustment mechanism and the instrument holding mechanism in the first direction D1 and/or the second direction D2. The first direction D1 is at an angle to the second direction D2. Optionally, the first direction D1 is perpendicular to the second direction D2. Optionally, the first direction D1 is a height direction and the second direction D2 is a horizontal direction.

In one example, the positioning adjustment mechanism includes a first linear joint that translates along a first translation axis parallel to a first direction D1, for translating the posture adjustment mechanism and the weapon holding mechanism in the first direction D1. In another example, the first linear joint can be replaced by three sequentially connected rotational joints, each with its axis of rotation perpendicular to the first direction D1.

In one example, the positioning adjustment mechanism includes a second linear joint that translates along a second translation axis parallel to the second direction D2, for translating the posture adjustment mechanism and the weapon holding mechanism in the second direction D2. In another example, the second linear joint can be replaced by three sequentially connected rotational joints, each with its axis of rotation perpendicular to the second direction D2.

In one example, the positioning adjustment mechanism includes a first rotary joint that rotates about a first rotational axis parallel to a first direction D1, thereby adjusting the orientation of the posture adjustment mechanism and the weapon holding mechanism relative to the base in a plane perpendicular to the first direction D1. Furthermore, the first rotary joint and the posture adjustment mechanism are arranged across a second linear joint or an alternative rotary joint (such as the three sequentially connected rotary joints described above), thereby facilitating obstacle avoidance in various directions while maintaining the RCM point stationary.

The posture adjustment mechanism is installed to the position adjustment mechanism. The posture adjustment mechanism is used to adjust the posture of the instrument holding mechanism before the operation, and is used to drive the instrument holding mechanism to move around the RCM point together with the position adjustment mechanism during the operation. The posture adjustment mechanism can flexibly and finely adjust the posture of the instrument holding the surgical instrument according to the needs of the operation, and the doctor can accurately control the posture of the surgical instrument to achieve accurate surgical operation. Specifically, the posture adjustment mechanism has a first deflection joint DR1 that rotates around a first deflection axis DX1 and a second deflection joint DR2 that rotates around a second deflection axis DX2. The first deflection axis DX1 and the second deflection axis DX2 are at an angle, and are optionally perpendicular. As a result, the posture adjustment mechanism has at least two degrees of freedom of rotation.

In one example, when the posture adjustment mechanism is in an initial neutral state, such as the state depicted in Figures 2, 4, 6, and 8, the first deflection axis DX1 of the first deflection joint DR1 rotates parallel to the first direction D1, i.e., parallel to the first rotation axis of the first rotational joint. Because the first rotational joint is positioned close to the base 100, movement of the first rotational joint can cause a significant displacement of the end effector. This helps reduce movement of the first deflection joint DR1 during obstacle avoidance, thereby minimizing the loss of range of motion during surgical operations due to obstacle avoidance.

The arm holding mechanism is mounted to the posture adjustment mechanism. The arm holding mechanism is used to mount and support the surgical instrument and provide driving force for the instrument's end effector. The arm holding mechanism includes a first pitch joint PR1 that rotates about a first pitch axis PX1, which is perpendicular to the extension direction of the surgical instrument. The first pitch axis PX1 is angled with, and optionally perpendicular to, the first yaw axis DX1 and/or the second yaw axis DX2. Thus, the arm holding mechanism has at least one rotational degree of freedom.

Through the posture adjustment mechanism and the instrument holding mechanism, the surgical instrument mounted on the instrument holding mechanism has at least three rotational degrees of freedom, meeting the need for surgical instrument posture adjustment during surgical operations. Especially in laparoscopic surgery, doctors can operate surgical instruments at multiple angles and in complex postures to meet the needs of different surgical procedures.

The para-patient operation device of the present application can achieve translation of surgical instruments in at least two dimensions and posture adjustment in three dimensions, meeting the requirements for precise adjustment of the position and posture of surgical instruments before surgery and the flexibility of surgical instruments during surgery. It is also beneficial for avoiding obstacles while keeping the RCM point stationary during preoperative adjustments and intraoperative operations. At the same time, the para-patient operation device of the present application limits the movable space of the surgical instrument to be symmetrical relative to the plane formed by the first direction and the second direction, which is beneficial for the placement and operation of the para-patient operation device in a small space, and helps to avoid interference between the robotic arm and other objects while ensuring the range of motion of the surgical instrument.

In one example, the gripping mechanism is further provided with an instrument drive module (not shown) that is connected to the surgical instrument. During surgery, the instrument drive module is used to drive the end effector of the surgical instrument to perform actions such as rotation, clamping, cutting, shearing, and hooking. Rotation can include at least one of rotation about the axis of the surgical instrument (parallel to its extension direction), rotation about the yaw axis of the surgical instrument's wrist, and rotation about the pitch axis of the surgical instrument's wrist.

In one example, the holding mechanism is further provided with a linear drive module (not shown), which drives the surgical instrument to move in a linear direction. During surgery, the linear drive module is used to drive the surgical instrument to insert or withdraw along its extension direction.

The following introduces various possible embodiments of the patient-side operation device and explains its beneficial effects in combination with application requirements.

It should be noted that in the embodiments described below, it is preferred that the two axes be perpendicular to each other. The two axes being perpendicular to each other means that the two axes intersect and are perpendicular, or that the two axes are not perpendicular in the same plane. The two axes intersecting but not perpendicular, or the two axes not in the same plane and the angle between them is not a right angle are also within the scope of protection of this application.

The first embodiment is shown in Figures 1-2. In this embodiment, the patient-side operation device can be placed at the patient's side to perform laparoscopic surgery or between the patient's legs to perform uterine manipulation. The patient-side operation device includes a base 100, a positioning adjustment mechanism, a posture adjustment mechanism, and a device holding mechanism, which are connected in sequence.

The positioning adjustment mechanism includes a first positioning arm 110 and a second positioning arm 120, which can be movably connected via a first rotation joint AR1.

The first positioning arm 110 has a first linear joint TR1 that translates along a first translation axis TX1. The first translation axis TX1 is parallel to the height direction (i.e., the first direction D1). Therefore, the height of the instrument holding mechanism can be adjusted according to the patient's position or the height of the operating table while the posture of the posture adjustment mechanism remains unchanged. Exemplarily, the first positioning arm 110 includes a column 111 and a lifting platform 112, and the two can be connected by a moving pair. For example, the moving pair can include a slide rail and a slider, and the slider is slidably connected to the slide rail along the first translation axis TX1. The slide rail extends along the first direction D1.

The second positioning arm 120 includes a third arm 123, a first arm 121 and a second arm 122. The third arm 123 is connected to the first positioning arm 110. Specifically, the first end of the third arm 123 is pivotally connected to the first positioning arm 110 around the first rotation axis AX1 to form a first rotation joint AR1 that rotates around the first rotation axis AX1. Therefore, the positioning adjustment mechanism can swing around the first rotation axis AX1 relative to the base 100. When in use, on the basis of ensuring that the holding mechanism is in an area where surgical operations can be performed, the base 100 of the patient-side operating device can be flexibly positioned according to the environment of the operating room, avoiding other medical auxiliary equipment on the patient's side. Optionally, the first rotation axis AX1 is parallel to the first direction D1. The first rotation axis AX1 is parallel to or coincides with the first translation axis TX1.

The first arm 121 is connected to the third arm 123. Specifically, the first end of the first arm 121 is pivotally connected to the second end of the third arm 123 about the second rotation axis AX2, forming a second rotation joint AR2 that rotates about the second rotation axis AX2. The second arm 122 is connected to the first arm 121. Specifically, the first end of the second arm 122 is pivotally connected to the second end of the first arm 121 about the third rotation axis AX3, forming a third rotation joint AR3 that rotates about the third rotation axis AX3. The second positioning arm 120 can change its dimension (height) along the first direction D1 and/or its dimension (length) along the second direction D1 by changing the angle between the first arm 121 and the second arm 122. Optionally, the second rotation axis AX2 is parallel to the third rotation axis AX3. Optionally, the second rotation axis AX2 is perpendicular to the first rotation axis AX1. The third arm 123 can be positioned above the first positioning arm 110 to reduce its horizontal dimension. The third arm 123 and the second arm 122 may be disposed on the same side of the first arm 121 in the thickness direction to reduce the size in the horizontal direction.

In some application scenarios, before the surgical operation, the height of the holding mechanism can be adjusted through the cooperation of the first positioning arm 110 and the second positioning arm 120, and the position of the holding mechanism in the horizontal direction relative to the base 100 can be adjusted through the first rotation joint AR1 and the second positioning arm 120.

In some application scenarios, during surgical operations, the first positioning arm 110 and the second positioning arm 120 can assist the posture adjustment mechanism in driving the instrument holding mechanism to move around the RCM point.

In some application scenarios, during a surgical operation, the first positioning arm 110 may not participate in the cooperation of the RCM point movement, that is, it is locked after being adjusted to a suitable height before the surgical operation.

In some application scenarios, before the surgical operation, the second positioning arm 120 may not be involved in the height adjustment of the instrument holding mechanism, that is, the height adjustment of the instrument holding mechanism is performed only through the first positioning arm 110.

In this embodiment, the second direction D2 is the direction from the first end of the first arm 121 to the second end of the second arm 122, or its component in the horizontal plane. Therefore, the second direction D2 varies within a plane perpendicular to the first rotation axis AX1 as the second positioning arm 120 rotates. In some applications, the orientation of the second direction D2 is adjusted using the first rotational joint AR1 prior to the surgical procedure. In some applications, the first rotational joint AR1 can be locked to maintain the second direction D2. In other applications, the first rotational joint AR1 can also assist the posture adjustment mechanism in driving the arm-carrying mechanism to move around the RCM point.

In some application scenarios, before and during the surgical operation, through the cooperation of the second rotary joint AR2 and the third rotary joint AR3, the direction from the first end of the first arm 121 to the second end of the second arm 122 is always perpendicular to the first direction D1, that is, the second positioning arm 120 does not participate in the height adjustment of the holding mechanism, thereby simplifying the control.

In this embodiment, the second positioning arm 120 realizes the movement of the holding mechanism in the second direction D2 through the cooperation of two rotary joints, thereby improving the flexibility of the para-patient operation device. At the same time, in cooperation with the first positioning arm 120 and the first rotary joint AR1, the para-patient operation device can be suitable for a variety of application scenarios and meet different surgical requirements and different environmental requirements.

In some examples, the first linear joint TR1 , the first rotational joint AR1 , the second rotational joint AR2 , and the third rotational joint AR3 may be configured as active joints, that is, each joint is correspondingly provided with its own drive motor.

In other examples, the first linear joint TR1, the first rotary joint AR1, and the second rotary joint AR2 can be configured as active joints, and the third rotary joint AR3 can be configured as a passive joint. The third rotary joint AR3 is connected to the second rotary joint AR2 through a transmission mechanism, and the rotation of the second rotary joint AR2 drives the rotation of the third rotary joint AR3, so that the two are mechanically coupled in motion.

The posture adjustment mechanism includes a first arm 210, a second arm 220, and a fourth arm 240. The first end of the fourth arm 240 is pivotally connected to the position adjustment mechanism about a fourth deflection axis DX4. The fourth deflection axis DX4 is perpendicular to the first direction D1 and the second direction D2. The first end of the second arm 220 is pivotally connected to the second end of the fourth arm 240 about a second deflection axis DX2. The second deflection axis DX2 is angled with the fourth deflection axis DX4. Optionally, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4. The first end of the first arm 210 is pivotally connected to the second end of the second arm 220 about the first deflection axis DX1. The second deflection axis DX2 is angled with the first deflection axis DX1. Optionally, the second deflection axis DX2 is perpendicular to the first deflection axis DX1.

The fourth arm 240 is connected to the free end of the positioning adjustment mechanism. That is, the first end of the fourth arm 240 is connected to the second support arm 122. The fourth arm 240 is pivotally connected to the second support arm 122 to form a fourth deflection joint DR4 that rotates about a fourth deflection axis DX4. Optionally, the fourth deflection axis DX4 is parallel to the second rotation axis AX2 and the third rotation axis AX3. The first end of the second arm 220 is connected to the second end of the fourth arm 240. The second arm 220 and the fourth arm 240 are pivotally connected to form a second deflection joint DR2 that rotates about the second deflection axis DX2. The first end of the first arm 210 is connected to the second end of the second arm 220. The first arm 210 and the second arm 220 are pivotally connected to form a first deflection joint DR1 that rotates about the first deflection axis DX1. The first arm 210 is connected to the weapon holding mechanism.

In some applications, the fourth deflection joint DR4 is used to maintain the angle of the second deflection axis DX2 of the second deflection joint DR2 relative to the first direction D1 when the second positioning arm 120 moves, for example, to keep the second deflection axis DX2 perpendicular to the first direction D1. For example, when the posture of the second support arm 122 changes, causing the angle of the second deflection axis DX2 relative to the first direction D1 to change, the fourth deflection joint DR4 can cooperate with the third rotation joint AR3 to maintain this angle.

In this embodiment, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4 and the first deflection axis DX1 .

For example, the second arm 220 can be configured as a curved structure, resulting in the entire posture adjustment mechanism having a curved structure. Rotation of the second deflection joint DR2 can change the orientation of the second end of the second arm 220 relative to the fourth arm 240, thereby changing the orientation of the first arm 210 relative to the fourth arm 240. For example, the first end of the second arm 220 extends along the second deflection axis DX2, and the second end of the second arm 220 extends along the first deflection axis DX1. The first arm 210 extends along the first deflection axis DX1.

The aforementioned posture adjustment mechanism allows the instrument holder to be conveniently operated from a high position, facilitating laparoscopic surgery. The instrument holder can also be operated in a horizontal position, facilitating uterine manipulation. The position adjustment mechanism and the posture adjustment mechanism work together to achieve instrument movement around the RCM point.

In some examples, the first deflection joint DR1 , the second deflection joint DR2 , and the fourth deflection joint DR4 may be configured as active joints, that is, each joint is provided with its own drive motor.

The instrument holding mechanism includes a first connector 310, a second connector 320, and a third connector 330, which are connected in sequence. The first connector 310 is connected to the posture adjustment mechanism. The second and third connectors 320 and 330 are used to mount surgical instruments. A sleeve 340 is provided at the distal end of the second connector 320 and is operably connected to the second connector 320. When the surgical instrument is connected to the third connector 330, it is inserted into the sleeve 340, providing a certain degree of support for the surgical instrument.

Specifically, the first end of the first connecting member 310 is fixed relative to the first arm 210. The second connecting member 320 is pivotally connected to the second end of the first connecting member 310 about the first pitch axis PX1. That is, the first connecting member 310 and the second connecting member 320 are pivotally connected to form a first pitch joint PR1 that rotates about the first pitch axis PX1. Optionally, the first pitch axis PX1 is perpendicular to the extension direction of the surgical instrument. Optionally, the first connecting member 310 is connected to the middle of the second connecting member 320 to reduce the influence of the gravity torque on the first pitch joint PR1, thereby effectively reducing the vibration and shaking of the second connecting member 320 and the surgical instrument, making the entire holding mechanism more stable.

The third connector 330 is movably connected to the second connector 320 along a second translation axis TX2, forming a second linear joint TR2 that translates along the second translation axis TX2. The second translation axis TX2 is perpendicular to the first pitch axis PX1. The surgical instrument is movable relative to the second connector 320 along the second translation axis TX2 along the third connector 330. Optionally, the second translation axis TX2 is parallel to the extension direction of the surgical instrument, so that the third connector 330 can move the surgical instrument toward or away from the operating position.

Optionally, the third connecting member 330 is provided with an instrument driving module for driving the surgical instrument to rotate around its own axis (ie, the second translation axis TX2).

Through the setting of the above-mentioned holding mechanism, the surgical instrument can perform surgical operations at different angles and different lengths, so the working angle and working distance of the surgical instrument can be changed to adapt to the needs of surgical operations of different types, different parts and different depths.

In some examples, the first pitch joint PR1 and the second linear joint TR2 can be configured as active joints, that is, each joint is correspondingly provided with its own drive motor.

Generally speaking, in laparoscopic surgery, the RCM point is selected at a small hole opened in the patient's abdomen. The cannula 340 is inserted into the small hole to support the surgical instrument. Therefore, the RCM point is set at an appropriate position on the cannula 340. In a uterine maneuver, the RCM point is selected at the entrance to the patient's vagina. The cannula 340 is usually operated outside the body. Therefore, the RCM point is set in front of the cannula 340 (the front refers to the insertion direction of the uterine manipulator). Based on the location of the RCM point and the requirements of different operations, the positioning adjustment mechanism and the posture adjustment mechanism need to cooperate to control the movement of the surgical instrument around the RCM point.

In some application scenarios, when the para-patient operation device performs a uterine maneuver, as shown in FIG2 , the first deflection axis DX1 remains parallel to the first direction D1. On the one hand, the first pitch axis PX1 is perpendicular to the first direction D1, so the first pitch joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110 can cooperate to achieve the pitch movement of the uterine manipulator around the RCM point, so that the uterine manipulator can move the uterus up and down. On the other hand, the first deflection axis DX1 is parallel to the first rotation axis AX1, so the first deflection joint DR1, the first rotation joint AR1, and the second positioning arm 120 can cooperate to achieve the yaw movement of the uterine manipulator around the RCM point, so that the uterus can be moved left and right. During the entire operation, the second deflection joint DR2 usually does not participate in the coordinated RCM point movement, that is, it remains stationary.

In some application scenarios, when the para-patient operating device performs a laparoscopic surgical operation, the operating position of the surgical instrument is higher and the movement mode is more diverse compared to when performing a uterine manipulation operation. The introduction of the second deflection joint DR2 can improve the flexibility of the surgical instrument operation and meet the requirements of laparoscopic surgical operations. During the entire operation, the first rotation joint AR1, the second positioning arm 120, the first deflection joint DR1, the second deflection joint DR2, the fourth deflection joint DR4, the first pitch joint PR1, and the optional first positioning arm 110 all participate in the coordination of manipulating the movement of the surgical instrument around the RCM point. For example, the pitch movement of the surgical instrument around the RCM point can be achieved through the coordination of the first pitch joint PR1, the second deflection joint DR2, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110; at the same time, the yaw movement of the surgical instrument around the RCM point can be achieved through the coordination of the first deflection joint DR1, the second deflection joint DR2, the first rotation joint AR1, and the second positioning arm 120.

In some applications, the movement of the second linear joint TR2 drives the surgical instrument into and/or out of the patient's body. Because the movement direction of the second linear joint TR2 aligns with the extension direction of the surgical instrument, control can be simplified, while reducing unnecessary harm to the patient and improving surgical safety.

The second embodiment is shown in Figures 3-4. In this embodiment, the para-patient operation device can be used for both abdominal and uterine maneuvers. The positioning adjustment mechanism and instrument holding mechanism are similar to those of the first embodiment and will not be detailed here for the sake of brevity.

The second embodiment differs from the first embodiment in that the posture adjustment mechanism is different.

As shown in Figures 3-4, the posture adjustment mechanism includes a first arm 210, a second arm 220, and a fourth arm 240. The first end of the fourth arm 240 is pivotally connected to the position adjustment mechanism about a fourth deflection axis DX4. The fourth deflection axis DX4 is perpendicular to the first direction D1 and the second direction D2. The first end of the second arm 220 is pivotally connected to the second end of the fourth arm 240 about a second deflection axis DX2. The second deflection axis DX2 is at an angle to the fourth deflection axis DX4. Optionally, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4. The first end of the first arm 210 is pivotally connected to the second end of the second arm 220 about the first deflection axis DX1 to form a first deflection joint DR1 that rotates about the first deflection axis DX1. The second deflection axis DX2 is at an angle to the first deflection axis DX1. Optionally, the second deflection axis DX2 is perpendicular to the first deflection axis DX1.

The fourth arm 240 is connected to the free end of the positioning adjustment mechanism. That is, the first end of the fourth arm 240 is connected to the second support arm 122. The fourth arm 240 and the second support arm 122 are pivotally connected to form a fourth deflection joint DR4 that rotates about a fourth deflection axis DX4. Optionally, the fourth deflection axis DX4 is parallel to the second rotation axis AX2 and the third rotation axis AX3. The first end of the second arm 220 is connected to the second end of the fourth arm 240. The second arm 220 and the fourth arm 240 are pivotally connected to form a second deflection joint DR2 that rotates about the second deflection axis DX2. The first end of the first arm 210 is connected to the second end of the second arm 220. The first arm 210 and the second arm 220 are pivotally connected to form a first deflection joint DR1 that rotates about the first deflection axis DX1. The first arm 210 is connected to the weapon holding mechanism. In this embodiment, the second deflection axis DX2 is perpendicular to the fourth deflection axis DX4 and the first deflection axis DX1.

Unlike the curved structure of the first embodiment, the posture adjustment mechanism of the second embodiment is arranged in a linear configuration. Specifically, the fourth deflection joint DR4, the second deflection joint DR2, the first deflection joint DR1, and the first pitch joint PR1 are arranged sequentially along the first deflection axis DX1. Therefore, the first embodiment can set the second deflection axis DX2 perpendicular to the first direction D1 in various application scenarios. However, the second embodiment requires adjusting the direction of the second deflection axis DX2 based on the application scenario, specifically through the fourth deflection joint DR4.

The aforementioned posture adjustment mechanism allows the instrument holder to be conveniently operated from a high position, facilitating laparoscopic surgery. The instrument holder can also be operated in a horizontal position, facilitating uterine manipulation. The position adjustment mechanism and the posture adjustment mechanism work together to achieve instrument movement around the RCM point.

FIG3 shows an initial position of a robotic arm, in which the second deflection axis DX2 is parallel to the first direction D1 and perpendicular to the second direction D2, and the first deflection axis DX1 is perpendicular to the first direction D1. This position allows the fourth deflection joint DR4, the second deflection joint DR2, the first deflection joint DR1, and the first pitch joint PR1 to be arranged in sequence in the horizontal direction, making it convenient for surgical instruments to be operated from a high position and suitable for abdominal surgery. In some application scenarios, when the patient-side operating device performs a laparoscopic surgical operation, the second deflection axis DX2 remains parallel to the first direction D1. On the one hand, the first pitch axis PX1 is perpendicular to the first direction D1, so the pitch movement of the surgical instrument around the RCM point can be achieved through the cooperation of the first pitch joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110. On the other hand, the second deflection axis DX2 is parallel to the first rotation axis AX1, and the first deflection axis DX1 is perpendicular to the first rotation axis AX1. Therefore, the yaw movement of the surgical instrument around the RCM point can be achieved through the cooperation of the first deflection joint DR1, the second deflection joint DR2, the first rotation joint AR1 and the second positioning arm 120.

Figure 4 shows another initial positioning of the robotic arm. In this position, the second deflection axis DX2 is parallel to the second direction D2 and perpendicular to the first direction D1, while the first deflection axis DX1 is parallel to the first direction D1 and perpendicular to the second direction D2. This positioning aligns the fourth deflection joint DR4, the second deflection joint DR2, the first deflection joint DR1, and the first pitch joint PR1 in a vertical sequence, facilitating the roughly horizontal entry of the uterine manipulator into the uterus and making it suitable for uterine manipulation. On the one hand, the first pitch axis PX1 is perpendicular to the first direction D1. Therefore, the coordination of the first pitch joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110 enables pitch motion of the uterine manipulator about the RCM point, thereby enabling the manipulator to move the uterus up and down. On the other hand, the first deflection axis DX1 is parallel to the first rotation axis AX1. Therefore, the coordination of the first deflection joint DR1, the first rotation joint AR1, and the second positioning arm 120 enables yaw motion of the uterine manipulator about the RCM point, thereby enabling left-right movement of the uterus. During the entire operation, the second deflection joint DR2 usually does not participate in the movement of the cooperative RCM point, that is, remains stationary.

The third embodiment is shown in Figures 5 and 6. In this embodiment, the para-patient operation device can be used for both abdominal and uterine maneuvers. The positioning adjustment mechanism and the instrument holding mechanism are similar to those of the first embodiment and will not be described in detail here.

The third embodiment differs from the first embodiment in that the posture adjustment mechanism is different. The posture adjustment mechanism of the third embodiment has an additional redundant degree of freedom compared to the posture adjustment mechanism of the first embodiment.

The posture adjustment mechanism of this embodiment includes a fourth arm 240, a third arm 230, a second arm 220, and a first arm 210. Based on the first embodiment, a rotation joint is added between the fourth arm 240 and the second arm 220.

The third arm 230 is connected to the fourth arm 240. That is, the first end of the third arm 230 is connected to the second end of the fourth arm 240. The third arm 230 and the fourth arm 240 are pivotally connected to form a third deflection joint DR3 that rotates about a third deflection axis DX3. Optionally, the third deflection axis DX3 is perpendicular to the fourth deflection axis DX4. The first end of the second arm 220 is pivotally connected to the second end of the third arm 230 about the second deflection axis DX2. The first end of the first arm 210 is pivotally connected to the second end of the second arm 220 about the first deflection axis DX1. The fourth deflection axis DX4 is angled with the third deflection axis DX3. Optionally, the fourth deflection axis DX4 is perpendicular to the third deflection axis DX3. The third deflection axis DX3 is angled with the second deflection axis DX2. Optionally, the third deflection axis DX3 is perpendicular to the second deflection axis DX2. The first deflection axis DX1 is angled with the second deflection axis DX2. Optionally, the first deflection axis DX1 is perpendicular to the second deflection axis DX2. The structure of the fourth arm 240 and its connection with the second arm 122, and the connection and structure between the first arm 210 and the second arm 220 are the same as those in the first embodiment and will not be described in detail here.

In this embodiment, the specific structure of the third arm 230 is similar to that of the second arm 220 in the second embodiment. The fourth deflection joint DR4, the third deflection joint DR3, the second deflection joint DR2, and the first deflection joint DR1 are sequentially arranged along the second deflection axis DX2, and the first deflection joint DR1 and the first pitch joint PR1 are sequentially arranged along the first deflection axis DX1. Therefore, the overall posture adjustment mechanism has a bent structure.

In some application scenarios, when the fourth deflection joint DR4 cooperates with the third rotation joint AR3 to maintain the posture of the weapon holding mechanism, the third deflection axis DX3 is always parallel to the first direction.

In this embodiment, the third arm 230, the second arm 220, and the first arm 210 provide the posture adjustment mechanism with three degrees of freedom, enabling more diverse posture adjustments for the robotic arm and minimizing interference with other instruments. Furthermore, while ensuring the degree of freedom of the instrument holding mechanism meets the requirements of surgical procedures, the base 100 of the patient-side operating device can be flexibly positioned according to the operating room environment, avoiding other medical assistive devices near the patient.

In some examples, the first deflection joint DR1 , the second deflection joint DR2 , the third deflection joint DR3 , and the fourth deflection joint DR4 can be configured as active joints, that is, each joint is provided with its own drive motor.

In some application scenarios, when the para-ambulatory operation device performs a uterine maneuver, as shown in FIG6 , the first deflection axis DX1 remains parallel to the first direction D1. On the one hand, the first pitch axis PX1 is perpendicular to the first direction D1, so that the first pitch joint PR1, the fourth deflection joint DR4, the second positioning arm 120, and the optional first positioning arm 110 can cooperate to achieve the pitch movement of the uterine manipulator around the RCM point, thereby enabling the uterine manipulator to move the uterus up and down. On the other hand, the first deflection axis DX1, the third deflection axis DX3, and the first rotation axis AX1 are parallel, so that the first deflection joint DR1, the third deflection joint DR3, the second positioning arm 120, and the optional first rotation joint AR1 can cooperate to achieve the yaw movement of the uterine manipulator around the RCM point, thereby enabling the uterus to move left and right. During the entire operation, the second deflection joint DR2 usually does not participate in the coordinated RCM point movement, that is, it remains stationary.

In some application scenarios, when the para-patient operation device performs a laparoscopic surgical procedure, compared to the embodiment of FIG1 , a redundant degree of freedom of rotation about the third deflection axis DX3 is provided. This not only allows for adaptive adjustment of the position of the para-patient operation device base 100 based on the patient's surroundings before surgery, but also helps the surgical instrument bypass other instruments positioned above the patient. Throughout the operation, the first rotation joint AR1, the second positioning arm 120, the first deflection joint DR1, the second deflection joint DR2, the third deflection joint DR3, the first pitch joint PR1, and the optional first positioning arm 110 all collaborate in manipulating the movement of the surgical instrument around the RCM point. For example, the pitch motion of the surgical instrument around the RCM point can be achieved through the collaboration of the first pitch joint PR1, the second deflection joint DR2, the fourth deflection joint DR4, the second positioning arm 120 and the optional first positioning arm 110; at the same time, the yaw motion of the surgical instrument around the RCM point can be achieved through the collaboration of the first deflection joint DR1, the second deflection joint DR2, the third deflection joint DR3, the first rotation joint AR1 and the second positioning arm 120.

The fourth embodiment is shown in Figures 7 and 8. In this embodiment, the para-patient operation device can be used for both abdominal and uterine manipulation. The first positioning arm 110, first rotary joint AR1, posture adjustment mechanism, and instrument holding mechanism are similar to those of the first embodiment and will not be described in detail here for the sake of brevity.

The fourth embodiment differs from the first embodiment in that the second positioning arm 120 of this embodiment includes a first support arm 121 and a second support arm 122 .

The first arm 121 is connected to the first positioning arm 110. Specifically, the first arm 121 extends along the second direction, and one end of the first arm 121 along the second direction is pivotally connected to the first positioning arm 110 about a first rotation axis AX1, thereby forming a first rotation joint AR1 that rotates about the first rotation axis AX1. Optionally, the first rotation axis AX1 is parallel to the first direction. The first rotation axis AX1 is parallel to or coincides with the first translation axis TX1.

The second arm 122 is connected to the first arm 121. Specifically, the second arm 122 also extends along the second direction and is movably connected to the first arm 121 along a third translation axis TX3, forming a third linear joint TR3 that translates along the third translation axis TX3. Optionally, the third translation axis TX3 is parallel to the second direction D2. Optionally, the second direction D2 is the longitudinal direction of the second positioning arm 120. The free end of the second arm 122, located away from the first positioning arm 110, along the second direction, is connected to the posture adjustment mechanism.

In some examples, the third linear joint TR3 can be configured as an active joint.

Different from the first embodiment, since the second positioning arm 120 of this embodiment has only horizontal freedom of movement, the first positioning arm 110 needs to be involved when adjusting the height of the weapon holding mechanism.

The fourth embodiment differs from the first embodiment in that the fourth deflection joint DR4 is omitted. Therefore, unlike the first embodiment, the first positioning arm 110 is required to assist the pitching movement of the surgical instrument around the RCM point.

In some application scenarios, when the para-patient operation device performs a uterine maneuver, as shown in FIG8 , the first deflection axis DX1 remains parallel to the first direction D1. On the one hand, the first pitch axis PX1 is perpendicular to the first direction D1, so the first pitch joint PR1, the second positioning arm 120, and the first positioning arm 110 can cooperate to achieve the pitch motion of the uterine manipulator around the RCM point, so that the uterine manipulator can move the uterus up and down. On the other hand, the first deflection axis DX1 is parallel to the first rotation axis AX1, so the first deflection joint DR1, the first rotation joint AR1, and the second positioning arm 120 can cooperate to achieve the yaw motion of the uterine manipulator around the RCM point, so that the uterus can be moved left and right. During the entire operation, the second deflection joint DR2 usually does not participate in the coordinated RCM point movement, that is, it remains stationary.

In some application scenarios, when the para-patient operating device performs a laparoscopic surgical procedure, the first positioning arm 110, the first rotation joint AR1, the second positioning arm 120, the first deflection joint DR1, the second deflection joint DR2, and the first pitch joint PR1 all collaborate to manipulate the movement of the surgical instrument around the RCM point. For example, the first pitch joint PR1, the second deflection joint DR2, the second positioning arm 120, and the first positioning arm 110 collaborate to achieve pitch movement of the surgical instrument around the RCM point. Simultaneously, the first deflection joint DR1, the second deflection joint DR2, the first rotation joint AR1, and the second positioning arm 120 collaborate to achieve yaw movement of the surgical instrument around the RCM point.

The fifth embodiment is shown in Figure 9. In this embodiment, the patient-side operation device can be used to perform a uterine lifting operation. The positioning adjustment mechanism and the device holding mechanism are similar to those of the fourth embodiment and will not be described in detail here.

The posture adjustment mechanism, based on the fourth embodiment, omits one rotational degree of freedom: the second deflection joint DR2. The posture adjustment mechanism includes a first arm 210. The first arm 210 is connected to the free end of the position adjustment mechanism. Specifically, the first arm 210 is pivotally connected to the second support arm 122 to form a first deflection joint DR1 that rotates about a first deflection axis DX1.

The joints involved in the uterine lifting operation performed by the patient-side operation device of this embodiment are similar to those of the fourth embodiment and will not be described in detail here for the sake of brevity.

The sixth embodiment is shown in Figures 10 and 11. In this embodiment, the patient-side operation device can be used to perform a uterine lifting operation. The positioning adjustment mechanism and posture adjustment mechanism are similar to those of the fifth embodiment and will not be described in detail here for the sake of brevity.

The holding mechanism includes a first connecting member 310, a second connecting member 320 and a third connecting member 330. The holding mechanism has an additional joint on the basis of the aforementioned embodiment. The first connecting member 310 is connected to the posture adjustment mechanism. The third connecting member 330 is used to connect the surgical instrument. Specifically, the first connecting member 310 is pivotally connected to the free end of the posture adjustment mechanism around the second pitch axis PX2. That is, the first end of the first connecting member 310 is pivotally connected to the first arm 210 to form a second pitch joint PR2 that rotates around the second pitch axis PX2. The second end of the first connecting member 310 is pivotally connected to the second connecting member 320 to form a first pitch joint PR1 that rotates around the first pitch axis PX1. Optionally, the second pitch axis PX2 is parallel to the first pitch axis PX1.

In some application scenarios, the motion coupling of the first pitch joint PR1 and the second pitch joint PR2 allows them to rotate synchronously in opposite directions and at the same rate to maintain the posture of the second connecting member 320. This motion coupling can be achieved through a mechanical structure or software control. This allows the distance between the first connecting member 310 and the free end of the posture adjustment mechanism to be adjusted while maintaining the posture of the second connecting member 320. In other words, the overall thickness of the posture adjustment mechanism and the instrument holding mechanism at the distal end can be adjusted. Therefore, depending on the operating environment of the surgical instrument, other surgical instruments can be avoided so that the instrument holding mechanism is oriented toward the patient at a suitable angle.

In some examples, the first pitch joint PR1 and the second pitch joint PR2 can be configured as active joints. In other examples, the first pitch joint PR1 can be configured as an active joint, the second pitch joint PR2 can be configured as a passive joint, and the second pitch joint PR2 is connected to the first pitch joint PR1 via a transmission mechanism, so that the two are mechanically coupled in motion.

A second linear joint TR2 is defined between the second connecting member 320 and the third connecting member 330 of the arm holding mechanism. The third connecting member 330 and the second linear joint TR2 are similar to those in the previous embodiment and will not be described in detail.

The patient-side operation devices in the first to sixth embodiments of the present application are all constructed as single-arm robots. Their compact structure makes the overall volume small, and the base 100 is flexible in positioning, which makes preoperative positioning more flexible and significantly improves the convenience of operation in a small environment. The patient-side operation device provided in this application can provide a wide range of movement angles when performing surgery around a distal fixed point, providing doctors with greater flexibility and operating space, and is suitable for various types of surgical operations. At the same time, the setting of multiple degrees of freedom can not only effectively prevent interference with obstacles in the operating room, but also facilitates precise positioning before surgery.

It is understood that in addition to the uterine manipulation and laparoscopic surgery described above, the para-patient operation device of the present application can also be used for other surgical procedures, such as orthopedic surgery. In some examples, the structure of the instrument holding mechanism in the aforementioned embodiment can be replaced with an orthopedic operation module as shown in Figure 12. The orthopedic operation module is connected to the free end of the posture adjustment mechanism.

The para-patient operation device of the present application can be connected to the same surgical medical system with other para-patient robots (such as laparoscopic robots) to achieve the combined use of multiple robots.

The surgical medical system of the present embodiment may include a master operating device and multiple slave operating devices. The master operating device is capable of communicating with the multiple slave operating devices, enabling the master operating device to simultaneously control at least one of the multiple operating devices. The multiple slave operating devices may be at least two slave operating devices, for example, including any two or more of single-port, single-arm, multi-port, flexible, or other para-patient operating devices. The master operating device may be configured as a physician console as described in the previous embodiment.

The surgical medical system may include multiple switchable control modes. The multiple control modes include at least one single-use control mode and at least one combined control mode. In the single-use control mode, the system can only control one of the slave operating devices. In the combined control mode, depending on the complexity of the surgery or special needs, the system can use one of the slave operating devices alone or at least two slave operating devices in combination.

The system can select a default control mode when a slave device is connected, for example by matching the type of slave device connected with pre-stored system information and selecting the corresponding control mode. Alternatively, the system can trigger an interactive interface on the master device when a slave device is connected, allowing the physician to select the desired control mode.

The doctor can also manually switch the control mode according to the needs of the surgical operation. The specific switching operation method includes but is not limited to the specific action of the main hand controller of the main operating device or the buttons or sensing devices thereon, the physical trigger or sensing trigger device such as the pedal of the main operating device, the interactive operation of the display interface of the main operating device (such as the main hand controller as a mouse to operate on the surgical scene display interface, or to operate on the touch screen set on the armrest), or a combination of the above multiple methods according to the logical configuration. In addition, the system can automatically determine the appropriate control mode based on specific surgical process information and remind the doctor, for example, through text reminders on the surgical scene display interface, or reminders through voice broadcasts, etc.

Furthermore, the master operating device includes two first operating components, each of which is used to receive a user's interactive operation to control one of the multiple slave operating devices.

In the single-use control mode, the two first operating components are only used to control the same instrument of the same slave operating device, or respectively control two different instruments of the same slave operating device.

In the combined control mode, each first operating assembly can be used to control any one of the multiple slave operating devices. Two first operating assemblies can control the same device or two different devices. The two different devices can be installed on the same slave operating device or on two different slave operating devices.

For example, the first operating component can be a device for the doctor to operate with his hands, and can be operated by the doctor's left hand and right hand respectively. In the combined control mode, for each first operating component, the corresponding control object can be freely selected from the instruments on the multiple combined slave operating devices. For example, the system includes a first slave operating device and a second slave operating device. The doctor can control an instrument of the first slave operating device with his left hand and an instrument of the second slave operating device with his right hand, or can control an instrument of the first slave operating device or the second slave operating device with his left and right hands together, or can control two different instruments of the first slave operating device or the second slave operating device with his left and right hands respectively.

Furthermore, in the combined control mode, further restrictions or constraints can be imposed based on the doctor's guidance and teaching needs or special surgical scenarios, such as constraining the two first operating devices to respectively control the instruments of different slave operating devices.

Furthermore, in the combined control mode, potential faults can include: cross-system faults between multiple surgical robots, or individual system faults within each surgical robot, depending on their location; and recoverable or non-recoverable faults, depending on their nature. The master operating unit can respond to these faults using state control and response based on current robotics technology to ensure patient safety during surgery.

In one application scenario, as shown in FIG1 , T1 is an operating table, P1 is a patient on the operating table T1, and the multiple slave operating devices may include a single-port laparoscopic robot 10 and at least one single-arm assistive robot 20. The single-arm assistive robot 20 may be constructed as the patient-side operating device described in the aforementioned embodiment.

The single-port laparoscopic robot 10 has the advantages of fewer incisions and simple positioning. The single-port laparoscopic robot 10 usually includes a multi-degree-of-freedom endoscope installed through a cannula and a plurality of surgical instruments. The surgical instruments used for the single-port laparoscopic robot 10 usually have 6 to 7 degrees of freedom to complete the operation of the end effector of the surgical instrument. These degrees of freedom are mainly realized by the elbow joint for providing position movement and the wrist joint for providing direction change. Due to the large number of joints and complex structure of the surgical instruments, their output force and rigidity are often limited, so they are often powerless in situations where a larger output force is required. In addition, due to their high complexity, instruments such as ultrasonic scalpels, vascular closure instruments, and anastomosis devices suitable for single-port laparoscopic robots are difficult to meet certain surgical operation requirements.

To adapt to certain surgical procedures or more complex scenarios and improve the flexibility and convenience of surgical operations, a single-arm assistive robot 20 can be introduced before or during surgery. The single-arm surgical robot 20 can be equipped with multi-hole surgical instruments, achieving greater output force. It is compatible with instruments such as ultrasonic scalpels, vascular sealing devices, and staplers to meet a wider range of clinical needs.

Generally, for flexible positioning, the two robots are installed separately. The base 12 of the single-port laparoscopic robot 10 and the single-arm assistive robot 22 can move independently of each other. This makes it easier for doctors and operating room assistants to handle intraoperative issues without interfering with other surgical steps. This improves surgical efficiency and safety while reducing the burden on doctors and operating room assistants.

In this application scenario, the system can include single-hole control mode, single-arm control mode and single-hole-single-arm combined control mode, and the three can be switched among each other.

In the single-port control mode, the main operating device 30 can only control the single-port laparoscopic robot 10. The main operating device 30 can control the single-port laparoscopic robot 10 to perform the execution of surgical instruments, such as controlling the robotic arm 11 of the single-port laparoscopic robot 10 to drive the movement of surgical instruments, such as controlling the wrist or end effector of the surgical instrument to perform actions. In this control mode, the system can also switch to preset sub-modes that match the corresponding surgical scenarios based on the status of the cannula, endoscope, and surgical instruments, such as a preset mode for adjusting the endoscope to the optimal viewing posture, or a mode for retracting the instrument.

In single-arm control mode, the master operating device 30 can only control the single-arm assistive robot 20. The single-arm assistive robot 20 can carry the sole endoscope for the entire system, or additional endoscopes, uterine manipulation instruments, energy instruments such as ultrasonic scalpels, and advanced instruments such as staplers. The master operating device 30 can control the single-arm assistive robot 20 to perform surgical instrument movements, such as controlling the robot's robotic arm 21 to drive the movement of surgical instruments. It is understood that in single-arm control mode, the single-arm assistive robot 20 can also perform complementary surgical operations in conjunction with traditional manual instruments.

In the single-port-single-arm combined control mode, the main operating device 30 can control only the single-port laparoscopic robot 10, only the single-arm auxiliary robot 20, or simultaneously control the single-port laparoscopic robot 10 and the single-arm auxiliary robot 20. For each first operating component of the main operating device 30, the corresponding control object can be freely selected from the instruments on the single-port laparoscopic robot 10 and the single-arm auxiliary robot 20. For example, one of the first operating components can be used to control a certain instrument on the single-port laparoscopic robot 10, and the other first operating component can be used to control the instrument on the single-arm auxiliary robot 20, or the two first operating components can jointly operate the same instrument on the single-port laparoscopic robot 10, or the two first operating components can respectively operate two different instruments on the single-port laparoscopic robot 10, or the two first operating components can jointly operate the instrument on the single-arm auxiliary robot 20.

In another application scenario, the multiple slave operating devices may include a multi-port laparoscopic robot and at least one single-arm assistive robot. The single-arm assistive robot may be constructed as the para-patient operating device as described in the aforementioned embodiment. In this application scenario, the system may include a multi-port control mode, a single-arm control mode, and a multi-port-single-arm control mode. The operating method of the system in various control modes and the switching method of the control modes are similar to those in the aforementioned application scenarios and will not be repeated here.

The surgical medical system's control mode selection and switching process is as follows. When the system boots up, it automatically selects the corresponding control mode based on the connected robot type. For example, when a single-port laparoscopic robot and a single-arm assistive robot are connected simultaneously, the single-port, single-arm combined mode is selected. During system operation, if a relevant interactive operation is detected, the control mode switching function is activated; if no relevant interactive operation is detected, the current control mode is maintained. Interactive operations can include, for example, pedal depressing or button pressing on the master hand controller. Once the control mode switching function is activated, the surgeon can switch control modes based on surgical needs. For example, the surgeon can manually select a control mode through physical manipulation of a specific master control device or through an interactive interface displayed on the master control device's display. For example, the interactive interface can be superimposed on the visual surgical scene interface. The surgeon can scroll or slide through the options in the interactive interface using the master hand controller. Once the desired control mode is selected, the surgeon confirms the selection by double-clicking the master hand controller button or by other physical or interactive means, completing the control mode switch.

Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this document can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate component. Features described in this document in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

The present application has been described through the above embodiments, but it should be understood that the above embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. Those skilled in the art will appreciate that many more variations and modifications may be made based on the teachings of this application, and all of these variations and modifications fall within the scope of protection claimed in this application.

Claims (20)

A patient-side operation device for use in a medical system, comprising a base, a position adjustment mechanism, a posture adjustment mechanism, and a device holding mechanism connected in sequence: The position adjustment mechanism is used to move the posture adjustment mechanism and the weapon holding mechanism; The holding mechanism is used to mount a surgical instrument, and the holding mechanism has a first pitch joint that rotates around a first pitch axis, and the first pitch axis is perpendicular to an extension direction of the surgical instrument; The attitude adjustment mechanism has a first yaw joint rotating about a first yaw axis and a second yaw joint rotating about a second yaw axis, the first yaw axis is angled to the second yaw axis, and at least one of the first yaw axis and the second yaw axis is angled to the first pitch axis. The patient-side operation device according to claim 1, wherein the positioning adjustment mechanism is used to translate the posture adjustment mechanism and the device holding mechanism in a first direction and/or a second direction, and the first direction is at an angle to the second direction. The patient-side operation device according to claim 2, wherein At least one of the first deflection axis and the second deflection axis is perpendicular to the first direction; and/or The posture adjustment mechanism further has a third deflection joint that rotates around a third deflection axis, and the third deflection axis is perpendicular to the second direction. The para-impaired operation device according to claim 2, wherein at least one of the first deflection axis and the second deflection axis is perpendicular to the second direction. The para-patient operation device according to any one of claims 2 to 4, wherein the positioning adjustment mechanism includes a first positioning arm, the first positioning arm is connected to the base, the first positioning arm has a first linear joint that translates along the first translation axis, and the first translation axis is parallel to the first direction. The para-patient operation device according to claim 5, wherein the positioning adjustment mechanism further includes a second positioning arm and a first rotation joint, the second positioning arm connects the first positioning arm and the posture adjustment mechanism, the second positioning arm is rotatably connected to the first positioning arm around a first rotation axis to form the first rotation joint, the first rotation axis is parallel to the first direction, and the length of the second positioning arm along the second direction is adjustable, or the length along the first direction and the length along the second direction are both adjustable. The para-patient operation device according to claim 6, wherein the second positioning arm has a third linear joint that translates along a third translation axis, and the third translation axis is parallel to the second direction. The para-patient operation device according to claim 6, wherein the second positioning arm has a second rotation joint rotating around a second rotation axis and a third rotation joint rotating around a third rotation axis, and the second rotation axis and the third rotation axis are parallel to each other and each is perpendicular to the second direction. The para-impaired operation device according to claim 8, wherein the posture adjustment mechanism further comprises a fourth deflection joint that rotates about a fourth deflection axis, and the fourth deflection axis is parallel to the second rotation axis and the third rotation axis. The para-patient operation device according to claim 6, wherein the second positioning arm comprises a third arm, a first arm, and a second arm connected in sequence; The third arm is pivotally connected to the first positioning arm around a first rotation axis, the first arm is pivotally connected to the third arm around a second rotation axis, the second arm is pivotally connected to the first arm around a third rotation axis, and the second arm is connected to the posture adjustment mechanism; wherein, The second rotation axis and the third rotation axis are parallel to each other; The second rotation axis and the third rotation axis are respectively perpendicular to the first direction; The second rotation axis and the third rotation axis are respectively perpendicular to the second direction. The para-affected side operation device according to any one of claims 2 to 10, wherein the posture adjustment mechanism comprises: a second arm pivotally connected to the position adjustment mechanism about a second deflection axis; a first arm pivotally connected to the second arm about a first deflection axis, the first arm being connected to the armholding mechanism; The second deflection axis is perpendicular to the first deflection axis; One of the first deflection axis and the second deflection axis is perpendicular to the first direction, and the other of the first deflection axis and the second deflection axis is perpendicular to the second direction. The para-affected side operation device according to any one of claims 2 to 10, wherein the posture adjustment mechanism comprises: a third arm, the third arm being pivotally connected to the position adjustment mechanism about a third deflection axis; a second arm pivotally connected to the third arm about a second deflection axis; a first arm, the first arm being pivotally connected to the second arm about a first deflection axis, the first arm being connected to the arm holding mechanism; wherein The third deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The third deflection axis is perpendicular to the second direction. The para-affected side operation device according to any one of claims 2 to 10, wherein the posture adjustment mechanism comprises: a fourth arm, the third arm being pivotally connected to the position adjustment mechanism about a fourth deflection axis; a second arm pivotally connected to the fourth arm about a second deflection axis; a first arm, the first arm being pivotally connected to the second arm about a first deflection axis, the first arm being connected to the arm holding mechanism; wherein The fourth deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The fourth deflection axis is perpendicular to both the second direction and the first direction. The para-affected side operation device according to any one of claims 2 to 10, wherein the posture adjustment mechanism comprises: a fourth arm, the third arm being pivotally connected to the position adjustment mechanism about a fourth deflection axis; a third arm pivotally connected to the fourth arm about a third deflection axis; a second arm pivotally connected to the third arm about a second deflection axis; a first arm, the first arm being pivotally connected to the second arm about a first deflection axis, the first arm being connected to the arm holding mechanism; wherein The fourth deflection axis is perpendicular to the third deflection axis; The third deflection axis is perpendicular to the second deflection axis; The first deflection axis is perpendicular to the second deflection axis; The third deflection axis is perpendicular to the second direction; The fourth deflection axis is perpendicular to both the second direction and the first direction. The para-impaired operation device according to any one of claims 1 to 14, wherein the holding mechanism further comprises a second linear joint that translates along a second translation axis, the second translation axis being perpendicular to the first pitch axis. The para-impaired operation device according to claim 15, wherein the holding mechanism further has a second pitch joint that rotates around a second pitch axis, and the first pitch joint and the second pitch joint can rotate synchronously and in opposite directions. A surgical robot comprising: Doctor's console; Imaging equipment; and At least one near-patient manipulation device according to any one of claims 1 to 16. A surgical medical system comprising: A plurality of slave operating devices, comprising at least one single-arm assist robot and at least one single-port laparoscopic robot or multi-port laparoscopic robot, wherein the single-arm assist robot is configured as the para-patient operating device according to any one of claims 1 to 16; and The master operating device is capable of communicating with the plurality of slave operating devices, so that the master operating device can simultaneously control at least one of the plurality of slave operating devices. The surgical medical system of claim 18, wherein The surgical medical system includes multiple control modes that can be switched between each other, and the multiple control modes include at least one single-use control mode and at least one combined single-use control mode. In the single-use control mode, the master operating device controls only one of the multiple slave operating devices, and in the combined control mode, the master operating device controls at least one of the multiple slave operating devices. The surgical medical system of claim 19, wherein The master operating device includes two first operating components, each of which is used to receive a user's interactive operation to control one of the plurality of slave operating devices; When the surgical medical system is in a single-use control mode, the two first operating components are used to control instruments of the same slave operating device; When the surgical medical system is in the combined control mode, each first operating assembly is used to control any one of the instruments of the plurality of slave operating devices.