SURGICAL ROBOT MECHANISM WITH SINGLE-PORT AND MULTI-PORT MINIMALLY INVASIVE SURGERY FUNCTIONS

Abstract

A surgical robot mechanism with single-port and multi-port minimally invasive surgery functions includes: a bracket; and a manipulator connected to the bracket, and supported by the bracket, the manipulator includes: a support arm movable along the bracket; a function conversion frame fixed on the support arm and configured for the surgical robot mechanism to switch between a single-port minimally invasive surgery mode and a multi-port minimally invasive surgery mode; a plurality of posture adjustment arm assemblies connected to the function conversion frame, each posture adjustment arm assembly configured to adjust a position and posture of a surgical tool connected thereto for performing a surgical operation.

Claims

1. A surgical robot mechanism with single-port and multi-port minimally invasive surgery functions, the surgical robot mechanism comprising: a bracket; and a manipulator connected to the bracket, and supported by the bracket, the manipulator comprising: a support arm movable along the bracket; a function conversion frame fixed on the support arm and configured to enable the surgical robot mechanism to switch between a single-port minimally invasive surgery mode and a multi-port minimally invasive surgery mode; a plurality of posture adjustment arm assemblies connected to the function conversion frame; and a plurality of surgical tools, each surgical tool connected to a respective posture adjustment arm assembly of the plurality of posture adjustment arm assemblies, each surgical tool configured to enable performance of a surgical operation and each posture adjustment arm assembly configured to enable adjustment of a position and posture of a respective surgical tool connected to that posture adjustment arm assembly.

2. The surgical robot mechanism according to claim 1, wherein the function conversion frame comprises: a base; a first cantilever rotatably connected to a first end of the base; and a second cantilever rotatably connected to a second end of the base, the plurality of posture adjustment arm assemblies being connected to the base, the first cantilever and the second cantilever respectively.

3. The surgical robot mechanism according to claim 1, wherein at least one of the posture adjustment arm assemblies comprises: a first active arm with a first end rotatably connected to the function conversion frame; an active arm joint with a first end rotatably connected to the first active arm; a second active arm with a first end rotatably connected to a second end of the active arm joint; a passive arm joint with a first end rotatably connected to a second end of the second active arm; and a passive arm with a first end rotatably connected to a second end of the passive arm joint, and with a second end rotatably connected to the surgical tool.

4. The surgical robot mechanism according to claim 3, wherein: the first active arm is rotatable relative to the function conversion frame about a third axis, the third axis being perpendicular to a surface of the function conversion frame; the active arm joint is rotatable relative to the first active arm about a fourth axis, the fourth axis being parallel to the third axis; the second active arm is rotatable relative to the active arm joint about a fifth axis, the fifth axis being perpendicular to the fourth axis; the passive arm joint is rotatable relative to the second active arm about a sixth axis, the sixth axis being parallel to the fifth axis; the passive arm is rotatable relative to the passive arm joint about a seventh axis, the seventh axis coincides with an extending direction of the passive arm; and the surgical tool is rotatable relative to the passive arm about an eighth axis, the eighth axis being perpendicular to the seventh axis.

5. The surgical robot mechanism according to claim 2, wherein, in the multi-port minimally invasive surgery mode, the base, the first cantilever and the second cantilever are located on a same plane, and the plurality of surgical tools are separated from each other.

6. The surgical robot mechanism according to claim 2, wherein, in the single-port minimally invasive surgery mode, the base forms an angle with each of the first cantilever and the second cantilever, and the plurality of surgical tools are combined together.

7. The surgical robot mechanism according to claim 6, wherein the angle is more than 0 degrees and less than 180 degrees.

8. A surgical robot mechanism with single-port and multi-port minimally invasive surgery functions, the surgical robot mechanism comprising: a bracket; and a manipulator connected to the bracket, and supported by the bracket, the manipulator comprising: a support arm movable along the bracket, a function conversion frame fixed on the support arm, and a plurality of posture adjustment arm assemblies connected to the function conversion frame, each posture adjustment arm assembly configured to enable adjustment of a position and posture of a respective surgical tool connected, in a use, to that posture adjustment arm assembly, wherein the function conversion frame is configured to enable one or more of the posture adjustment assemblies to move relative to at least part of the function conversion frame to enable the surgical robot mechanism to switch between a single-port minimally invasive surgery mode and a multi-port minimally invasive surgery mode.

9. The surgical robot mechanism according to claim 8, wherein the function conversion frame comprises: a base; a first cantilever rotatably connected to a first end of the base; and a second cantilever rotatably connected to a second end of the base, a first posture adjustment arm assembly of the plurality of posture adjustment arm assemblies being connected to the first cantilever and a second posture adjustment arm assembly of the plurality of posture adjustment arm assemblies being connected to the second cantilever.

10. The surgical robot mechanism according to claim 9, wherein, in the multi-port minimally invasive surgery mode, the base, the first cantilever and the second cantilever are located on a same plane, and the plurality of posture adjustment arm assemblies are arranged such that the associated plurality of surgical tools are separated from each other.

11. The surgical robot mechanism according to claim 9, wherein, in the single-port minimally invasive surgery mode, the base forms an angle with each of the first cantilever and the second cantilever, and the plurality of posture adjustment arm assemblies are arranged such that the associated plurality of surgical tools are combined together.

12. The surgical robot mechanism according to claim 11, wherein the angle is more than 0 degrees and less than 180 degrees.

13. The surgical robot mechanism according to claim 8, wherein at least one of the posture adjustment arm assemblies comprises: a first active arm with a first end rotatably connected to the function conversion frame; an active arm joint with a first end rotatably connected to the first active arm; a second active arm with a first end rotatably connected to a second end of the active arm joint; a passive arm joint with a first end rotatably connected to a second end of the second active arm; and a passive arm with a first end rotatably connected to a second end of the passive arm joint, and with a second end rotatably for connection to a surgical tool.

14. The surgical robot mechanism according to claim 13, wherein: the first active arm is rotatable relative to the function conversion frame about a first axis, the first axis being perpendicular to a surface of the function conversion frame; the active arm joint is rotatable relative to the first active arm about a second axis, the second axis being parallel to the first axis; the second active arm is rotatable relative to the active arm joint about a third axis, the third axis being perpendicular to the second axis; the passive arm joint is rotatable relative to the second active arm about a sixth axis, the fourth axis being parallel to the third axis; the passive arm is rotatable relative to the passive arm joint about a fifth axis, the fifth axis coincides with an extending direction of the passive arm; and the passive arm is configured is such that the surgical tool is rotatable relative to the passive arm about a sixth axis, the sixth axis being perpendicular to the fifth axis.

15. A surgical robot mechanism with single-port and multi-port minimally invasive surgery functions, the surgical robot mechanism comprising: a manipulator for connection to, and support by, a bracket, the manipulator comprising: a function conversion frame, and a plurality of posture adjustment arm assemblies connected to the function conversion frame, each posture adjustment arm assembly configured to enable adjustment of a position and posture of a respective surgical tool connected, in a use, to that posture adjustment arm assembly, wherein the function conversion frame is configured to enable one or more of the posture adjustment assemblies to move relative to at least part of the function conversion frame to enable the surgical robot mechanism to switch between a single-port minimally invasive surgery mode and a multi-port minimally invasive surgery mode.

16. The surgical robot mechanism according to claim 15, wherein the function conversion frame comprises: a base; a first cantilever rotatably connected to a first end of the base; and a second cantilever rotatably connected to a second end of the base, a first posture adjustment arm assembly of the plurality of posture adjustment arm assemblies being connected to the first cantilever and a second posture adjustment arm assembly of the plurality of posture adjustment arm assemblies being connected to the second cantilever.

17. The surgical robot mechanism according to claim 16, wherein, in the multi-port minimally invasive surgery mode, the base, the first cantilever and the second cantilever are located on a same plane, and the plurality of posture adjustment arm assemblies are arranged such that the associated plurality of surgical tools are separated from each other.

18. The surgical robot mechanism according to claim 16, wherein, in the single-port minimally invasive surgery mode, the base forms an angle with each of the first cantilever and the second cantilever, and the plurality of posture adjustment arm assemblies are arranged such that the associated plurality of surgical tools are combined together.

19. The surgical robot mechanism according to claim 15, wherein at least one of the posture adjustment arm assemblies comprises: a first active arm with a first end rotatably connected to the function conversion frame; an active arm joint with a first end rotatably connected to the first active arm; a second active arm with a first end rotatably connected to a second end of the active arm joint; a passive arm joint with a first end rotatably connected to a second end of the second active arm; and a passive arm with a first end rotatably connected to a second end of the passive arm joint, and with a second end rotatably for connection to a surgical tool.

20. The surgical robot mechanism according to claim 19, wherein: the first active arm is rotatable relative to the function conversion frame about a first axis, the first axis being perpendicular to a surface of the function conversion frame; the active arm joint is rotatable relative to the first active arm about a second axis, the second axis being parallel to the first axis; the second active arm is rotatable relative to the active arm joint about a third axis, the third axis being perpendicular to the second axis; the passive arm joint is rotatable relative to the second active arm about a sixth axis, the fourth axis being parallel to the third axis; the passive arm is rotatable relative to the passive arm joint about a fifth axis, the fifth axis coincides with an extending direction of the passive arm; and the passive arm is configured is such that the surgical tool is rotatable relative to the passive arm about a sixth axis, the sixth axis being perpendicular to the fifth axis.

Description

BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS

[0009] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification, and together with the following detailed descriptions, the accompanying drawings are used to explain the present disclosure, but do not constitute a limitation to the present disclosure, in which:

[0010] FIG. 1 is a schematic diagram of an overall structure of a surgical robot mechanism with single-port and multi-port minimally invasive surgery functions according to an embodiment of the disclosure.

[0011] FIG. 2 is a schematic structural diagram of a function conversion frame of a surgical robot mechanism with single-port and multi-port minimally invasive surgery functions according to an embodiment of the disclosure.

[0012] FIG. 3 is a schematic structural diagram of a multi-port minimally invasive surgery mode of a surgical robot mechanism with single-port and multi-port minimally invasive surgery functions according to an embodiment of the disclosure.

[0013] FIG. 4 is a schematic structural diagram of a posture adjustment arm assembly of a surgical robot mechanism with single-port and multi-port minimally invasive surgery functions according to an embodiment of the disclosure.

[0014] FIG. 5 is a schematic structural diagram of a single-port minimally invasive surgery mode of a surgical robot mechanism with single-port and multi-port minimally invasive surgery functions according to an embodiment of the disclosure.

[0015] FIG. 6 is a schematic diagram of a partial structure of FIG. 5.

[0016] FIG. 7 is a schematic structural diagram of a surgical tool in FIG. 6

SYMBOL DESCRIPTION

[0017] 100—slave manipulator; [0018] 110—function conversion frame; [0019] 111—base; [0020] 112—first cantilever; [0021] 113—second cantilever; [0022] 120—posture adjustment arm assembly; [0023] 121—first active arm; [0024] 122—active arm joint; [0025] 123—second active arm; [0026] 124—passive arm joint; [0027] 125—passive arm; [0028] 130—surgical tool; [0029] 140—support arm; [0030] 141—first arm; [0031] 142—second arm; [0032] 200—bracket; [0033] 201—I-shaped base; [0034] 202—support pillar; [0035] R1, R2, R3, R4, R5, R6, R7, R8—first axis, second axis, third axis, fourth axis, fifth axis, sixth axis, seventh axis; and eighth axis.

DETAILED DESCRIPTION

[0036] The present disclosure provides a surgical robot mechanism with single-port and multiple-port minimally invasive surgery functions. It has both single-port minimally invasive surgery and multi-port minimally invasive surgery functions, and an applicable environment thereof can be flexibly changed by reorganizing the structure of the robot and selecting the surgical tool(s) to be carried.

[0037] In order to make an objective, a technical solution, and an advantage of the present disclosure clearer, the present disclosure will be described further in detail with reference to specific embodiments and accompanying drawings.

[0038] An embodiment of the present disclosure provides a surgical robot mechanism with single-port and multi-port minimally invasive surgery functions. As illustrated in FIGS. 1 to 4, the surgical robot mechanism comprises: a bracket 200 and a slave manipulator 100, The slave manipulator 100 is connected to the bracket 200, and the slave manipulator 100 is supported by the bracket 200 and moves up and down along the bracket 200.

[0039] The bracket 200 comprises an I-shaped base 201 and a support pillar 202, and the support pillar 202 is fixed on the I-shaped base 201.

[0040] The slave manipulator 100 comprises a support arm 140, a function conversion frame 110, a posture adjustment arm assembly 120 and a surgical tool 130.

[0041] The support arm 140 includes a first arm 141 and a second arm 142. The first arm 141 is fixed on the support pillar 202, and the second arm 142 is rotatably connected to the first arm 141.

[0042] The function conversion frame 110 is rotatably connected to the second arm 142 of the support arm 140, and is operated for switching between a single-port minimally invasive surgery function and a multi-port minimally invasive surgery function of the surgical robot mechanism.

[0043] The function conversion frame 110 is specifically illustrated in FIG. 2, comprising a base 111, a first cantilever 112 and a second cantilever 113. The base 111 is rotatably connected to the second arm 142 of the support arm 140, and one end of the base 111 is connected to the first cantilever 112 by a passive revolute pair, and the other end of the base 111 is connected to the second cantilever 113 by a passive revolute pair. The first cantilever 112 and the second cantilever 113 are respectively rotatable relative to the base 111 about a first axis R1 and a second axis R2.

[0044] A plurality of posture adjustment arm assemblies 120 are connected to the function conversion frame 110, and operated to adjust positions and postures of surgical tools 130. FIGS. 1 and 3 comprise three posture adjustment arm assemblies 120, which are fixed to the base 111, the first cantilever 112 and the second cantilever 113, respectively.

[0045] As illustrated in FIGS. 3 and 4, in the multi-port minimally invasive surgery mode, the base 111, the first cantilever 112, and the second cantilever 113 are located on the same plane, and the function conversion frame 110 presents a plate shape. The surgical tools 130 enter the human body through a wound, respectively, and perform a surgical operation after reaching a lesion location.

[0046] Specifically, the posture adjustment arm assembly 120 comprises: a first active arm 121, an active arm joint 122, a second active arm 123, a passive arm joint 124 and a passive arm 125.

[0047] A first end of the first active arm 121 is rotatably connected to the function conversion frame 110 (the base 111, the first cantilever 112 or the second cantilever 113). The first active arm 121 is rotatable about a third axis R3, and the third axis R3 is perpendicular to a plane where the first cantilever 112 is located. The first active arm 121 can drive the posture adjustment arm assembly 120 to rotate about the third axis R3.

[0048] A first end of the active arm joint 122 is rotatably connected to a second end of the first active arm 121. The active arm joint 122 is rotatable about a fourth axis R4, and the fourth axis R4 is parallel to the third axis R3.

[0049] A first end of the second active arm 123 is rotatably connected to a second end of the active arm joint 122. The second active arm 123 is rotatable about a fifth axis R5, and the fifth axis R5 is perpendicular to the fourth axis R4.

[0050] A first end of the passive arm joint 124 is connected to a second end of the second active arm 123 by a passive revolute pair. The passive arm joint 124 is rotatable about a sixth axis R6, and the sixth axis R6 is parallel to the fifth axis R5.

[0051] A first end of the passive arm 125 is connected to a second end of the passive arm joint 124 by a passive revolute pair. The passive arm 125 is rotatable about a seventh axis R7, and the seventh axis R7 coincides with an extending direction of the passive arm 125. A second end of the passive arm 125 is connected to the surgical tool 130 by a passive revolute pair. The surgical tool 130 is rotatable about an eighth axis R8, and the eighth axis R8 is perpendicular to the seventh axis.

[0052] Function, mechanism and quantity of the surgical tool 130 are not limited to a single form. The function conversion frame 110 is provided with a motor operated to drive the first active arm 121 to rotate about the third axis R3. The first active arm 121 is also provided with a motor operated to drive the active arm joint 122 to rotate about the fourth axis R4. The active arm joint 122 is also provided with a motor operated to drive the second active arm 123 to rotate about the fifth axis R5.

[0053] In a single-port minimally invasive surgery mode, as illustrated in FIGS. 5 and 6, the first cantilever 112 rotates about the first axis R1, the second cantilever 113 rotates about the second axis R2, and the base 111 forms an angle with each of the first cantilever 112 and the second cantilever 113. The angle is −90°˜90°. The plurality of surgical tools 130 are combined together through the plurality of posture adjustment arm assemblies 120, and the combined surgical tools 130 can perform a single-port surgery operation, and can enable an end thereof multi-degree-of-freedom movement in space. In the single-port minimally invasive surgery mode, the combined surgical tools 130 enter the human body through the same wound, and perform the surgical operation after reaching the lesion location. In the multi-port minimally invasive surgery mode, the plurality of surgical tools 130 are separated from each other, and each of the surgical tools 130 enters the human body through a corresponding wound respectively, reaches the lesion location and performs the surgical operation. There is no need to combine the surgical tools 130 to enter the human body through the same wound.

[0054] So far, embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It should be noted that in the accompanying drawings or throughout the specification, implementations that are not illustrated or described are all well known to those of ordinary skill in the art and are not described in detail. In addition, definitions of various elements and methods above are not limited to various specific structures, shapes, or ways mentioned in the embodiments, which can be simply changed or replaced by those of ordinary skill in the art.

[0055] Finally, it should be noted that the embodiments above are merely provided to illustrate the technical solutions of the present disclosure, not to limit them. Although the present disclosure has been described in detail with reference to foregoing embodiments, those of ordinary skill in the art should understand that the technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced. In the case of no conflict, the features in the embodiments of the present disclosure can be combined arbitrarily, while such modifications or replacements do not make essence of corresponding technical solutions out of the scope of the technical solutions of the embodiments of the present disclosure.