CN222075301U

CN222075301U - Main manipulator and surgical robot system

Info

Publication number: CN222075301U
Application number: CN202420323589.8U
Authority: CN
Inventors: 徐凯; 陆高银; 赵江然; 吴百波
Original assignee: Shurui Shanghai Technology Co ltd
Current assignee: Shurui Shanghai Technology Co ltd
Priority date: 2023-07-07
Filing date: 2024-02-21
Publication date: 2024-11-29
Anticipated expiration: 2034-02-21
Also published as: CN222237808U

Abstract

The present disclosure relates to the field of medical instruments, and discloses a main manipulator and a surgical robotic system. The main manipulator comprises a handle mechanism, a mechanical arm and a plurality of arm bodies, wherein the arm bodies comprise a first L-shaped arm which is arranged at the proximal end of the mechanical arm, the distal end of the handle mechanism is rotatably connected with the proximal end of the first L-shaped arm, a second L-shaped arm, the proximal end of the second L-shaped arm is rotatably connected with the distal end of the first L-shaped arm, a third L-shaped arm, the proximal end of the third L-shaped arm is rotatably connected with the distal end of the second L-shaped arm, the rotation axis of the handle mechanism is perpendicular to the rotation axis of the first L-shaped arm, the rotation axis of the first L-shaped arm is perpendicular to the rotation axis of the second L-shaped arm, and the rotation axis of the second L-shaped arm is perpendicular to the rotation axis of the third L-shaped arm. The first L-shaped arm, the second L-shaped arm and the third L-shaped arm of the proximal end of the main manipulator can be folded, and the occupied space of the main manipulator can be reduced.

Description

Main manipulator and surgical robot system

Technical Field

The present disclosure relates to the field of medical instruments, and more particularly to a primary manipulator and surgical robotic system.

Background

The existing surgical robot system mainly adopts a master-slave teleoperation mode. For example, an operator issues a movement command to a surgical instrument on the patient side by operating two main operators on a master cart to control the surgical instrument to perform a surgical operation.

The main manipulator is a core input device of the surgical robot system, and directly influences the operation feeling and action effect of an operator. The operator performs the operation by operating the main operator to remotely control the surgical instrument, the process often lasts for up to several hours, and the spirit is highly concentrated, in which case the operation feeling of the operator operating the main operator is particularly important.

Disclosure of utility model

Based on the above problems, embodiments of the present disclosure provide a main manipulator and a surgical robot system for improving operational feeling and action effects in a surgical procedure.

In some embodiments, the present disclosure provides a primary manipulator comprising a handle mechanism;

mechanical arm, including a plurality of arm bodies, a plurality of arm bodies include:

the first L-shaped arm is arranged at the proximal end of the mechanical arm, and the distal end of the handle mechanism is rotatably connected with the proximal end of the first L-shaped arm;

A second L-shaped arm having a proximal end rotatably connected to a distal end of the first L-shaped arm, and

A third L-shaped arm, a proximal end of the third L-shaped arm rotatably connected to a distal end of the second L-shaped arm;

The rotational axis of the handle mechanism is perpendicular to the rotational axis of the first L-shaped arm, the rotational axis of the first L-shaped arm is perpendicular to the rotational axis of the second L-shaped arm, and the rotational axis of the second L-shaped arm is perpendicular to the rotational axis of the third L-shaped arm.

In some embodiments, the present disclosure also provides a surgical robotic system comprising a master trolley comprising a main body and at least one primary manipulator as in any of the embodiments of the present disclosure, a distal end of the at least one primary manipulator being connected to the main body.

In some embodiments, the length of the proximal straight bar section of the first L-shaped arm is less than the length of the distal straight bar section of the second L-shaped arm, the length of the distal straight bar section of the first L-shaped arm is less than the length of the proximal straight bar section of the second L-shaped arm, and

The length of the proximal straight-bar section of the second L-shaped arm is smaller than the length of the distal straight-bar section of the third L-shaped arm, and the length of the distal straight-bar section of the second L-shaped arm is smaller than the length of the proximal straight-bar section of the third L-shaped arm.

In some embodiments, the first L-shaped arm comprises:

A housing;

the rotating shaft is rotatably arranged at the proximal end of the shell, and the handle mechanism is fixedly connected with the proximal end of the rotating shaft;

the first gear is fixedly sleeved on the rotating shaft;

A second gear engaged with the first gear, and

And the motor is arranged in the shell, is connected with the second gear and is used for applying a rotation moment to the rotating shaft.

In some embodiments, the motor is disposed on a proximal straight bar section of the first L-shaped arm and an axis of an output shaft of the motor is perpendicular to an axis of the first gear, the first gear is a bevel gear, and the second gear is a bevel gear fixedly connected to the output shaft of the motor.

In some embodiments, the handle mechanism comprises:

A handle body;

a first clamping piece and a second clamping piece hinged with the handle main body and mutually matched to realize opening and closing, and

And the sensor is used for detecting the opening and closing states of the first clamping piece and the second clamping piece.

In some embodiments, the handle mechanism further comprises:

A third gear fixedly connected with the proximal end of the first clamping member, the first clamping member being hinged with the handle body through the third gear, and

And the fourth gear is fixedly connected with the proximal end of the second clamping piece, the second clamping piece is hinged with the handle main body through the fourth gear, and the third gear is meshed with the fourth gear.

In some embodiments, the handle mechanism further comprises:

at least one magnetic piece fixedly connected with the third gear and/or the fourth gear;

The sensor is a magnetic sensor, and the magnetic sensor detects the rotation of at least one magnetic piece so as to detect the opening and closing states of the first clamping piece and the second clamping piece.

In some embodiments, the plurality of arms further comprises a counterbalanceable arm comprising:

a base positioned at the distal end of the counterbalanced arm;

A first rod, a second rod, the first rod and the second rod being parallel and distal ends of the first rod and the second rod being hinged to the base, and

A third rod hinged to the proximal end of the first rod and the proximal end of the second rod, respectively;

the connecting line of the hinging point of the base and the first rod, the hinging point of the base and the second rod, the first rod, the second rod and the third rod form a parallelogram structure.

In some embodiments, the hinge points of the base and the first and second bars are connected in a vertical direction;

The plurality of arms further includes:

And the horizontal arm is fixedly connected to a third rod of the balancing arm, the axis of the horizontal arm is in the horizontal direction, and the third L-shaped arm is rotatably connected to the proximal end of the horizontal arm.

In some embodiments, the counterbalanced arm further comprises:

the two ends of the supporting rod are respectively hinged with the first rod and the second rod, and the supporting rod is parallel to the third rod;

The guide block is hinged with the support rod;

a sliding rod with one end hinged with the first rod or the second rod to form a hinged end and the other end forming a free end, the sliding rod being in sliding connection with the guide block, and

And one end of the elastic piece is connected with the guide block, and the other end of the elastic piece is connected with the free end of the sliding rod.

In some embodiments, the counterbalanced arm further comprises:

The first rotation angle measuring device is arranged at the far end of the balancing arm and is connected with the hinge point of the base and the first rod or the hinge point of the base and the second rod so as to measure the rotation angle of the first rod or the second rod around the hinge point.

In some embodiments, the first rotation angle measurement device is an optical encoder.

In some embodiments, the plurality of arms further comprises:

A first distal arm having a distal end for rotatable mounting to an external device, and

A second distal arm, the distal end of the second distal arm rotatably connected to the proximal end of the first distal arm, the proximal end of the second distal arm fixedly connected to the base of the counterbalanced arm;

The axis of rotation of the first distal arm is parallel to the axis of rotation of the second distal arm and in a vertical direction.

In some embodiments, the first distal arm comprises:

The second rotation angle measuring device is arranged at the distal end of the first distal arm and is used for measuring the rotation angle of the first distal arm;

The second distal arm includes:

the third rotation angle measuring device is arranged at the distal end of the second distal arm and is used for measuring the rotation angle of the second distal arm;

the second rotation angle measuring device and/or the third rotation angle measuring device is an optical encoder.

In some embodiments, the master trolley further comprises:

The at least one leveling device is arranged on the main body, the distal end of the at least one main manipulator is connected to the main body through the at least one leveling device, and the at least one leveling device is used for leveling the at least one main manipulator.

In some embodiments, the leveling device comprises:

A base;

the first adjusting seat is arranged on the base and is pivotally connected with the base;

A second adjustment seat for connection with the distal end of the at least one main operator, disposed on the first adjustment seat and pivotally connected with the first adjustment seat;

The first adjusting mechanism is arranged on the base and is used for adjusting the rotation amplitude of the first adjusting seat around the first pivot shaft;

The second adjusting mechanism is arranged on the first adjusting seat and used for adjusting the rotation amplitude of the second adjusting seat around the second pivot shaft, wherein the first pivot shaft and the second pivot shaft form an angle.

In some embodiments, the at least one primary operator comprises a left primary operator and a right primary operator, wherein

The at least one leveling device comprises a first leveling device to which the distal ends of the left and right main operators are connected, or

The at least one leveling device comprises a first leveling device and a second leveling device, wherein the distal end of the left main operator is connected to the first leveling device, and the distal end of the right main operator is connected to the second leveling device.

Some embodiments of the present disclosure have one or more of the following technical effects that a first L-shaped arm, a second L-shaped arm, and a third L-shaped arm at a proximal end of a main manipulator are foldable, so that a space required by the main manipulator can be reduced, a motor for applying a rotational moment to a rotation shaft of a handle mechanism is disposed at a proximal straight rod section of the first L-shaped arm, which is beneficial to reducing a volume of the first L-shaped arm, facilitating a user to perform an operation through the handle mechanism, the main manipulator includes a balancing arm, which can reduce an inertial influence caused by gravity, improves stability and accuracy of the main manipulator, can adjust an inclination of a base of the main manipulator in two angled directions, and can level a distal end of the main manipulator, so that the main manipulator is prevented from tilting during an operation, and safety of the operation is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly describe the drawings that are required to be used in the description of the embodiments of the present disclosure. The drawings in the following description illustrate only some embodiments of the disclosure and other embodiments may be obtained by those of ordinary skill in the art from the disclosure's contents and drawings without inventive effort.

FIG. 1 illustrates a schematic diagram of a primary operator according to some embodiments of the present disclosure;

FIG. 2 illustrates a schematic diagram of a primary operator in another state, according to some embodiments of the present disclosure;

FIG. 3 illustrates a side view of a primary operator according to some embodiments of the present disclosure;

FIG. 4 illustrates an exploded view of a first L-arm according to some embodiments of the present disclosure;

FIG. 5 illustrates an exploded view of a first L-arm at another angle in accordance with some embodiments of the present disclosure;

FIG. 6 illustrates a schematic view of a partial cross-sectional structure of a handle mechanism according to some embodiments of the present disclosure;

FIG. 7 illustrates a schematic view of a partial cross-sectional structure of a handle mechanism according to some embodiments of the present disclosure;

FIG. 8 illustrates an internal structural schematic of a counterbalanced arm according to some embodiments of the present disclosure;

FIG. 9 illustrates an exploded structural schematic view of a partial structure of a counterbalanced arm according to some embodiments of the present disclosure;

fig. 10 illustrates a structural schematic of a surgical robotic system according to some embodiments of the present disclosure;

FIG. 11 illustrates a schematic structural view of a primary operator connected to a leveling device according to some embodiments of the present disclosure;

FIG. 12 illustrates a schematic structural view of a leveling device according to some embodiments of the present disclosure;

FIG. 13 illustrates an exploded schematic view of a leveling device according to some embodiments of the present disclosure;

FIG. 14 illustrates a cross-sectional view of the leveling device along line a-a' of FIG. 12 in accordance with some embodiments of the present disclosure;

figure 15 illustrates a cross-sectional view of a leveling device along line b-b' of figure 12 according to some embodiments of the present disclosure.

Detailed Description

In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are merely exemplary embodiments of the present disclosure, and not all embodiments.

In the description of the present disclosure, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present disclosure, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may, for example, be fixedly connected or detachably connected, mechanically connected or electrically connected, directly connected or indirectly connected through intermediaries, or communicate between the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be. In this disclosure, the end proximal to the operator (e.g., physician) is defined as proximal, or posterior, and the end proximal to the surgical patient is defined as distal, or anterior, anterior. Those skilled in the art will appreciate that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as with other non-medical devices.

Fig. 1 illustrates a schematic structural diagram of a primary operator according to some embodiments of the present disclosure. Fig. 2 illustrates a schematic structural view of the main operator 100 in another state according to some embodiments of the present disclosure. Fig. 3 illustrates a side view of a primary operator 100 according to some embodiments of the present disclosure.

In some embodiments, the primary manipulator 100 may be a primary manipulator of a surgical robotic system. The surgical robotic system may be a variety of suitable surgical robotic systems including endoscopic surgical robotic systems. In some embodiments, the primary manipulator 100 may be disposed on a master trolley in the surgical robotic system for receiving user operations, and surgical instruments in the surgical robotic system respond to the user operations received by the primary manipulator 100 and perform corresponding surgical operations. In some embodiments, the surgical robotic system may include two or more primary operators, such as primary operator 100 and primary operator 200 shown in fig. 1. The main operator 100 is a right main operator and can be used for receiving the operation of the right hand of the user, and the main operator 200 is a left main operator and can be used for receiving the operation of the left hand of the user. The following description will be made with reference to the main manipulator 100 as an example, and other main manipulators (e.g., the main manipulator 200) included in the surgical robot system are similar to the main manipulator 100, and are not repeated here.

As shown in fig. 1, the main manipulator 100 may include a handle mechanism 110 and a robotic arm 120. In operation, a user may hold the handle mechanism 110 to perform an operation such that the main operator 100 receives a user operation. The robot arm 120 may include a plurality of arm bodies, and as shown in fig. 1, the plurality of arm bodies may include a first L-shaped arm 121, a second L-shaped arm 122, and a third L-shaped arm 123. The first L-arm 121 is disposed at the proximal end of the robotic arm 120, and the distal end of the handle mechanism 110 is rollably connected to the proximal end of the first L-arm 121. The proximal end of the second L-shaped arm 122 is rotatably connected to the distal end of the first L-shaped arm 121. The proximal end of the third L-shaped arm 123 is rotatably connected to the distal end of the second L-shaped arm 122. In some embodiments, as shown in fig. 1 and 2, for the first L-shaped arm 121, the second L-shaped arm 122, and the third L-shaped arm 123, the axis of the proximal straight bar section is perpendicular to the axis of the distal straight bar section. In this disclosure, the axis of an object refers to the body longitudinal centerline of the object.

In some embodiments, as shown in fig. 3, the length of the proximal straight rod segment 1211 of the first L-shaped arm 121 is less than the length of the distal straight rod segment 1222 of the second L-shaped arm 122, and the length of the distal straight rod segment 1212 of the first L-shaped arm 121 is less than the length of the proximal straight rod segment 1221 of the second L-shaped arm 122. The length of the proximal straight bar section 1221 of the second L-shaped arm 122 is less than the length of the distal straight bar section 1232 of the third L-shaped arm 123, and the length of the distal straight bar section 1222 of the second L-shaped arm 122 is less than the length of the proximal straight bar section 1231 of the third L-shaped arm 123. Based on this, the first L-shaped arm 121, the second L-shaped arm 122, and the third L-shaped arm 123 may be in a folded state as shown in fig. 1 or 3.

In some embodiments, in the collapsed state, as shown in fig. 1, the axis of rotation of the handle mechanism 110 (e.g., the roll axis about the axis of the body of the handle mechanism 110) and the axis of rotation of the second L-shaped arm 122 may be collinear, e.g., both the axes of rotation indicated by a in fig. 1, and the axes of rotation of the first L-shaped arm 121 and the third L-shaped arm 123 may be collinear, e.g., both the axes of rotation indicated by b in fig. 1. As shown in fig. 1, the rotation axis of the handle mechanism 110 is perpendicular to the rotation axis of the first L-shaped arm 121, the rotation axis of the first L-shaped arm 121 is perpendicular to the rotation axis of the second L-shaped arm 122, and the rotation axis of the second L-shaped arm 122 is perpendicular to the rotation axis of the third L-shaped arm 123. In some embodiments, the axis of rotation of the handle mechanism 110 and the axis of rotation of the second L-shaped arm 122 may not be collinear, but two parallel lines in the collapsed state. Similarly, in the collapsed state, the rotational axes of the first and third L-shaped arms 121 and 123 may be two parallel straight lines.

In some embodiments, as shown in fig. 2, the first L-shaped arm 121, the second L-shaped arm 122, and the third L-shaped arm 123 may be in an expanded state. In some embodiments, the axis of rotation of the handle mechanism 110 is perpendicular to the axis of the proximal straight bar section of the first L-shaped arm 121, the axis of rotation of the first L-shaped arm 121 is perpendicular to the axis of the distal straight bar section of the first L-shaped arm 121, and the axis of the proximal straight bar section of the first L-shaped arm 121 is perpendicular to the axis of the distal straight bar section, based on which the axis of rotation of the handle mechanism 110 is perpendicular to the axis of rotation of the first L-shaped arm 121. The axis of rotation of the first L-shaped arm 121 is perpendicular to the axis of the proximal straight bar section of the second L-shaped arm 122, the axis of rotation of the second L-shaped arm 122 is perpendicular to the axis of the distal straight bar section of the second L-shaped arm 122, and the axis of the proximal straight bar section of the second L-shaped arm 122 is perpendicular to the axis of the distal straight bar section, based on which the axis of rotation of the first L-shaped arm 121 is perpendicular to the axis of rotation of the second L-shaped arm 122. The axis of rotation of the second L-shaped arm 122 is perpendicular to the axis of the proximal straight bar section of the third L-shaped arm 123, the axis of rotation of the third L-shaped arm 123 is perpendicular to the axis of the distal straight bar section of the third L-shaped arm 123, and the axis of the proximal straight bar section of the third L-shaped arm 123 is perpendicular to the axis of the distal straight bar section, based on which the axis of rotation of the second L-shaped arm 122 is perpendicular to the axis of rotation of the third L-shaped arm 123.

Fig. 4 illustrates an exploded structural schematic view of a first L-arm 400 according to some embodiments of the present disclosure. In some embodiments, the primary manipulator provided by the present disclosure may include a first L-arm 400 as shown in fig. 4. As shown in fig. 4, in some embodiments, the first L-shaped arm 400 may include a housing 410, a rotation shaft 420, a first gear 430, a second gear 440, and a motor 450. The rotation shaft 420 is rotatably provided at the proximal end of the housing 410, and the handle mechanism 110 is fixedly coupled to the proximal end of the rotation shaft 420. The first gear 430 is fixedly sleeved on the rotating shaft 420. The second gear 440 is engaged with the first gear 430. A motor 450 is provided in the housing 410, and the motor 450 is connected to the second gear 440 for applying a rotational moment to the rotation shaft 420. Those skilled in the art will appreciate that the central axis of the rotational shaft 420 may be the rotational axis of a handle mechanism (e.g., handle mechanism 110). The motor 450 applies a rotational torque to the rotation shaft 420 to cause the rotation shaft 420 to rotate and, in turn, the handle mechanism 110 fixedly coupled to the proximal end of the rotation shaft 420 to roll.

In some embodiments, as shown in fig. 4, a motor 450 may be provided at the proximal straight bar section of the first L-arm 400. Since the first gear 430 is sleeved on the rotation shaft 420, the rotation axis of the first gear 430 may be the central axis of the rotation shaft 420 as indicated by c in fig. 4. In some embodiments, the axis of the output shaft of the motor 450 may be perpendicular to the rotational axis of the first gear 430, and the axis of the output shaft of the motor 450 may be the central axis of the motor 450 as indicated in fig. 4 d. In some embodiments, the motor 450 may be a cylindrical motor having an axis parallel to the axis of the proximal straight bar section of the first L-arm 400 as shown in FIG. 4. In some embodiments, the first gear 430 may be a bevel gear and, correspondingly, the second gear 440 may be a bevel gear fixedly connected to the output shaft of the motor 450. Based on this, the motor 450 can output a driving force to drive the second gear 440 to rotate, and the rotation of the second gear 440 drives the rotation of the first gear 430 engaged with the second gear 440, and the rotation of the first gear 430 drives the rotation of the rotation shaft 420 fixedly connected to the first gear 430 and thereby causes the handle mechanism connected to the rotation shaft 420 to spin.

Fig. 5 illustrates an exploded view of a first L-arm 400 at another angle in accordance with some embodiments of the present disclosure. In some embodiments, as shown in fig. 5, the first L-shaped arm 400 may further include a first detection gear 460, a second detection gear 470, and an angle of rotation gauge (not shown in fig. 5). In some embodiments, the first detection gear 460 may be fixedly sleeved on the rotation shaft 420. In some embodiments, the first detection gear 460 may be sleeved on the rotation shaft 420 and located at the distal end of the first gear 430. For example, as shown in fig. 5, the first detection gear 460 is sleeved on the distal end of the rotation shaft 420, and the first gear 430 is sleeved on the rotation shaft 420 and is located at the proximal end of the first detection gear 460. The second detection gear 470 is engaged with the first detection gear 460, and a rotation angle gauge may be connected with the second detection gear 470 for detecting a rotation angle of the rotation shaft 420. As will be appreciated by those skilled in the art, since the first detection gear 460 is fixedly coupled to the rotation shaft 420 and the second detection gear 470 is engaged with the first detection gear 460, detecting the rotation angle of the second detection gear 470 can obtain the rotation angle of the rotation shaft 420.

Fig. 6 illustrates a schematic partial cross-sectional structure of a handle mechanism 600 according to some embodiments of the present disclosure. Fig. 7 illustrates a schematic partial cross-sectional structure of a handle mechanism 600 according to some embodiments of the present disclosure. Therein, a circuit board 640 of the handle mechanism 600 is shown in fig. 7. In some embodiments, the handle mechanism included in the main manipulator provided by the present disclosure may be a handle mechanism 600 as shown in fig. 6 or 7. In some embodiments, as shown in fig. 6, the handle mechanism 600 may include a handle body 610, a first grip 620, a second grip 630, and a sensor (not shown in fig. 6, may be disposed on a circuit board 640 as shown in fig. 7). The first clamping member 620 and the second clamping member 630 are hinged to the handle body 610 and cooperate with each other to achieve opening and closing. In some embodiments, the first and second clamps 620, 630 are clamped by a user, and the opening and closing is accomplished under the control of the user's clamping and opening motion. As shown in fig. 6 and 7, the first and second holders 620 and 630 may include finger cuffs to facilitate finger manipulation.

In some embodiments, as shown in fig. 6, the handle mechanism 600 may further include a third gear 650 and a fourth gear 660. The third gear 650 is fixedly coupled to the proximal end of the first clamping member 620, and the first clamping member 620 is hinged to the handle body 610 through the third gear 650. The fourth gear 660 is fixedly coupled to the proximal end of the second clamping member 630, the second clamping member 630 is hinged to the handle body 610 through the fourth gear 660, and the third gear 650 is engaged with the fourth gear 660. Those skilled in the art will appreciate that in the present embodiment, the first clamping member 620 and the second clamping member 630 may be in tension with the third gear 650 and the fourth gear 660 engaged with each other.

In some embodiments, the sensor may be disposed on a circuit board 640 as shown in fig. 7, and the circuit board 640 may be disposed within a housing (not shown in fig. 7) of the handle mechanism 600 above the third gear 650 and the fourth gear 660. The sensor is used to detect the open and closed states of the first clamping member 620 and the second clamping member 630. In some embodiments, the sensor may be configured to transmit the detected open-close state of the first clamp 620 and the second clamp 630 to a controller provided in the surgical robotic system for the controller to output a control signal based on the received open-close state. It will be appreciated by those skilled in the art that the sensor may comprise any suitable sensor, such as a travel sensor, a potential sensor, or a magnetic sensor, etc., for detecting the angle of rotation of the third gear 650 and/or the fourth gear 660.

In some embodiments, the handle mechanism 400 may also include at least one magnetic member. At least one magnetic element is fixedly coupled to the third gear 650 and/or the fourth gear 660. The sensor may be a magnetic sensor that may detect rotation of at least one magnetic member to detect the open and closed states of the first and second clamping members 620 and 630. In this embodiment, the at least one magnetic element may rotate along with the rotation of the third gear 650 and/or the fourth gear 660, and based on this, the magnetic sensor detects the rotation of the at least one magnetic element, so as to obtain the open/close state of the first clamping element 620 and the second clamping element 630. In some embodiments, the at least one magnetic member may be an annular magnetic member, and the at least one magnetic member may be sleeved on the hinge shaft of the third gear 650 and/or the fourth gear 660 with the handle body 610.

In some embodiments, the plurality of arms in the main manipulator provided by the present disclosure may further include a balancing arm (e.g., balancing arm 124 shown in fig. 1). Fig. 8 illustrates an internal structural schematic of a counterbalanced arm 800 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 8, the counterbalanced arm 800 may include a first lever 810, a second lever 820, a third lever 830, and a base 840. The base 840 may be located at the distal end of the counterbalanced arm 800. The first and second levers 810 and 820 are parallel, and distal ends of the first and second levers 810 and 820 are hinged to the base 840, the hinge point of the first lever 810 to the base 840 is shown as a point a in fig. 8, and the hinge point of the second lever 820 to the base 840 is shown as a point B in fig. 8. The third rod 830 is hinged to the proximal end of the first rod 810 and the proximal end of the second rod 820, respectively. As shown in fig. 8, a line of hinge points of the base 840 and the first and second levers 810 and 820 (see a line indicated by 801 shown in fig. 8), the first, second and third levers 810 and 820, 830 form a parallelogram structure.

In some embodiments, the line 801 of the hinge points of the base 840 and the first and second levers 810 and 820 is in a vertical direction. In some embodiments, the line 801 is in a vertical direction, which may be perpendicular to a horizontal plane or perpendicular to the ground, for example. In some embodiments, such as where the surgical robotic system is located on a ground surface having a slope, the line 801 is perpendicular to the ground surface. In the case where the connection line 801, the first lever 810, the second lever 820, and the third lever 830 form a parallelogram structure, the axis of the third lever 830 may be perpendicular to a horizontal plane or to the ground, etc., in the vertical direction. In some embodiments, the axis of rotation of the first lever 810 in the equilibrateable arm 800 is a line perpendicular to the plane of the parallelogram formed by the connection 801, the first lever 810, the second lever 820, and the third lever 830 and passing through the hinge point a, and the axis of rotation of the second lever 820 is a line perpendicular to the plane of the parallelogram and passing through the hinge point B. Those skilled in the art will appreciate that turning the equilibrateable arm 800 will be understood to rotate the first and second levers 810, 820 about the rotational axis described above. The first lever 810 and the second lever 820 always maintain the same rotation angle when rotated about the above rotation axis, and the third lever 830 always maintains the vertical direction when the first lever 810 and the second lever 820 rotate.

In some embodiments, as shown in fig. 1, the plurality of arms in the main manipulator may also include a horizontal arm 125. The horizontal arm 125 may be fixedly coupled to a third bar of the counterbalanced arm (not shown in fig. 1, such as the third bar 830 of the counterbalanced arm 800 shown in fig. 8), with the axis of the horizontal arm 125 being in the horizontal direction. In some embodiments, where the third bar of the counterbalanced arm is in the vertical direction, the horizontal arm 125 may be connected to the third bar of the counterbalanced arm in a manner perpendicular to the third bar of the counterbalanced arm. In some embodiments, the axis of the horizontal arm 125 may be parallel to the horizontal plane. In the case where the surgical robotic system is located on a ground surface having a certain inclination, the axis of the horizontal arm 125 may be parallel to the ground surface. In some embodiments, the horizontal arm 125 always maintains the axis in a horizontal direction in the event of rotation of the arm body at the proximal and/or distal ends of the horizontal arm 125.

In some embodiments, the third L-shaped arm 123 is rotatably connected to the proximal end of the horizontal arm 125. In some embodiments, as shown in fig. 1, the axis of rotation of the third L-shaped arm 123 (the axis of rotation shown as b in fig. 1) is perpendicular to the axis of the horizontal arm 125, based on which the axis of rotation of the third L-shaped arm 123 is in the vertical direction. Those skilled in the art will appreciate that for the main manipulator 100, the handle mechanism 110, the first L-arm 121, the second L-arm 122, and the third L-arm 123 may be understood as the wrist portion of the main manipulator 100. The rotation axis of the third L-shaped arm 123 is along the vertical direction, so that the influence of the gravity of each arm body included in the wrist portion on the user can be reduced when the user holds the wrist portion and performs the operation, so that the user can perform the operation more lightly and flexibly, and the fatigue of the user in the operation process can be reduced.

In some embodiments, as shown in fig. 8, the counterbalanced arm 800 further includes a support bar 850, a guide block 860, a sliding bar 870, and an elastic element 880. In some embodiments, the support bar 850 is hinged at both ends to the first bar 810 and the second bar 820, respectively, and the support bar 850 is parallel to the third bar. In some embodiments, the support bar 850 is always in the vertical direction with rotation of the counterbalanced arm 800. The guide block 860 is hinged with the support bar 850. In some embodiments, the hinge point of the guide block 860 and the support bar 850 may be point C as shown in fig. 8. One end of the sliding rod 870 may form a hinged end with the first rod 810 or the second rod 820. For example, as shown in fig. 8, one end of the sliding rod 870 is hinged with the first rod 810 to form a hinge end M. The other end of the sliding rod 870 forms a free end (e.g., free end N shown in fig. 8). The sliding rod 870 may be slidably coupled with the guide block 860. One end of the elastic member 880 is coupled to the guide block 860 and the other end is coupled to the free end N of the sliding rod 870.

In some embodiments, under the force of gravity of each arm body (e.g., the first L-shaped arm 121, the second L-shaped arm 122, the third L-shaped arm 123, and the horizontal arm 125 as shown in fig. 1) located at the proximal end of the balancing arm 800, the first lever 810 and the second lever 820 in the balancing arm 800 tend to rotate counterclockwise (the first lever 810 rotates in the direction indicated by the arrow 802 in fig. 8, and the second lever 820 rotates in the direction indicated by the arrow 803 in fig. 8), and the angle between the third lever 830 and the first lever 810 in the balancing arm 800 (the angle α as shown in fig. 8) tends to increase, based on which the sliding lever 870 slides obliquely upward and rightward in the length direction, the elastic members 880 connected to the guide blocks 860 and the free ends N of the sliding lever 870, respectively, are pressed, resulting in a restoring force F that balances the gravity of each arm body located at the proximal end of the balancing arm 800, which is beneficial for reducing the inertial effects of the gravity of the arm body on the main operator. In some embodiments, the resilient member may be a compression spring, gas spring, tension spring, or the like. In some embodiments, parameters such as the elastic coefficient of the elastic element 880 may be determined according to the gravity of each arm body located at the proximal end of the balancing arm 800, so that the restoring force F generated by the elastic element 880 can more accurately balance the gravity of each arm body located at the proximal end of the balancing arm 800, which is beneficial to realizing the effect of "stopping arbitrarily" when the user releases the main manipulator, and avoiding the influence of the operation caused by the continuous movement of the main manipulator under the influence of gravity.

In some embodiments, the balancing arm 800 may further include a first rotation angle measuring device (not shown in fig. 8). A first rotation angle measuring device may be provided at the distal end of the balancing arm 800, the first rotation angle measuring device being connected to a hinge point a of the base 840 and the first lever 810 or a hinge point B of the base 840 and the second lever 820 to measure an angle at which the first lever 810 or the second lever 820 rotates around the hinge point. Fig. 9 illustrates an exploded structural schematic view of a partial structure of a balancing arm 800 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 9, the base 840 may include an internal cavity, and the circuit board 804 and the motor 805 may be included in the internal cavity of the base 840. A motor 805 may be used to drive the rotation of the equilibrateable arm 800.

In some embodiments, the first rotation angle measuring device may be an optical encoder. In some embodiments, the optical encoder may include a grating disk and a photodetector device (not shown). Wherein, the grating disk may be disposed between the motor 805 and the circuit board 804, and the grating disk is connected with the hinge point a of the base 840 and the first lever 810, and the grating disk rotates with the rotation of the first lever 810. A photo detection device may be provided on the circuit board 804 for detecting rotation of the grating disk to detect an angle at which the first lever 810 rotates around the hinge point.

In some embodiments, as shown in fig. 1, the plurality of arms of the main manipulator 100 may further include a first distal arm 126 and a second distal arm 127. The distal end of the first distal arm 126 is adapted to be rotatably mounted to an external device. The external devices may include a master trolley body, a device for connecting a primary manipulator (e.g., a primary manipulator back plate) in a surgical robotic system, and the like. In some embodiments, the distal end of the second distal arm 127 is rotatably coupled to the proximal end of the first distal arm 126, and the proximal end of the second distal arm 127 is fixedly coupled to a base (e.g., base 840 in fig. 8) of a counterbalanced arm (e.g., counterbalanced arm 124 shown in fig. 1 or counterbalanced arm 800 shown in fig. 8). As shown in fig. 1, the axis of rotation e of the first distal arm 126 is parallel to the axis of rotation f of the second distal arm 127, and may be in a vertical direction, for example, parallel to the axis of rotation b.

In some embodiments, the first distal arm 126 may further include a second rotation angle measuring device (not shown) that may be disposed at a distal end of the first distal arm 126 for measuring the rotation angle of the first distal arm 126. In some embodiments, the second rotation angle measuring device may be an optical encoder. In some embodiments, the second rotation angle measuring device may include a grating disk and a photoelectric detection device, where the grating disk may be sleeved on the rotation shaft of the first distal arm 126 (disposed at the distal end of the first distal arm 126 and rotated with the rotation of the first distal arm 126). The grating disk may rotate along with the rotation of the first distal arm 126, and the photoelectric detection device may detect the rotation angle of the grating disk, so as to detect the rotation angle of the first distal arm.

In some embodiments, the second distal arm 127 may further include a third rotation angle measuring device (not shown) that may be disposed at the distal end of the second distal arm 127 for measuring the rotation angle of the second distal arm 127. In some embodiments, the third rotation angle measuring device may be an optical encoder. The structure of the third rotation angle measuring device may be similar to that of the second rotation angle measuring device, and in order to reduce repetition, description thereof will be omitted.

A surgical robotic system is also provided in some embodiments of the present disclosure. Fig. 10 illustrates a schematic structural diagram of a surgical robotic system 1000 in accordance with some embodiments of the present disclosure. As shown in fig. 10, in some embodiments, surgical robotic system 1000 includes a master cart 1010. The master cart 1010 includes a main body 1011 and at least one master manipulator 1012. At least one primary operator 1012 may be a primary operator (e.g., primary operator 100) of any of some embodiments of the present disclosure, and is not repeated for purposes of reducing repetition. As shown in fig. 10, the distal end of at least one primary operator 1012 is attached to the body 1011.

In some embodiments, as shown in fig. 10, surgical robotic system 1000 may also include a surgical trolley 1020. The surgical trolley 1020 may include at least one robotic arm 1021. The at least one robotic arm 1021 may be a positioning arm of a surgical robotic system as shown in fig. 10. In some embodiments, the distal end of the at least one robotic arm 1021 may also be provided with at least one surgical instrument 1022. In some embodiments, the at least one surgical instrument 1022 may include a surgical tool (e.g., a clamp, a bent shears, etc.) and/or an imaging tool (e.g., an endoscope). In the surgical robotic system 1000, adjustment of the position and orientation of the surgical tool distal to the positioning arm can be achieved by controlling the movement of the positioning arm. In some embodiments, master cart 1010 is communicatively coupled to surgical cart 1020. The connection between the main control trolley 1010 and the operation trolley 1020 can be realized by a wired transmission or a wireless transmission mode. At least one primary operator 1012 on the master cart 1010 is used to receive user operations. In operation, a user may control surgical instruments 1022 included in the surgical cart 1020 to perform a surgical operation by operating at least one primary operator 1012 in the master cart 1010. The surgical cart 1020 is typically positioned on the patient side and performs surgical procedures on the patient in response to control commands from the master cart 1010.

In some embodiments, the master trolley 1010 may also include at least one leveling device 1013. Fig. 11 illustrates a schematic structural diagram of a connection of a main operator 1012 and a leveling device 1013 according to some embodiments of the present disclosure. At least one leveling device 1013 may be provided on a main body of a master car (not shown in fig. 11, see main body 1011 of master car 1010 shown in fig. 10), a distal end of at least one main operator 1012 being connected to the main body through the at least one leveling device 1013, the at least one leveling device 1013 being for leveling the at least one main operator 1012. In some embodiments, a first distal arm of at least one primary manipulator 1012 (e.g., first distal arm 101211 of primary manipulator 10121) is coupled to the body via at least one leveling device 1013.

Fig. 12 illustrates a schematic structural view of a leveling device 1200 according to some embodiments of the present disclosure. Fig. 13 illustrates an exploded structural schematic view of a leveling device 1200 according to some embodiments of the present disclosure. In some embodiments, the at least one leveling device included in the surgical robotic system 1000 may be the leveling device 1200. In some embodiments, as shown in FIG. 12, at least one leveling device 1200 may include a base 1210, a first adjustment seat 1220, a second adjustment seat 1230, a first adjustment mechanism 1240, and a second adjustment mechanism 1250.

In some embodiments, the base 1210 may be fixedly connected with a body of a master trolley (e.g., body 1011 of master trolley 1010). The first adjustment seat 1220 may be provided on the base 1210 and pivotally connected with the base 1210. The second adjustment seat 1230 may be adapted for connection with a distal end of at least one primary operator (e.g., primary operator 1012 or primary operator 100), is disposed on the first adjustment seat 1220 and is pivotally connected with the first adjustment seat 1220. As will be appreciated by those skilled in the art, in the leveling device 1200, the first adjustment seat 1220 is capable of pivoting about a pivot axis (e.g., the first pivot axis 1219 shown in fig. 13) relative to the base 1210, and the second adjustment seat 1230 is capable of pivoting about a pivot axis (e.g., the second pivot axis 1229 shown in fig. 13) relative to the first adjustment seat 1220.

As shown in fig. 12 or 13, in some embodiments, the base 1210, the first adjusting seat 1220, and the second adjusting seat 1230 may all be flat plate structures.

As shown in fig. 12, a first adjustment mechanism 1240 may be provided on the base 1210 for adjusting the amplitude of rotation of the first adjustment seat 1220 about the first pivot axis 1219. The second adjustment mechanism 1250 may be provided on the first adjustment seat 1220 for adjusting the amplitude of rotation of the second adjustment seat 1230 about the second pivot axis 1229, wherein the first pivot axis 1219 is angled to the second pivot axis 1229.

As will be appreciated by those skilled in the art, since the distal end of the main operator is coupled to the second adjustment seat 1230 and the second adjustment seat 1230 is disposed on the first adjustment seat 1220, the tilt of the distal end of the main operator may also change when the rotational amplitude of the first adjustment seat 1220 about the first pivot axis 1219 and/or the rotational amplitude of the second adjustment seat 1230 about the second pivot axis 1229 is adjusted, such that the leveling device 1200 is capable of adjusting the tilt of the distal end of the main operator. The effect of the remote adjustment of the main operator by the leveling device 1200 is a superposition of the adjustment of the amplitude of rotation of the first adjustment seat 1220 about the first pivot axis 1219 and the adjustment of the amplitude of rotation of the second adjustment seat 1230 about the second pivot axis 1229. As a result of the angulation of the first pivot 1219 and the second pivot 1229, the leveling device 1200 is able to adjust the inclination of the distal end of the main operator in both directions of angulation.

In some embodiments, as shown in fig. 13, the first pivot axis 1219 and the second pivot axis 1229 are perpendicular. Those skilled in the art will appreciate that with the two pivot axes perpendicular, the leveling device 1200 is able to adjust the tilt of the distal end of the main operator in two perpendicular directions.

In some embodiments, the first adjustment mechanism 1240 and the second adjustment mechanism 1250 may allow a user to manually adjust the magnitude of the rotation of the first adjustment seat 1220 about the first pivot axis 1219 and the magnitude of the rotation of the second adjustment seat 1230 about the second pivot axis 1229.

In some embodiments, the magnitude of rotation may be embodied by a rotation angle. Those skilled in the art will appreciate that fig. 12 illustrates a state in which the leveling device 1200 is not adjusted. As shown in fig. 12, when the leveling device 1200 is not adjusted, the first adjustment seat 1220 is parallel to the base 1210 (e.g., the lower surface of the first adjustment seat 1220 is parallel to the upper surface of the base 1210), and the inclination of the first adjustment seat 1220 is the same as that of the base 1210, it may be defined that the rotation amplitude of the first adjustment seat 1220 about the first pivot axis 1219 is zero in this state. Further, subsequent adjustment of the rotational amplitude of the first adjustment seat 1220 about the first pivot axis 1219 may be performed based on the position of the first adjustment seat 1220 when the rotational amplitude is zero. Similarly, when the leveling device 1200 is not adjusted, the second adjustment seat 1230 is parallel to the first adjustment seat 1220 (e.g., the lower surface of the second adjustment seat 1230 is parallel to the upper surface of the first adjustment seat 1220), the inclination of the second adjustment seat 1230 is the same as that of the first adjustment seat 1220, and it may be defined that the rotation amplitude of the second adjustment seat 1230 about the second pivot axis 1229 is zero in this state. Further, subsequent adjustments to the magnitude of rotation of the second adjustment seat 1230 about the second pivot axis 1229 may be made based on the position of the second adjustment seat 1230 when the magnitude of rotation is zero.

In some embodiments, the first adjusting mechanism 1240 may include a first driving member 1241 and a first movable member 1242, where the first movable member 1242 abuts the first adjusting seat 1220, and the first driving member 1241 is configured to move the first movable member 1242 to adjust the rotation amplitude of the first adjusting seat 1220 about the first pivot axis 1219.

In some embodiments, the first driver 1241 is used for a user to perform an adjustment operation, and the user can adjust the magnitude of rotation of the first adjustment seat 1220 about the first pivot axis 1219 by performing an adjustment operation on the first driver 1241. Those skilled in the art will appreciate that the first driving member 1241 is capable of moving the first movable member 1242, and the movement of the first movable member 1242 rotates the first adjusting seat 1220 about the first pivot axis 1219 because the first movable member 1242 abuts the first adjusting seat 1220. Based on this, the adjustment of the rotational amplitude of the first adjustment seat 1220 about the first pivot axis 1219 can be achieved by adjusting the first driver.

Fig. 14 illustrates a cross-sectional view of the leveling device 1200 along line a-a' in fig. 12 according to the present disclosure. In some embodiments, as shown in fig. 14, the first driver 1241 includes a first screw 12411. The first movable member 1242 includes a first slider 12421 and a first through hole (a through hole having an inner diameter of k as shown in fig. 14) provided in the first slider 12421. As shown in fig. 14, the first through hole and the first screw 12411 may be connected by threads. The first slider 12421 is connected to the first screw 12411 through a first through hole. It will be appreciated by those skilled in the art that the manner in which the first screw and the first slider are coupled is not limited to threaded coupling, but may be coupled in any suitable manner.

As shown in fig. 13, in some embodiments, the base 1210 may further include a first notch 1211 disposed on the open side and a first threaded hole (e.g., the threaded hole with i as the inner diameter shown in fig. 14) disposed inside the first notch 1211. The first notch 1211 is configured to receive at least a portion of the first driver 1241 and the first movable member 1242, and the first threaded hole is threadedly coupled to the first screw 12411. Reference herein to the open side of the base 1210 refers to the non-pivotally connected side, and the pivotally connected side of the base 1210 refers to the side of the base 1210 to which the first pivot axis 1219 is connected. In some embodiments, as shown in fig. 14, at least a portion of the shank end of the first screw 12411 extends out of the first through hole, at least a portion of the threaded shank extending out of the first through hole being threadedly coupled to the first threaded hole.

In this embodiment, the first slider 12421 can move within the first notch 1211. It can be seen that the movable track of the first slider 12421 is along the longitudinal direction of the first notch 1211 of the base 1210. The open side of the first regulation seat 1220 is lifted up when the first slider 12421 moves inward (inward in a direction of going deep into the first notch 1211), the rotation amplitude of the first regulation seat 1220 about the first pivot shaft 1219 increases, and the open side of the first regulation seat 1220 is lowered when the first movable member 1242 moves outward (outward in a direction of going out of the first notch 1211), the rotation amplitude of the first regulation seat 1220 about the first pivot shaft 1219 decreases.

In some embodiments, the first slider 12421 is limited to move inwardly until the first slider 12421 abuts the inside of the first notch, and the first slider 12421 is limited to move outwardly until the outside of the first slider 12421 is flush with the open side of the first adjustment seat 1220. Those skilled in the art will appreciate that the depth of the first notch may limit the distance the first slider 12421 may move.

In some embodiments, the first slider 12421 may include a first portion at a lower portion and a second portion at an upper portion. In some embodiments, the first portion may be a rectangular block (lower portion of the first slider 12421 as shown in fig. 14) that fits into the first notch 1211. In some embodiments, as shown in fig. 14, the first through hole is disposed at the first portion. The second portion may include an angled upper surface (such as the upper surface 124211 of the first slider 12421 shown in fig. 14) for rotating the first adjustment seat 1220 about the first pivot axis 1219 as the first slider moves. In some embodiments, as shown in fig. 14, the second portion may protrude from the first notch 1211. In some embodiments, the second portion may be a wedge (upper portion of the first slider 12421 as shown in fig. 14).

As shown in fig. 14, in some embodiments, the first adjustment seat 1220 may further include a first connection portion, a lower surface of which (e.g., the lower surface 12211 shown in fig. 14) is adhered to an inclined upper surface (e.g., the inclined upper surface 124211 shown in fig. 14) of the first slider 12421. In some embodiments, the first connection portion includes a first groove (such as the groove including the inclined lower surface 12211 shown in fig. 14) or a first protrusion (not shown) provided at the lower surface of the first adjustment seat 1220, and the inclined lower surface (such as the inclined lower surface 12211 shown in fig. 14) of the first groove or the first protrusion is fitted with the inclined upper surface (such as the inclined upper surface 124211 shown in fig. 14) of the first slider 12421.

As shown in fig. 14, in some embodiments, a user may effect adjustment of the amplitude of rotation of the first adjustment seat 1220 about the first pivot axis 1219 by adjusting the first screw 12411. In some embodiments, with the first screw 12411 rotated clockwise, the first screw 12411 is threadedly coupled with a first threaded hole in a first notch (e.g., the first notch 1211 shown in fig. 13), and the first screw 12411 moves the first slider 12421 inwardly (toward the first pivot 1219 in a direction perpendicular to the first pivot 1219), and the movement of the first slider 12421 lifts the open side of the first adjustment seat 1220 through abutment of the ramp 124211 with the ramp 12211, such that the magnitude of rotation of the first adjustment seat 1220 about the first pivot 1219 increases.

As shown in fig. 13, in some embodiments, the first adjustment seat 1220 includes a first opening 1222, and the first connection portion includes a first abutment block 1223 pivotally disposed in the first opening 1222, the inclined lower surface of the first abutment block 1223 abutting the inclined upper surface (e.g., the inclined upper surface 124211 shown in fig. 14) of the first slider (e.g., the first slider 12421 shown in fig. 14). The pivot axis of the first abutment block 1223 can be parallel to the first pivot axis 1219. As can be appreciated by those skilled in the art, since the first abutment 1223 is pivotally disposed in the first opening 1222, after the first slider moves and rotates the first adjustment seat 1220 about the first pivot axis 1219, the first abutment 1223 can rotate about its pivot axis, thereby facilitating the inclined lower surface of the first abutment 1223 to remain in engagement with the inclined upper surface of the first slider and further facilitating continued adjustment of the first adjustment mechanism 1240.

In some embodiments, the second adjustment mechanism 1250 may include a second driving member 1251 and a second movable member 1252, the second movable member 1252 being in abutment with the second adjustment seat 1230, the second driving member 1251 being configured to move the second movable member 1252 to adjust the rotational amplitude of the second adjustment seat 1230 about the second pivot axis 1229.

In some embodiments, the second driver 1251 is configured for a user to perform an adjustment operation, and the user can adjust the magnitude of rotation of the second adjustment base 1230 about the second pivot axis 1229 by performing an adjustment operation on the second driver 1251. Those skilled in the art will appreciate that the second driving member 1251 may move the second movable member 1252, and because the second movable member 1252 abuts against the second adjusting seat 1230, the movement of the second movable member 1252 rotates the second adjusting seat 1230 about the second pivot axis 1229. Based on this, the adjustment of the amplitude of rotation of the second adjustment seat 1230 about the second pivot axis 1229 can be achieved by adjusting the second driver 1251.

Fig. 15 illustrates a cross-sectional view of the leveling device 1200 along line b-b' in fig. 12 according to the present disclosure. In some embodiments, as shown in fig. 15, the second driver 1251 includes a second screw 12511. The second movable member 1252 includes a second slider 12521 and a second through hole (a through hole having an inner diameter of n as shown in fig. 15) provided in the second slider 12521. As shown in fig. 15, the second through hole and the second screw 12511 may be connected by threads. The second slider 12521 is connected to the second screw 12511 through a second through hole. It will be appreciated by those skilled in the art that the manner in which the second screw and the second slider are coupled is not limited to threaded coupling, but may be coupled in any suitable manner.

As shown in fig. 13, in some embodiments, the first adjustment seat 1220 may further include a second notch 1221 disposed at the open side and a second screw hole (a screw hole having an inner diameter of m as shown in fig. 15) disposed inside the second notch 1221. The second notch 1221 is configured to receive at least a portion of the second driver 1251 and the second movable member 1252, and the second threaded bore is threadably coupled to the second screw 12511. The open side of the first adjusting seat 1220 referred to herein means a non-pivotally connected side, and the pivotally connected side of the first adjusting seat 1220 means a side of the first adjusting seat 1220 to which the second pivot shaft 1229 is connected. In some embodiments, as shown in fig. 15, at least a portion of the shank end of the second screw 12511 passes out of the second through-hole, at least a portion of the threaded shank being threadably coupled to the second threaded hole.

The second slide 12521 may move within the second notch 1221. It can be seen that the movable track of the second slide 12521 is along the longitudinal direction of the second notch 1221 of the first adjustment seat 1220. The open side of the second regulating seat 1230 is lifted when the second slide 12521 moves inward (inward in a direction going into the second notch 1221), the rotation amplitude of the second regulating seat 1230 about the second pivot shaft 1229 increases, and the open side of the second regulating seat 1230 is lowered when the second slide 12521 moves outward (outward in a direction going out of the second notch 1221), the rotation amplitude of the second regulating seat 1230 about the second pivot shaft 1229 decreases.

In some embodiments, the inward movement of the second slide 12521 is limited to move until the second slide 12521 abuts the inside of the second notch 1221, and the outward movement of the second slide 12521 is limited to move until the outermost side of the second slide 12521 is flush with the open side of the second adjustment seat 1230. Those skilled in the art will appreciate that the depth of the second notch 1221 may limit the distance the second slide 12521 may move.

In some embodiments, the second slide 12521 may include a first portion at a lower portion and a second portion at an upper portion. In some embodiments, the first portion may be a rectangular block (e.g., the lower portion of the second slide 12521 shown in fig. 15) that fits into the second notch 1221. In some embodiments, as shown in fig. 15, a second through hole is provided in a first portion of the second slide 12521. The second portion may include an angled upper surface (such as the upper surface 15211 of the second slider shown in fig. 15) for rotating the second adjustment block 1230 about the second pivot axis 1229 as the second slider moves. In some embodiments, as shown in fig. 15, a second portion of the second slide 12521 can protrude from the second indentation 1221. In some embodiments, the second portion may be a wedge.

As shown in fig. 15, in some embodiments, the second adjustment seat 1230 may further include a second connection portion, a lower surface of which (e.g., the lower surface 12311 shown in fig. 15) is engaged with an inclined upper surface (e.g., the inclined upper surface 125211 shown in fig. 15) of the second slide 12521. In some embodiments, the second connection portion includes a second protrusion (such as the protrusion including the inclined lower surface 12311 shown in fig. 15) or a second groove (not shown, similar to the first groove shown in fig. 14) disposed at the lower surface of the second adjustment seat 1230, and the inclined lower surface (such as the lower surface 12311 shown in fig. 15) of the second groove or the second protrusion is fitted with the inclined upper surface (such as the upper surface 125211 shown in fig. 15) of the second slider 12521.

In some embodiments, the user may adjust the amplitude of rotation of the second adjustment base 1230 about the second pivot axis 1229 by adjusting the second screw 12511. In some embodiments, when the second screw 12511 is turned clockwise, the second screw 12511 is screwed with the second threaded hole in the second notch (the second notch 1221 shown in fig. 13), the second screw 12511 drives the second slide 12521 to move inward (move in a direction into the second notch 1221), and the movement of the second slide 12521 lifts the open side of the second adjustment seat 1230 by the abutment of the inclined surface 125211 with the inclined surface 12311, so that the rotation amplitude of the second adjustment seat 1230 about the second pivot axis 1229 increases.

As shown in fig. 13, in some embodiments, the second adjusting seat 1230 includes a second opening 1232, the second connecting portion includes a second abutment block 1233 pivotally disposed in the second opening 1232, and an inclined lower surface of the second abutment block 1233 is in abutment with an inclined upper surface (e.g., inclined upper surface 125211 shown in fig. 15) of the second slider (e.g., second slider 12521 shown in fig. 15). The pivot axis of the second abutment block 1233 can be parallel to the second pivot axis 1229. As can be appreciated by those skilled in the art, since the second abutment block 1233 is pivotally disposed in the second opening 1232, after the second slider moves and rotates the second adjustment seat 1230 about the second pivot axis 1229, the second abutment block 1233 can rotate about its pivot axis, thereby facilitating the inclined lower surface of the second abutment block 1233 to remain in engagement with the inclined upper surface of the second slider and further facilitating the continued adjustment of the second adjustment mechanism 1250.

In some embodiments, after the first adjustment seat 1220 is adjusted by the first adjustment mechanism 1240 and/or the second adjustment seat 1230 is adjusted by the second adjustment mechanism 1250, the adjusted first adjustment seat 1220 and/or second adjustment seat 1230 may be fixed by a fixing device to stabilize the leveling device 1200. For example, the first and second adjustment seats 1220 and 1230 may be fixed by passing bolts through screw holes on the first and second adjustment seats 1220 and 1230.

As shown in fig. 11, in some embodiments, the at least one primary operator 1012 may include a left primary operator 10121 and a right primary operator 10122. In some embodiments, as shown in fig. 11, the at least one leveling device 1013 may include a first leveling device 10131 and a second leveling device 10132. The distal end of the left main operator 10121 is connected to the first leveling device 10131 and the distal end of the right main operator 10122 is connected to the second leveling device 10132. In some embodiments, as shown in fig. 11, the left main operator 10121 may be connected to the first leveling device 10131 through a bracket 10141. The distal end of the left main operator 10121 is fixedly connected with a bracket 10141, and the bracket 10141 is fixedly connected with a second adjusting seat of the leveling device 10131 through bracket legs so as to realize the connection of the left main operator 10121 with the first leveling device 10131. In some embodiments, the distal end of the left main operator 10121 may be fixedly coupled to the bracket 10141 by a locking mechanism such as a screw.

In some embodiments, the bottom surface of the distal end of the primary operator (e.g., primary operator 100 or primary operator 1012) may be fixedly connected with a second adjustment seat of a leveling device (e.g., leveling device 1013 or leveling device 1200) to effect connection of the primary operator with the leveling device. In some embodiments, the bottom surface of the distal end of the main operator may be fixedly connected to the second adjustment seat of the leveling device by a locking mechanism such as a screw.

In some embodiments, the at least one leveling device may include only one leveling device (e.g., a first leveling device) to which the distal ends of the left and right main operators are both connected. In this embodiment, unified adjustment of the inclination of the left and right main operators may be achieved by adjusting the leveling structure in the first leveling device.

It will be appreciated by those skilled in the art that the surgical robotic system 1000 provided by the present embodiment may be any suitable surgical robotic system including laparoscopic surgical robotic systems.

In some embodiments, the length of the proximal straight bar section of the first L-shaped arm is less than the length of the distal straight bar section of the second L-shaped arm, the length of the distal straight bar section of the first L-shaped arm is less than the length of the proximal straight bar section of the second L-shaped arm, the length of the proximal straight bar section of the second L-shaped arm is less than the length of the distal straight bar section of the third L-shaped arm, and the length of the distal straight bar section of the second L-shaped arm is less than the length of the proximal straight bar section of the third L-shaped arm. Based on this, the first L-shaped arm, the second L-shaped arm, and the third L-shaped arm located at the proximal end of the main operator can be put in a collapsed state, so that the space required for the main operator can be reduced.

In some embodiments, when the user grips the wrist portion (which may include the handle mechanism 110, the first L-shaped arm 121, the second L-shaped arm 122, and the third L-shaped arm 123 shown in fig. 1) and performs the operation, the influence of the gravity of each arm body included in the wrist portion on the user can be reduced, so that the user can perform the operation more easily and flexibly, which is advantageous in reducing the fatigue of the user during the operation.

In some embodiments, the first lever and the second lever in the counterbalanced arm tend to rotate counterclockwise (e.g., the first lever 810 shown in fig. 8 rotates in the direction indicated by arrow 802 and the second lever 820 rotates in the direction indicated by arrow 803) under the force of gravity of each arm body at the proximal end of the counterbalanced arm, and the sliding lever slides diagonally upward and rightward along the length direction, and the resilient member (e.g., resilient member 880 shown in fig. 8) is compressed, resulting in a restoring force F that balances the force of gravity of each arm body at the proximal end of the counterbalanced arm, which advantageously reduces the inertial effects of the force of gravity of the arms bodies on the main operator.

In some embodiments, parameters such as the elastic coefficient of the elastic member may be determined according to the gravity of each arm body located at the proximal end of the balancing arm, so that the restoring force generated by the elastic member can more accurately balance the gravity of each arm body located at the proximal end of the balancing arm. The automatic operation control device is beneficial to realizing the effect of 'random stop' when a user releases the main operator, and avoiding the influence of the operation caused by the continuous movement of the main operator under the influence of gravity.

In some embodiments, the present disclosure provides for a surgical robotic system including a leveling device for adjusting the tilt of the primary manipulator. The first adjusting mechanism in the leveling device can adjust the rotation amplitude of the first adjusting seat around the first pivot shaft, the second adjusting mechanism can adjust the rotation amplitude of the second adjusting seat around the second pivot shaft, and the first pivot shaft and the second pivot shaft are angled (e.g., perpendicular), so that the leveling device can adjust the inclination of the main operator towards both directions of the angle.

In some embodiments, the first connecting portion in the leveling device includes a first abutment block pivotally disposed in the first opening, and the upper surface of the first adjusting seat is still capable of being attached to the lower surface of the first abutment block after being adjusted to rotate around the first pivot axis by a certain rotation range. Similarly, the second connecting portion includes a second abutment block pivotally disposed in the second opening, and the upper surface of the second adjusting seat can still be attached to the lower surface of the second abutment block after being adjusted to rotate around the second pivot axis by a certain rotation range. Based on this, it is advantageous to continue the adjustment after a certain adjustment of the rotational amplitude of the first adjustment seat and the second adjustment seat.

Note that the above is merely exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the disclosure. Therefore, while the present disclosure has been described in connection with the above embodiments, the present disclosure is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A primary manipulator, comprising:

A handle mechanism;

The mechanical arm comprises a plurality of arm bodies, wherein the plurality of arm bodies comprise:

a second L-arm having a proximal end rotatably connected to a distal end of the first L-arm, and

A third L-arm, a proximal end of the third L-arm rotatably connected to a distal end of the second L-arm;

2. The main operator according to claim 1 wherein,

The length of the proximal straight bar section of the first L-shaped arm is smaller than the length of the distal straight bar section of the second L-shaped arm, the length of the distal straight bar section of the first L-shaped arm is smaller than the length of the proximal straight bar section of the second L-shaped arm, and

The length of the proximal straight rod section of the second L-shaped arm is smaller than that of the distal straight rod section of the third L-shaped arm, and the length of the distal straight rod section of the second L-shaped arm is smaller than that of the proximal straight rod section of the third L-shaped arm.

3. The primary manipulator of claim 1, wherein the first L-shaped arm comprises:

A housing;

the first gear is fixedly sleeved on the rotating shaft;

a second gear engaged with the first gear, and

4. A main manipulator according to claim 3, wherein the motor is arranged on a proximal straight bar section of the first L-shaped arm and the axis of the output shaft of the motor is perpendicular to the axis of the first gear, the first gear being a bevel gear, and the second gear being a bevel gear fixedly connected to the output shaft of the motor.

5. The primary manipulator of claim 1, wherein the handle mechanism comprises:

A handle body;

6. The main operator according to claim 5 wherein the handle mechanism further comprises:

7. The main operator according to claim 6 wherein the handle mechanism further comprises:

The sensor is a magnetic sensor, and the magnetic sensor detects the rotation of the at least one magnetic piece so as to detect the opening and closing states of the first clamping piece and the second clamping piece.

8. The primary manipulator of claim 1, wherein the plurality of arms further comprises a counterbalanced arm comprising:

a base positioned at a distal end of the counterbalanced arm;

A first rod, a second rod, the first rod and the second rod being parallel and distal ends of the first rod and the second rod being hinged with the base, and

The hinge point of the base and the first rod, the line connecting the hinge point of the base and the second rod, the first rod, the second rod and the third rod form a parallelogram structure.

9. The primary manipulator of claim 8, wherein the hinge points of the base and the first and second bars are vertically aligned;

The plurality of arms further includes:

The horizontal arm is fixedly connected to a third rod of the balancing arm, the axis of the horizontal arm is in the horizontal direction, and the third L-shaped arm is rotatably connected to the proximal end of the horizontal arm.

10. The primary manipulator of claim 8, wherein the counterbalanced arm further comprises:

The two ends of the supporting rod are hinged with the first rod and the second rod respectively, and the supporting rod is parallel to the third rod;

The guide block is hinged with the support rod;

A sliding rod with one end hinged with the first rod or the second rod to form a hinged end and the other end forming a free end, the sliding rod being slidably connected with the guide block, and

11. The primary manipulator of claim 8, wherein the counterbalanced arm further comprises:

The first rotation angle measuring device is arranged at the far end of the balancing arm, and is connected with the hinge point of the base and the first rod or the hinge point of the base and the second rod so as to measure the rotation angle of the first rod or the second rod around the hinge point.

12. The primary manipulator of claim 11, wherein the first rotation angle measurement device is an optical encoder.

13. The primary manipulator of claim 8, wherein the plurality of arms further comprise:

14. The primary manipulator of claim 13, wherein the primary manipulator is configured to,

The first distal arm includes:

The second distal arm includes:

15. A surgical robotic system, comprising:

A master trolley comprising a main body and at least one master manipulator as claimed in any one of claims 1 to 14, the distal end of the at least one master manipulator being connected to the main body.

16. The surgical robotic system of claim 15, wherein the master trolley further comprises:

17. The surgical robotic system of claim 16, wherein the leveling device comprises:

A base;

A first adjustment seat disposed on the base and pivotally connected to the base;

The second adjusting mechanism is arranged on the first adjusting seat and used for adjusting the rotation amplitude of the second adjusting seat around a second pivot shaft, wherein the first pivot shaft and the second pivot shaft form an angle.

18. The surgical robotic system of claim 16, wherein the at least one primary manipulator comprises a left primary manipulator and a right primary manipulator, wherein

The at least one leveling device includes a first leveling device to which the distal ends of the left and right main operators are connected, or

The at least one leveling device comprises a first leveling device and a second leveling device, wherein the far end of the left main operator is connected to the first leveling device, and the far end of the right main operator is connected to the second leveling device.