CN109381261B

Movatterモバイル変換

Info

Publication number: CN109381261B
Application number: CN201710693447.5A
Authority: CN
Inventors: 任洪亮; 李长胜; 顾晓艺; 林水明
Original assignee: Singapore Suzhou Research Institute, National University of; National University of Singapore
Current assignee: Singapore Suzhou Research Institute, National University of; National University of Singapore
Priority date: 2017-08-14
Filing date: 2017-08-14
Publication date: 2022-10-28
Anticipated expiration: 2037-08-14
Also published as: WO2019035764A1; CN109381261A

Abstract

A surgical manipulator includes a support assembly, at least one motion assembly, a bending drive assembly, and an endoscope. The bracket component includes preceding, back supporting seat to and be connected to the crooked subassembly of preceding supporting seat through the bracing piece, wherein, crooked subassembly include with the rear end component that the bracing piece links to each other, and through the pivot with but intermediate member and front end component that rear end component pivot ground connects gradually. Each motion assembly includes a plurality of transmission assemblies arranged in parallel. An elastic screw rod of the transmission assembly slidably penetrates through first through holes respectively formed in the front end component, the middle component and the rear end component. The driving rope of the bending driving assembly can slidably penetrate through the second through holes respectively formed in the front end member and the middle member and is fixedly connected to the rear end member. The driving rope is suitable for driving the front end component, the middle component and the rear end component to rotate relatively, and the elastic screw rod is enabled to deform elastically. The surgical operation arm has the advantages of convenience in operation and high accuracy.

Description

Translated fromChinese

外科手术操作臂及外科手术机器人Surgical manipulator and surgical robot

技术领域technical field

本发明涉及外科医疗器械领域，特别是涉及应用于喉部的微创手术中的外科手术操作臂及外科手术机器人。The invention relates to the field of surgical medical instruments, in particular to a surgical operation arm and a surgical robot used in minimally invasive surgery of the larynx.

背景技术Background technique

喉部疾病是常见病和多发病，经常需要手术治疗，常见的治疗方式为内窥镜配合手术器械操作。由于喉部是人体结构中最为复杂的区域之一，具有空洞小、位置深、神经血管密集等特点，因此对手术操作者提出了较高的要求。喉部手术机器人除了能够克服内窥镜二维图像缺少纵深感、器械灵活性不足等问题外，还可以有效减少手术创伤和出血，缩短手术时间，使患者在术后得到较快恢复，因此具有广泛的应用前景。Laryngeal diseases are common and frequently-occurring diseases that often require surgical treatment. The common treatment method is endoscopy with surgical instruments. Since the larynx is one of the most complicated areas in the human body structure, it has the characteristics of small cavity, deep position, dense nerve and blood vessels, etc., so it puts forward higher requirements for surgical operators. In addition to overcoming the problems of lack of depth sense in endoscopic two-dimensional images and insufficient flexibility of instruments, the throat surgery robot can also effectively reduce surgical trauma and bleeding, shorten operation time, and enable patients to recover faster after surgery. Wide application prospects.

现有的喉部手术机器人系统存在体积大、机构复杂、控制困难、夹持力小、工作空间有限等缺点。例如，N.Simaan等人在发表的论文“A Dexterous System for LaryngealSurgery”(IEEE International Conference on Robotics&Automation，2004，1：351-357)中提出了一种用于喉部手术的灵巧系统，该系统使用了一种蛇形机器人，该蛇形机器人采用多根弹性管作为柔性支撑，通过推拉模式实现工具末端的弯曲，将平行固定装置的平移转换为蛇形机构末端手爪的旋转。这种机器人的末端旋转完全通过弹性管弯曲实现，弯曲半径较大。此外，McLeod IK等人在发表的论文“Potential Applications of the DaVinci Minimally Invasive Surgical Robotic System in Otolaryngology”(《EarNose&Throat Journal》，2005，84(8)：483-487)中提到使用Da Vinci外科手术机器人进行喉部外科手术，该外科手术机器人包含用于操作的两个多自由度夹持机构，通过配合喉镜获得病变部位的视觉信息，利用主从方式进行手术操作。然而，这种机器人体积较大，夹持机构难以快速定位，同时，在运动过程中末端容易发生干涉。Existing robot systems for laryngeal surgery have disadvantages such as large volume, complex mechanism, difficult control, small clamping force, and limited working space. For example, N.Simaan et al. proposed a dexterous system for laryngeal surgery in the published paper "A Dexterous System for Laryngeal Surgery" (IEEE International Conference on Robotics & Automation, 2004, 1: 351-357), which uses A snake-like robot is developed. The snake-like robot uses multiple elastic tubes as flexible supports to realize the bending of the end of the tool through a push-pull mode, and converts the translation of the parallel fixture into the rotation of the claw at the end of the snake-like mechanism. The end rotation of this robot is achieved entirely by bending the elastic tube with a large bending radius. In addition, McLeod IK et al mentioned in the paper "Potential Applications of the DaVinci Minimally Invasive Surgical Robotic System in Otolaryngology" ("EarNose&Throat Journal", 2005, 84(8): 483-487) that the Da Vinci surgical robot was used For laryngeal surgery, the surgical robot includes two multi-degree-of-freedom clamping mechanisms for operation, and obtains visual information of the lesion by cooperating with a laryngoscope, and performs surgical operations in a master-slave manner. However, this kind of robot has a large volume, and the clamping mechanism is difficult to quickly locate. At the same time, the end is prone to interference during the movement.

发明内容SUMMARY OF THE INVENTION

基于此，有必要针对现有外科手术机器人，尤其是喉部手术机器人存在的操作不便、精度不高的缺点，提供一种基于多个平行的弹性丝杆驱动的传动件的外科手术操作臂，以及采用该外科手术操作臂的外科手术机器人，其特别适合于辅助外科医生实施喉部手术。Based on this, it is necessary to provide a surgical operation arm based on transmission parts driven by multiple parallel elastic screw rods, aiming at the disadvantages of inconvenient operation and low precision of existing surgical robots, especially throat surgical robots, And the surgical operation robot adopting the surgical operation arm is especially suitable for assisting the surgeon to perform laryngeal operation.

在本发明的一个方面，提供了一种外科手术操作臂。该外科手术操作臂包括：In one aspect of the invention, a surgical manipulator arm is provided. The surgical manipulator includes:

支架组件，其包括：前支撑座，通过一连接板连接至所述前支撑座的一端的后支撑座，以及通过支撑杆连接至所述前支撑座的与所述后支撑座相对的另一端的弯曲组件，其中，所述弯曲组件包括与所述支撑杆相连的后端构件，以及通过转轴与所述后端构件可枢转地依次连接的中间构件和前端构件；A bracket assembly, which includes: a front support base, a rear support base connected to one end of the front support base through a connecting plate, and the other end opposite to the rear support base connected to the front support base through a support rod The bending assembly, wherein, the bending assembly includes a rear end member connected to the support rod, and an intermediate member and a front end member that are pivotally connected to the rear end member through a rotating shaft in sequence;

至少一个运动组件，每个运动组件均包括连接法兰和与该连接法兰相连的、平行设置的多个传动组件，每个传动组件均包括第一螺杆组件、弹性丝杆、万向联轴器和法兰连接杆，其中，所述第一螺杆组件连接至所述弹性丝杆的一端，所述弹性丝杆的另一端通过所述万向联轴器连接至所述法兰连接杆的一端，所述法兰连接杆的另一端连接至所述连接法兰的一端端面，所述连接法兰的另一个端面适于安装手术器械；At least one movement assembly, each movement assembly includes a connecting flange and a plurality of transmission assemblies connected to the connection flange and arranged in parallel, each transmission assembly includes a first screw assembly, an elastic screw rod, a universal coupling device and a flange connecting rod, wherein the first screw assembly is connected to one end of the elastic screw rod, and the other end of the elastic screw rod is connected to the flange connecting rod through the universal coupling One end, the other end of the flange connecting rod is connected to one end face of the connecting flange, and the other end face of the connecting flange is suitable for installing surgical instruments;

弯曲驱动组件，其包括第二螺杆组件和驱动绳，其中，所述第二螺杆组件连接至所述驱动绳的一端，所述驱动绳的另一端固定连接至所述前端构件；以及a bending drive assembly comprising a second screw assembly and a drive cord, wherein the second screw assembly is connected to one end of the drive cord and the other end of the drive cord is fixedly connected to the front end member; and

内窥镜，其固定连接至所述前端构件；an endoscope fixedly connected to the front end member;

其中，所述传动组件的所述第一螺杆组件和所述弯曲驱动组件的所述第二螺杆组件分别连接至所述前支撑座和所述后支撑座，并且可相对所述前支撑座和所述后支撑座进行轴向往复运动；Wherein, the first screw assembly of the transmission assembly and the second screw assembly of the bending drive assembly are respectively connected to the front support base and the rear support base, and can be opposite to the front support base and the rear support base. The rear support base performs axial reciprocating motion;

所述前端构件、所述中间构件和所述后端构件均分别开设有供所述传动组件的所述弹性丝杆可滑动地穿过的第一通孔，所述前端构件、所述中间构件和所述后端构件还均分别开设有供所述弯曲驱动组件的所述驱动绳可滑动地穿过的第二通孔；The front-end member, the intermediate member and the rear-end member are respectively provided with first through holes for the elastic threaded rod of the transmission assembly to slide through, and the front-end member, the intermediate member and the rear end member are respectively provided with second through holes for the drive rope of the bending drive assembly to slide through;

当所述弯曲驱动组件的所述第二螺杆组件相对所述前支撑座和所述后支撑座向后运动时，所述驱动绳适于驱动所述前端构件、所述中间构件和所述后端构件作相对转动，促使所述弹性丝杆发生弹性形变。When the second screw assembly of the bending drive assembly moves backward relative to the front support base and the rear support base, the drive rope is adapted to drive the front end member, the middle member and the rear support base. The relative rotation of the end member promotes the elastic deformation of the elastic threaded rod.

在其中一个实施例中，所述外科手术操作臂包括平行设置的两个运动组件。In one of the embodiments, the surgical operation arm includes two moving assemblies arranged in parallel.

在其中一个实施例中，每个运动组件均包括平行设置的三个传动组件。In one of the embodiments, each moving assembly includes three transmission assemblies arranged in parallel.

优选地，所述传动组件的所述弹性丝杆是具有可恢复弹性的柱状丝杆。Preferably, the elastic screw rod of the transmission assembly is a cylindrical screw rod with recoverable elasticity.

优选地，所述弯曲驱动组件的所述驱动绳是具有柔韧性的软绳。Preferably, the drive cord of the bending drive assembly is a soft cord with flexibility.

优选地，所述前端构件、所述中间构件、所述后端构件均为带有多个通孔的块状结构。Preferably, the front end member, the intermediate member and the rear end member are all block structures with a plurality of through holes.

在其中一个实施例中，所述传动组件的所述第一螺杆组件包括第一螺杆、第一连接件和第一螺杆连接杆，所述第一螺杆通过所述第一连接件连接至所述第一螺杆连接杆的一端，所述第一螺杆连接杆的另一端连接至所述传动组件的所述弹性丝杆；所述弯曲驱动组件的所述第二螺杆组件包括第二螺杆、第二连接件和第二螺杆连接杆，所述第二螺杆通过所述第二连接件连接至所述第二螺杆连接杆的一端，所述第二螺杆连接杆的另一端连接至所述弯曲驱动组件的所述驱动绳。In one of the embodiments, the first screw assembly of the transmission assembly includes a first screw, a first connecting piece and a first screw connecting rod, and the first screw is connected to the One end of the first screw connecting rod, the other end of the first screw connecting rod is connected to the elastic screw of the transmission assembly; the second screw assembly of the bending drive assembly includes a second screw, a second a connecting piece and a second screw connecting rod, the second screw is connected to one end of the second screw connecting rod through the second connecting piece, and the other end of the second screw connecting rod is connected to the bending drive assembly of the drive rope.

在其中一个实施例中，所述前支撑座开设有供所述第一螺杆组件的所述第一螺杆连接杆可滑动地穿过的第三通孔，所述前支撑座还开设有供所述第二螺杆组件的所述第二螺杆连接杆可滑动地穿过的第四通孔；所述后支撑座开设有供所述第一螺杆组件的所述第一螺杆穿过并且与所述第一螺杆螺纹连接的第一螺纹孔，所述后支撑座还开设有供所述第二螺杆组件的所述第二螺杆穿过并且与所述第二螺杆螺纹连接的第二螺纹孔。In one of the embodiments, the front support seat is provided with a third through hole through which the first screw connecting rod of the first screw assembly can slide through, and the front support seat is also provided with a third through hole for the first screw connection rod of the first screw assembly to slide through. the fourth through hole through which the second screw connecting rod of the second screw assembly can slide through; A first threaded hole for threaded connection of the first screw rod, and a second threaded hole for the second screw rod of the second screw rod assembly to pass through and threaded to the second screw rod is opened in the rear support base.

优选地，所述前支撑座和所述后支撑座均为带有多个通孔的块状结构。Preferably, both the front support seat and the rear support seat are block structures with a plurality of through holes.

与现有技术相比，根据本发明的上述方面的外科手术操作臂具有操作便利，精确度高的优点，特别适合于辅助外科医生实施喉部手术。具体地，该外科手术操作臂的运动组件采用平行机构——平行设置的多个传动组件，与传统的串联机构相比，具有定位精度高，输出力大的优点。此外，该外科手术操作臂采用弹性丝杆传递动力，配合平行机构，减小了操作臂末端弯曲半径，使与其连接的末端手术器械在狭小空间内操作更加灵活。在该外科手术操作臂具有两个运动组件的情况下，能够实现7个自由度的运动，从而能够满足操作该外科手术操作臂在人体喉位进行作业的需要。Compared with the prior art, the surgical operating arm according to the above aspects of the present invention has the advantages of convenient operation and high precision, and is especially suitable for assisting surgeons in performing throat operations. Specifically, the movement component of the surgical operation arm adopts a parallel mechanism—a plurality of transmission components arranged in parallel, which has the advantages of high positioning accuracy and large output force compared with the traditional series mechanism. In addition, the surgical operating arm uses an elastic screw to transmit power, and cooperates with a parallel mechanism to reduce the bending radius of the end of the operating arm, making the operation of the terminal surgical instrument connected to it more flexible in a narrow space. In the case that the surgical operation arm has two moving components, it can realize the movement of 7 degrees of freedom, so as to meet the requirement of operating the surgical operation arm to perform operations at the larynx position of the human body.

在本发明的另一个方面，提供了一种外科手术机器人。该外科手术机器人包括上述方面的外科手术操作臂、手术器械、动力源、控制器和显示设备。所述手术器械安装至所述外科手术操作臂的所述连接法兰；所述动力源连接至所述外科手术操作臂的所述螺杆，用于驱动所述螺杆；所述控制器配置为控制所述动力源的操作；所述显示设备连接至所述内窥镜，用于显示所述内窥镜采集到的图像。In another aspect of the present invention, a surgical robot is provided. The surgical robot includes the surgical operation arm, surgical instrument, power source, controller and display device of the above aspects. The surgical instrument is mounted to the connecting flange of the surgical operation arm; the power source is connected to the screw rod of the surgical operation arm for driving the screw rod; the controller is configured to control Operation of the power source; the display device is connected to the endoscope for displaying images collected by the endoscope.

根据上述方面的外科手术机器人，可以按照手术需要，在外科手术操作臂的连接法兰端面配置不同的手术器械，如喉部用的手术钳、手术剪、烧结工具等。该外科手术机器人可以深入人体喉管内部工作，并且末端手术器械具有较大的工作空间。According to the above-mentioned surgical robot, different surgical instruments, such as surgical forceps, surgical scissors, and sintering tools for the throat, can be arranged on the end face of the connecting flange of the surgical operation arm according to the surgical needs. The surgical robot can work deep inside the throat of the human body, and the terminal surgical instrument has a large working space.

附图说明Description of drawings

图1为根据本发明的一个实施例的外科手术操作臂的结构示意图；FIG. 1 is a schematic structural view of a surgical operation arm according to an embodiment of the present invention;

图2为图1所示的外科手术操作臂的支架组件的结构示意图；Fig. 2 is a schematic structural view of the bracket assembly of the surgical operation arm shown in Fig. 1;

图3为图2所示的支架组件的前端构件的结构示意图；Fig. 3 is a schematic structural view of the front-end component of the bracket assembly shown in Fig. 2;

图4为图2所示的支架组件的中间构件的结构示意图；Fig. 4 is a structural schematic diagram of an intermediate member of the bracket assembly shown in Fig. 2;

图5为图2所示的支架组件的后端构件的结构示意图；Fig. 5 is a structural schematic diagram of the rear end member of the bracket assembly shown in Fig. 2;

图6为图2所示的支架组件的支撑杆块的结构示意图；Fig. 6 is a structural schematic diagram of a support bar block of the bracket assembly shown in Fig. 2;

图7为图2所示的支架组件的前支撑座的结构示意图；Fig. 7 is a schematic structural view of the front support seat of the bracket assembly shown in Fig. 2;

图8为图2所示的支架组件的后支撑座的结构示意图；Fig. 8 is a schematic structural view of the rear support seat of the bracket assembly shown in Fig. 2;

图9为图2所示的支架组件的连接板的结构示意图；Fig. 9 is a schematic structural view of the connecting plate of the bracket assembly shown in Fig. 2;

图10为图1所示的外科手术操作臂的运动组件的结构示意图；Fig. 10 is a schematic structural view of the movement assembly of the surgical operation arm shown in Fig. 1;

图11为图10所示的运动组件的传动组件的结构示意图；Fig. 11 is a schematic structural view of the transmission assembly of the motion assembly shown in Fig. 10;

图12为图10所示的运动组件的传动组件的结构示意图；Fig. 12 is a schematic structural view of the transmission assembly of the motion assembly shown in Fig. 10;

图13为图12所示的传动组件的法兰连接杆的结构示意图；Fig. 13 is a structural schematic diagram of the flange connecting rod of the transmission assembly shown in Fig. 12;

图14为图12所示的传动组件的万向联轴器的结构示意图；Fig. 14 is a schematic structural view of the universal coupling of the transmission assembly shown in Fig. 12;

图15为图12所示的传动组件的弹性丝杆的结构示意图；Fig. 15 is a schematic structural view of the elastic screw rod of the transmission assembly shown in Fig. 12;

图16为图12所示的传动组件的螺杆组件的结构示意图；Fig. 16 is a schematic structural view of the screw assembly of the transmission assembly shown in Fig. 12;

图17为图16所示的螺杆组件的螺杆连接杆的结构示意图；Fig. 17 is a schematic structural view of the screw connecting rod of the screw assembly shown in Fig. 16;

图18为图16所示的螺杆组件的连接件的结构示意图；Fig. 18 is a structural schematic diagram of a connector of the screw assembly shown in Fig. 16;

图19为图16所示的螺杆组件的螺杆的结构示意图；Figure 19 is a schematic structural view of the screw of the screw assembly shown in Figure 16;

图20为图1所示的外科手术操作臂的弯曲驱动组件的结构示意图；Fig. 20 is a structural schematic diagram of the bending drive assembly of the surgical operation arm shown in Fig. 1;

图21为图20所示的弯曲驱动组件的驱动绳的结构示意图；Fig. 21 is a schematic structural view of the drive rope of the bending drive assembly shown in Fig. 20;

图22为图1所示的外科手术操作臂的内窥镜的结构示意图；Fig. 22 is a schematic structural view of the endoscope of the surgical operation arm shown in Fig. 1;

图23为图1所示的外科手术操作臂的支架组件处于弯曲状态的结构示意图；Fig. 23 is a structural schematic diagram of the bracket assembly of the surgical operation arm shown in Fig. 1 in a bent state;

图24为图1所示的外科手术操作臂的运动组件处于弯曲状态的结构示意图；Fig. 24 is a structural schematic diagram of the movement assembly of the surgical operation arm shown in Fig. 1 in a bent state;

图25为图1所示的外科手术操作臂处于人体喉部中的状态示意图。Fig. 25 is a schematic diagram of the state where the surgical operation arm shown in Fig. 1 is in the throat of a human body.

附图标记说明Explanation of reference signs

100：支架组件；100: bracket assembly;

101：前端构件；101: front-end component;

103：中间构件；103: intermediate component;

105：后端构件；105: back-end component;

120：支撑杆；120: support rod;

131：前支撑座；131: front support seat;

133：后支撑座；133: rear support seat;

140：连接板；140: connecting plate;

151A、151B、151C、151D、151E、151F：第一通孔；151A, 151B, 151C, 151D, 151E, 151F: first through holes;

152：第二通孔；152: the second through hole;

153A、153B、153C、153D：安装孔；153A, 153B, 153C, 153D: mounting holes;

154A、154B、154C、154D、154E、154F：第三通孔；154A, 154B, 154C, 154D, 154E, 154F: the third through hole;

155：第四通孔；155: the fourth through hole;

156A、156B、156C、156D、156E、156F：第一螺纹孔；156A, 156B, 156C, 156D, 156E, 156F: first threaded holes;

157：第二螺纹孔；157: the second threaded hole;

200：运动组件；200: motion components;

210：连接法兰；210: connecting flange;

220：传动组件；220: transmission assembly;

221：法兰连接杆；221: flange connecting rod;

223：万向联轴器；223: Universal coupling;

225：弹性丝杆；225: elastic screw rod;

227：第一螺杆组件；227: first screw assembly;

2271：螺杆连接杆；2271: screw connecting rod;

2273：连接件；2273: connector;

2275：螺杆；2275: screw;

300：弯曲驱动组件；300: bending drive assembly;

310：驱动绳；310: driving rope;

320：第二螺杆组件；320: second screw assembly;

400：内窥镜。400: Endoscopy.

具体实施方式Detailed ways

为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施的限制。In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific implementations disclosed below.

可以理解的是，当本文中的特征或要素被称为在另一特征或要素“上”，它可以直接在另一特征或要素上，或者也可能存在介于中间的特征和/或要素。相反，当特征或要素被称为“直接在”另一特征或要素“上”，则不存在介于中间的特征和/或要素。也可以理解，当特征或要素被称为是“连接”至另一特征或要素上，它可以是直接连接至另一特征或要素，或者可能存在介于中间的特征和/或要素。相反，当特征或要素被成为“直接连接”至另一特征或要素，则不存在介于中间的特征和/或要素。It will be understood that when a feature or element is referred to herein as being "on" another feature or element, it can be directly on the other feature or element or intervening features and/or elements may also be present. In contrast, when a feature or element is referred to as being "directly on" another feature or element, there are no intervening features and/or elements present. It will also be understood that when a feature or element is referred to as being "connected to" another feature or element, it can be directly connected to the other feature or element or intervening features and/or elements may be present. In contrast, when a feature or element is referred to as being "directly connected" to another feature or element, there are no intervening features and/or elements present.

空间相关的术语，如“在……之下”、“在……之上”、“在……之后”、“在……之前”等等，本文可以用来方便描述如附图所说明的一个要素或特征相对另一个要素或特征的关系。可以理解的是，空间相关的术语旨在除了图中描述的方向，还包含使用中或工作中的设备的不同的方向。例如，如果在图中的设备是倒转的，描述为在其他要素或特征“之后”的要素，然后可能会朝向其他要素或特征“之前”。因此，示例性的术语“之后”可以包含向后和向前两个方向。该设备可能有截然不同的朝向(旋转90度或以其他方向)，并且本文使用的空间相关的描述被相应地解释。类似地，除非另有特别指明，本文使用的“向前地”、“向后地”、“向上地”、“向下地”等术语只是为了举例说明。Spatially related terms, such as "under", "over", "after", "before", etc., may be used herein to facilitate describing The relationship of one element or feature to another. It will be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is inverted, elements described as "behind" other elements or features would then be oriented "in front of" the other elements or features. Thus, the exemplary term "rearward" can encompass both a backwards and forwards direction. The device may be otherwise oriented (rotated 90 degrees or otherwise) and the spatially relative descriptions used herein interpreted accordingly. Similarly, the terms "forwardly", "rearwardly", "upwardly", "downwardly" and the like are used herein for the purpose of illustration only, unless specifically stated otherwise.

虽然术语“第一”和“第二”可能在本文中用于描述各种特征/要素，但是除非另有特别指明，这些特征/要素不被这些术语限制。这些术语可以用来将一个特征/要素与另一特征/要素区分开来。因此，以下描述的第一特征/要素可以称为第二特征/要素，类似地，以下描述的第二特征/要素也可以称为第一特征/要素，而不脱离本发明的范围。Although the terms "first" and "second" may be used herein to describe various features/elements, these features/elements should not be limited by these terms unless specifically stated otherwise. These terms can be used to distinguish one feature/element from another feature/element. Therefore, a first feature/element described below could be termed a second feature/element, and similarly, a second feature/element described below could also be termed a first feature/element, without departing from the scope of the present invention.

图1为根据本发明的一个实施例的外科手术操作臂的结构示意图。如图所示，该外科手术操作臂包括支架组件100、平行设置的两个运动组件200A、200B、弯曲驱动组件300和内窥镜400。虽然本实施例具有两个运动组件200A、200B，但是本领域技术人员可以理解的是在其他实施例中可以仅具有一个运动组件，或者三个或三个以上运动组件。支架组件用于支撑运动组件、弯曲驱动组件和内窥镜。运动组件用于在外科手术操作臂的末端实施手术作业，采用两个以上的运动组件可以在外科手术操作臂的末端实施多个手术作业。如图22所示的内窥镜400用于采集图像信息，其可以是市场上可获得的任意合适的内窥镜。Fig. 1 is a schematic structural view of a surgical operation arm according to an embodiment of the present invention. As shown in the figure, the surgical operation arm includes asupport assembly 100 , twoparallel moving assemblies 200A, 200B, a bendingdrive assembly 300 and anendoscope 400 . Although this embodiment has two movingassemblies 200A, 200B, those skilled in the art can understand that there may be only one moving assembly, or three or more moving assemblies in other embodiments. The bracket assembly is used to support the motion assembly, bending drive assembly and endoscope. The motion assembly is used to perform operation at the end of the surgical operation arm, and multiple operation operations can be performed at the end of the surgical operation arm by using more than two motion assemblies. Theendoscope 400 shown in FIG. 22 is used to collect image information, and it can be any suitable endoscope available in the market.

如图2-9所示，支架组件100包括前端构件101、三个中间构件103、后端构件105、四个支撑杆120、前支撑座131、连接板140和后支撑座133。前端构件101、三个中间构件103和后端构件105以层叠方式串行排布并且相邻两个弯曲模块通过转轴可枢转地连接。虽然在本实施例中采用了三个中间构件103，但是本领域技术人员可以理解的是在其他实施例中也可以采用一个中间构件、两个中间构件或者三个以上中间构件。后端构件105通过四个支撑杆固定连接至前支撑座131，前支撑座131和后支撑座133都固定连接在连接板上140上。虽然在本实施例中采用了四个支撑杆120，但是本领域技术人员可以理解的是只要实现后端构件105和前支撑座之间的间隔地固定连接，可以采用任意数量的支撑杆。As shown in FIGS. 2-9 , thebracket assembly 100 includes afront component 101 , threeintermediate components 103 , arear component 105 , foursupport rods 120 , afront support base 131 , a connectingplate 140 and arear support base 133 . The front-end component 101 , the threeintermediate components 103 and the rear-end component 105 are arranged serially in a stacked manner, and two adjacent bending modules are pivotably connected by a rotating shaft. Although threeintermediate members 103 are used in this embodiment, those skilled in the art can understand that one intermediate member, two intermediate members or more than three intermediate members may also be used in other embodiments. Therear end member 105 is fixedly connected to thefront support base 131 through four support rods, and both thefront support base 131 and therear support base 133 are fixedly connected to the connectingplate 140 . Although foursupport rods 120 are used in this embodiment, those skilled in the art can understand that any number of support rods can be used as long as the spaced connection between therear end member 105 and the front support seat is realized.

如图10-15所示，每个运动组件200均包括连接法兰210和平行设置的三个传动组件220。虽然在本实施例中采用了三个传动组件220，但是本领域技术人员可以理解的是在其他实施例中也可以采用一个传动组件、两个传动组件或者三个以上传动组件。每个传动组件220均包括法兰连接杆221、万向联轴器223、弹性丝杆225、和第一螺杆组件227。第一螺杆组件227通过焊接、卡扣连接、螺纹连接、粘接等惯用连接方式连接至弹性丝杆225的一端，弹性丝杆225的另一端通过万向联轴器223连接至法兰连接杆221的一端，法兰连接杆221的另一端通过焊接、卡扣连接、螺纹连接、粘接等惯用连接方式连接至连接法兰210的一端端面，连接法兰210的另一个端面适于安装手术器械。在本实施例中，三个传动组件220的法兰连接杆221分别与连接法兰210上开设的连接孔固连。连接法兰210是具有多个安装孔的圆盘状结构，其除了用于连接法兰连接杆221外，还用于连接手术器械。弹性丝杆225是具有可恢复弹性的柱状丝杆，在径向力的作用下可发生弹性形变。法兰连接杆221是一种杆状结构，其用于支撑运动组件。万向联轴器223是市场上可获得的任意合适的万向联轴器，可以为任何合适的结构类型，例如，十字轴式、球笼式、球叉式、凸块式、球销式、球铰式、球铰柱塞式、三销式、三叉杆式、三球销式、铰杆式等。As shown in FIGS. 10-15 , each movingassembly 200 includes a connectingflange 210 and threetransmission assemblies 220 arranged in parallel. Although threetransmission assemblies 220 are used in this embodiment, those skilled in the art can understand that one transmission assembly, two transmission assemblies or more than three transmission assemblies may also be used in other embodiments. Eachtransmission assembly 220 includes aflange connecting rod 221 , auniversal joint 223 , anelastic screw 225 , and afirst screw assembly 227 . Thefirst screw assembly 227 is connected to one end of theelastic screw rod 225 by conventional connection methods such as welding, snap-fit connection, threaded connection, and bonding, and the other end of theelastic screw rod 225 is connected to the flange connecting rod through auniversal coupling 223 221, and the other end of theflange connecting rod 221 is connected to one end face of the connectingflange 210 by welding, buckle connection, screw connection, bonding and other conventional connection methods, and the other end face of the connectingflange 210 is suitable for installation instrument. In this embodiment, theflange connecting rods 221 of the threetransmission components 220 are fixedly connected to the connecting holes provided on the connectingflange 210 respectively. The connectingflange 210 is a disc-shaped structure with multiple mounting holes, and it is not only used for connecting theflange connecting rod 221, but also used for connecting surgical instruments. Theelastic screw 225 is a cylindrical screw with recoverable elasticity, which can be elastically deformed under the action of radial force. Theflange connecting rod 221 is a rod-shaped structure used to support the moving components. Theuniversal joint 223 is any suitable universal joint available on the market, and can be of any suitable structure type, for example, a cross shaft type, a ball cage type, a ball fork type, a bump type, a ball pin type , Ball hinge type, ball hinge plunger type, tripod type, tripod rod type, tripod pin type, hinge rod type, etc.

如图16-19所示，第一螺杆组件227包括螺杆连接杆2271、连接件2273和螺杆2275。螺杆2275通过连接件2273连接至螺杆连接杆2271的一端，螺杆连接杆2271的另一端连接至弹性丝杆225。螺杆连接杆2271是一种一端带有台阶，两侧带有平面的杆状结构，其用于传递动力。连接件2273是一种两端分别带有通孔和阶梯孔的柱状结构，其两端分别用于连接螺杆连接杆2271和螺杆2275。螺杆2275是市场上可获得的任意合适的螺杆，其用于将在一端(输入端)上的旋转运动转换为在另一端(输出端)上的直线运动。螺杆2275的输入端连接电动机等动力源，螺杆2275的输出端连接至连接件2273。螺杆2275的旋转将导致螺杆2275在直线上的往复运动，螺杆2275的往复运动通过连接件2273传递至螺杆连接杆2271，从而使得螺杆连接杆2271也具有在直线上的往复运动。连接件2273限制了螺杆连接杆2271的旋转。As shown in FIGS. 16-19 , thefirst screw assembly 227 includes ascrew connecting rod 2271 , a connectingpiece 2273 and ascrew 2275 . Thescrew 2275 is connected to one end of thescrew connecting rod 2271 through the connectingpiece 2273 , and the other end of thescrew connecting rod 2271 is connected to theelastic screw 225 . Thescrew connecting rod 2271 is a rod-shaped structure with a step at one end and planes at both sides, which is used for power transmission. The connectingpiece 2273 is a columnar structure with through holes and stepped holes at both ends, and its two ends are used to connect thescrew connecting rod 2271 and thescrew rod 2275 respectively.Screw 2275 is any suitable commercially available screw for converting rotary motion on one end (input) to linear motion on the other end (output). The input end of thescrew rod 2275 is connected to a power source such as a motor, and the output end of thescrew rod 2275 is connected to the connectingpiece 2273 . The rotation of thescrew 2275 will cause the reciprocating motion of thescrew 2275 on a straight line, and the reciprocating motion of thescrew 2275 is transmitted to thescrew connecting rod 2271 through the connectingpiece 2273, so that thescrew connecting rod 2271 also has a reciprocating motion on a straight line. The connectingpiece 2273 limits the rotation of thescrew connecting rod 2271 .

如图20-21所示，弯曲驱动组件300包括驱动绳310和第二螺杆组件320。第二螺杆组件320连接至驱动绳310的一端，驱动绳310的另一端固定连接至支架组件100的前端构件101。驱动绳是市场上可获得的具有柔韧性的软绳。第二螺杆组件320可以采用类似于第一螺杆组件227的配置。在本实施例中，第二螺杆组件320的结构和功能与第一螺杆组件227的结构和功能完全相同，在此不再赘述。As shown in FIGS. 20-21 , the bendingdrive assembly 300 includes adrive cord 310 and a second screw assembly 320 . The second screw assembly 320 is connected to one end of thedriving wire 310 , and the other end of thedriving wire 310 is fixedly connected to thefront end member 101 of thebracket assembly 100 . The drive cord is a commercially available soft cord with flexibility. The second screw assembly 320 may employ a configuration similar to that of thefirst screw assembly 227 . In this embodiment, the structure and function of the second screw assembly 320 are completely the same as those of thefirst screw assembly 227 , and will not be repeated here.

再参考图3-5，前端构件101、中间构件103和后端构件105具有类似的结构，并且均为带有多个通孔的块状结构。前端构件101开设有第一通孔151A、151B、151C、151D、151E和151F，以及第二通孔152，中间构件103和后端构件105在与前端构件101的第一通孔和第二通孔对应的位置也开设有第一通孔和第二通孔。两个运动组件200的六个传动组件220各自的弹性丝杆225分别可滑动地依次穿过后端构件105、中间构件103和前端构件101的第一通孔151A、151B、151C、151D、151E和151F。弯曲驱动组件300的驱动绳310可滑动地依次穿过后端构件105、中间构件103和前端构件101的第二通孔152。穿过前端构件101的第二通孔152的驱动绳310的末端可连接至止位件，使得驱动绳310的末端相对前端构件101保持固定。可选地，可将驱动绳310的末端直接固定在前端构件101的第二通孔152中。当驱动绳310被向后拉时，驱动绳310适于驱动前端构件101、中间构件103和后端构件105绕相应的转轴作相对转动，促使穿过第一通孔的弹性丝杆发生弹性形变。前端构件101还用于固定内窥镜400。在图中未示出前端构件101与内窥镜400的连接方式，然而，本领域技术人员可以理解的是可以通过任意合适的本领域惯用技术手段将内窥镜400固定在前端构件101上，例如，胶粘、卡扣连接、螺纹连接等，在此不再赘述。在后端构件105中，还开设有安装孔153A、153B、153C、153D，这些安装孔分别用于连接四个支撑杆120的一端。Referring again to FIGS. 3-5 , thefront end member 101 , themiddle member 103 and therear end member 105 have similar structures, and all are block structures with a plurality of through holes. Thefront end member 101 is provided with first throughholes 151A, 151B, 151C, 151D, 151E and 151F, and a second throughhole 152. A first through hole and a second through hole are also opened at positions corresponding to the holes. The elastic threadedrods 225 of the sixtransmission assemblies 220 of the two movingassemblies 200 respectively slidably pass through the first throughholes 151A, 151B, 151C, 151D, 151E and 151F. Thedriving wire 310 of thebending driving assembly 300 is slidably passed through the second throughhole 152 of therear end member 105 , themiddle member 103 and thefront end member 101 in sequence. The end of thedriving wire 310 passing through the second throughhole 152 of the front-end member 101 can be connected to the stopper so that the end of thedriving wire 310 remains fixed relative to the front-end member 101 . Optionally, the end of thedriving wire 310 can be directly fixed in the second throughhole 152 of thefront end member 101 . When the drivingrope 310 is pulled backward, the drivingrope 310 is suitable for driving the front-end member 101, themiddle member 103 and the rear-end member 105 to rotate relative to each other around the corresponding rotating shafts, so that the elastic screw rod passing through the first through hole is elastically deformed. . Thefront end member 101 is also used to fix theendoscope 400 . The connection mode between thefront end member 101 and theendoscope 400 is not shown in the figure, however, those skilled in the art can understand that theendoscope 400 can be fixed on thefront end member 101 by any suitable technical means commonly used in the art, For example, gluing, snap connection, screw connection, etc., will not be repeated here. Mountingholes 153A, 153B, 153C, and 153D are also opened in therear end member 105 , and these mounting holes are respectively used for connecting one ends of the foursupport rods 120 .

在参考图7，前支撑座131也为带有多个通孔的块状结构。前支撑座131开设有安装孔153A、153B、153C、153D，这些安装孔与后端构件105中的安装孔相对应，分别用于连接四个支撑杆120的另一端。前支撑座131开设有第三通孔154A、154B、154C、154D、154E和154F，以及第四通孔155。两个运动组件200的六个传动组件220各自的螺杆连接杆2271分别可滑动地穿过前支撑座131的第三通孔154A、154B、154C、154D、154E和154F。弯曲驱动组件300的螺杆连接杆可滑动地穿过前支撑座131的第四通孔155。Referring to FIG. 7 , thefront support base 131 is also a block structure with a plurality of through holes. Thefront support base 131 is provided with mountingholes 153A, 153B, 153C, 153D, which correspond to the mounting holes in therear member 105 and are respectively used for connecting the other ends of the foursupport rods 120 . Thefront support base 131 defines third throughholes 154A, 154B, 154C, 154D, 154E and 154F, and a fourth throughhole 155 . Thescrew connecting rods 2271 of the sixtransmission assemblies 220 of the two movingassemblies 200 are respectively slidably passed through the third throughholes 154A, 154B, 154C, 154D, 154E and 154F of thefront support base 131 . The screw connecting rod of thebending driving assembly 300 can slide through the fourth throughhole 155 of thefront support base 131 .

在参考图8，后支撑座133也为带有多个通孔的块状结构。后支撑座133开设有第一螺纹孔156A、156B、156C、156D、156E和154F，以及第二螺纹孔157。两个运动组件200的六个传动组件220各自的螺杆2275分别穿过第一螺纹孔156A、156B、156C、156D、156E和154F并且与这些第一螺纹孔156A、156B、156C、156D、156E和154F螺纹连接。弯曲驱动组件300的螺杆穿过第二螺纹孔157并且与该第二螺纹孔157螺纹连接。运动组件200和弯曲驱动组件300的螺杆均可在动力源的驱动力的作用下在相应螺纹孔中旋转。Referring to FIG. 8 , therear support seat 133 is also a block structure with a plurality of through holes. Therear support base 133 defines first threadedholes 156A, 156B, 156C, 156D, 156E and 154F, and a second threadedhole 157 . Therespective screw rods 2275 of the sixtransmission assemblies 220 of the two movingassemblies 200 respectively pass through the first threadedholes 156A, 156B, 156C, 156D, 156E and 154F and connect with these first threadedholes 156A, 156B, 156C, 156D, 156E and 154F threaded connection. The screw rod of the bending driving assembly 300 passes through the second threadedhole 157 and is threadedly connected with the second threadedhole 157 . Both the screw rods of the movingassembly 200 and thebending driving assembly 300 can rotate in corresponding threaded holes under the driving force of the power source.

传动组件220和弯曲驱动组件300的螺杆组件分别由前支撑座131和后支撑座133支撑，并且可相对前支撑座131和后支撑座133进行轴向往复运动。螺杆组件的螺杆与后支撑座133的螺纹孔螺纹配合，螺杆组件的螺杆连接杆与前支撑座的第四通孔可滑动配合。螺杆可在电动机等动力源驱动下旋转，使得螺杆相对后支撑座133进行轴向往复运动，此时，在螺杆的驱动下，螺杆连接杆相对前支撑座131进行轴向往复运动。连接螺杆和螺杆连接杆的连接件允许螺杆的旋转，但是限制螺杆连接杆的旋转。螺杆连接杆的轴向往复运动将相应地驱动与其连接的弹性丝杆或驱动绳的轴向往复运动。Thetransmission assembly 220 and the screw assembly of the bendingdrive assembly 300 are respectively supported by thefront support base 131 and therear support base 133 , and can perform axial reciprocating movement relative to thefront support base 131 and therear support base 133 . The screw rod of the screw rod assembly is threadedly engaged with the threaded hole of therear support base 133, and the screw connecting rod of the screw rod assembly is slidably engaged with the fourth through hole of the front support base. The screw can be rotated under the drive of a power source such as a motor, so that the screw can reciprocate axially relative to therear support base 133 . At this time, driven by the screw, the connecting rod of the screw can reciprocate axially relative to thefront support 131 . The link connecting the screw and the screw connecting rod allows rotation of the screw but restricts rotation of the screw connecting rod. The axial reciprocating movement of the screw connecting rod will correspondingly drive the axial reciprocating movement of the elastic screw or driving rope connected thereto.

图23展示了上述外科手术操作臂的支架组件处于弯曲状态的结构示意图。当旋转弯曲驱动组件300的第二螺杆组件320的螺杆，使得第二螺杆组件320相对前支撑座131和后支撑座133整体向后平移时，与第二螺杆组件320连接的驱动绳310被向后拉，在驱动绳310的作用下前端构件101和中间构件103之间、中间构件103之间、中间构件103和后端构件105之间进行相对旋转运动。这时，原本对齐排列的前端构件101、中间构件103和后端构件105产生弯曲，限制在前端构件101、中间构件103和后端构件105的相应通孔中的各传动组件220的弹性丝杆225在径向力的作用下发生弯曲形变。通过旋转传动组件220的第一螺杆组件227的螺杆，还可以使得弹性丝杆225沿前端构件101、中间构件103和后端构件105的相应通孔进行轴向往复运动。在做往复运动时，运动组件200末端沿连接法兰210轴向平移或径向弯曲，实现每个运动组件3个自由度的运动。Fig. 23 shows a schematic structural view of the bracket assembly of the above-mentioned surgical operation arm in a bent state. When the screw rod of the second screw rod assembly 320 of the bendingdrive assembly 300 is rotated so that the second screw rod assembly 320 translates backward relative to thefront support base 131 and therear support base 133 as a whole, thedrive rope 310 connected to the second screw rod assembly 320 is moved toward Pulling back, under the action of the drivingrope 310 , there are relative rotational movements between thefront end member 101 and themiddle member 103 , between themiddle members 103 , and between themiddle member 103 and therear end member 105 . At this time, the originally aligned front-end member 101,middle member 103 and rear-end member 105 are bent, and the elastic screw rods of eachtransmission assembly 220 in the corresponding through holes of the front-end member 101,intermediate member 103 and rear-end member 105 are restricted. 225 undergoes bending deformation under the action of radial force. By rotating the screw of thefirst screw assembly 227 of thetransmission assembly 220 , the elastic threadedrod 225 can also be axially reciprocated along the corresponding through holes of thefront end member 101 , themiddle member 103 and therear end member 105 . During the reciprocating motion, the end of the movingcomponent 200 translates axially or bends radially along the connectingflange 210 to realize the movement of each moving component with three degrees of freedom.

图24展示了上述外科手术操作臂的运动组件处于弯曲状态的结构示意图。在前端构件101、中间构件103和后端构件105没有发生相对转动而产生弯曲的情况下，若向同一运动组件200的三个传动组件220施加相同的驱动力，可实现连接法兰210的轴向平移，即，一个自由度的平移运动。相较而言，若向同一运动组件200的三个传动组件220施加不同的驱动力，三个传动组件220中的万向联轴器223将会产生不同程度的转动，使得运动组件200末端朝向被施加驱动力较小的传动组件侧弯曲，如图24所示，并且传动组件之间受到的驱动力差异越大，弯曲程度越大。因此，通过控制动力源向三个传动组件220分别施加不同的驱动力，可以使得连接法兰210朝不同侧方弯曲，并且具有不同的弯曲度，实现连接法兰210在相互垂直的两个弯曲自由度的运动。Fig. 24 shows a schematic structural view of the above-mentioned movement assembly of the surgical operation arm in a bent state. Under the condition that the front-end member 101, themiddle member 103 and the rear-end member 105 do not rotate relative to each other to produce bending, if the same driving force is applied to the threetransmission assemblies 220 of thesame movement assembly 200, the shaft connection of theflange 210 can be achieved. Translational, that is, translational motion with one degree of freedom. In comparison, if different driving forces are applied to the threetransmission assemblies 220 of thesame motion assembly 200, theuniversal joints 223 in the threetransmission assemblies 220 will rotate to different degrees, so that the end of themotion assembly 200 faces The side of the transmission component to which a smaller driving force is applied is bent, as shown in FIG. 24 , and the greater the difference in driving force between the transmission components, the greater the degree of bending. Therefore, by controlling the power source to apply different driving forces to the threetransmission assemblies 220, the connectingflange 210 can be bent to different sides and have different degrees of curvature, so that the connectingflange 210 can be bent in two directions perpendicular to each other. degrees of freedom of movement.

本发明还提供了一种外科手术机器人。该外科手术机器人包括上述外科手术操作臂、手术器械、动力源、控制器和显示设备。手术器械(未图示)安装至外科手术操作臂的连接法兰，包括喉部用的手术钳、手术剪、烧结工具等；动力源(未图示)连接至外科手术操作臂的各螺杆，用于驱动螺杆旋转；控制器(未图示)配置为控制动力源的操作；显示设备(未图示)连接至内窥镜，用于显示内窥镜采集到的图像。该外科手术机器人特别适用与喉部外科手术，其工作方式如下：将外科手术操作臂安装有手术器械的一端置于患者的喉部；旋转弯曲驱动组件300的第二螺杆组件320的螺杆，使支架组件100发生弯曲，从而促使运动组件200也发生弯曲，同时向前推进外科手术机器人，直至外科手术机器人的手术器械到达病灶位置(图25展示了外科手术操作臂处于人体喉部中的状态示意图)；通过内窥镜400，结合显示设备观察病灶位置状态，旋转运动组件200的第一螺杆组件227的螺杆，改变运动组件200的末端位姿，从而改变手术器械的位姿；两个运动组件200A和200B相互配合，进行手术操作；手术完成后，相对于前述操作反向地旋转弯曲驱动组件300的第二螺杆组件320和运动组件200的第一螺杆组件227的螺杆，使支架组件100及运动组件200的弯曲得到恢复，同时向后移动外科手术机器人，直至外科手术机器人从患者咽喉部位完全退出。The invention also provides a surgical robot. The surgical robot includes the above-mentioned surgical operation arm, surgical instrument, power source, controller and display device. Surgical instruments (not shown) are installed on the connecting flange of the surgical operation arm, including surgical forceps for the throat, surgical scissors, sintering tools, etc.; power sources (not shown) are connected to the screws of the surgical operation arm, Used to drive the screw to rotate; the controller (not shown) is configured to control the operation of the power source; the display device (not shown) is connected to the endoscope for displaying images collected by the endoscope. This surgical robot is particularly suitable for laryngeal surgery, and its working method is as follows: place one end of the surgical operation arm with surgical instruments on the patient's larynx; rotate the screw rod of the second screw rod assembly 320 of the bendingdrive assembly 300 to makeBracket assembly 100 bends, thereby promptingmovement assembly 200 to also bend, and at the same time pushes the surgical robot forward until the surgical instrument of the surgical robot reaches the lesion position (Fig. ); through theendoscope 400, combined with the display device to observe the position of the lesion, the screw of thefirst screw assembly 227 of the movingassembly 200 is rotated to change the end pose of the movingassembly 200, thereby changing the pose of the surgical instrument; two movingassemblies 200A and 200B cooperate with each other to perform surgical operations; after the operation is completed, the screws of the second screw assembly 320 of the bendingdrive assembly 300 and thefirst screw assembly 227 of the movingassembly 200 are reversely rotated relative to the aforementioned operations, so that thebracket assembly 100 and The deflection of themotion assembly 200 is restored while moving the surgical robot backward until the surgical robot is fully withdrawn from the patient's throat.

以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.