US 12,239,403 B2
Terminal mechanism of surgical robot and control method and related equipment thereof
Yi Chen, Shanghai (CN)
Assigned to Eabmed Science and Technology (Shanghai) Co., Ltd., Shanghai (CN)
Appl. No. 18/702,634
Filed by Eabmed Science and Technology (Shanghai) Co., Ltd., Shanghai (CN)
PCT Filed Oct. 13, 2022, PCT No. PCT/CN2022/125100
§ 371(c)(1), (2) Date Apr. 18, 2024,
PCT Pub. No. WO2023/082929, PCT Pub. Date May 19, 2023.
Claims priority of application No. 202111338460.1 (CN), filed on Nov. 12, 2021.
Prior Publication US 2024/0407870 A1, Dec. 12, 2024
Int. Cl. B25J 15/00 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/70 (2016.02); A61B 2034/305 (2016.02)] 14 Claims
OG exemplary drawing
 
1. A terminal mechanism of a surgical robot, characterized by comprising:
an instrument base, connected to a distal end of a robotic arm of the surgical robot, wherein the robotic arm is configured to drive the instrument base to perform pose adjustment movements relative to a remote center of motion defined by the robotic arm; and,
a positioning link, configured to telescope along a Z-axis, and connected to the instrument base, wherein a distal end of the positioning link is configured to hold a channel member, and the channel member is provided with multiple channels, and each channel extends along the Z-axis, and a distal center of the channel member faces the remote center of motion along the Z-axis;
wherein the channel member comprises: a hollow shell, clamped to the distal end of the positioning link through a connecting buckle; and, a proximal end plate and a distal end plate, respectively provided at a proximal end of the hollow shell facing the positioning link and a distal end away from the positioning link, wherein the proximal end plate and the distal end plate are respectively provided with through-hole arrays constituting the multiple channels; and wherein each through-hole array is distributed in a same height layer referring to a Y-axis to form a one-row array along an X-axis, or, each through-hole array is distributed in multiple height layers referring to a Y-axis to form a multiple-row array with each row of through-holes arranged along an X-axis;
and,
an instrument driving mechanism, configured to install and drive multiple surgical instruments and connected to the instrument base, wherein multiple instrument installation paths and driving paths of the instrument driving mechanism do not interfere with each other, and when the instrument driving mechanism is installed with multiple surgical instruments, instrument shafts of the multiple surgical instruments extend along the Z-axis and align with the multiple channels respectively;
wherein, the instrument driving mechanism comprises multiple instrument driving modules used to install and drive the multiple surgical instruments respectively, and the multiple instrument driving modules are connected to the instrument base by multiple moving mechanisms respectively, and the moving mechanisms are configured to drive the instrument driving modules to move along the Y-axis and the Z-axis respectively; wherein, the pose adjustment movements comprise a pitch movement and a yaw movement around a vertical rotation axis passing through the remote center of motion.