Manipulator and surgical robot

Abstract

The present invention discloses a robotic arm and a surgical robot. The robotic arm includes a drive box, a connecting rod, an end effector, and a first set of drive wires and a second set of drive wires passing through the connecting rod. The end effector includes a connecting component connected to the connecting rod and an end actuator connected to the connecting component; the drive box includes a base connected to the connecting rod, a first rotating shaft provided on the base, and a second rotating shaft provided on the first rotating shaft and rotating coaxially with the first rotating shaft; the first set of drive wires starts from the first rotating shaft and terminates at a first position of the connecting component, and the second set of drive wires starts from the second rotating shaft and terminates at a second position of the connecting component. The first position is a position away from the connecting rod, and the second position is a position close to the connecting rod. The end effector is driven by the first set of drive wires and the second set of drive wires to achieve movement in the corresponding degrees-of-freedom directions. The present invention can improve the flexibility of the robotic arm during minimally invasive surgical operations.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a robotic arm and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] With the progress of technology, the technology of minimally invasive surgical robots has gradually matured and has been widely used. A minimally invasive surgical robot usually includes a master console and a slave operating device. The master console is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device, and the slave operating device is used to respond to the control commands sent by the master console and perform corresponding surgical operations.

[0004] The slave operating device usually includes a robotic arm, a power mechanism disposed on the robotic arm, and a robotic arm. The robotic arm is used to adjust the position of the robotic arm, the robotic arm is used to extend into the body and perform surgical operations, and the power mechanism is used to drive the end effector of the robotic arm to perform corresponding operations. However, when the existing robotic arm performs surgical operations, due to the structural limitations of the end effector, there is a lack of flexibility. Therefore, improving the flexibility of the robotic arm during surgical operations is an urgent problem to be solved in the industry. Summary of the Invention

[0005] The main object of the present invention is to provide a robotic arm and a surgical robot, aiming to improve the flexibility of the robotic arm during minimally invasive surgical operations.

[0006] To achieve the above object, the present invention provides a robotic arm, which includes a drive box, a connecting rod, an end effector connected in sequence, and a first set of drive wires and a second set of drive wires passing through the connecting rod. The end effector includes a connecting component connected to the connecting rod and an end effector connected to the connecting component. The drive box includes a base connected to the connecting rod and a drive shaft assembly disposed on the base. The drive shaft assembly includes a first rotating shaft disposed on the base and a second rotating shaft disposed on the first rotating shaft and rotating coaxially with the first rotating shaft. The first set of drive wires starts from the first rotating shaft and terminates at a first position of the connecting component, and the second set of drive wires starts from the second rotating shaft and terminates at a second position of the connecting component. The first position is a position away from the connecting rod, and the second position is a position close to the connecting rod, so as to drive the end effector to move in the corresponding degree-of-freedom direction when the drive shaft assembly rotates through the first set of drive wires and the second set of drive wires.

[0007] Preferably, the connection component includes a first connection unit connected to the end effector, a second connection unit coupled to the first connection unit, a third connection unit coupled to the second connection unit, a fourth connection unit coupled to the third connection unit, and a fifth connection unit with one end coupled to the fourth connection unit and the other end coupled to the connecting rod; the rotation central axis of the first connection unit is parallel to the rotation central axis of the third connection unit, the rotation central axis of the second connection unit is parallel to the rotation central axis of the fourth connection unit, and the rotation central axes of the first connection unit and the second connection unit are perpendicular.

[0008] Preferably, the drive shaft assembly includes a pitch angle drive shaft assembly and a swing angle drive shaft assembly. The pitch angle drive shaft assembly includes a first thick shaft provided on the base and a first thin shaft provided on the first thick shaft and co-axially rotating with the first thick shaft. The first set of drive wires includes a first drive wire and a second drive wire with opposite winding directions starting from the first thick shaft, and a third drive wire and a fourth drive wire with opposite winding directions starting from the first thin shaft; the swing angle drive shaft assembly includes a second thick shaft provided on the base and a second thin shaft provided on the second thick shaft and co-axially rotating with the second thick shaft. The second set of drive wires includes a fifth drive wire and a sixth drive wire with opposite winding directions starting from the second thick shaft, and a seventh drive wire and an eighth drive wire with opposite winding directions starting from the second thin shaft.

[0009] Preferably, the first drive wire, the second drive wire, the fifth drive wire, and the sixth drive wire terminate at the first connection unit; the third drive wire, the fourth drive wire, the seventh drive wire, and the eighth drive wire terminate at the third connection unit.

[0010] Preferably, when the pitch angle drive shaft assembly drives the end instrument to move in the pitch freedom direction, the length change amount of the first drive wire is equal to the sum of a first length change amount and a second length change amount. The first length change amount is the length change amount of the part of the first drive wire between the first connection unit and the second connection unit, and the second length change amount is the length change amount of the part of the first drive wire between the third connection unit and the fourth connection unit;

[0011] The length change amount of the second drive wire is equal to the sum of a third length change amount and a fourth length change amount. The third length change amount is the length change amount of the part of the second drive wire between the first connection unit and the second connection unit, and the fourth length change amount is the length change amount of the part of the second drive wire between the third connection unit and the fourth connection unit;

[0012] The fifth length change amount of the third drive wire is equal to the sixth length change amount of the fourth drive wire. The fifth length change amount is the length change amount of the part of the third drive wire between the third connection unit and the fourth connection unit, and the sixth length change amount is the length change amount of the part of the fourth drive wire between the third connection unit and the fourth connection unit.

[0013] Preferably, the first length change amount is equal to the third length change amount, and the second length change amount is equal to the fourth length change amount.

[0014] Preferably, the ratio of the diameter of the first thick shaft to the first thin shaft is equal to the ratio of the length change amount of the first drive wire to the length change amount of the third drive wire; or equal to the ratio of the length change amount of the second drive wire to the length change amount of the fourth drive wire.

[0015] Preferably, when the swing angle drive shaft assembly drives the end instrument to move in the direction of the swing degree of freedom, the length change amount of the fifth drive wire is equal to the sum of the seventh length change amount and the eighth length change amount. The seventh length change amount is the length change amount of the part of the fifth drive wire between the second connection unit and the third connection unit, and the eighth length change amount is the length change amount of the part of the fifth drive wire between the fourth connection unit and the fifth connection unit;

[0016] The length change amount of the sixth drive wire is equal to the sum of the ninth length change amount and the tenth length change amount. The ninth length change amount is the length change amount of the part of the sixth drive wire between the second connection unit and the third connection unit, and the tenth length change amount is the length change amount of the part of the sixth drive wire between the fourth connection unit and the fifth connection unit;

[0017] The eleventh length change amount of the seventh drive wire is equal to the twelfth length change amount of the eighth drive wire. The eleventh length change amount is the length change amount of the part of the seventh drive wire between the fourth connection unit and the fifth connection unit, and the twelfth length change amount is the length change amount of the part of the eighth drive wire between the fourth connection unit and the fifth connection unit.

[0018] Preferably, the seventh length change amount is equal to the ninth length change amount, and the eighth length change amount is equal to the tenth length change amount.

[0019] Preferably, the ratio of the diameter of the second thick shaft to the second thin shaft is equal to the ratio of the length change amount of the fifth drive wire to the length change amount of the seventh drive wire; or equal to the ratio of the length change amount of the sixth drive wire to the length change amount of the eighth drive wire.

[0020] Preferably, the first driving wire and the second driving wire are oppositely arranged around the axis of the connecting rod on the first connecting unit, and the fifth driving wire and the sixth driving wire are oppositely arranged around the axis of the connecting rod on the first connecting unit.

[0021] Preferably, the first driving wire and the fifth driving wire form a continuous driving wire, and the second driving wire and the sixth driving wire form a continuous driving wire.

[0022] Preferably, the first driving wire, the second driving wire, the fifth driving wire, and the sixth driving wire are spherical structures at the end positions corresponding to the connecting components.

[0023] Preferably, the third driving wire and the fourth driving wire are oppositely arranged around the axis of the connecting rod on the third connecting unit, and the seventh driving wire and the eighth driving wire are oppositely arranged around the axis of the connecting rod on the third connecting unit.

[0024] Preferably, the third driving wire and the seventh driving wire are on a complete first continuous driving wire.

[0025] Preferably, the third connecting unit is further provided with a first limiting hole and a second limiting hole between the third driving wire and the seventh driving wire; the first continuous driving wire further includes a first connecting wire respectively connecting the third driving wire and the seventh driving wire, one end of the first connecting wire is connected to the third driving wire, and the other end passes through the first limiting hole and the second limiting hole in sequence and then is connected to the seventh driving wire.

[0026] Preferably, the fourth driving wire and the eighth driving wire are on a complete second continuous driving wire.

[0027] Preferably, the third connecting unit is further provided with a third limiting hole and a fourth limiting hole between the fourth driving wire and the eighth driving wire; the second continuous driving wire further includes a second connecting wire respectively connecting the fourth driving wire and the eighth driving wire, one end of the second connecting wire is connected to the fourth driving wire, and the other end passes through the third limiting hole and the fourth limiting hole in sequence and then is connected to the eighth driving wire.

[0028] Preferably, the third driving wire, the fourth driving wire, the seventh driving wire, and the eighth driving wire are spherical structures at the end positions corresponding to the connecting components.

[0029] Preferably, the first driving wire and the third driving wire, the second driving wire and the fourth driving wire, the fifth driving wire and the seventh driving wire, and the sixth driving wire and the eighth driving wire are arranged adjacent to each other respectively, and the third driving wire, the fourth driving wire, the seventh driving wire and the eighth driving wire are relatively located at the peripheral position of the third component.

[0030] To achieve the above object, the present invention further provides a surgical robot, which includes the operating arm as described above.

[0031] The operating arm and the surgical robot provided by the present invention drive the connecting component to move in different directions by different amplitudes by setting that the first group of driving wires start from the first rotating shaft and terminate at the first position of the connecting component, and the second group of driving wires start from the second rotating shaft and terminate at the second position of the connecting component. Different starting positions and different terminating positions of different driving wires are used to drive the connecting component to move in different directions by different amplitudes, so as to realize the movement of the end effector in the corresponding degree-of-freedom direction through the first group of driving wires and the second group of driving wires, thereby improving the flexibility of the operating arm during the surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic structural diagram of an embodiment of the operating arm of the present invention;

[0033] Figure 2 is Figure 1 a partial structural schematic diagram of an embodiment of the pitching angle drive shaft assembly or the swinging angle drive shaft assembly in

[0034] Figure 3 is Figure 1 a schematic structural diagram of a first embodiment of the end effector in

[0035] Figure 4 is Figure 1 a partial structural schematic diagram of the connecting component in

[0036] Figure 5 is Figure 4 a simplified structural schematic diagram from a side view in

[0037] Figure 6 is Figure 3 a schematic structural diagram of an embodiment when the end effector realizes the movement in the pitching degree-of-freedom direction in

[0038] Figure 7 is Figure 3 a schematic structural diagram of an embodiment when the end effector realizes the movement in the swinging degree-of-freedom direction in

[0039] Figure 8 is Figure 3 a schematic structural diagram of an embodiment of the first connection unit from a top view in

[0040] Figure 9 is Figure 3 A schematic structural view of an embodiment of the third connection unit from a top-down perspective in

[0041] Figure 10 is Figure 1 A schematic structural view of the second embodiment of the end effector in

[0042] Figure 11 is Figure 10 A schematic structural view of an embodiment of the first connection unit from a top-down perspective in

[0043] Figure 12 is Figure 10 A schematic structural view of an embodiment of the third connection unit from a top-down perspective in

[0044] Explanation of the reference numerals in the drawings:

[0045]

[0046]

[0047] The realization, functional features, and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0049] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0050] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0051] In addition, in the present invention, descriptions such as "first", "second", etc. are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0052] In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] The present invention provides a surgical robot, which includes a main operating console and a slave operating device. The main operating console is used to send control commands to the slave operating device according to the operations of a doctor to control the slave operating device; the slave operating device is used to respond to the control commands sent by the main operating console and perform corresponding surgical operations. The slave operating device includes a robotic arm, a power mechanism arranged on the robotic arm, and an operating arm, and the operating arm is used to extend into the body under the driving action of the power mechanism to perform corresponding surgical operations.

[0054] As Figure 1 、 Figure 2 shown, the operating arm 100 includes a driving box 1, a connecting rod 2, an end effector 3 connected in sequence, and a first set of driving wires 4 and a second set of driving wires 5 penetrating through the connecting rod 2. The end effector 3 includes a connecting component 6 connected to the connecting rod 2 and an end actuator 7 connected to the connecting component 6.

[0055] As Figure 3 shown, the connecting component 6 includes a first connecting unit 61 connected to the end actuator 7, a second connecting unit 62 coupled to the first connecting unit 61, a third connecting unit 63 coupled to the second connecting unit 62, a fourth connecting unit 64 coupled to the third connecting unit 63, and a fifth connecting unit 65 with one end coupled to the fourth connecting unit 64 and the other end coupled to the connecting rod 2. Of course, in other embodiments, the number of connecting units included in the connecting component is not limited to the 5 listed above, and different numbers of connecting units that can implement the same solution of the present invention are also included in the protection scope of the present invention.

[0056] Referring to Figure 3 , the first set of driving wires 4 terminates at the first connecting unit 61, and the second set of driving wires 5 terminates at the third connecting unit 63. Referring to Figure 4, the connecting component 6 includes a connecting unit 60 and a rotating part 200. Among them, the connecting unit 60 has a connecting part (not shown in the figure) for mating connection with the connecting part 110 on the adjacent connecting unit 100. Specifically, in one embodiment, the connecting part includes a matching first connecting part 300 and / or a second connecting part 400, which are respectively used to connect with the second connecting part 400 and / or the first connecting part 300 of the adjacent connecting unit 60. The rotating part 200 has two rotating shafts 210 and a connecting piece 220 connecting the two rotating shafts 210. The two rotating shafts 210 are respectively used to connect two adjacent connecting units 100 so that the two adjacent connecting units 100 rotate relative to each other and form a joint component. Among them, the connecting piece 220 makes the distance between the two rotating shafts 210 fixed. When the joint component rotates, the distance between the two rotating shafts 210 remains unchanged, and the first connecting part 300 and the second connecting part 400 move relative to each other. In one embodiment, the first connecting part 300 is rotatable relative to the second connecting part 400 and movable along the second connecting part 400.

[0057] Referring to Figure 5 , a joint component has three rotation axes, and the corresponding rotation centers are line A, line O, and line B respectively. The three lines A, O, and B together constitute the rotation center axis of the connecting unit during the rotation process. In one embodiment, for the convenience of description and calculation, let the above-mentioned line A, line O, and line B be point A, point O, and point B. The rotation center axis can be: connect point A and point B, and then draw a perpendicular line through point O perpendicular to the AB connection line. The intersection point between the AB connection line and the perpendicular line is the rotation center axis. Specifically, the rotation center axis (not shown in the figure) of the first connecting unit is parallel to the rotation center axis (not shown in the figure) of the third connecting unit, the rotation center axis (not shown in the figure) of the second connecting unit is parallel to the rotation center axis (not shown in the figure) of the fourth connecting unit, and the rotation center axes (not shown in the figure) of the first connecting unit and the second connecting unit are perpendicular. It can be understood that the above-mentioned respective rotation center axes are the rotation centers around which each connecting unit rotates. It can be understood that the rotation center axes of each connecting unit change along a certain movement trajectory during rotation. That is, the rotation directions of the first connecting unit 61 and the third connecting unit 63 are the same, the rotation directions of the second connecting unit 62 and the fourth connecting unit 64 are the same, and the rotation directions of the first connecting unit 61, the third connecting unit 63 and the second connecting unit 62, the fourth connecting unit 64 are in an orthogonal state.

[0058] It can be understood that the present invention does not limit the above orthogonal states, and in other embodiments, other non-orthogonal states may also be used. The first connection unit 61, the second connection unit 62, the third connection unit 63, the fourth connection unit 64, and the fifth connection unit 65 are provided with a plurality of through holes at corresponding positions for the first set of drive wires 4 and the second set of drive wires 5 to pass through.

[0059] Referring to Figure 1 , Figure 2 , the drive box 1 includes a base 10 connected to the link 2 and a drive shaft assembly 11 provided on the base 10. Specifically, as Figure 1 shown, the drive shaft assembly 11 includes a first rotating shaft 111 provided on the base 10 and a second rotating shaft 112 provided on the first rotating shaft and rotating coaxially with the first rotating shaft. The second rotating shaft is rotatably adjustable relative to the first rotating shaft to adjust the attitude of the end effector to the initial state. It can be understood that when it is necessary to adjust the attitude of the end effector 30 to the initial state, a zero-position tooling adjuster (not shown in the figure) can be used to clamp each connection unit of the end effector 30 first to keep each connection unit in a straight state; at this time, if the attitude of the end effector 30 is still not in the initial state, the position of the first rotating shaft relative to the second rotating shaft can be further adjusted to further bring the end effector 30 into the initial state.

[0060] The first set of drive wires 4 starts from the first rotating shaft and terminates at the first position of the connection assembly 6, and the second set of drive wires 5 starts from the second rotating shaft and terminates at the second position of the connection assembly 6. The first position is a position away from the link 2, and the second position is a position close to the link 2.

[0061] In this embodiment, the diameter of the first rotating shaft is larger than the diameter of the second rotating shaft. Thus, when the first rotating shaft and the second rotating shaft rotate the same number of turns, the length of the first set of drive wires 4 released / tensioned by the first rotating shaft is greater than the length of the second set of drive wires 5 released / tensioned by the second rotating shaft. In this way, the rotation amplitude of the first connection unit 61 is greater than the rotation amplitude of the third connection unit 63, so that the movement of the end effector 3 in the pitch or yaw degree of freedom direction is more flexible. Of course, in other embodiments, the diameter of the first rotating shaft may also be equal to the diameter of the second rotating shaft.

[0062] It can be understood that the drive shaft assembly 11 can be a pitch angle drive shaft assembly or a swing angle drive shaft assembly. When the drive shaft assembly 11 is a pitch angle drive shaft assembly, when the pitch angle drive shaft assembly rotates, the first set of drive wires 4 and the second set of drive wires 5 are used to drive the end instrument 3 to move in the corresponding pitch angle direction. When the drive assembly is a swing angle drive shaft assembly, when the swing angle drive shaft assembly rotates, the first set of drive wires 4 and the second set of drive wires 5 are used to drive the end instrument 3 to move in the corresponding swing angle direction. Of course, the first set of drive wires 4 and the second set of drive wires 5 corresponding to the pitch angle drive shaft assembly and the swing angle drive shaft assembly have different termination positions on the first connection unit 61 and the third connection unit 63.

[0063] The drive shaft assembly 11 can also include both a pitch drive shaft assembly and a swing angle drive shaft assembly. This solution will be introduced in detail below.

[0064] Referring to Figure 1 , the drive shaft assembly 11 includes a pitch angle drive shaft assembly 113 and a swing angle drive shaft assembly 114 that are oppositely arranged on the base 10. Their structures are the same. Therefore, the pitch angle drive shaft assembly 113 is mainly labeled in the drawings. Referring to Figure 2 , the pitch angle drive shaft assembly 113 includes a first thick shaft 115 provided on the base 10 and a first thin shaft 116 provided on the first thick shaft 115 and co-axially rotating with the first thick shaft 115. Referring to Figures 8 to 9 , the first set of drive wires 4 includes a first drive wire 41 and a second drive wire 42 with opposite winding directions starting from the first thick shaft 115, and a third drive wire 43 and a fourth drive wire 44 with opposite winding directions starting from the first thin shaft 116. The swing angle drive shaft assembly 114 includes a second thick shaft (not shown in the figure) provided on the base 10 and a second thin shaft (not shown in the figure) provided on the second thick shaft and co-axially rotating with the second thick shaft. The second set of drive wires 5 includes a fifth drive wire 51 and a sixth drive wire 52 with opposite winding directions starting from the second thick shaft, and a seventh drive wire 53 and an eighth drive wire 54 with opposite winding directions starting from the second thin shaft.

[0065] Among them, the first drive wire 41, the second drive wire 42, the fifth drive wire 51, and the sixth drive wire 52 terminate at the first connection unit 61; the third drive wire 43, the fourth drive wire 44, the seventh drive wire 53, and the eighth drive wire 54 terminate at the third connection unit 63. It should be understood that the present invention is not limited to 8 drive wires, and other numbers of drive wires that can implement the solution of the present invention are also included within the scope of the present invention.

[0066] Referring to Figure 6 when the pitch angle drive shaft assembly drives the end instrument to achieve motion in the pitch freedom direction, the length change amount △L41 of the first drive wire is equal to the sum of the first length change amount △La1 and the second length change amount △L’a1, that is: △L41 = △La1 + △L’a1. Wherein, the first length change amount △La1 is the length change amount of the part of the first drive wire between the first connection unit and the second connection unit (△La1 = La1 - L0), and the second length change amount △L’a1 is the length change amount of the part of the first drive wire between the third connection unit and the fourth connection unit (△L’a1 = L’a1 - L0).

[0067] The length change amount △L42 of the second drive wire is equal to the sum of the third length change amount △Lb1 and the fourth length change amount △L’b1, that is: △L42 = △Lb1 + △L’b1. Wherein, the third length change amount △Lb1 is the length change amount of the part of the second drive wire between the first connection unit and the second connection unit (△Lb1 = L0 - Lb1), and the fourth length change amount is the length change amount of the part of the second drive wire between the third connection unit and the fourth connection unit (△L’b1 = L0 - L’b1).

[0068] The fifth length change amount △La2 of the third drive wire is equal to the sixth length change amount △Lb2 of the fourth drive wire. The fifth length change amount is the length change amount of the part of the third drive wire between the third connection unit and the fourth connection unit (△La2 = La2 - L0), and the sixth length change amount is the length change amount of the part of the fourth drive wire between the third connection unit and the fourth connection unit (△Lb2 = L0 - Lb2).

[0069] Wherein, the first length change amount is equal to the third length change amount, that is, △La1 = △Lb1. The second length change amount is equal to the fourth length change amount, that is, △L’a1 = △L’b1; the sum of the first length change amount and the second length change amount is equal to the sum of the third length change amount and the fourth length change amount, that is: △La1 + △L’a1 = △Lb1 + △L’b1.

[0070] In addition, it can be understood that La1 + Lb1 = 2L0, L’a1 + L’b1 = 2L0, La2 + Lb2 = 2L0.

[0071] It should be understood that the above L0 represents the initial length of the driving wire between adjacent connecting components. In this embodiment, the distances between different adjacent connecting components can be equal, that is, the initial lengths of the driving wires between each adjacent connecting components can be equal. In other embodiments, the distances between different adjacent connecting components can also be unequal.

[0072] It can be understood that when the end effector realizes the movement in the pitch freedom direction, the lengths of the first driving wire and the second driving wire between the second connecting unit and the third connecting unit, and the lengths of the first driving wire and the second driving wire between the fourth connecting unit and the fifth connecting unit remain unchanged. The lengths of the third driving wire and the fourth driving wire between the fourth connecting unit and the fifth connecting unit remain unchanged.

[0073] As Figure 2 shown, the ratio D1 / D2 of the diameters of the first thick shaft and the first thin shaft is equal to the ratio of the change in length ΔL41 of the first driving wire to the change in length ΔLa2 of the third driving wire, that is: D1 / D2 = ΔL41 / ΔLa2, or equal to the ratio of the change in length ΔL42 of the second driving wire to the change in length ΔLb2 of the fourth driving wire, that is: D1 / D2 = ΔL42 / ΔLb2.

[0074] Referring to Figure 7 , when the swing angle drive shaft assembly drives the end effector to realize the movement in the swing freedom direction, the change in length ΔL51 of the fifth driving wire is equal to the sum of the seventh change in length ΔLc1 and the eighth change in length ΔL'c1, that is, ΔL51 = ΔLc1 + ΔL'c1. The seventh change in length ΔLc1 is the change in length of the part of the fifth driving wire between the second connecting unit and the third connecting unit, and the eighth change in length ΔL'c1 is the change in length of the part of the fifth driving wire between the fourth connecting unit and the fifth connecting unit.

[0075] The change in length ΔL52 of the sixth driving wire is equal to the sum of the ninth change in length ΔLd1 and the tenth change in length ΔL'd1, that is: ΔL52 = ΔLd1 + ΔL'd1. The ninth change in length ΔLd1 is the change in length of the part of the sixth driving wire between the second connecting unit and the third connecting unit, and the tenth change in length ΔL'd1 is the change in length of the part of the sixth driving wire between the fourth connecting unit and the fifth connecting unit.

[0076] The eleventh length change amount ΔLc2 of the seventh driving wire is equal to the twelfth length change amount ΔLd2 of the eighth driving wire. The eleventh length change amount ΔLc2 is the length change amount of the part of the seventh driving wire between the fourth connection unit and the fifth connection unit (ΔLc2 = Lc2 - L0), and the twelfth length change amount ΔLd2 is the length change amount of the part of the eighth driving wire between the fourth connection unit and the fifth connection unit (ΔLd2 = Ld2 - L0).

[0077] Wherein, the seventh length change amount ΔLc1 is equal to the ninth length change amount ΔLd1, that is, ΔLc1 = ΔLd1. The eighth length change amount ΔL'c1 is equal to the tenth length change amount ΔL'd1, that is, ΔL'c1 = ΔL'd1; the sum of the seventh length change amount and the eighth length change amount is equal to the sum of the ninth length change amount and the tenth length change amount, that is: ΔLc1 + ΔL'c1 = ΔLd1 + ΔL'd1.

[0078] In addition, it can be understood that Lc1 + Ld1 = 2L0, L'c1 + L'd1 = 2L0, and Lc2 + Ld2 = 2L0.

[0079] It should be understood that the above L0 represents the initial length of the driving wire between adjacent connection components. In this embodiment, the distances between different adjacent connection components can be equal, that is, the initial lengths of the driving wires between each adjacent connection components can be equal. In other embodiments, the distances between different adjacent connection components can also be unequal.

[0080] It can be understood that when the end effector realizes the movement in the direction of the swing degree of freedom, the lengths of the fifth driving wire and the sixth driving wire between the first connection unit and the second connection unit, and the lengths of the fifth driving wire and the sixth driving wire between the third connection unit and the fourth connection unit remain unchanged. The lengths of the fifth driving wire and the sixth driving wire between the third connection unit and the fourth connection unit remain unchanged.

[0081] The ratio D3 / D4 of the diameters (not shown in the figure) of the second thick shaft and the second thin shaft is equal to the ratio of the length change amount ΔL51 of the fifth driving wire to the length change amount ΔLc1 of the seventh driving wire, that is, D3 / D4 = ΔL51 / ΔLc2; or equal to the ratio of the length change amount ΔL52 of the sixth driving wire to the length change amount ΔL'c1 of the eighth driving wire, that is, D3 / D4 = ΔL52 / ΔL'c1.

[0082] The connection component 6 has an axis and is coaxial with the axis of the connecting rod 2. Therefore, the axis of the connecting rod 2 is used as a reference for the following description. Refer to Figure 8 andFigure 9 The first connecting unit 61 is provided with a first through hole 611 and a second through hole 612 on its outer peripheral edge, which are arranged relative to the axis of the connecting rod 2. The first through hole 611 is for the first driving wire 41 to pass through, and the second through hole 612 is for the second driving wire 42 to pass through. That is, the first driving wire 41 and the second driving wire 42 are arranged opposite to each other around the axis of the connecting rod 2 on the first connecting unit 61. Similarly, the first connecting unit 61 is further provided with a fifth through hole 615 and a sixth through hole 616 on its outer peripheral edge, which are arranged relative to the axis of the connecting rod 2. The fifth through hole 615 is for the fifth driving wire 51 to pass through, and the sixth through hole 616 is for the sixth driving wire 52 to pass through. That is, the fifth driving wire 51 and the sixth driving wire 52 are arranged opposite to each other around the axis of the connecting rod 2 on the first connecting unit 61. Among them, the fifth through hole 615 and the sixth through hole 616 are both adjacent to the first through hole 611 and the second through hole 612.

[0083] Specifically, as Figure 9 shown, the third connecting unit 63 is provided with a third through hole 633 and a fourth through hole 634 on its outer peripheral edge, which are arranged relative to the axis of the connecting rod 2. The third through hole 633 is for the third driving wire 43 to pass through, and the fourth through hole 634 is for the fourth driving wire 44 to pass through. That is, the third driving wire 43 and the fourth driving wire 44 are arranged opposite to each other around the axis of the connecting rod 2 on the third connecting unit 63. Similarly, the third connecting unit 63 is further provided with a seventh through hole 637 and an eighth through hole 638 on its outer peripheral edge, which are arranged relative to the axis of the connecting rod 2. The seventh through hole 637 is for the seventh driving wire 53 to pass through, and the eighth through hole 638 is for the eighth driving wire 54 to pass through. That is, the seventh driving wire 53 and the eighth driving wire 54 are arranged opposite to each other around the axis of the connecting rod 2 on the third connecting unit 63.

[0084] The third connection unit 63 is provided with the first through hole 611, the second through hole 612, the fifth through hole 615, and the sixth through hole 616 at positions corresponding to the first connection unit 61. The first through hole 611, the second through hole 612, the fifth through hole 615, and the sixth through hole 616 are located inside the third connection unit 63 relative to the third through hole 633, the fourth through hole 634, the seventh through hole 637, and the eighth through hole 638. The first through hole 611 is adjacent to the third through hole 633, the second through hole 612 is adjacent to the fourth through hole 634, the fifth through hole 615 is adjacent to the seventh through hole 637, and the sixth through hole 616 is adjacent to the eighth through hole 638. That is, the first drive wire 41 and the third drive wire 43, the second drive wire 42 and the fourth drive wire 44, the fifth drive wire 51 and the seventh drive wire 53, and the sixth drive wire 52 and the eighth drive wire 54 are respectively arranged adjacently, and the third drive wire 43, the fourth drive wire 44, the seventh drive wire 53, and the eighth drive wire 54 are relatively located at the outer edge position of the third component.

[0085] Referring to Figure 9 , the third connection unit 63 is further provided with a first limiting hole 661 and a second limiting hole 662 between the third through hole 633 and the seventh through hole 637. That is, the first limiting hole 661 and the second limiting hole 662 are provided between the third drive wire 43 and the seventh drive wire 53. The first limiting hole 661 and the second limiting hole 662 can both be arranged adjacent to the third through hole 633. Of course, in other embodiments, the first limiting hole 661 and the second limiting hole 662 can also both be arranged adjacent to the seventh through hole 637. The first limiting hole 661 can also be arranged adjacent to the third through hole 633, and the second limiting hole 662 is arranged adjacent to the seventh through hole 637.

[0086] The third connection unit 63 is further provided with a third limiting hole 663 and a fourth limiting hole 664 between the fourth through hole 634 and the eighth through hole 638. That is, the third limiting hole 663 and the fourth limiting hole 664 are provided between the fourth drive wire 44 and the eighth drive wire 54. The third limiting hole 663 and the fourth limiting hole 664 can both be arranged adjacent to the fourth through hole 634. Of course, in other embodiments, the third limiting hole 663 and the fourth limiting hole 664 can also both be arranged adjacent to the eighth through hole 638. The third limiting hole 663 can also be arranged adjacent to the fourth through hole 634, and the fourth limiting hole 664 is arranged adjacent to the eighth through hole 638.

[0087] In one embodiment, as Figure 8As shown, the first drive wire 41 and the fifth drive wire 51 form a continuous drive wire, and the second drive wire 42 and the sixth drive wire 52 form a continuous drive wire. As Figure 9 shown, the third drive wire 43 and the seventh drive wire 53 are on a complete first continuous drive wire 81, and the fourth drive wire 44 and the eighth drive wire 54 are on a complete second continuous drive wire 82. It can be understood that the third drive wire 43 and the seventh drive wire 53 actually belong to the same drive wire, but are different parts of the same drive wire; similarly, the fourth drive wire 44 and the eighth drive wire 54 actually belong to the same drive wire, but are different parts of the same drive wire. In this way, the driving function of the drive shaft assembly 11 can be realized with a smaller number of drive wires, so the manufacturing process of the drive wires is reduced.

[0088] Specifically, the first continuous drive wire 81 includes a first connecting wire 83 that respectively connects the third drive wire 43 and the seventh drive wire 53. One end of the first connecting wire 83 is connected to the third drive wire 43, and the other end passes through the first limiting hole 661 and the second limiting hole 662 in sequence and then is connected to the seventh drive wire 53. That is, the first continuous drive wire 81 passes through the third through hole 633, the first limiting hole 661, the second limiting hole 662, and the seventh through hole 637 in sequence to form a "W" shape.

[0089] The second continuous drive wire 82 includes a second connecting wire 84 that respectively connects the fourth drive wire 44 and the eighth drive wire 54. One end of the second connecting wire 84 is connected to the fourth drive wire 44, and the other end passes through the third limiting hole 663 and the fourth limiting hole 664 in sequence and then is connected to the eighth drive wire 54. That is, the second continuous drive wire 82 passes through the fourth through hole 634, the third limiting hole 663, the fourth limiting hole 664, and the eighth through hole 638 in sequence to form a "W" shape.

[0090] In another embodiment, as Figures 10 to 12As shown, the end positions of the first drive wire 41, the second drive wire 42, the fifth drive wire 51, and the sixth drive wire 52 corresponding to the connection assembly are spherical structures. The end positions of the third drive wire 43, the fourth drive wire 44, the seventh drive wire 53, and the eighth drive wire 54 corresponding to the connection assembly are spherical structures. That is, the first drive wire 41, the second drive wire 42, the fifth drive wire 51, the sixth drive wire 52, the third drive wire 43, the fourth drive wire 44, the seventh drive wire 53, and the eighth drive wire 54 are all independent drive wires. In this way, the installation process of the drive wires is reduced, and the installation of the drive wires is more convenient, thus improving the installation efficiency. It can be understood that the diameter of the spherical structure at the end of each drive wire is greater than the diameter of each through hole.

[0091] The robotic arm 100 and the surgical robot provided by the present invention, by setting the first rotating shaft and the second rotating shaft with different diameters, using the first group of drive wires 4 starting from the first rotating shaft and ending at the first position of the connection assembly 6, and the second group of drive wires 5 starting from the second rotating shaft and ending at the second position of the connection assembly 6, drive the connection assembly 6 to move in different directions by different amplitudes through the different starting positions and different ending positions of the different drive wires, so as to realize driving the end effector 3 through the first group of drive wires 4 and the second group of drive wires 5 to move in the corresponding degrees of freedom directions, thereby improving the flexibility of the robotic arm 100 during the surgical operation.

[0092] The above are only optional embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An operating arm, characterized in that, The manipulator includes a driving box, a connecting rod, an end effector, and a first set of driving wires and a second set of driving wires passing through the connecting rod, which are connected in sequence. The end effector includes a connecting component connected to the connecting rod and an end effector connected to the connecting component. The driving box includes a base connected to the connecting rod and a driving shaft assembly provided on the base. The driving shaft assembly includes a pitching angle driving shaft assembly and a swinging angle driving shaft assembly. The pitching angle driving shaft assembly includes a first thick shaft provided on the base and a first thin shaft provided on the first thick shaft and co-axially rotating with the first thick shaft. The first set of driving wires includes a first driving wire and a second driving wire with opposite winding directions starting from the first thick shaft, and a third driving wire and a fourth driving wire with opposite winding directions starting from the first thin shaft. The swinging angle driving shaft assembly includes a second thick shaft provided on the base and a second thin shaft provided on the second thick shaft and co-axially rotating with the second thick shaft. The second set of driving wires includes a fifth driving wire and a sixth driving wire with opposite winding directions starting from the second thick shaft, and a seventh driving wire and an eighth driving wire with opposite winding directions starting from the second thin shaft. The connecting component includes a first connecting unit connected to the end effector, a second connecting unit coupled to the first connecting unit, a third connecting unit coupled to the second connecting unit, a fourth connecting unit coupled to the third connecting unit, and a fifth connecting unit with one end coupled to the fourth connecting unit and the other end connected to the connecting rod. The rotation central axis of the first connecting unit is parallel to the rotation central axis of the third connecting unit, the rotation central axis of the second connecting unit is parallel to the rotation central axis of the fourth connecting unit, and the rotation central axes of the first connecting unit and the second connecting unit are perpendicular. The first driving wire, the second driving wire, the fifth driving wire, and the sixth driving wire terminate at the first connecting unit. The third driving wire, the fourth driving wire, the seventh driving wire, and the eighth driving wire terminate at the third connecting unit. The third driving wire and the fourth driving wire are oppositely arranged around the axis of the connecting rod on the third connecting unit. The seventh driving wire and the eighth driving wire are oppositely arranged around the axis of the connecting rod on the third connecting unit. The third driving wire and the seventh driving wire are on a complete first continuous driving wire. The fourth driving wire and the eighth driving wire are on a complete second continuous driving wire. The third connecting unit is further provided with a first limiting hole and a second limiting hole between the third driving wire and the seventh driving wire. The first continuous driving wire further includes a first connecting wire connecting the third driving wire and the seventh driving wire. One end of the first connecting wire is connected to the third driving wire, and the other end passes through the first limiting hole and the second limiting hole in sequence and is connected to the seventh driving wire.

2. The robotic arm according to claim 1, characterized in that, When the pitch angle drive shaft assembly drives the end effector to achieve motion in the pitch freedom direction, the change in length of the first drive wire is equal to the sum of a first change in length and a second change in length. The first change in length is the change in length of the portion of the first drive wire between the first connection unit and the second connection unit, and the second change in length is the change in length of the portion of the first drive wire between the third connection unit and the fourth connection unit; The change in length of the second drive wire is equal to the sum of a third change in length and a fourth change in length. The third change in length is the change in length of the portion of the second drive wire between the first connection unit and the second connection unit, and the fourth change in length is the change in length of the portion of the second drive wire between the third connection unit and the fourth connection unit; The fifth change in length of the third drive wire is equal to the sixth change in length of the fourth drive wire. The fifth change in length is the change in length of the portion of the third drive wire between the third connection unit and the fourth connection unit, and the sixth change in length is the change in length of the portion of the fourth drive wire between the third connection unit and the fourth connection unit.

3. The robotic arm according to claim 2, characterized in that, The first change in length is equal to the third change in length, and the second change in length is equal to the fourth change in length.

4. The robotic arm according to claim 2, characterized in that, The ratio of the diameter of the first thick shaft to the first thin shaft is equal to the ratio of the change in length of the first drive wire to the change in length of the third drive wire; or equal to the ratio of the change in length of the second drive wire to the change in length of the fourth drive wire.

5. The robotic arm according to claim 1, characterized in that, When the swing angle drive shaft assembly drives the end effector to achieve motion in the swing freedom direction, the change in length of the fifth drive wire is equal to the sum of a seventh change in length and an eighth change in length. The seventh change in length is the change in length of the portion of the fifth drive wire between the second connection unit and the third connection unit, and the eighth change in length is the change in length of the portion of the fifth drive wire between the fourth connection unit and the fifth connection unit; The change in length of the sixth drive wire is equal to the sum of a ninth change in length and a tenth change in length. The ninth change in length is the change in length of the portion of the sixth drive wire between the second connection unit and the third connection unit, and the tenth change in length is the change in length of the portion of the sixth drive wire between the fourth connection unit and the fifth connection unit; The eleventh change in length of the seventh drive wire is equal to the twelfth change in length of the eighth drive wire. The eleventh change in length is the change in length of the portion of the seventh drive wire between the fourth connection unit and the fifth connection unit, and the twelfth change in length is the change in length of the portion of the eighth drive wire between the fourth connection unit and the fifth connection unit.

6. The robotic arm according to claim 5, characterized in that, The seventh change in length is equal to the ninth change in length, and the eighth change in length is equal to the tenth change in length.

7. The robotic arm according to claim 5, wherein, The ratio of the diameter of the second thick shaft to the diameter of the second thin shaft is equal to the ratio of the change in the length of the fifth drive wire to the change in the length of the seventh drive wire; or equal to the ratio of the change in the length of the sixth drive wire to the change in the length of the eighth drive wire.

8. The robotic arm according to claim 1, wherein The first drive wire and the second drive wire are oppositely arranged around the axis of the connecting rod on the first connecting unit, and the fifth drive wire and the sixth drive wire are oppositely arranged around the axis of the connecting rod on the first connecting unit.

9. The robotic arm according to claim 8, wherein, The first drive wire and the fifth drive wire form a continuous drive wire, and the second drive wire and the sixth drive wire form a continuous drive wire.

10. The robotic arm according to claim 1, characterized in that, The third connecting unit further has a third limiting hole and a fourth limiting hole between the fourth drive wire and the eighth drive wire; the second continuous drive wire further includes a second connecting wire respectively connecting the fourth drive wire and the eighth drive wire, one end of the second connecting wire is connected to the fourth drive wire, and the other end passes through the third limiting hole and the fourth limiting hole in sequence and then is connected to the eighth drive wire.

11. The robotic arm according to claim 1, characterized in that, The first drive wire and the third drive wire, the second drive wire and the fourth drive wire, the fifth drive wire and the seventh drive wire, and the sixth drive wire and the eighth drive wire are respectively arranged adjacent to each other, and the third drive wire, the fourth drive wire, the seventh drive wire and the eighth drive wire are relatively located at the peripheral position of the third connecting unit.

12. A surgical robot, characterized in that, The surgical robot includes the operating arm according to any one of claims 1 to 11.

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