Passive arm, mechanical arm and adjusting method of passive arm and mechanical arm

Abstract

The invention belongs to the technical field of surgical robots, and discloses a passive arm, a mechanical arm and an adjusting method of the passive arm and the mechanical arm. The problem that when a mechanical arm of a surgical robot is adjusted, multiple joints move at the same time, so that an ideal pose cannot be obtained, and the adjusting operation efficiency is affected is solved. A passive arm comprises a first switch group, a second switch group and a multi-dimensional force sensor. The first switch group at least can control a motor of the movable joint; the second switch group can control a motor of the rotating joint; the multi-dimensional force sensor can solve the motion pose of any moving joint and / or rotating joint, so that the motor corresponding to the joint coupled with the multi-dimensional force sensor provides force compensation. The first switch group and the second switch group are combined or the moving joint and the rotating joint of the passive arm are respectively adjusted, so that the position and the angle of the passive arm can be variously adjusted, the adjusting precision is ensured, the adjusting efficiency is improved, and the corresponding motor provides force compensation through the calculation of the multi-dimensional force sensor in the adjusting process. And the external force required to adjust the passive arm is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a passive arm and a robotic arm and an adjustment method thereof. Background Art

[0002] The surgical robot is a complex system that integrates multiple modern high-tech technologies. With the extensive clinical application of surgical robots, many medical problems have been solved.

[0003] The master-slave surgical robot system includes a doctor control platform and a patient operation platform. The doctor control platform is used to send control commands to the patient operation platform according to the doctor's operation to control the patient operation platform; the patient operation platform is used to respond to the control commands sent by the doctor control platform and perform the corresponding surgical operation; as disclosed in patent CN118000913A, Figure 1 As shown, the patient surgical platform includes an active arm 10, a column 20, a base 30 and a passive arm 40; the column 20 is vertically arranged, the bottom end of the column 20 is connected to the base 30, and the top of the column 20 is connected to the passive arm 40; the passive arm 40 is used to connect with the active arm 10, and the active arm 10 is provided with surgical instruments; the bottom of the base 30 is provided with moving wheels to realize the overall movement of the patient's surgical end; during the operation, the patient is located on the bed 50; before preparing for the surgical operation, the posture of the passive arm 40 and the active arm 10 needs to be adjusted so that the surgical instruments set on the active arm 10 can perform surgery on the patient's organ to be operated on on the bed 50.

[0004] Since the existing passive arm 40 has multiple moving and rotating joints, there is a problem that when adjusting its posture, the moving and rotating joints are easily moved quickly at the same time, resulting in failure to obtain an ideal posture, thereby affecting operating efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide a passive arm and a robotic arm and an adjustment method thereof, so as to solve the problem that during adjustment, multiple joints of the existing robotic arm used for surgical robots move simultaneously, resulting in an inability to obtain an ideal posture, thereby affecting the efficiency of the adjustment operation.

[0006] To achieve this object, the present invention adopts the following technical solution: a passive arm includes a first switch group, a second switch group and a multi-dimensional force sensor;

[0007] The first switch group is at least capable of controlling the motor of the moving joint;

[0008] The second switch group can control the motor of the rotary joint;

[0009] The multi-dimensional force sensor can calculate any of the above-mentioned rotating joints and / or the motion posture of the above-mentioned rotating joints so that the motor corresponding to the coupled joint provides force compensation to adjust the posture of the above-mentioned passive arm.

[0010] Preferably, the movable joint includes a first movable joint and a second movable joint, and the rotational joint includes a first rotational joint and a second rotational joint;

[0011] The first rotation joint is located between the first movement joint and the second movement joint;

[0012] The first switch group can control the motors of the first rotating joint, the first moving joint and the second moving joint.

[0013] Preferably, the movable joint and / or the rotating joint are correspondingly provided with a light strip;

[0014] The light strip has at least two states to determine whether the movable joint and / or the rotating joint is in an adjustment state or a non-adjustment state.

[0015] Preferably, the motor includes current loop control, position loop control and torque loop control.

[0016] Preferably, the first switch group and the second switch group are arranged adjacent to each other and at different intervals.

[0017] A robotic arm comprising an active arm and the above-mentioned passive arm;

[0018] The head end of the active arm is connected to the tail end of the passive arm, and the tail end of the active arm is connected to the instrument base. The first switch group, the second switch group and the multi-dimensional force sensor are located at the lower end of the instrument base.

[0019] Preferably, the active arm includes a third rotation joint, a telescopic joint and a third switch group;

[0020] The third rotation joint and the telescopic joint are equipped with motors, and the third switch group is used to control the motors of the third rotation joint and the telescopic joint.

[0021] Preferably, the third rotation joint and the telescopic joint are respectively provided with light strips;

[0022] The light strip has at least two states to determine whether the third rotation joint and the telescopic joint are in an adjustment state or a non-adjustment state.

[0023] Preferably, the third switch group is arranged at the upper end of the instrument seat.

[0024] A method for adjusting a robotic arm, comprising any one of the above-mentioned robotic arms, specifically comprising the following steps:

[0025] Activating the first switch group and / or the second switch group to enable the passive arm to move to a preset target posture of the drag;

[0026] The third switch group is activated to enable the active arm to move following the preset target posture of the drag.

[0027] Preferably, the multi-dimensional force sensor is activated to provide force compensation when the passive arm moves along a preset target posture.

[0028] Preferably, the first switch group is activated, and at least the movable joint moves along a preset target position;

[0029] and / or,

[0030] The second switch group is activated, and the rotary joint rotates along a preset target angle.

[0031] Beneficial effects of the present invention:

[0032] The passive arm and the mechanical arm and the adjustment method thereof provided by the present invention include a first switch group, a second switch group and a multi-dimensional force sensor; the first switch group can at least control the motor of the mobile joint; the second switch group can control the motor of the rotating joint; the multi-dimensional force sensor can resolve the motion posture of any mobile joint and / or rotating joint so that the motor corresponding to the coupled joint provides force compensation. By adopting the combination of the first switch group and the second switch group to adjust the mobile joint and the rotating joint of the passive arm, the first switch group and the second switch group can be started simultaneously during large-scale adjustment. When fine-tuning the posture, it is preferred to adjust the position and angle of the passive arm separately to ensure adjustment accuracy and improve adjustment efficiency; and during the adjustment process, the multi-dimensional force sensor resolves the target posture of the coupled joint according to any rotating joint or mobile joint, so that the motor corresponding to the coupled joint provides force compensation, thereby reducing the external force required to adjust the passive arm and improving the use effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of a patient surgical platform provided by the background technology and embodiment 1 of the present invention;

[0034] Figure 2 is a schematic structural diagram of a robotic arm provided in Example 1 of the present invention;

[0035] Figure 3 is a schematic structural diagram of a passive arm provided in the first embodiment of the present invention;

[0036] Figure 4 It is a structural schematic diagram of the active arm provided in the first embodiment of the present invention.

[0037] In the figure: 10, active arm; 101, third rotation joint; 102, telescopic joint; 103, instrument seat; 104, support frame; 20, column; 30, base; 40, passive arm; 401, first movable joint; 402, second movable joint; 403, first rotation joint; 404, second rotation joint; 50, first switch group; 60, second switch group; 70, third switch group; 80, multi-dimensional force sensor; 90, light strip. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0039] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0040] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0041] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0042] Example 1

[0043] like Figures 1 to 4As shown, a passive arm 40 provided in this embodiment includes a first switch group 50, a second switch group 60 and a multi-dimensional force sensor 80; the first switch group 50 can at least control the motor of the above-mentioned moving joint; the above-mentioned second switch group 60 can control the motor of the above-mentioned rotating joint; the multi-dimensional force sensor 80 can solve the motion posture of any of the above-mentioned moving joints and / or the above-mentioned rotating joints so that the motor corresponding to the coupled joint provides force compensation to adjust the posture of the above-mentioned passive arm 40.

[0044] Specifically, if Figure 1 As shown, the patient surgical platform includes an active arm 10, a column 20, a base 30 and a passive arm 40; the top of the column 20 is connected to the passive arm 40, the end of the passive arm 40 is connected to the active arm 10, and the end of the active arm 10 is connected to the instrument seat 103, on which an instrument box for fixing surgical instruments is installed; before performing an actual clinical operation, the surgical robot is first started to put the robotic arm into an initialization state, that is, the active arm 10 and the passive arm 40 are in an extended horizontal state; because the surgical instruments at the end of the robotic arm need to enter the patient's diseased hole at the location to be operated on, the posture of the robotic arm needs to be further adjusted; because the passive arm 40 in the robotic arm is large in size and has a large gravity, and is located at the root of the robotic arm, it is necessary to adjust it during the adjustment process. The position of the passive arm 40 must be adjusted first; the adjustment of the passive arm 40 is to adjust the position and angle of the entire robotic arm, and the adjustment of the active arm 10 is to adjust the specific position of the surgical instrument installed at its end; when adjusting the passive arm 40, first start the first switch group 50 and the second switch group 60 at the same time, that is, the rotating joint and the moving joint of the passive arm 40 can be adjusted at the same time, so as to achieve a preliminary large-scale adjustment of the position of the passive arm 40; then fix its specific position through the first switch group 50 and fix its specific angle through the second switch group 60, and complete the final adjustment of the passive arm 40; finally, by adjusting the active arm 10, the adjustment operation of the robotic arm before surgery is completed.

[0045] Among them, the mobile joints and rotating joints of the passive arm 40 are adjusted by combining the first switch group 50 and the second switch group 60. When adjusting in a large range, the first switch group 50 and the second switch group 60 need to be started at the same time, that is, the mobile joints and rotating joints of the passive arm 40 can be adjusted synchronously, and the range of motion is larger; when the posture of the passive arm 40 only needs fine-tuning, the first switch group 50 and the second switch group 60 can be started separately, that is, the position and angle of the passive arm 40 are adjusted separately to ensure the adjustment accuracy and improve the adjustment efficiency; and during the adjustment process, the multi-dimensional force sensor 80 calculates the target posture of the coupled joint according to any rotating joint or mobile joint, so that the motor corresponding to the coupled joint provides force compensation, reducing the external force required to adjust the heavier passive arm 40, making the adjustment operation simpler and smoother.

[0046] Among them, the first switch group 50 and the second switch group 60 respectively include buttons and control circuits, and the corresponding motors can be directly controlled through the buttons and control circuits, that is, the brakes of the motors can be controlled to achieve control of the working state of the motors; it is worth mentioning that the control circuit is directly turned on by pressing the button, and the control circuit controls the working state of the motor; the buttons of the first switch group 50 control the brakes of the motors of the moving joints, and the buttons of the second switch group 60 control the brakes of the rotating joints.

[0047] Among them, the multi-dimensional force sensor 80 can select a five-dimensional force sensor or a three-dimensional force sensor according to actual use requirements; the three-dimensional force sensor can measure forces in three orthogonal directions and can only realize simple pressure testing and grasping force control; the five-dimensional force sensor includes forces in three directions and torques in two directions, and the detection is more accurate; after selecting the multi-dimensional force sensor 80 that meets the actual needs, the multi-dimensional force sensor 80 measures the movement of any joint to measure the target motion trajectory of the coupled joint, so that the motor of the coupled joint provides power to enable the coupled joint to move along the target trajectory, and the power compensation of the motor avoids external forces applied during the adjustment operation, thereby improving the use effect. It is worth mentioning that the solution of obtaining force compensation during the adjustment process of the robotic arm by setting a force sensor to achieve smooth dragging of the robotic arm is disclosed in detail in patent CN118303981A.

[0048] like Figure 3 As shown, for example, the above-mentioned moving joint includes a first moving joint 401 and a second moving joint 402, and the above-mentioned rotating joint includes a first rotating joint 403 and a second rotating joint 404; the first rotating joint 403 is located between the above-mentioned first moving joint 401 and the above-mentioned second moving joint 402; the first switch group 50 can control the motors of the above-mentioned first rotating joint 403, the first moving joint 401 and the second moving joint 402.

[0049] Specifically, the first rotating joint 403 is located between the first moving joint 401 and the second moving joint 402. When adjusting the position of the passive arm 40, the first switch group 50 is started. At this time, when the first moving joint 401 and the second moving joint 402 are both moving, the first rotating joint 403 needs to be rotated synchronously within a certain range, otherwise the arm body may be easily bent and damaged by external force. Therefore, starting the first switch group 50 requires being able to adjust the first rotating joint 403, the first moving joint 401 and the second moving joint 402 at the same time to ensure adjustment efficiency.

[0050] Among them, it is preferred that the first switch group 50 can simultaneously control the moving joints and the rotating joints located between the moving joints, so as to facilitate a more comprehensive adjustment operation; when there is no rotating joint between the moving joints, it is preferred that the first switch group 50 only controls the moving joints.

[0051] Among them, as attached Figures 1 to 2 As shown, the first movable joint 401 is connected to the column 20 and is used to adjust the front and rear position of the robotic arm; the second movable joint 402 is connected between the first rotating joint 403 and the second rotating joint 404, and the second movable joint 402 is used to adjust the up and down position of the robotic arm; the first rotating joint 403 and the second rotating joint 404 are used to adjust the left and right position of the robotic arm, thereby realizing multi-angle spatial adjustment of the posture of the robotic arm.

[0052] Exemplarily, the movable joint and / or the rotating joint are correspondingly provided with a light strip 90 ; the light strip 90 has at least two states to determine whether the movable joint and / or the rotating joint is in an adjustment state or a non-adjustment state.

[0053] Specifically, by configuring light strips 90 corresponding to the moving joints and / or rotating joints, the light strips 90 display the status of the moving joints and / or rotating joints, that is, it is possible to intuitively determine whether the moving joints and / or rotating joints are in an adjustment or non-adjustment state.

[0054] Among them, a light strip 90 is configured at each joint position to ensure that the working status of each joint can be intuitively judged, resulting in better observation effect.

[0055] It is worth mentioning that the number of light strips 90 can also be configured according to the first switch group 50 and the second switch group 60; that is, the first switch group 50 is configured with a light strip 90; when the first switch group 50 is started, one light strip 90 can display the status of the first movable joint 401, the second movable joint 402 and the first rotating joint 403; the second switch group 60 is configured with a light strip 90, and when the second switch group 60 is started, one light strip 90 can display the status of the first rotating joint 403 and the second rotating joint 404, thereby reducing the number of light strips 90 and improving economic efficiency.

[0056] Among them, the light strip 90 has at least two states to judge whether the moving joint and / or the rotating joint is in an adjustment state or a non-adjustment state; preferably, the light strip 90 has three states. In the first state, that is, the robotic arm is in the off state, the moving joint and / or the rotating joint is in the non-starting state, and the light strip 90 can be in a normally dark state; in the second state, that is, the robotic arm is in the on state, the moving joint and / or the rotating joint is in the standby state, and the light strip 90 can be in a normally bright state; in the third state, that is, the robotic arm is in the adjustment state, the moving joint and / or the rotating joint is in the adjustment operation, that is, the light strip 90 is in a flashing state; the display of the three states of the light strip 90 can intuitively and quickly judge the state of the robotic arm.

[0057] The length of the light strip 90 can be consistent with the width of the robotic arm, that is, the brightness range can be sufficiently obvious when viewed.

[0058] Exemplarily, the above-mentioned motor includes current loop control, position loop control and torque loop control.

[0059] Specifically, by selecting a motor with current loop control, position loop control and torque loop control, that is, the motor has three-loop control, more precise and stable control of the movement of each joint of the robotic arm can be achieved, ensuring adjustment accuracy.

[0060] Among them, the current loop ensures accurate output torque and prevents overload or underload. When the doctor drags the robotic arm, the current loop adjusts the motor output in real time to make the movement smoother and avoid shaking or loss of control of the robotic arm due to sudden changes in external force; the position loop ensures that the joint moves to the target position and reduces deviation; the torque loop achieves smooth dragging, avoids rigid collision of the robotic arm, and prevents excessive force.

[0061] like Figure 4 As shown, illustratively, the first switch group 50 and the second switch group 60 are arranged adjacent to each other and at different intervals.

[0062] Specifically, by arranging the first switch group 50 and the second switch group 60 adjacent to each other and at different intervals, it is possible to conveniently control the first switch group 50 and the second switch group 60 simultaneously, while avoiding operational errors when controlling them separately.

[0063] Among them, the first switch group 50 and the second switch group 60 can be arranged at intervals in the upper and lower parts. The first switch group 50 is located on the upper side. Since the first switch group 50 is used to control the movable joint located at the upper end, the switch position is judged according to the actual controlled joint position to avoid misoperation; the second switch group 60 is located on the lower side. Since the second switch group 60 is used to control the rotating joint located at the lower end, the switch position is judged according to the actual controlled joint position.

[0064] It is worth mentioning that the first switch group 50 and the second switch group 60 can be distinguished by color, or by setting text patterns around them, as long as the corresponding controlled joints can be quickly and accurately judged.

[0065] Example 2

[0066] like Figure 2As shown, this embodiment provides a robotic arm, including an active arm 10 and the above-mentioned passive arm 40; the head end of the active arm 10 is connected to the end of the above-mentioned passive arm 40, and the end of the active arm 10 is connected to the instrument seat 103, on which surgical instruments are installed; the above-mentioned first switch group 50, second switch group 60 and multi-dimensional force sensor 80 are located at the lower end of the above-mentioned instrument seat 103, specifically referring to the position of the first switch group 50 and the second switch group 60 at the outer shell grip of the support frame 104 of the active arm 10, which is convenient for gripping operation; the multi-dimensional force sensor 80 is fixed at the position of the support frame 104 of the active arm 10.

[0067] Specifically, by arranging the first switch group 50, the second switch group 60 and the multi-dimensional force sensor 80 at the lower end of the instrument seat 103, specifically at the support frame 104, the first switch group 50 and the second switch group 60 are easier to operate by hand when adjusting the robotic arm, and the multi-dimensional force sensor 80 can monitor the target postures of more joints to achieve optimal force compensation operation.

[0068] Among them, the end of the active arm 10 is slidingly connected to the instrument seat 103, and the lower end of the instrument seat 103 is also the lowest position where the active arm 10 is connected to the instrument seat 103; by arranging the first switch group 50, the second switch group 60 and the multi-dimensional force sensor 80 at the lower end of the instrument seat 103, specifically referring to the position of the support frame 104 of the active arm 10, it is convenient for the hand to be located at the end of the robotic arm for direct operation, and the operation effect is good; arranging it at the lower end of the instrument seat 103 can also improve the alignment of the surgical instruments at the end of the instrument seat 103 with the surgical site during the adjustment process, thereby improving work efficiency.

[0069] Among them, the first switch group 50 and the second switch group 60 are located at the lower end of the instrument seat 103 to avoid interference from external factors and increase the use effect. The multi-dimensional force sensor can be located inside the shell at the lower end of the instrument seat 103 to achieve overall structural integration and internalization.

[0070] Among them, the first switch group 50 and the second switch group 60 adjust the passive arm 40. Since the passive arm 40 is large and heavy, the motor is required to provide power for smooth adjustment during the adjustment process, and the force sensor can realize force compensation according to the measured target posture of the coupling joint. It is set on the support frame to avoid it from causing damage to the rigid structure of the entire robotic arm at the very end, thereby ensuring the service life of the entire robotic arm.

[0071] Exemplarily, the active arm 10 includes a third rotation joint 101 , a telescopic joint 102 and a third switch group 70 ; the third rotation joint 101 and the telescopic joint 102 are equipped with motors, and the third switch group 70 is used to control the motors of the third rotation joint 101 and the telescopic joint 102 .

[0072] Specifically, by providing motors on the third rotation joint 101 and the telescopic joint 102 of the active arm 10, the third switch group 70 is activated, so that when the angle of the active arm 10 is adjusted, the kinetic energy provided by the motor can be smoothly adjusted; Figure 4 As shown, the active arm 10 includes a third rotation joint 101 and a telescopic joint 102 . The third rotation joint 101 and the telescopic joint 102 can enable the active arm 10 to adjust within a larger angle range to meet actual usage requirements.

[0073] Among them, the third switch group 70 is located on the upper end surface of the instrument seat 103. Since the upper end surface is located in a larger position, it is not easy to cause the problem of accidental contact, and it can be adjusted differently during actual operation to increase the use effect.

[0074] like Figure 4 As shown, illustratively, the third rotation joint 101 and the telescopic joint 102 are correspondingly configured with a light strip 90; the light strip 90 has at least two states to determine whether the third rotation joint 101 and the telescopic joint 102 are in an adjustment state or a non-adjustment state.

[0075] Among them, the third rotating joint 101 and the telescopic joint 102 are correspondingly configured with light strips 90. When the light strips 90 are turned on, the status of the third rotating joint 101 and the telescopic joint 102 is displayed, that is, it is possible to intuitively judge whether the third rotating joint 101 and the telescopic joint 102 are in adjustment or non-adjustment state.

[0076] Among them, light strips 90 are configured at the positions of the third rotation joint 101 and the telescopic joint 102 to ensure that the working status of the third rotation joint 101 and the telescopic joint 102 can be intuitively judged, resulting in better observation effect.

[0077] The setting principle of the light strip 90 of the third rotating joint 101 and the telescopic joint 102 is the same as the setting principle of the light strip 90 of the rotating joint and the movable joint, which will not be repeated here.

[0078] Exemplarily, the third switch group 70 is provided at the upper end of the instrument box.

[0079] Specifically, by arranging the third switch group 70 at the upper end of the instrument box, the parallelogram connection structure of the active arm 10 can be adjusted more stably at the upper end, thereby ensuring the adjustment effect and efficiency.

[0080] A method for adjusting a robotic arm, comprising any one of the above-mentioned robotic arms, specifically comprising the following steps:

[0081] S1, activating the first switch group 50 and / or the second switch group 60 to enable the passive arm 40 to move to the preset target posture of the drag;

[0082] S2. Activate the third switch group 70 to enable the active arm 10 to move following the preset target posture of the drag.

[0083] Specifically, during preoperative preparation, the surgical robot needs to be brought close to the bed for initialization adjustment, that is, the height and horizontal position angle of each robotic arm are in the same symmetrical setting; after approaching the bed, the position of the robotic arm is adjusted according to the position of the patient's orifice; first, the first switch group 50 and / or the second switch group 60 are activated to make the passive arm 40 follow the preset target position of the drag, so as to achieve the posture adjustment of the passive arm 40, and then the third switch group 70 is activated to make the active arm 10 follow the preset target position of the drag, so as to achieve the overall adjustment of the robotic arm; finally, after entering the operation, the posture adjustment of the surgical instrument is performed according to the actual situation.

[0084] Among them, starting the first switch group 50 and / or the second switch group 60 to make the passive arm 40 follow the preset target posture of the drag specifically means that when the moving joint of the passive arm 40 needs to work, it is necessary to gently apply force in the direction of the preset posture while starting the first switch group 50. At this time, the moving joint will follow the drag to move to the target posture; for example, when the hand presses the button of the first switch group 50, the robotic arm moves forward, and the first moving joint 401 of the passive arm 40 moves forward; when the hand presses the button of the first switch group 50, the robotic arm moves up and down, and the second moving joint 402 of the passive arm 40 moves up and down; or when the hand presses the button of the second switch group, the first rotating joint 403 and the second rotating joint 404 of the passive arm 40 move to different angles, the passive arm 40 can follow the drag to perform the rotation operation, thereby realizing labor-saving and quick operation when adjusting the passive arm 40.

[0085] Exemplarily, the multi-dimensional force sensor 80 is activated to provide force compensation when the passive arm 40 moves along a preset target posture.

[0086] Specifically, by activating the multi-dimensional force sensor 80 , force compensation can be achieved when the passive device moves along a preset target posture, thereby achieving the best adjustment effect.

[0087] Exemplarily, by activating the first switch group 50 , at least the movable joint moves along a preset target position; and / or, by activating the second switch group, the rotating joint rotates along a preset target angle.

[0088] Specifically, when the posture of the passive arm 40 is adjusted over a large range, it is necessary to simultaneously start the first switch group 50 and the second switch group 60, and simultaneously start the mobile joint and the rotating joint to adjust the posture; when the approximate position of the passive arm 40 is determined, it is necessary to fine-tune the posture of the passive arm 40. When the passive arm 40 needs to fine-tune its position, by starting the first switch group 50 alone, the mobile joint can move along the preset target position; when the passive arm 40 needs to fine-tune its angle, the second switch group 60 is started alone, and the rotating joint rotates along the preset target angle.

[0089] Example 3

[0090] like Figure 1 As shown, this embodiment provides a patient surgical platform, which includes four robotic arms, wherein the end of one robotic arm is connected to an endoscope, and the ends of the remaining robotic arms are connected to scalpels, forceps, etc.; before the operation, the patient's hole opening work and the preparation and adjustment work of the surgical robot are carried out simultaneously; a poke card is provided at the patient's hole opening position, and the surgical instrument at the end of the robotic arm of the surgical robot needs to correspond to the poke card of the hole opening position; the end of the middle robotic arm among the four robotic arms is connected to an endoscope; the robotic arm with the end connected to the endoscope needs to enter the hole opening position first; and the four hole opening positions cannot be set in a straight line, and need to be set at an obtuse angle to ensure that the endoscope can observe the position to be operated on.

[0091] First, start the surgical robot and enter the initialization state. At this time, the four robotic arms of the surgical robot are symmetrically set at the same height to complete the initialization operation; secondly, move the patient's operating platform close to the bed, make the robotic arms face the bed, start the first switch group 50 and / or the second switch group 60 to perform preliminary adjustment of the posture of the passive arm 40 until it is close to the poking card, and then adjust the active arm 10 through the third switch group 70 to achieve docking of the instrument seat 103 with the poking card in the corresponding opening; after the four robotic arms are docked with the four poking cards, first install the endoscope on the planned robotic arm. After the instrument chip is identified, push the endoscope into the corresponding poking card, and the image is displayed normally; finally, install the surgical instruments needed by the doctor for surgery. This step is the same as the installation step of the endoscope.

[0092] Beneficial effects of the present invention:

[0093] The passive arm 40 and the mechanical arm and the adjustment method thereof provided by the present invention include a first switch group 50, a second switch group 60 and a multi-dimensional force sensor 80; the first switch group 50 is capable of controlling at least the motor of the mobile joint; the second switch group 60 is capable of controlling the motor of the rotating joint; the multi-dimensional force sensor 80 is capable of calculating the motion posture of any mobile joint and / or rotating joint so that the motor corresponding to the coupled joint provides force compensation. By adopting the combination of the first switch group 50 and the second switch group 60 to adjust the mobile joint and the rotating joint of the passive arm 40, the first switch group 50 and the second switch group 60 can be adjusted simultaneously during large-scale adjustment. When fine-tuning the posture, it is preferred to adjust the position and angle of the passive arm 40 separately to ensure adjustment accuracy and improve adjustment efficiency. In addition, during the adjustment process, the multi-dimensional force sensor 80 calculates the target posture of the coupled joint according to any rotating joint or mobile joint, so that the motor corresponding to the coupled joint provides force compensation, thereby reducing the external force required to adjust the passive arm 40 and improving the use effect.

[0094] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A passive arm, comprising a movable joint and a rotating joint, wherein the movable joint and the rotating joint are equipped with motors, characterized in that: include: a first switch group, the first switch group being capable of controlling at least the motor of the moving joint; a second switch group, the second switch group being capable of controlling the motor of the revolute joint; A multi-dimensional force sensor can calculate any of the rotational joints and / or the motion posture of the rotational joints so that the motor corresponding to the coupled joint provides force compensation to adjust the posture of the passive arm.

2. The passive arm according to claim 1, characterized in that: The movable joint includes a first movable joint and a second movable joint, and the rotational joint includes a first rotational joint and a second rotational joint; The first rotational joint is located between the first mobile joint and the second mobile joint; The first switch group can control the motors of the first rotation joint, the first movement joint, and the second movement joint.

3. The passive arm according to claim 1, characterized in that: The movable joint and / or the rotating joint are correspondingly configured with a light strip; The light strip has at least two states to determine whether the movable joint and / or the rotating joint is in an adjustment state or a non-adjustment state.

4. The passive arm according to claim 1, characterized in that: The motor includes current loop control, position loop control and torque loop control.

5. The passive arm according to claim 1, characterized in that: The first switch group and the second switch group are arranged adjacent to each other and at intervals.

6. A robotic arm, characterized in that: comprising an active arm and a passive arm as claimed in any one of claims 1 to 5; The head end of the active arm is connected to the tail end of the passive arm, and the tail end of the active arm is connected to the instrument base. The first switch group, the second switch group and the multi-dimensional force sensor are located at the lower end of the instrument base.

7. The robotic arm according to claim 6, wherein: The active arm includes a third rotation joint, a telescopic joint and a third switch group; The third rotation joint and the telescopic joint are equipped with motors, and the third switch group is used to control the motors of the third rotation joint and the telescopic joint.

8. The robotic arm according to claim 7, wherein: The third rotation joint and the telescopic joint are correspondingly provided with light strips; The light strip has at least two states to determine whether the third rotation joint and the telescopic joint are in an adjustment state or a non-adjustment state.

9. The robotic arm according to claim 7, wherein: The third switch group is arranged at the upper end of the instrument seat.

10. A method for adjusting a robotic arm, characterized in that: The method comprises the following steps: Activating the first switch group and / or the second switch group to enable the passive arm to move following the preset target posture of the drag; The third switch group is activated to enable the active arm to move following the preset target posture of the drag.

11. The method for adjusting a robotic arm according to claim 10, wherein: The multi-dimensional force sensor is activated to provide force compensation when the passive arm moves along a preset target posture.

12. The method for adjusting a robotic arm according to claim 10, wherein: Activating the first switch group causes at least the movable joint to move along a preset target position; and / or, The second switch group is activated, and the rotary joint rotates along a preset target angle.

Images