Mechanical arm and auxiliary medical system

Abstract

The invention discloses a mechanical arm and an auxiliary medical system. The mechanical arm comprises a rotary driving module, a first arm, a transmission assembly, a linear driving module and a driven part. The first arm is driven by the rotary driving module to rotate around a first rotating axis relative to the rotary driving module, the first arm comprises a first arm first end part and a first arm second end part which are oppositely arranged along the length, the first arm first end part is closer to the first rotating axis than the first arm second end part, and an inner cavity is formed in the first arm; the transmission assembly is arranged in an inner cavity of the first arm, and at least part of the transmission assembly can linearly move relative to the first arm in the length direction of the first arm; the linear driving module is arranged at the first end of the first arm, connected to the transmission assembly and used for driving the transmission assembly to linearly move in the length direction of the first arm. The driven part is used for installing an external element and arranged on the part, capable of linearly moving relative to the first arm in the length direction of the first arm, of the transmission assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and in particular to a mechanical arm and an auxiliary medical system having the same. BACKGROUND

[0002] The mechanical arm of a surgical robot generally comprises an operating arm and a tool holding arm. The tool holding arm is used to mount a surgical execution tool. The tool holding arm is connected to the operating arm and is rotatable relative to the operating arm so that the surgical execution tool can be adjusted to a suitable position. In the existing design, the rotational inertia of the rotational linear drive module of the operating arm of the surgical robot is large. This increases the load of the rotational drive module, reduces the rotation control accuracy of the tool holding arm, and has certain safety hazards.

[0003] Therefore, there is a need for a mechanical arm to at least partially solve the above problems. SUMMARY

[0004] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and essential technical features of the claimed technical solution, nor to attempt to determine the protection scope of the claimed technical solution.

[0005] To at least partially solve the above problems, the first aspect of the present application provides a mechanical arm, comprising:

[0006] a rotational drive module;

[0007] a first arm connected to the rotational drive module and rotatable relative to the rotational drive module about a first rotation axis under the drive of the rotational drive module, the first arm comprising a first arm first end portion and a first arm second end portion oppositely arranged along the length, wherein the first arm first end portion is closer to the first rotation axis than the first arm second end portion, and the first arm is internally provided with an inner cavity;

[0008] a transmission assembly arranged in the inner cavity of the first arm, the mechanical arm being configured such that at least part of the transmission assembly is linearly movable relative to the first arm along the length direction of the first arm;

[0009] a linear drive module arranged at the first arm first end portion and connected to the transmission assembly, for driving the at least part of the transmission assembly to linearly move along the length direction of the first arm; and

[0010] a driven component for mounting an external element arranged at the at least part of the transmission assembly to synchronously linearly move relative to the first arm along the length direction of the first arm with the at least part of the transmission assembly.

[0011] According to the present application, the linear driving module is arranged at the first end of the first arm, thereby being close to the first rotation axis and having a small rotation inertia applied to the rotation driving module.

[0012] Optionally, the first arm comprises a body and a module support, the body is provided with the inner cavity, the module support is located in the inner cavity, and the linear driving module is fixedly arranged in the module support.

[0013] Optionally, the linear driving module comprises a motor and a brake, and the motor and the brake are both fixedly arranged in the module support.

[0014] Optionally,

[0015] The mechanical arm further comprises a main control board, a first circuit board and an electrical connection assembly,

[0016] The main control board is arranged outside the body and close to the second end of the first arm,

[0017] The first circuit board is arranged in the module support,

[0018] The electrical connection assembly comprises at least one flexible circuit board, the electrical connection assembly extends along the length direction of the first arm, one end of the electrical connection assembly is connected to the first circuit board, and the other end is connected to the main control board.

[0019] Optionally, one end of the at least one flexible circuit board is connected to the first circuit board, the other end extends to the outside of the body and is connected to the main control board, and the part of the at least one flexible circuit board in the inner cavity of the body extends along the length direction of the first arm.

[0020] Optionally, at least one side of the at least one flexible circuit board is provided with a reinforcing sheet, and the reinforcing sheet is connected to the flexible circuit board by adhesive bonding or fasteners.

[0021] Optionally, both sides of the at least one flexible circuit board are provided with the reinforcing sheet.

[0022] Optionally, the width of the reinforcing sheet is greater than the width of the flexible circuit board.

[0023] Optionally, the two reinforcing sheets are connected to each other at the edge portions.

[0024] Optionally,

[0025] The electrical connection assembly comprises a plurality of the flexible circuit boards,

[0026] The electrical connection assembly further comprises an adapter board,

[0027] The plurality of flexible circuit boards are electrically connected by the adapter board.

[0028] Optionally,

[0029] The body comprises a reinforcing rib extending along the length of the first arm, and the flexible circuit board is fixed to the reinforcing rib.

[0030] Optionally, the side of the body is provided with an opening, which allows the inner cavity of the body to communicate with the outside of the body,

[0031] The electric connection assembly comprises a first flexible circuit board and a second flexible circuit board, the first flexible circuit board passes through the opening to connect the first circuit board and the adapter board, and the second flexible circuit board connects the adapter board and the main control board.

[0032] Optionally, the first flexible circuit board is configured in an L shape, or the first flexible circuit board is folded to extend to the outside of the body through the opening.

[0033] Optionally, the transmission assembly comprises:

[0034] A lead screw extending along the length of the first arm, the lead screw being connected to the output shaft of the motor, and the lead screw being driven to rotate by the motor; and

[0035] A lead screw nut matched with the lead screw and connected to the lead screw, and the driven component being connected to the lead screw nut.

[0036] Optionally, the output shaft is configured as a hollow shaft.

[0037] Optionally, the brake comprises a brake rotor connected to the output shaft.

[0038] Optionally, the linear drive module further comprises an encoder, and an output signal of the encoder is used to represent the rotation angle of the output shaft.

[0039] Optionally, the driven component is used to mount a surgical instrument, and the first end of the first arm is directed to the end of the surgical instrument contacting the human body.

[0040] Optionally,

[0041] The mechanical arm further comprises a fourth arm, a proximal end of the fourth arm being connected to the rotary drive module to rotate around the first rotation axis under the drive of the rotary drive module, wherein the first rotation axis is the axis of the fourth arm,

[0042] The first arm is connected to the distal end of the fourth arm.

[0043] Optionally, the mechanical arm further comprises:

[0044] a third arm, a first end of the third arm being connected to a distal end of the fourth arm and being rotatable relative to the fourth arm about a second rotation axis; and

[0045] a second arm, a first end of the second arm being connected to a second end of the third arm and being rotatable relative to the third arm about a third rotation axis;

[0046] wherein the first arm is connected to a second end of the second arm and is rotatable relative to the second arm about a fourth rotation axis, the second rotation axis, the third rotation axis and the fourth rotation axis being parallel to each other and non-parallel to the first rotation axis,

[0047] the mechanical arm is configured such that when the third arm rotates relative to the fourth arm, the relative angle between the first arm and the third arm remains unchanged.

[0048] Optionally, the second rotation axis, the third rotation axis and the fourth rotation axis are perpendicular to the first rotation axis.

[0049] Optionally, the mechanical arm is configured such that when the third arm rotates relative to the fourth arm, the relative angle between the second arm and the fourth arm remains unchanged.

[0050] The second aspect of the present application provides an assisted medical system comprising the mechanical arm according to any one of the above first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0051] The following drawings are included herewith in the present application to assist in understanding the present application. The drawings in the present application show representative embodiments of the present application for the purpose of explanation only and are not limiting of the present application.

[0052] In the drawings:

[0053] Figure 1 is a top view schematic diagram of an assisted medical system according to the specific embodiments of the present application;

[0054] Figure 2 is a side view schematic diagram of a mechanical arm system in Figure 1 ;

[0055] Figure 3 and Figure 4 is a side view schematic diagram of a mechanical arm in Figure 2 ;

[0056] Figure 5 is a cross-sectional view schematic diagram of a first arm in Figure 2 ;

[0057] Figure 6 Fig. 1 is a schematic view of a driving module according to the present application; Figure 5 Fig. 2 is a sectional view of the driving module shown in Fig. 1;

[0058] Figure 7 Fig. 3 is a schematic view of a driving module according to the present application; Figure 8 Fig. 4 is a sectional view of the driving module shown in Fig. 3; Figure 5 Fig. 5 is a sectional view of a first arm shown in Fig. 4;

[0059] Figure 9 Fig. 6 is a perspective exploded view of a part of structure of an electrical connection assembly according to the present application. Figure 5

[0060] BRIEF DESCRIPTION OF THE DRAWINGS

[0061] 11: first arm

[0062] 12: second arm

[0063] 13: third arm

[0064] 14: fourth arm

[0065] 21: body

[0066] 21A: inner cavity

[0067] 21B: second space

[0068] 22: outer cover

[0069] 23: first side wall

[0070] 24: first opening

[0071] 25: main control board

[0072] 26: pivot seat

[0073] 27: first end of first arm

[0074] 28: second end of first arm

[0075] 30: linear driving module

[0076] 31: module support

[0077] 32: motor

[0078] 33: brake

[0079] 34: encoder

[0080] 35: output shaft of motor

[0081] 36: first circuit board

[0082] 40: transmission assembly

[0083] 41: screw​

[0084] 50: electrical connection assembly

[0085] 51: flexible circuit board

[0086] 52: stiffener

[0087] 53: first stiffener

[0088] 54: second stiffener

[0089] 55: first flexible circuit board

[0090] 57: first end of first flexible circuit board

[0091] 58: second end of first flexible circuit board

[0092] 110: robotic arm

[0093] 111: surgical instrument

[0094] 111: end effector

[0095] 112: shaft portion

[0096] 113: backend transmission

[0097] 120: robotic arm support

[0098] 130: rotation drive module

[0099] 200: assisted medical system

[0100] 210: control system

[0101] 220: robotic arm system

[0102] 230: imaging system

[0103] DL: length direction of first arm

[0104] P: RCM point

[0105] PA1: first rotation axis

[0106] PA2: second rotation axis

[0107] PA3: third rotation axis

[0108] PA4: fourth rotation axis DETAILED DESCRIPTION

[0109] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail so as not to unnecessarily complicate the present application.

[0110] For a thorough understanding of the present application, reference will be made to the following detailed description. It is appreciated that the embodiments are provided for the purpose of disclosing the present application fully and completely, and to convey the concept of the exemplary embodiments to those skilled in the art. It is apparent that the implementation of the embodiments of the present application is not limited to the particular details described herein. The preferred embodiments of the present application will be described in detail below with reference to the drawings.

[0111] The ordinal numbers such as "first" and "second" cited in the present application are merely for identification and do not have any other meaning, such as a particular order, etc. Also, for example, the term "first member" itself does not imply the existence of a "second member", and the term "second member" itself does not imply the existence of a "first member". The use of the words "first", "second", and "third" and the like does not indicate any order, and these words can be interpreted as names.

[0112] It is to be understood that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer", and the like as used herein are intended for descriptive purposes only and not as limiting.

[0113] In the present application, "equal", "same", and the like are not limited in the strict mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and allowed in manufacturing or use, etc.

[0114] Unless otherwise indicated, numerical ranges in this document are inclusive of the entire range and also of sub-ranges within the range.

[0115] The present application provides a robot arm and an assisted medical system (e.g., a surgical robot) having the same.

[0116] Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings.

[0117] The surgical robot 200 according to the embodiments of the present application is a robot that can remotely manipulate to complete a surgery. Referring to FIG. 1, Figure 1 The surgical robot 200 can include a control system 210 (also referred to as a surgeon console 210), a robot arm system 220 (also referred to as a patient-side robot arm system 220), and an imaging system 230 (also referred to as an endoscope system 230).

[0118] The control system 210 has a display unit for displaying the surgical instrument environment, a physician operating control mechanism, and a handrail, etc. The display unit has an observation window for the physician to observe, the operating control mechanism is configured to correspond to the movement of the surgical instrument, and the handrail is used to place the physician's arm. In addition, the physician control console 210 also has other control switches that are convenient for hands or feet to touch or press to perform various function operations to complete human-computer interaction.

[0119] The imaging system 230 has a display screen, an endoscope controller, system electronics, an image processor, etc.

[0120] Referring to Figure 2 The mechanical arm system 220 can include at least one mechanical arm 100, which has a plurality of jointed arms. Adjacent two jointed arms are relatively movable with a certain degree of freedom, so that the end of the mechanical arm can reach a multi-degree of freedom (such as 7 degrees of freedom, which will be different according to different surgical instruments) movement. The end of the mechanical arm 100 is provided with a holding arm 11, and a surgical instrument 110 is detachably mounted on the holding arm 11. The surgical instrument 110 can be an instrument for performing surgical operations, such as an electric cauter, a clamp, a blood vessel occluder, etc. It can also be a camera for image acquisition in the surgical area, such as an endoscope, etc. It can also be other surgical instruments.

[0121] The surgical instrument 110 includes, in order from the proximal end to the distal end, a rear end transmission device 113, a shaft portion 112, and an end effector 111. The rear end transmission device 113 is in transmission connection with a driving device arranged in the holding arm 11. The rear end transmission device 113 can be connected with the end effector 111 through a push-pull rod, a wire, a rope, a belt, etc. The shaft portion 112 is connected between the rear end transmission device 113 and the end effector 111, so as to separate the rear end transmission device 113 and the end effector 111 and support the end effector 111. The end effector 111 can be a knife head for surgical operations such as cutting tissue, such as a hook, a shovel, a clamp, scissors, etc. It can also be an endoscope lens for image acquisition, etc.

[0122] The mechanical arm 100 can be configured to move around a remote center of motion (RCM) by a mechanical method. For example, in an interventional surgery, the RCM point P (see Figure 3 and Figure 4) is defined as a port into the patient's body (or understood as an incision on the patient's body for inserting the end effector 111) during the surgery, the manipulator arm 100 is manipulated so that the tool holding arm 11 drives the surgical instrument 110 to realize pitching, deflecting, inserting and rotating movements, and the longitudinal axis of the surgical instrument 110 always passes through the RCM point P during the movements, so as to avoid non-surgical damage to the incision of the patient caused by the surgical instrument 110.

[0123] As shown in Figure 2 , Figure 3 and Figure 4 , the manipulator arm system 220 comprises a manipulator arm support 120 for fixedly placing beside a surgical bed, and the manipulator arm 100 is installed to the manipulator arm support 120. The manipulator arm 100 comprises a rotary drive module 130, and the tool holding arm 11 is connected to the rotary drive module 130 so as to be rotatable relative to the rotary drive module 130 (i.e. the manipulator arm support 120) about a first rotation axis PA1 under the driving of the rotary drive module 130. The tool holding arm 11 is also referred to as the first arm 11.

[0124] Specifically, the manipulator arm 100 further comprises an operating arm 14, also referred to as the fourth arm 14. The proximal end of the fourth arm 14 is connected to the rotary drive module 130 so as to be rotatable relative to the rotary drive module 130 (i.e. the manipulator arm support 120) about the first rotation axis PA1 under the driving of the rotary drive module 130. The first arm 11 is connected to the distal end of the fourth arm 14 so as to synchronously rotate with the fourth arm 14 about the first rotation axis PA1. The first rotation axis PA1 is, for example, the axis of the fourth arm 14. In other words, the fourth arm 14 is rotatable about its own axis PA1.

[0125] The manipulator arm 100 can further comprise a third arm 13 and a second arm 12. The first end of the third arm 13 is connected to the distal end of the fourth arm 14 and is rotatable relative to the fourth arm 14 about a second rotation axis PA2. The first end of the second arm 12 is connected to the second end of the third arm 13 and is rotatable relative to the third arm 13 about a third rotation axis PA3. The first arm 11 is connected to the second end of the second arm 12 and is rotatable relative to the second arm 12 about a fourth rotation axis PA4. Among them, the second rotation axis PA2, the third rotation axis PA3 and the fourth rotation axis PA4 are parallel to each other and are not parallel to the first rotation axis PA1. Thus, the manipulator arm 100 has multiple degrees of freedom, and the position and angle of the tool holding arm 11, i.e. the position and angle of the surgical instrument 110, can be flexibly adjusted.

[0126] Preferably, the second rotation axis PA2, the third rotation axis PA3 and the fourth rotation axis PA4 are perpendicular to the first rotation axis PA1, so as to simplify the design of the manipulator arm 100.

[0127] The fourth arm 14, the first arm 11, the third arm 13 and the second arm 12 are connecting arms of the robot arm 100. Preferably, the axes of the connecting arms are in the same plane, or in other words, the connecting arms extend in the same plane, in an ideal case without considering the size of the connecting arms.

[0128] Preferably, with reference to Figure 3 and Figure 4 , the robot arm 100 is configured such that the relative angle between the first arm 11 and the third arm 13 remains unchanged (for example, the included angle between the length direction of the first arm 11 and the length direction of the third arm 13 remains unchanged) when the third arm 13 rotates relative to the fourth arm 14. The pitch angle of the first arm 11 can be more easily controlled. Further, the robot arm 100 is configured such that the relative angle between the second arm 12 and the fourth arm 14 remains unchanged (for example, the included angle between the length direction of the second arm 12 and the length direction of the fourth arm 14 remains unchanged) when the third arm 13 rotates relative to the fourth arm 14, thereby achieving the RCM motion effect described above. That is, when the third arm 13 rotates relative to the fourth arm 14, the second arm 12 simultaneously rotates relative to the third arm 13, and the first arm 11 simultaneously rotates relative to the second arm 12, and the parallelogram mechanism driven by the rotary drive module 130 achieves the RCM motion effect described above. The second rotation axis PA2, the third rotation axis PA3, the fourth rotation axis PA4 and the RCM point P are respectively located at the four vertices of the parallelogram, and the first rotation axis PA1 coincides with the side of the parallelogram between the second rotation axis PA2 and the RCM point P. The position of the RCM point P remains unchanged or substantially unchanged relative to the robot arm support 120.

[0129] It can be understood that the position of the first rotation axis PA1 remains unchanged relative to the robot arm support 120. The first arm 11 includes a first arm first end portion 27 and a first arm second end portion 28 arranged in opposite directions along the length, wherein the first arm first end portion 27 is closer to the first rotation axis PA1 than the first arm second end portion 28, or in other words, the first arm first end portion 27 is closer to the RCM point P than the first arm second end portion 28. The RCM point P is the intersection of the first rotation axis PA1 and the longitudinal axis of the end effector 111. Therefore, the first arm first end portion 27 is closer to the end effector 111 than the first arm second end portion 28, or in other words, the first arm first end portion 27 is towards the end of the surgical instrument 110 that contacts the human body.

[0130] With reference to Figure 5The first arm 11 is provided with a pivot seat 26 for connecting the second end of the second arm 12. The position of the pivot seat 26 is substantially the position of the fourth rotation axis PA4, or the position of the pivot seat 26 defines the position of the fourth rotation axis PA4. The distance between the first end 27 of the first arm and the pivot seat 26 is closer than the distance between the second end 28 of the first arm and the pivot seat 26, or the pivot seat 26 can be as close as possible to the first end 27 of the first arm, so that the side of the parallelogram structure between the fourth rotation axis PA4 and the RCM point P is shorter.

[0131] As shown in Figure 5 , the robotic arm 100 can further include a transmission assembly 40, a linear drive module 30, and a driven component (not shown). The transmission assembly 40 is arranged on the first arm 11. The first arm 11 has a length direction DL which is not parallel to the first rotation axis PA1. The robotic arm 100 is configured such that at least part of the transmission assembly 40 is linearly movable relative to the first arm 11 along the length direction DL of the first arm 11. The linear drive module 30 is arranged at the first end 27 of the first arm (see Figure 3 and Figure 4 ) and connected to the transmission assembly 40 for driving at least part of the transmission assembly 40 to linearly move along the length direction DL of the first arm 11. The driven component can be connected to an external element. The driven component is arranged on the part of the transmission assembly 40 which is linearly movable along the length direction DL of the first arm 11, so as to be linearly movable synchronously with the part relative to the first arm 11 along the length direction DL of the first arm 11. The driven component is used for mounting, for example, a surgical instrument 110, so that the linear drive module 30 can drive the surgical instrument 110 to linearly move along the length direction DL of the first arm 11, for example, for sending or taking out an end effector 111 into or out of a human body. Generally, the longitudinal direction of the end effector 111 is consistent with the length direction DL of the first arm 11.

[0132] The first arm 11 includes, for example, a body 21 and a cover 22. The body 21 is box-shaped, and the cover 22 is attached to the body 21. The body 21 is substantially an elongated cuboid and has a length direction DL. The pivot seat 26 is arranged on the body 21 and close to the first end 27 of the first arm. The body 21 defines an inner cavity 21A. The cover 22 and the body 21 have a gap space, which is a second space 21B. The part of the body 21 separating the inner cavity 21A and the second space 21B is a first side wall 23. The first arm 11 further includes a module support 31 fixedly arranged at the first end 27 of the first arm. The linear drive module 30 is fixedly arranged on the module support 31. The module support 31 is arranged in the inner cavity 21A at the first end 27 of the first arm.

[0133] Specifically, as shown in Figure 6As shown, the module support 31 can serve as an exoskeleton of the linear drive module 30. The linear drive module 30 includes a motor 32. The motor 32 is fixedly arranged on the module support 31. The transmission assembly 40 includes a lead screw 41 and a lead screw nut (not shown). The lead screw 41 extends along the length direction DL of the first arm 11. The lead screw nut is matched with and connected to the lead screw 41. A driven component is connected to the lead screw nut. An output shaft 35 of the motor 32 is connected to one end of the lead screw 41 for driving the lead screw 41 to rotate. When the lead screw 41 rotates, the lead screw nut cannot rotate but only moves linearly along the lead screw 41 under the action of a limiting structure, thereby driving the driven component and the surgical instrument 110 to move linearly.

[0134] In order to make the linear moving range of the surgical instrument 110 larger, the lead screw 41 almost occupies the entire length of the body 21. The linear drive module 30 arranged at the first end portion 27 of the first arm 11 is beneficial to reduce the rotational inertia of the instrument holding arm 11. The linear drive module 30 adopts the module support 31 as an exoskeleton, and all components of the linear drive module 30 can be pre-installed to the module support 31, and then the linear drive module 30 can be integrally disassembled.

[0135] The linear drive module 30 can further include a brake 33. The brake 33 is arranged on the module support 31 and used for braking the output shaft 35. The brake 33 is configured as an electrically excited brake, for example, and a rotor thereof is connected with the output shaft 35 of the motor 32. When the brake 33 is powered on, an armature thereof releases the compression on the rotor, so that the rotor can freely rotate, and thus the output shaft 35 of the motor 32 can freely rotate. When the brake 33 is powered off, the armature presses the rotor under the action of a biasing spring, so that the rotor cannot freely rotate, the brake 33 is in a holding state, and the output shaft 35 of the motor 32 is braked.

[0136] The linear drive module 30 can further include an encoder 34, and an output signal of the encoder 34 is used for representing the rotation angle of the output shaft 35.

[0137] In the case of integrally packaging the linear drive module 30, the working performance of the linear drive module 30 can be pre-detected, and the linear drive module 30 is installed to the first arm 11 only when the performance thereof is qualified, which can improve the fault tolerance of assembly and obtain higher assembly efficiency.

[0138] Preferably, the output shaft 35 is configured as a hollow shaft, so that the connection between the output shaft 35 and the lead screw 41 is more convenient.

[0139] The motor 32, the brake 33 and the encoder 34 of the linear drive module 30 are all electrical components, and these electrical components all work under the control of the control system 210. In order to realize the electrical connection between the linear drive module 30 and the control system 210, the linear drive module 30 further comprises a first circuit board 36, and the first arm 11 is further provided with a main control board 25, and the mechanical arm 100 further comprises an electrical connection assembly 50, which electrically connects the first circuit board 36 and the main control board 25.

[0140] For example, the first circuit board 36 is arranged on the module support 31. The interfaces of all the electrical components of the linear drive module 30 are arranged on the first circuit board 36. The main control board 25 is used to be electrically connected to the control system 210. In order to make full use of the internal space of the body 21, the main control board 25 and the first circuit board 36 are arranged along the length direction DL of the first arm 11. The electrical connection assembly 50 extends along the length direction DL of the first arm 11, and one end of the electrical connection assembly 50 is connected to the first circuit board 36, and the other end of the electrical connection assembly 50 is connected to the main control board 25. Thus, the control system 210 is electrically connected to the linear drive module 30 through the main control board 25, the electrical connection assembly 50 and the first circuit board 36.

[0141] The first circuit board 36 can be an integral circuit board, or can be composed of a plurality of sub-circuit boards, wherein each sub-circuit board is close to each electrical component of the linear drive module 30 to facilitate the connection with the electrical component.

[0142] As shown in Figure 7 The electrical connection assembly 50 comprises at least one flexible circuit board (FPC) 51, for example. The flexible circuit board 51 is used to realize electrical connection. The flexible circuit board 51 has the characteristics of high wiring density, light weight, thin thickness and small interface, can save space, and solve the problem of complex wiring. The electrical connection assembly 50 can comprise a plurality of flexible circuit boards 51, and the electrical connection assembly 50 can further comprise an adapter board (not shown), and the plurality of flexible circuit boards 51 are electrically connected through the adapter board. Thus, in the position where it is difficult to arrange the flexible circuit board 51, the electrical connection function can be realized through the adapter board. In order to adapt to the shape of the first arm 11, the flexible circuit board 51 is also generally in the shape of a long strip.

[0143] As shown in Figure 5As shown, in order to make the end effector 111 operate conveniently and without interference, the main control board 25 (which needs to be connected with a cable for communication with the control system 210) is as far away from the end effector 111 as possible. The linear drive module 30 is located at the end of the inner space of the body 21 close to the end effector 111, and the pivot seat 26 is close to the end. In order to be connected with the second arm 12, the pivot seat 26 is installed on the outer side of the body 21. It can be understood that the pivot seat 26 also needs to be installed with a corresponding rotating structure and realize rotation. Therefore, the electrical connection assembly 50 has a certain difficulty in wiring from the outer side of the body 21, and is preferably wired in the inner space of the body 21, and is further preferably wired by using a flexible circuit board.

[0144] As shown in Figure 5 and Figure 7 , the main control board 25 is arranged in the second space 21B, and the first circuit board 36 is arranged in the inner cavity 21A along with the linear drive module 30. The module support 31 and the main control board 25 are arranged on both sides of the first side wall 23 respectively. The first side wall 23 causes certain difficulty to the arrangement of the flexible circuit board 51. Therefore, as shown in Figure 8 , the first side wall 23 is provided with a first opening 24. The adapter board is arranged in the second space 21B, that is, the adapter board and the main control board 25 are located on the same side of the first side wall 23. The plurality of flexible circuit boards 51 of the electrical connection assembly 50 includes, for example, a first flexible circuit board 55 and a second flexible circuit board (not shown). The first end 57 of the first flexible circuit board 55 is connected to the first circuit board 36, and the second end 58 of the first flexible circuit board 55 passes through the first opening 24 to be connected to the adapter board. One end of the second flexible circuit board is connected to the adapter board, and the other end is connected to the main control board 25.

[0145] As shown in Figure 9 , in order to be able to pass through the first opening 24, the second end 58 of the first flexible circuit board 55 is turned (for example, turned by 90 degrees), so that the first flexible circuit board 55 is L-shaped. Therefore, before turning, the first flexible circuit board 55 extends along the length direction of the first arm 11, and is generally parallel to the lead screw 41. After turning, the first flexible circuit board 55 can pass through the first opening 24 to extend from one side of the first side wall 23 to the other side. Of course, the first flexible circuit board 55 can also be turned by folding the long strip-shaped flexible board.

[0146] Since the flexible circuit board 51 passes through the inner cavity 21A of the first arm 11, there are moving transmission components and moving parts in the inner cavity 21A, which can contact or collide with the flexible circuit board 51, thereby causing the flexible circuit board 51 to be abraded. Therefore, as shown in Figure 7As shown, preferably, at least one side (e.g. the side facing the moving part) of the flexible circuit board 51 is provided with a reinforcing sheet 52, which can be adhesively connected to the flexible circuit board 51 or connected by fasteners. The reinforcing sheet 52 is a component with certain hardness and strength, which is used to support and protect the flexible circuit board 51. The reinforcing sheet 52 can be, for example, a plastic sheet, a metal sheet (e.g. a steel sheet). The width of the reinforcing sheet 52 is not less than the width of the flexible circuit board 51, so as to completely support the flexible circuit board 51. Preferably, at least one side of each flexible circuit board 51 is provided with a reinforcing sheet 52.

[0147] Preferably, both sides of at least one flexible circuit board 51 are provided with a reinforcing sheet 52. For example, as shown in FIG. 5, both sides of the first flexible circuit board 55 are respectively provided with a first reinforcing sheet 53 and a second reinforcing sheet 54. The width of the two reinforcing sheets 52 is greater than the width of the flexible circuit board 51, so that the two reinforcing sheets 52 can be connected to each other at the edge portions. For example, the edge portions of the reinforcing sheets 52 are provided with connecting holes 59, which are located outside the flexible circuit board 51, and fasteners can pass through the corresponding connecting holes 59 of the two reinforcing sheets 52 to connect the two reinforcing sheets 52, so that the connection of the reinforcing sheets 52 and the flexible circuit board 51 is more firm. The reinforcing sheet 52 on one side can prevent the grease of the lead screw 41 from falling and affecting the performance of the flexible circuit board 51, and the reinforcing sheet 52 on the other side can prevent the flexible circuit board 51 from being scratched by the burrs of the parts when the wire module screws are fixed. Preferably, both sides of each flexible circuit board 51 are provided with a reinforcing sheet 52. Figure 9

[0148] Preferably, in order to strengthen the strength of the body 21, reinforcing ribs are arranged in the inner cavity 21A. The reinforcing ribs extend along the length direction DL of the first arm 11. Alternatively, the reinforcing ribs are arranged in a grid shape on the inner wall of the entire body 21. The reinforcing sheet 52 can be fixed to the reinforcing ribs by fasteners, so as to avoid the flexible circuit board 51 and the reinforcing sheet 52 from swinging in the inner cavity 21A of the inner body 21.

[0149] As shown in FIG. 5, in order to adapt to the installation space, the flexible circuit board 51 (e.g. the first flexible circuit board 55) needs to be partially bent. The reinforcing sheet supplement can not be performed at the FPC bending position, because the bending performance is poor after the reinforcing sheet supplement, and the section does not need to be supplemented. Figure 6 Figure 9 As shown in FIG. 5, in order to adapt to the installation space, the flexible circuit board 51 (e.g. the first flexible circuit board 55) needs to be partially bent. The reinforcing sheet supplement can not be performed at the FPC bending position, because the bending performance is poor after the reinforcing sheet supplement, and the section does not need to be supplemented.

[0150] ​​The first flexible circuit board 55 is pre-secured in the linear drive module 30 by the stiffener 52. After the linear drive module 30 is tested, the linear drive module 30 is installed to the first arm 11. The second end 58 of the first flexible circuit board 55 is connected to the adapter board through the first opening 24. The second flexible circuit board can be secured on the first side wall 23 by its stiffener 52. Of course, the second flexible circuit board can also be directly adhered on the first side wall 23 without the stiffener 52.

[0151] The processes, steps, and procedures described in all of the preferred embodiments described above are merely examples. Unless adverse effects occur, various processing operations can be performed in a different order from the above-described processes. The order of the steps of the above-described processes can also be added, combined, or deleted as needed.

[0152] In understanding the scope of the present application, the term "comprising" and its derivatives, as used herein, are intended to be open-ended terms that specify the presence of the stated features, elements, components, groups, integers, and / or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and / or steps. The foregoing also applies to like-terms, such as "comprise," "have," "include," and "contain," among others.

[0153] As used herein, the terms "attached" or "attach" include a configuration in which an element is directly secured to another element by affixing the element to the other element; a configuration in which an element is indirectly secured to another element by affixing the element to an intermediate member that in turn is affixed to the other element; and a configuration in which one element is integral with another element, i.e., the one element is essentially a portion of the other element. The definition also applies to words of similar import, such as "connect," "couple," "join," "link," "engage," "attach," and "fix," among others. Finally, as used herein, degree terms such as "substantially," "approximately," and "about" mean an amount that is reasonable given the nature of the attribute being conveyed when modified. For example, "substantially parallel" in reference to a direction means that a direction is parallel to a reference direction within a small tolerance, such as 5 degrees, 1 degree, or 0.1 degree.

[0154] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The features described herein in one embodiment can be applied to another embodiment, either singly or in combination, unless the features are not applicable or are otherwise contraindicated. Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The features described herein in one embodiment can be applied to another embodiment, either singly or in combination, unless the features are not applicable or are otherwise contraindicated.

[0155] The present application has been described by the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the scope of the described embodiments. Furthermore, those skilled in the art can understand that the present application is not limited to the above embodiments, and more various modifications and changes can be made according to the teachings of the present application, and these modifications and changes all fall within the scope of the present application claimed.

Claims

1. A robotic arm, characterized in that, include: Rotary drive module; A first arm is connected to the rotary drive module so that it can rotate relative to the rotary drive module about a first rotation axis under the drive of the rotary drive module. The first arm includes a first end and a second end of the first arm arranged in opposite directions along the length, wherein the first end of the first arm is closer to the first rotation axis than the second end of the first arm. An inner cavity is formed inside the first arm. A transmission assembly is disposed in the cavity of the first arm, the robotic arm being configured such that at least a portion of the transmission assembly is linearly movable relative to the first arm along the length direction of the first arm; A linear drive module is disposed at a first end of the first arm and connected to the transmission assembly, for driving at least a portion of the transmission assembly to move linearly along the length direction of the first arm; and A driven component for mounting external elements is disposed in at least a portion of the transmission assembly to move synchronously and linearly relative to the first arm along the length direction of the first arm with at least a portion of the transmission assembly.

2. The robotic arm according to claim 1, characterized in that, The first arm includes a body and a module bracket. The body has an inner cavity, the module bracket is located in the inner cavity, and the linear drive module is fixedly mounted on the module bracket.

3. The robotic arm according to claim 2, characterized in that, The linear drive module includes a motor and a brake, both of which are fixedly mounted on the module bracket.

4. The robotic arm according to claim 2, characterized in that, The robotic arm also includes a main control board, a first circuit board, and electrical connection components. The main control board is located on the outside of the main body and near the second end of the first arm. The first circuit board is mounted on the module bracket. The electrical connection assembly includes at least one flexible circuit board, the electrical connection assembly extends along the length direction of the first arm, one end of the electrical connection assembly is connected to the first circuit board, and the other end is connected to the main control board.

5. The robotic arm according to claim 4, characterized in that, At least one of the flexible circuit boards is connected at one end to the first circuit board and at the other end extends to the outside of the body and is connected to the main control board. The portion of the at least one flexible circuit board in the cavity of the body extends along the length direction of the first arm.

6. The robotic arm according to claim 5, characterized in that, At least one side of the flexible circuit board is provided with a reinforcing sheet, which is bonded to the flexible circuit board or connected by fasteners.

7. The robotic arm according to claim 6, characterized in that, The reinforcing sheet is provided on both sides of at least one of the flexible circuit boards.

8. The robotic arm according to claim 7, characterized in that, The width of the reinforcing sheet is greater than the width of the flexible circuit board.

9. The robotic arm according to claim 8, characterized in that, The two reinforcing plates are connected to each other at their edges.

10. The robotic arm according to claim 4, characterized in that, The electrical connection assembly includes a plurality of the flexible circuit boards. The electrical connection assembly also includes an adapter plate. Multiple flexible circuit boards are electrically connected via an adapter board.

11. The robotic arm according to claim 10, characterized in that, The body includes a reinforcing rib that extends along the length of the first arm, and the flexible circuit board is fixed to the reinforcing rib.

12. The robotic arm according to claim 10, characterized in that, The side of the body is provided with an opening, which allows the inner cavity of the body to communicate with the outer side of the body. The electrical connection assembly includes a first flexible circuit board and a second flexible circuit board, the first flexible circuit board passing through the opening to connect the first circuit board and the adapter board, and the second flexible circuit board connecting the adapter board and the main control board.

13. The robotic arm according to claim 11, characterized in that, The first flexible circuit board is configured in an L-shape, or the first flexible circuit board is folded to extend through the opening to the outside of the body.

14. The robotic arm according to claim 2, characterized in that, The transmission assembly includes: A lead screw, extending along the length of the first arm, is connected to the output shaft of the motor and rotates under the drive of the motor; and A lead screw nut, which is matched with and connected to the lead screw, and the driven component is connected to the lead screw nut.

15. The robotic arm according to claim 14, characterized in that, The output shaft is constructed as a hollow shaft.

16. The robotic arm according to claim 14, characterized in that, The brake includes a brake rotor, which is connected to the output shaft.

17. The robotic arm according to claim 14, characterized in that, The linear drive module also includes an encoder, the output signal of which is used to characterize the rotation angle of the output shaft.

18. The robotic arm according to claim 1, characterized in that, The driven component is used to mount surgical instruments, with the first end of the first arm facing the end of the surgical instrument that contacts the human body.

19. The robotic arm according to any one of claims 1 to 18, characterized in that, The robotic arm further includes a fourth arm, the proximal end of which is connected to the rotary drive module to rotate about the first rotation axis under the drive of the rotary drive module, wherein the first rotation axis is the axis of the fourth arm. The first arm is connected to the distal end of the fourth arm.

20. The robotic arm according to claim 19, characterized in that, The robotic arm also includes: A third arm, the first end of which is connected to the distal end of the fourth arm and is rotatable relative to the fourth arm about a second axis of rotation; and The second arm has a first end connected to the second end of the third arm and is rotatable relative to the third arm about a third rotation axis; The first arm is connected to the second end of the second arm and is rotatable relative to the second arm about a fourth rotation axis. The second rotation axis, the third rotation axis, and the fourth rotation axis are parallel to each other but not parallel to the first rotation axis. The robotic arm is configured such that when the third arm rotates relative to the fourth arm, the relative angle between the first arm and the third arm remains unchanged.

21. The robotic arm according to claim 20, characterized in that, The second rotation axis, the third rotation axis, and the fourth rotation axis are perpendicular to the first rotation axis.

22. The robotic arm according to claim 20, characterized in that, The robotic arm is configured such that when the third arm rotates relative to the fourth arm, the relative angle between the second arm and the fourth arm remains unchanged.

23. An auxiliary medical system, characterized in that, Includes the robotic arm according to any one of claims 1 to 22.

Images