Medical robot pitch robot arm

Abstract

The present invention relates to the technical field of medical robot mechanical arms, and in particular to a pitch mechanical arm for a medical robot, wherein the first and last ends of a driving arm are respectively hinged with the end and the first end of a moving and fixed arm through a hinge assembly; a main driving assembly and a first crank-connecting rod mechanism are installed in the fixed arm, and the main driving assembly drives the first crank-connecting rod mechanism to rotate the driving arm relative to the fixed arm; a second crank-connecting rod mechanism is arranged in the driving arm, and the driving arm rotates and drives the second crank-connecting rod mechanism to rotate the driven arm relative to the driving arm, so that the moving and fixed arms are always kept parallel; the driven arm rotates and drives the third crank-connecting rod mechanism arranged in the driven arm to work, and the third crank-connecting rod mechanism drives the auxiliary driving assembly arranged at the head end of the driven arm to work synchronously. The present invention has a high degree of stability and can effectively ensure the safety of medical surgical operations.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robot mechanical arms, and in particular to a pitch mechanical arm for a medical robot. Background Art

[0002] In common scenarios of surgical operations assisted by surgical robots, the doctor operates the robot's master hand at a distance from the patient, and controls the movement of the surgical instruments of the patient-side robot at the surgical site in a master-slave control mode. The master hand includes but is not limited to serial homogeneous robotic arms, serial heterogeneous robotic arms, parallel robotic arms, exoskeleton gloves, etc., through which the position and orientation of surgical instruments at the surgical site can be controlled.

[0003] At present, both at home and abroad, there are higher requirements for the robotic arms used in medical surgical operations. After the end of the instrument accurately locates a certain part of the patient's body, when the relative position of the robotic arms needs to be adjusted, it is necessary to ensure that the corresponding position of the instrument acting on a certain part of the patient's body does not shift, and only the robotic arm needs to be displaced accordingly. Therefore, for the robotic arms in the medical field, how to achieve that the corresponding position of the instrument acting on a certain part of the patient's body will not shift during the displacement of the robotic arms, and at the same time, how to ensure that the robotic arms maintain a high degree of stability during displacement, so as to further improve the safety of medical surgical operations, is a problem to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a pitch robot arm for a medical robot, which has high stability when the robot arm is adjusted and displaced, and can effectively ensure the safety of medical surgical operations.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] A pitch mechanical arm for a medical robot comprises a relatively parallel driven arm and a fixed arm, and a driving arm, wherein the first and second ends of the driving arm are respectively hinged to the end of the driven arm and the head end of the fixed arm through a hinge assembly; a main driving assembly and a first crank-connecting rod mechanism are installed in the fixed arm, and the main driving assembly drives the first crank-connecting rod mechanism to rotate the driving arm relative to the fixed arm; a second crank-connecting rod mechanism is arranged in the driving arm, and the driving arm rotates to drive the second crank-connecting rod mechanism to rotate the driven arm relative to the driving arm, so that the driven arm and the fixed arm always remain parallel; the driven arm rotates to drive a third crank-connecting rod mechanism arranged in the driven arm to work, and the third crank-connecting rod mechanism drives an auxiliary driving assembly arranged at the head end of the driven arm to work synchronously.

[0007] By adopting the above technical scheme, through the cooperation of the three crank-connecting rod mechanisms in the driven arm, the driving arm and the fixed arm, the driven arm and the fixed arm are always kept parallel during the use of the robot arm, and the driving arm plays the role of the diagonal of the parallelogram formed by the virtual connection between the first and second ends of the moving and fixed arms. Based on this principle, when the robot arm is displaced during position adjustment, the displacement trajectory of the head end of the driven arm is an arc with a fixed center. At the same time, the auxiliary driving assembly rotates synchronously, which can drive the instrument to have a corresponding rotation to cooperate with the arc trajectory to ensure that the corresponding position of the instrument acting on a certain part of the patient's body does not shift. During this operation, it has a high degree of stability and can effectively ensure the safety of medical surgical operations.

[0008] The present invention is further configured as follows: the hinge assembly of the end of the driving arm and the head end of the fixed arm is: a first hinge hole is provided at the head end of the fixed arm and on the side facing the driving arm, and a first hinge plate matching the first hinge hole is provided at the side of the end of the driving arm opposite to the first hinge hole.

[0009] By adopting the above technical solution and utilizing the design of the hinge hole and the hinge plate, the relative rotation of the driving arm and the fixed arm can be made relatively stable, and the force that the hinge can withstand is relatively increased.

[0010] The present invention is further configured as follows: the structure of the first crank-connecting rod mechanism is as follows: a rotating shaft is eccentrically arranged on the first hinged disk, the rotating shaft is hinged to the end corresponding to the main connecting rod arranged in the fixed arm, and the other end of the main connecting rod is hinged to the driving member driven by the main driving assembly.

[0011] By adopting the above technical solution, the main drive assembly is used to drive the drive arm to rotate through the main connecting rod, and the structure of each adjustment arm itself is effectively utilized. There is no need for an overly large and complicated transmission system. This design can reduce the space occupancy of the product to a certain extent. At the same time, the first crank mechanism forms a relatively stable parallelogram structure, which makes the torque transmission here extremely smooth.

[0012] The present invention is further configured as follows: the structure of the main drive assembly is as follows: a guide base is provided in the middle part of the fixed arm, and a servo motor is provided on the side of the guide base facing the end of the fixed arm; a ball screw is provided in the guide base which is coaxial with the motor shaft of the servo motor and fixedly connected to the motor shaft, and a guide groove is provided on the side of the guide base facing the drive arm along the axial direction of the ball screw, and the drive member is slidably arranged on the guide groove and driven in cooperation with the ball screw.

[0013] By adopting the above technical solution, the ball screw and the driving member are directly driven by the servo motor, so that the driving member is displaced along the axial direction of the ball screw, so as to drive the main connecting rod to be displaced along the axial direction of the ball screw at the same time. This design can effectively reduce the noise of the instrument during operation, and at the same time the smoothness is significantly improved, and the driving accuracy of the entire main drive assembly is greatly improved.

[0014] The present invention is further configured as follows: the hinge assembly of the head end of the driving arm and the tail end of the driven arm is: a second hinge hole is provided at the head end of the driving arm and on the side facing the driven arm, and a second hinge plate matching the second hinge hole is provided at the tail end of the driven arm.

[0015] By adopting the above technical solution and utilizing the design of the hinge hole and the hinge plate, the relative rotation of the driving arm and the driven arm can be made relatively stable, and the force that the hinge can withstand is relatively increased.

[0016] The present invention is further configured as follows: the second crank-connecting rod mechanism includes a long connecting rod arranged in the driving arm, a short connecting rod close to the head end of the driving arm, and a rocker arm close to the end of the driving arm; the head and tail ends of the long connecting rod are respectively hinged to the end of the short connecting rod and the head end of the rocker arm; the head end of the short connecting rod is hinged to the second hinge plate; and the end of the rocker arm is fixedly connected to the fixed arm.

[0017] By adopting the above technical solution, a relatively stable parallelogram structure is formed by utilizing the second crank-connecting rod mechanism, so that the torque transmission here is extremely smooth, which reduces the space occupation of the product to a certain extent, can effectively utilize the space of the product, and at the same time the accuracy is significantly improved.

[0018] The present invention is further configured as follows: the structure of the third crank-connecting rod mechanism is: a coaxial central shaft is hinged on the second hinged plate, the central shaft is installed in the middle position of the linkage member, the head end of the linkage member is hinged to the end of the transmission member; the auxiliary drive assembly is driven by the transmission member.

[0019] By adopting the above technical solution, the linkage part is used to drive the transmission part to rotate, and the transmission part drives the auxiliary drive assembly to operate, thereby forming another relatively stable parallelogram structure, so that the torque transmission here is extremely smooth. At the same time, this design reduces the space occupation of the product to a certain extent, can effectively utilize the space of the product, and at the same time the accuracy is significantly improved.

[0020] The present invention is further configured as follows: an arc-shaped guide hole is provided on the driven arm at one end of the linkage member, a guide shaft that can slide in the guide hole is provided at the end of the linkage member, and the guide shaft passes through the guide hole and is fixedly connected to the driving arm.

[0021] By adopting the above technical solution, the design of the guide hole avoids the probability of unnecessary swinging of the two crank-connecting rod mechanisms during the cooperation between them, which may lead to equipment failure. At the same time, the movement range of the guide axis can be effectively controlled by the guide hole, which also improves the safety of the robot arm during medical surgical operations to a certain extent.

[0022] The present invention is further configured as follows: the auxiliary driving assembly is a rotating shaft arranged at the head end of the driven arm, a rotating disk is provided on the rotating shaft, an articulated rod is eccentrically hinged on the rotating disk, and the head end of the transmission member is hinged on the articulated rod.

[0023] By adopting the above technical solution and utilizing the connection relationship between the transmission member and the rotating disk, the device is effectively improved in use. When the auxiliary drive assembly drives the instrument to act on a certain part of the patient's body, the auxiliary drive assembly can keep the operation of the three crank-connecting rod mechanisms synchronized, and can ensure the displacement along the arc trajectory with the same center of the circle, so that the end of the instrument does not deviate, has a high degree of stability, and can effectively ensure the safety of medical surgical operations.

[0024] In summary, the present invention has the following beneficial technical effects: by utilizing the integrated design of multiple crank-connecting rod structures, the driven arm, the fixed arm, and the driving arm form a large parallelogram structure, and the three crank-connecting rod mechanisms form three small parallelograms. Under the interaction of multiple parallelograms, synchronous operation is achieved, and the auxiliary drive components are simultaneously arranged to work synchronously, so that when the robotic arm is displaced during position adjustment, the displacement trajectory of the head end of the driven arm is an arc with a fixed center, ensuring that the corresponding position of an instrument acting on a certain part of the patient's body is not offset, having a high degree of stability, and being able to effectively ensure the safety of medical surgical operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a side structural schematic diagram of the present invention.

[0026] Figure 2 Yes Figure 1 Schematic diagram of the side view structure after the guide base is removed.

[0027] Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure of the AA surface in the middle.

[0028] Figure 4 It is a structural schematic diagram of the main drive assembly of the present invention.

[0029] Figure 5 It is a side view structural schematic diagram of the present invention from another angle.

[0030] Figure 6 It is a structural schematic diagram highlighting the second crank-connecting rod mechanism of the present invention.

[0031] In the figure, 1. driven arm; 2. fixed arm; 3. driving arm; 4. guide base; 5. servo motor; 6. ball screw; 7. driving member; 8. guide slide; 9. first hinge plate; 10. rotating shaft; 11. main connecting rod; 12. long connecting rod; 13. short connecting rod; 14. rocker arm; 15. second hinge plate; 16. linkage member; 17. transmission member; 18. guide shaft; 19. guide hole; 20. rotating shaft; 21. rotating plate; 22. articulated rod; 23. middle axis. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0033] Reference Figure 1 The present invention discloses a pitching mechanical arm for a medical robot, comprising a relatively parallel driven arm 1 and a fixed arm 2, and a driving arm 3. The first and last ends of the driving arm 3 are respectively hinged to the end of the driven arm 1 and the first end of the fixed arm 2 through a hinge assembly. For the mechanical arm in this embodiment, it is necessary to ensure good stability and safety in use. Therefore, during the working process, the moving and fixed arms must always remain parallel, and synchronous operation in the form of a parallelogram is required, so the driving arm 3 needs to function as the diagonal of the parallelogram.

[0034] Reference Figure 2 , 3 As shown, the hinge assembly of the end of the driving arm 3 and the head end of the fixed arm 2 is as follows: a first hinge hole is provided at the head end of the fixed arm 2 and on the side facing the driving arm 3, and a first hinge plate 9 matching the first hinge hole is provided at the side of the end of the driving arm 3 opposite to the first hinge hole; the hinge assembly of the head end of the driving arm 3 and the end of the driven arm 1 is as follows: a second hinge hole is provided at the head end of the driving arm 3 and on the side facing the driven arm 1, and a second hinge plate 15 matching the second hinge hole is provided at the end of the driven arm 1.

[0035] Reference Figure 4 , a main driving assembly is installed in the fixed arm 2, and its structure is as follows: a guide base 4 is provided in the middle of the fixed arm 2, and a servo motor 5 is provided on the side of the guide base 4 facing the end of the fixed arm 2; a ball screw 6 is provided in the guide base 4, which is coaxial with the motor shaft of the servo motor 5 and fixedly connected to the motor shaft, and a guide slot 8 is provided along the axial direction of the ball screw 6 on the side of the guide base 4 facing the driving arm 3, and a driving member 7 driven by the ball screw 6 is slidably mounted in the guide slot 8, and the driving member 7 can drive the first crank connecting rod mechanism provided in the fixed arm 2 to work. Among them, the driving member 7 is a guide slide provided on the guide slot 8 and matched with the ball screw 6, and the guide slide directly cooperates with the first crank connecting rod mechanism.

[0036] Reference Figure 3 ,5 The structure of the first crank-connecting rod mechanism is as follows: a rotating shaft 10 is eccentrically arranged on the first hinge plate 9, the rotating shaft 10 is hinged to the head end of a main connecting rod 11 arranged in the fixed arm 2, and the end of the main connecting rod 11 is hinged to the driving member 7. The first crank-connecting rod mechanism forms a first parallelogram structure, and through the arrangement of the structure, the driving arm 3 is rotated along the hinge position at its end.

[0037] Reference Figure 3 , 6 The first crank-connecting rod mechanism drives the driving arm 3 to rotate through the first articulated disk 9 as an intermediate transition piece, and the driving arm 3 rotates to drive the second crank-connecting rod mechanism arranged in the driving arm 3 to work; the second crank-connecting rod mechanism includes a long connecting rod 12 arranged in the driving arm 3, a short connecting rod 13 close to the head end of the driving arm 3, and a rocker arm 14 close to the end of the driving arm 3; the head and tail ends of the long connecting rod 12 are respectively hinged to the end of the short connecting rod 13 and the head end of the rocker arm 14; the head end of the short connecting rod 13 is hinged to the second articulated disk to drive the third crank-connecting rod mechanism to work synchronously, so that the driven arm 1 rotates along the hinge position at its end to achieve the parallelism between the driven arm 1 and the fixed arm 2 at all times; the end of the rocker arm 14 passes through the through hole in the middle of the first articulated disk 9 and is fixedly connected to the fixed arm 2, and the rocker arm 14 passing through the through hole in the middle of the first articulated disk 9 is eccentrically arranged relative to the center of the articulated disk 9. Generally, to avoid the rocker arm 14 and the rotating shaft 10 from interfering with each other during operation, the positions of the two can be set relative to each other, which makes the synchronization effect higher and the force transmission more convenient.

[0038] The second crank-connecting rod mechanism described above forms a second parallelogram structure, which cooperates with the first parallelogram structure formed by the first crank mechanism and transmits power through the intermediate transition piece, the first hinge plate 9, so that the power transmission process is stable and can also drive the driving arm 3 to achieve corresponding rotation.

[0039] Reference Figure 3 , 5 The structure of the third crank-connecting rod mechanism is as follows: a coaxial central axis 23 is hinged on the second hinge plate 15, and the central axis 23 is installed in the middle position of the linkage member 16, and the head end of the linkage member 16 is hinged to the end of the transmission member 17; a secondary drive assembly is installed at the head end of the driven arm 1, and the secondary drive assembly is driven by the head end of the transmission member 17. The third crank-connecting rod mechanism forms a third parallelogram structure, which cooperates with the second parallelogram structure formed by the second crank mechanism and transmits power through the linkage member 16, so that the power transmission process is stable. Among them, an arc-shaped guide hole 19 is provided on the driven arm 1 at one side of the end of the linkage member 16, and a guide shaft 18 that can slide in the guide hole 19 is provided at the end of the linkage member 16, and the guide shaft 18 passes through the guide hole 19 and is fixedly connected to the driving arm 3.

[0040] A secondary drive assembly is arranged at the head end of the driven arm 1 mentioned above. The secondary drive assembly is a rotating shaft 20 arranged at the head end of the driven arm 1. A rotating disk 21 is arranged on the rotating shaft 20. An articulated rod 22 is eccentrically hinged on the rotating disk 21. The head end of the transmission member 17 is hinged on the articulated rod 22 to drive the rotating disk 21 to work synchronously.

[0041] In this embodiment, the three crank-connecting rod mechanisms in the slave arm 1, the driving arm 3 and the fixed arm 2 cooperate to form a fourth parallelogram structure, and the driving arm 3 serves as the diagonal of the parallelogram formed by virtually connecting the head and tail ends of the slave arm 1 and the fixed arm 2. Based on this principle, when the robot arm is displaced during position adjustment, the displacement trajectory of the head end of the slave arm 1 is an arc with a fixed center. At the same time, the auxiliary driving assembly rotates synchronously, which can drive the instrument to rotate accordingly to cooperate with the arc trajectory to ensure that the corresponding position of the instrument acting on a certain part of the patient's body is not offset. During this operation, it has a high degree of stability and can effectively ensure the safety of medical surgical operations.

[0042] When this embodiment is implemented, the main driving assembly drives the first crank-connecting rod mechanism to move, so that the first articulated disk 9 rotates. While rotating, the driving arm 3 also rotates synchronously, so that the angle between the driving arm 3 and the fixed arm 2 changes. At the same time, since one end of the rocker arm is fixed on the fixed arm 2, the short connecting rod 13 is hinged to the second articulated disk 15. When the rotation angle of the driving arm 3 changes, the angle between the short connecting rod 13 and the long connecting rod 12 will also change passively. At this time, the short connecting rod 13 will rotate relative to the long connecting rod 12. Therefore, the short connecting rod 13 will also synchronously drive the driven arm 1 to rotate synchronously. In the driven arm 1, since the middle part of the linkage 16 is in a hinged relationship, and the guide shaft 18 and the driving arm 3 are in a fixed connection relationship, then during the rotation of the driven arm 1, the guide shaft 18 will also rotate relatively in the guide hole 19. At this time, the linkage 16 can drive the transmission member 17 to drive the auxiliary driving assembly to work.

[0043] Among them, the hinged position of the driven arm 1, the driving arm 3, and the fixed arm 2 is the corner of the fourth parallelogram, which is also a rotating joint. At the same time, the corresponding position of the instrument driven by the auxiliary driving mechanism can be set to the corner of the fourth parallelogram. In this way, during this operation, the corresponding position of the instrument acting on a certain part of the patient's body will not be offset, with high stability, and can effectively ensure the safety of medical surgical operations.

[0044] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A pitch mechanical arm for a medical robot, comprising a relatively parallel driven arm (1) and a fixed arm (2), and a driving arm (3), characterized in that: The front and rear ends of the driving arm (3) are respectively hinged to the rear end of the driven arm (1) and the front end of the fixed arm (2) through hinge assemblies; a main driving assembly and a first crank-connecting rod mechanism are installed in the fixed arm (2); the main driving assembly drives the first crank-connecting rod mechanism to rotate the driving arm (3) relative to the fixed arm (2); a second crank-connecting rod mechanism is arranged in the driving arm (3); the driving arm (3) rotates to drive the second crank-connecting rod mechanism to rotate the driven arm (1) relative to the driving arm (3), so that the driven arm (1) and the fixed arm (2) always remain parallel; the driven arm (1) rotates to drive the third crank-connecting rod mechanism arranged in the driven arm (1) to work, and the third crank-connecting rod mechanism drives the auxiliary driving assembly arranged at the front end of the driven arm (1) to work synchronously; The hinge assembly between the end of the driving arm (3) and the head end of the fixed arm (2) is as follows: a first hinge hole is provided at the head end of the fixed arm (2) and on the side facing the driving arm (3), and a first hinge plate (9) matching the first hinge hole is provided at the end of the driving arm (3); the hinge assembly between the head end of the driving arm (3) and the end of the driven arm (1) is as follows: a second hinge hole is provided at the head end of the driving arm (3) and on the side facing the driven arm (1), and a second hinge plate (15) matching the second hinge hole is provided at the end of the driven arm (1); The structure of the first crank-connecting rod mechanism is as follows: a rotating shaft (10) is eccentrically arranged on the first hinge plate (9), the rotating shaft (10) is hinged to the end corresponding to the main connecting rod (11) arranged in the fixed arm (2), and the other end of the main connecting rod (11) is hinged to the driving member (7) driven by the main driving assembly; the first crank-connecting rod mechanism forms a first parallelogram structure, and through the arrangement of this structure, the driving arm (3) is rotated along the hinge position at its end; The second crank-connecting rod mechanism comprises a long connecting rod (12) arranged in the driving arm (3), a short connecting rod (13) close to the head end of the driving arm (3), and a rocker arm (14) close to the end end of the driving arm (3); the head and tail ends of the long connecting rod (12) are respectively hinged to the end of the short connecting rod (13) and the head end of the rocker arm (14); the head end of the short connecting rod (13) is hinged to the second hinge plate (15); the end of the rocker arm (14) is fixedly connected to the fixed arm (2); the second crank-connecting rod mechanism forms a second parallelogram structure, which cooperates with the first parallelogram structure formed by the first crank mechanism and transmits power through the intermediate transition piece, the first hinge plate (9); The structure of the third crank-connecting rod mechanism is as follows: a coaxial central shaft (23) is hinged on the second hinge plate (15), the central shaft (23) is installed at the middle position of the linkage member (16), the head end of the linkage member (16) is hinged to the end of the transmission member (17); the auxiliary drive assembly is driven by the transmission member (17); the third crank-connecting rod mechanism forms a third parallelogram structure, which cooperates with the second parallelogram structure formed by the second crank mechanism and transmits power through the linkage member (16).

2. The pitch mechanical arm for medical robot according to claim 1, characterized in that: The structure of the main driving assembly is as follows: a guide base (4) is arranged in the middle of the fixed arm (2); a servo motor (5) is arranged on the side of the guide base (4) facing the end of the fixed arm (2); a ball screw (6) is arranged in the guide base (4) and is coaxial with the motor shaft of the servo motor (5) and fixedly connected to the motor shaft; a guide groove (8) is arranged on the side of the guide base (4) facing the driving arm (3) along the axial direction of the ball screw (6); a driving member (7) is slidably arranged on the guide groove (8) and is driven in cooperation with the ball screw (6).

3. The pitch mechanical arm for medical robot according to claim 1, characterized in that: The driven arm (1) is provided with an arc-shaped guide hole (19) at one end of the linkage member (16), and the end of the linkage member (16) is provided with a guide shaft (18) that can slide in the guide hole (19), and the guide shaft (18) passes through the guide hole (19) and is fixedly connected to the driving arm (3).

4. The pitch mechanical arm for medical robot according to claim 1, characterized in that: The auxiliary driving assembly is a rotating shaft (20) arranged at the head end of the driven arm (1), a rotating disk (21) is arranged on the rotating shaft (20), a hinge rod (22) is eccentrically hinged on the rotating disk (21), and the head end of the transmission member (17) is hinged on the hinge rod (22).

Images