Active arm of surgical robot and surgical robot

Abstract

The present invention provides an active arm of a surgical robot and a surgical robot, and relates to the technical field of medical devices. The active arm of the surgical robot comprises a first arm, a second arm, a third arm, a slide group, a first parallelogram linkage mechanism and a second parallelogram linkage mechanism. One end of the first arm is rotatably connected to one end of the second arm, and the other end of the second arm is rotatably connected to one end of the third arm. Both ends of the first parallelogram linkage mechanism are respectively connected to the first arm and the third arm, and one end of the second parallelogram linkage mechanism is connected to the second arm. The first parallelogram linkage mechanism and the second parallelogram linkage mechanism are suitable for deforming with the swing of the second arm, so that by controlling the swing of the second arm, when the third arm is connected to a surgical instrument, the surgical instrument can be swung around a distal point, thereby achieving precise and flexible surgical operations.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an active arm of a surgical robot and a surgical robot. Background Art

[0002] The active arms of current laparoscopic surgical robots mostly adopt the "fixed point" form. The so-called "fixed point" is the location of the opening in the patient's abdominal wall. The main purpose is to prevent the opening in the abdominal wall from being subjected to stress no matter what operation the surgical instrument performs on the lesion through the opening. Therefore, the "fixed point" structure in the laparoscopic surgical robot is very important for the operation.

[0003] At present, there are three main forms of realization of the active arm. One is to use a motor to directly drive the joint to achieve the "fixed point" requirement in the laparoscopic surgical robot; the second is to use a belt or wire transmission; the third is to connect the connecting rods directly to realize that one point of the parallelogram is the power, and the two points are transmitted to the fixed point. However, all three methods have defects. The first method cannot maintain the "fixed point" state due to its structure itself, but is realized through power control. In this way, the active arm will face uncertain movement caused by power failure, which will bring great risks to the operation; and the cost is high, and the complex structure brings high failure risk. In the second method, belt or wire transmission is used. The nature of this transmission method determines that it has high elasticity, low stiffness, and high difficulty in process implementation, which leads to reduced accuracy and high risk of surgery. In the third method, the directly connected connecting rod will cause the force of the connecting rod within the range of motion to show a sinusoidal change, and its force change process is relatively unreasonable, which will bring problems such as low mechanism stiffness, difficult power matching and difficult electrical control, which will inevitably lead to reduced surgical accuracy and increased surgical risks. Summary of the invention

[0004] The problem solved by the present invention is that the active arm of the "fixed point" form in the laparoscopic surgical robot has poor rigidity, poor precision and difficulty in electrical control.

[0005] To solve the above problems, the present invention provides an active arm of a surgical robot, comprising a first arm, a second arm, a third arm, a first parallelogram linkage mechanism and a second parallelogram linkage mechanism, wherein one end of the first arm is rotatably connected to one end of the second arm, the other end of the second arm is rotatably connected to one end of the third arm, two ends of the first parallelogram linkage mechanism are respectively connected to the first arm and the third arm, and one end of the second parallelogram linkage mechanism is connected to the second arm;

[0006] Wherein, the first parallelogram linkage mechanism and the second parallelogram linkage mechanism are suitable for being deformed along with the swing of the second support arm.

[0007] Further, the first parallelogram linkage mechanism includes two parallel first connecting joints and two parallel first connecting rods, the second parallelogram linkage mechanism includes two parallel second connecting joints and two parallel second connecting rods, the first connecting joint is hinged to the first connecting rod, the second connecting joint is hinged to the second connecting rod, the first connecting joint adjacent to the first arm is fixedly connected to the first arm and is rotatably connected to the second arm, another first connecting joint is fixedly connected to the third arm, the second connecting joint adjacent to the second arm is fixedly connected to the second arm and is rotatably connected to the third arm, and another second connecting joint is fixedly connected to the slide group.

[0008] Furthermore, the active arm of the surgical robot also includes a base and a multi-dimensional force sensor, the base is suitable for being connected to the multi-dimensional force sensor, and the base is rotationally connected to an end of the first arm away from the second arm.

[0009] Furthermore, the active arm of the surgical robot also includes a harmonic reducer, a motor and a pulley group arranged at both ends of the first arm, the pulley group includes a driving wheel and a driven wheel that are transmission-connected, the driving wheel is transmission-connected to the motor, and the driven wheel is transmission-connected to the harmonic reducer, and the two ends of the first arm are respectively connected to the base and the second arm through the harmonic reducer.

[0010] Furthermore, the active arm of the surgical robot also includes a first photoelectric sensor arranged on the first arm, and the base is provided with a sensing coating or a first sensing sheet. The first photoelectric sensor limits the rotation angle of the first arm relative to the base by cooperating with the sensing coating or the first sensing sheet.

[0011] Furthermore, the active arm of the surgical robot also includes a second photoelectric sensor and a second sensing sheet. The second photoelectric sensor is arranged on the second arm, and the second sensing sheet is arranged on the first arm. The rotation angle of the second arm relative to the first arm is limited by the cooperation of the second photoelectric sensor and the second sensing sheet.

[0012] Furthermore, the active arm of the surgical robot also includes a braking mechanism, which is arranged at the connection between the base and the first arm, and at the connection between the first arm and the second arm. The braking mechanism includes a brake pad, a brake rod and a first electromagnet. The side of the brake pad is provided with a first protrusion, and the side of the brake rod is provided with a second protrusion. The first electromagnet is suitable for energizing the brake rod to adsorb the first protrusion and the second protrusion so that the first protrusion and the second protrusion are on the same plane, and is suitable for making the sides of the first protrusion and the second protrusion abut or are about to abut.

[0013] Further, an elastic member is provided in the brake rod, and when the first electromagnet is energized to adsorb the brake rod, the elastic member undergoes elastic deformation, so as to drive the brake rod to return to its original position when the first electromagnet is de-energized; or

[0014] The active arm of the surgical robot further comprises a second electromagnet. When the first electromagnet is powered off, the second electromagnet is adapted to be powered on to adsorb the brake rod so that the brake rod returns to its original position.

[0015] Furthermore, the active arm of the surgical robot also includes a slide group, the other end of the third arm is rotatably connected to the slide group, the other end of the second parallelogram linkage mechanism is connected to the slide group, the slide group includes a slide, a screw, a guide rail and a mounting table, the slide is rotatably connected to the third arm and fixedly connected to the second parallelogram linkage mechanism, both ends of the screw are rotatably connected to the slide, the guide rail is fixed on the slide, the nut of the screw is fixedly connected to the mounting table, the mounting table is slidably connected to the guide rail, and the mounting table is suitable for mounting the surgical instrument.

[0016] The present invention also provides a surgical robot, comprising the active arm of the surgical robot as described above.

[0017] The beneficial effects of the present invention are as follows: by connecting the two ends of the first parallelogram linkage mechanism to the first arm and the third arm respectively, so that under the restriction of the first parallelogram linkage mechanism, the first arm and the third arm swing synchronously, and connecting one end of the second parallelogram linkage mechanism to the second arm so that when a surgical instrument is installed on the third arm, under the restriction of the second parallelogram linkage mechanism, the second arm and the surgical instrument swing synchronously, and the second arm and the third arm constitute two adjacent sides of a parallelogram, the intersection point of the other two sides of the parallelogram is the distal point, that is, the fixed point, and the surgical instrument installed on the third arm passes through the distal point. The parallelogram linkage mechanism is suitable for deformation with the swing of the second arm. Therefore, when the second arm swings around the first arm, the position of the distal point will not change, and the surgical instrument will swing synchronously with the second arm, thereby realizing the swing of the surgical instrument around the distal point. In the actual operation, the distal point coincides with the minimally invasive surgical incision, thereby ensuring that the surgical instrument and the patient's surgical incision are not pulled during the minimally invasive surgery, thereby ensuring the safety of the operation. The arrangement and transmission form of the first parallelogram linkage mechanism and the second parallelogram linkage mechanism make the two sets of parallelogram shapes change around the best force in the range of motion, so that the structure has the best force and the best rigidity. And because the linkage structure is compact, rigid, and lightweight, the swing of the surgical instrument around the distal point can be accurately realized by controlling the swing of the second arm, thereby realizing precise and flexible surgical operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 An exploded view of the active arm of the surgical robot according to an embodiment of the present invention;

[0019] Figure 2 is a cross-sectional view of an active arm of a surgical robot according to an embodiment of the present invention;

[0020] Figure 3 An exploded view of a slide assembly of a surgical robot according to an embodiment of the present invention;

[0021] Figure 4 for Figure 2 The enlarged view of point Ⅰ in the middle;

[0022] Figure 5 for Figure 2 Enlarged view of point II in the middle.

[0023] Description of reference numerals:

[0024] 1-first arm, 2-second arm, 3-third arm, 4-slide group, 401-slide, 4011-slide upper cover, 4012-slide body, 4013-slide lower cover, 402-screw, 403-guide rail, 404-mounting table, 5-first parallelogram linkage, 501-first connecting joint, 502-first connecting rod, 6-second parallelogram linkage, 601-second connecting joint, 602-second connecting rod, 7-base, 8-multi-dimensional force sensor, 9-harmonic reducer, 10-motor, 11-pulley group, 12-first photoelectric sensor, 13-second photoelectric sensor, 14-second induction plate, 15-brake pad, 1501-first protrusion, 16-brake rod, 1601-second protrusion, 17-first electromagnet, 18-motor control board, 19-telecentric point. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0026] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "rear", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0027] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0028] like Figure 1 and Figure 2 As shown, an active arm of a surgical robot according to an embodiment of the present invention comprises a first arm 1, a second arm 2, a third arm 3, a first parallelogram linkage mechanism 5 and a second parallelogram linkage mechanism 6, one end of the first arm 1 is rotatably connected to one end of the second arm 2, the other end of the second arm 2 is rotatably connected to one end of the third arm 3, two ends of the first parallelogram linkage mechanism 5 are respectively connected to the first arm 1 and the third arm 3, and one end of the second parallelogram linkage mechanism 6 is connected to the second arm 2;

[0029] The first parallelogram linkage mechanism 5 and the second parallelogram linkage mechanism 6 are suitable for being deformed along with the swing of the second arm 2 .

[0030] By connecting the two ends of the first parallelogram linkage 5 to the first arm 1 and the third arm 3 respectively, the first arm 1 and the third arm 3 swing synchronously under the restriction of the first parallelogram linkage 5, and connecting one end of the second parallelogram linkage 6 to the second arm 2, so that when a surgical instrument is installed on the third arm 3, the second arm 2 and the surgical instrument swing synchronously under the restriction of the second parallelogram linkage 6, and the second arm 2 and the third arm 3 constitute two adjacent sides of a parallelogram, and the intersection point of the other two sides of the parallelogram is the distal point 19, that is, the fixed point, and the surgical instrument installed on the third arm 3 passes through the distal point 19. The parallelogram linkage mechanism 6 is suitable for deforming with the swing of the second arm 2. Therefore, when the second arm 2 swings around the first arm 1, the position of the distal point 19 will not change, and the surgical instrument will swing synchronously with the second arm 2, thereby realizing the swing of the surgical instrument around the distal point 19. In the actual operation, the distal point 19 coincides with the minimally invasive surgical incision, thereby ensuring that the surgical instrument and the patient's surgical incision are not pulled during the minimally invasive surgery, thereby ensuring the safety of the operation. The arrangement and transmission form of the first parallelogram linkage mechanism 5 and the second parallelogram linkage mechanism 6 make the two sets of parallelogram shapes change around the best force in the range of motion, so that the structure has the best force and the best rigidity. And because the linkage structure is compact, rigid, and lightweight, the swing of the surgical instrument around the distal point 19 can be accurately realized by controlling the swing of the second arm 2, thereby realizing precise and flexible surgical operations.

[0031] Optionally, the first parallelogram linkage mechanism 5 includes two parallel first connecting joints 501 and two parallel first connecting rods 502, and the second parallelogram linkage mechanism 6 includes two parallel second connecting joints 601 and two parallel second connecting rods 602, the first connecting joint 501 is hinged to the first connecting rod 502, the second connecting joint 601 is hinged to the second connecting rod 602, the first connecting joint 501 adjacent to the first arm 1 is fixedly connected to the first arm 1 and is rotatably connected to the second arm 2, the other first connecting joint 501 is fixedly connected to the third arm 3, the second connecting joint 601 adjacent to the second arm 2 is fixedly connected to the second arm 2 and is rotatably connected to the third arm 3; wherein, the other second connecting joint 601 is suitable for being fixedly connected to a mounting seat for mounting surgical instruments, and in the present embodiment, is suitable for being fixedly connected to the slide group 4.

[0032] Specifically, Figure 1 As shown, the first connecting joint 501 is hinged to the first connecting rod 502, so that the first parallelogram linkage mechanism 5 is deformable; the second connecting joint 601 is hinged to the second connecting rod 602, so that the second parallelogram linkage mechanism 6 is deformable, the first connecting joint 501 is fixedly connected to one end of the first arm 1 adjacent to the second arm 2, and a bearing is provided on the first connecting joint 501, and the first connecting joint 501 is rotatably connected to the second arm 2 through the bearing, that is, the first arm 1 is rotatably connected to the second arm 2 through the first connecting joint 501; similarly, the second connecting joint 601 is fixedly connected to one end of the second arm 2 adjacent to the third arm 3, and a bearing is provided on the second connecting joint 601, and the second connecting joint 601 is rotatably connected to the third arm 3 through the bearing, that is, the second arm 2 is rotatably connected to the third arm 3 through the first connecting joint 501. Through the above arrangement, the first arm 1 is synchronized with the third arm 3, and the second arm 2 is synchronized with the slide group 4. When the second arm 2 swings around the first arm 1, the angle between the second arm 2 and the third arm 3 changes, and the first parallelogram linkage mechanism 5 and the second parallelogram linkage mechanism 6 are deformed, so that the slide group 4 and the second arm 2 swing at the same angle, thereby realizing the swing of the slide group 4 around the far center point 19.

[0033] Alternatively, if Figure 1 As shown, it also includes a base 7 and a multi-dimensional force sensor 8. The base 7 is suitable for connecting with the multi-dimensional force sensor 8. The base 7 is rotatably connected to one end of the first arm 1 away from the second arm 2.

[0034] The multi-dimensional force sensor 8 is preferably a six-dimensional force sensor, that is, a sensor capable of simultaneously measuring three force components and three torque components. Figure 1As shown, the base 7 is rotatably connected to one end of the first arm 1 away from the second arm 2, so that the first arm 1 can rotate around the base 7, and the rotation direction is the circumferential direction of the base 7. The other end of the first arm 1 is rotatably connected to the second arm 2, that is, the second arm 2 can rotate relative to the first arm 1 in the axial direction of the first arm 1.

[0035] Specifically, by rotating the base 7 and the end of the first arm 1 away from the second arm 2, the slide group 4 can be rotated by controlling the rotation of the first arm 1, thereby realizing the rotation of the slide group 4 around the distal point 19, so as to increase the range of motion of the surgical instrument. In addition, since the base 7 is connected to the multi-dimensional force sensor 8, the surgical robot can accurately monitor the operating force of the active arm and whether there is sliding or vibration during the operation through the multi-dimensional force sensor 8, thereby facilitating accurate surgical operations. At the same time, the data from the sensor can be used to control the movement of the active arm based on the direction and magnitude of the force applied when the active arm is dragged by a person, so as to assist the dragging movement.

[0036] Alternatively, if Figure 1 As shown, the active arm of the surgical robot also includes a harmonic reducer 9, a motor 10 and a pulley group 11 arranged at both ends of the first arm 1, the pulley group 11 includes a driving wheel and a driven wheel that are transmission-connected, the driving wheel is transmission-connected to the motor 10, and the driven wheel is transmission-connected to the harmonic reducer 9, and the two ends of the first arm 1 are respectively connected to the base 7 and the second arm 2 through the harmonic reducer 9.

[0037] Specifically, one end of the first arm 1 is rotationally connected to the base 7 through the harmonic reducer 9, and the other end is rotationally connected to the second arm 2 through the harmonic reducer 9. The motor 10 is transmission-connected to the harmonic reducer 9 through the pulley group 11, and then the rotation angle of the first arm 1 can be controlled by the motor 10 adjacent to the base 7, and the rotation angle of the second arm 2 can be controlled by the motor 10 adjacent to the second arm 2. Specifically, a motor control board 18 is provided in the first arm 1, and the motor control board 18 is used to control the motor 10 adjacent to the base 7. Another motor control board 18 is provided in the second arm 2, and the motor control board 18 in the second arm 2 is used to control the motor 10 adjacent to the second arm 2. Through the above-mentioned structural arrangement, the rotation angle of the first arm 1 and the swing angle of the second arm 2 can be controlled, and then the rotation angle and swing angle of the slide group 4 can be controlled.

[0038] Alternatively, if Figure 1 , Figure 2 and Figure 4As shown, the active arm of the surgical robot also includes a first photoelectric sensor 12 arranged on the first arm 1, and the base 7 is provided with a sensing coating or a first sensing sheet. The first photoelectric sensor 12 limits the rotation angle of the first arm 1 relative to the base 7 by cooperating with the sensing coating or the first sensing sheet.

[0039] Specifically, the first arm 1 is provided with a first photoelectric sensor 12, and the first photoelectric sensor 12 rotates synchronously with the first arm 1. When the first photoelectric sensor 12 senses the sensing coating or the first sensing sheet on the base 7, the motor 10 stops driving; or when the first photoelectric sensor 12 does not sense the sensing coating or the first sensing sheet on the base 7, the motor 10 stops driving, thereby limiting the rotation angle of the first arm 1 through the cooperation of the first photoelectric sensor 12 and the sensing coating or the first sensing sheet.

[0040] Alternatively, if Figure 1 , Figure 2 and Figure 4 As shown, the active arm of the surgical robot also includes a second photoelectric sensor 13 and a second sensing sheet 14. The second photoelectric sensor 13 is arranged on the second arm 2, and the second sensing sheet 14 is arranged on the first arm 1. The cooperation between the second photoelectric sensor 13 and the second sensing sheet 14 limits the rotation angle of the second arm 2 relative to the first arm 1.

[0041] Specifically, the second sensing piece 14 is an arc-shaped sensing piece. When the second arm 2 swings, the second photoelectric sensor 13 swings synchronously therewith, and the second photoelectric sensor 13 swings around the second sensing piece 14. Similarly, when the second photoelectric sensor 13 senses the second sensing piece 14 on the base 7, the motor 10 stops driving; or when the second photoelectric sensor 13 does not sense the second sensing piece 14, the motor 10 stops driving. Thus, the swing angle of the second arm 2 is limited by the cooperation of the second photoelectric sensor 13 and the second sensing piece 14.

[0042] By limiting the rotation angle of the first arm 1 and the swing angle of the second arm 2, there is always an escape space under the third arm 3 for evading the patient, thereby facilitating surgical operations.

[0043] Alternatively, if Figure 1 , Figure 2 and Figure 4As shown, the active arm of the surgical robot also includes a braking mechanism, which is arranged at the connection between the base 7 and the first arm 1, and at the connection between the first arm 1 and the second arm 2. The braking mechanism includes a brake pad 15, a brake rod 16 and a first electromagnet 17. The side of the brake pad 15 is provided with a first protrusion 1501, the side of the brake rod 16 is provided with a second protrusion 1601, and the first electromagnet 17 is suitable for electrically adsorbing the brake rod 16 so that the first protrusion 1501 and the second protrusion 1601 are on the same plane, and is suitable for making the sides of the first protrusion 1501 and the second protrusion 1601 abut against each other.

[0044] Specifically, the brake pad 15 is connected to the pulley group 11, and the brake rod 16 is respectively arranged on the base 7 and the first arm 1. When the first electromagnet 17 is not energized, the first protrusion 1501 and the second protrusion 1601 are not on the same plane, that is, the brake rod 16 will not interfere with the rotation of the brake pad 15; when the first electromagnet 17 is energized, the first electromagnet 17 adsorbs the brake rod 16, so that the first protrusion 1501 and the second protrusion 1601 are on the same plane. At this time, the side surfaces of the first protrusion 1501 and the second protrusion 1601 are in contact or about to be in contact, that is, the braking is achieved by the collision between the first protrusion 1501 and the second protrusion 1601. Therefore, the provision of a braking mechanism at the connection between the base 7 and the first arm 1 and the connection between the first arm 1 and the second arm 2 can effectively achieve the braking of the first arm 1 and the second arm 2.

[0045] Optionally, an elastic member is provided in the brake rod 16, and when the first electromagnet 17 is powered on to adsorb the brake rod 16, the elastic member undergoes elastic deformation to drive the brake rod 16 to return to its original position when the first electromagnet 17 is powered off; or

[0046] The active arm of the surgical robot further comprises a second electromagnet. When the first electromagnet 17 is powered off, the second electromagnet is adapted to be powered on to adsorb the brake rod 16 to restore it to its original position.

[0047] Specifically, when the first electromagnet 17 is powered off, the brake rod 16 needs to be restored to its original position to prevent the first protrusion and the second protrusion from continuing to abut and cause braking. Therefore, an elastic member such as a spring can be provided in the brake rod 16, and when the first electromagnet 17 is powered off, the brake rod 16 is restored to its original position under the elastic force of the elastic member. Alternatively, a second electromagnet is provided, and the brake rod 16 is restored to its original position by energizing the second electromagnet to adsorb it, wherein when the first electromagnet 17 is powered on, the second electromagnet is powered off, and when the first electromagnet 17 is powered off, the second electromagnet is powered on.

[0048] Alternatively, if Figure 2 , Figure 3 and Figure 5 As shown, it also includes a slide group 4, the other end of the third arm 3 is rotatably connected to the slide group 4, the other end of the second parallelogram linkage mechanism 6 is connected to the slide group 4, the slide group 4 includes a slide 401, a screw rod 402, a guide rail 403 and a mounting table 404, the slide 401 is rotatably connected to the third arm 3 and is fixedly connected to the second parallelogram linkage mechanism 6, both ends of the screw rod 402 are rotatably connected to the slide 401, the guide rail 403 is fixed on the slide 401, the nut of the screw rod 402 is fixedly connected to the mounting table 404, the mounting table 404 is slidably connected to the guide rail 403, and the mounting table 404 is suitable for mounting the surgical instrument.

[0049] By rotating the other end of the third arm 3 with the slide group 4, and connecting the other end of the second parallelogram linkage 6 with the slide group 4, the second arm 2 and the slide group 4 swing synchronously under the restriction of the second parallelogram linkage 6, thereby realizing the synchronous swing of the surgical instrument and the second arm 2. Specifically, Figure 5 As shown, the slide 401 includes a slide body 4012, a slide upper cover 4011 and a slide lower cover 4013, wherein the slide upper cover 4011 is detachably connected to the upper end of the slide body 4012, and the slide lower cover 4013 is detachably connected to the lower end of the slide body 4012, and a cavity is provided in the slide body 4012, and the cavity is used to accommodate the screw rod 402 and the guide rail 403, wherein both ends of the screw rod 402 are rotatably connected to the slide 401. A motor 10 and a pulley group 11 are also provided in the slide 401, and the motor 10 drives the screw rod 402 to rotate through the pulley group 11. Since the screw rod 402 is a mechanical structure that converts rotational motion into linear motion, and the nut of the screw rod 402 is fixedly connected to the mounting platform 404, and the mounting platform 404 is slidably connected to the slide 401, when the motor 10 drives the screw rod 402 shaft to rotate, the nut on the screw rod 402 will not rotate with it under the restriction of the mounting platform 404, but will move linearly relative to the screw shaft, thereby driving the mounting platform 404 to move linearly on the guide rail 403, thereby realizing the linear motion of the surgical instrument.

[0050] Another embodiment of the present invention provides a surgical robot, comprising the active arm of the surgical robot as described above.

[0051] The beneficial effects of the surgical robot described in this embodiment relative to the prior art are the same as the beneficial effects of the active arm of the surgical robot relative to the prior art, and will not be repeated here.

[0052] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An active arm of a surgical robot, characterized in that: The invention comprises a first support arm (1), a second support arm (2), a third support arm (3), a first parallelogram linkage mechanism (5) and a second parallelogram linkage mechanism (6), wherein one end of the first support arm (1) is rotatably connected to one end of the second support arm (2), the other end of the second support arm (2) is rotatably connected to one end of the third support arm (3), two ends of the first parallelogram linkage mechanism (5) are respectively connected to the first support arm (1) and the third support arm (3), and one end of the second parallelogram linkage mechanism (6) is connected to the second support arm (2); Wherein, the first parallelogram linkage mechanism (5) and the second parallelogram linkage mechanism (6) are adapted to deform along with the swing of the second support arm (2); It also comprises a base (7) and a multi-dimensional force sensor (8), wherein the base (7) is suitable for being connected to the multi-dimensional force sensor (8), and the base (7) is rotatably connected to an end of the first arm (1) away from the second arm (2); The device further comprises a second photoelectric sensor (13) and a second sensing sheet (14), wherein the second photoelectric sensor is arranged on the second arm (2), and the second sensing sheet (14) is arranged on the first arm (1), and the rotation angle of the second arm (2) relative to the first arm (1) is limited by the cooperation between the second photoelectric sensor (13) and the second sensing sheet (14); The invention also comprises a braking mechanism, which is arranged at the connection between the base (7) and the first arm (1), and at the connection between the first arm (1) and the second arm (2). The braking mechanism comprises a braking pad (15), a braking rod (16) and a first electromagnet (17). The side of the braking pad (15) is provided with a first protrusion (1501), and the side of the braking rod (16) is provided with a second protrusion (1601). The first electromagnet (17) is suitable for electrically adsorbing the braking rod (16) so that the first protrusion (1501) and the second protrusion (1601) are on the same plane, and is suitable for making the side surfaces of the first protrusion (1501) and the second protrusion (1601) abut against each other.

2. The active arm of the surgical robot according to claim 1, characterized in that: The first parallelogram linkage mechanism (5) comprises two parallel first connecting joints (501) and two parallel first connecting rods (502); the second parallelogram linkage mechanism (6) comprises two parallel second connecting joints (601) and two parallel second connecting rods (602); the first connecting joint (501) is hinged to the first connecting rod (502); the second connecting joint (601) is hinged to the second connecting rod (602); the first connecting joint (501) adjacent to the first support arm (1) is fixedly connected to the first support arm (1); the other first connecting joint (501) is fixedly connected to the third support arm (3); the second connecting joint (601) adjacent to the second support arm (2) is fixedly connected to the second support arm (2) and is rotatably connected to the third support arm (3).

3. The active arm of the surgical robot according to claim 1, characterized in that: The invention also comprises a harmonic reducer (9), a motor (10) and a pulley group (11) arranged at both ends of the first support arm (1); the pulley group (11) comprises a driving wheel and a driven wheel which are transmission-connected; the driving wheel is transmission-connected to the motor (10); the driven wheel is transmission-connected to the harmonic reducer (9); and the two ends of the first support arm (1) are respectively connected to the base (7) and the second support arm (2) through the harmonic reducer (9).

4. The active arm of the surgical robot according to claim 1, characterized in that: The invention also comprises a first photoelectric sensor (12) arranged on the first arm (1); the base (7) is provided with a sensing coating or a first sensing sheet; the first photoelectric sensor (12) limits the rotation angle of the first arm (1) relative to the base (7) by cooperating with the sensing coating or the first sensing sheet.

5. The active arm of the surgical robot according to claim 1, characterized in that: An elastic member is provided in the brake rod (16), and when the first electromagnet (17) is powered on to adsorb the brake rod (16), the elastic member undergoes elastic deformation, so as to drive the brake rod (16) to return to its original position when the first electromagnet (17) is powered off; or It also comprises a second electromagnet. When the first electromagnet (17) is powered off, the second electromagnet is suitable for being powered on to absorb the brake rod (16) so as to restore the brake rod (16) to its original position.

6. The active arm of the surgical robot according to claim 1 or 2, characterized in that: The invention also comprises a slide group (4), the other end of the third arm (3) is rotatably connected to the slide group (4), the other end of the second parallelogram linkage (6) is connected to the slide group (4), the slide group (4) comprises a slide (401), a screw rod (402), a guide rail (403) and a mounting platform (404), the slide (401) is rotatably connected to the third arm (3) and fixedly connected to the second parallelogram linkage (6), the two ends of the screw rod (402) are rotatably connected to the slide (401), the guide rail (403) is fixed on the slide (401), the nut of the screw rod (402) is fixedly connected to the mounting platform (404), the mounting platform (404) is slidably connected to the guide rail (403), and the mounting platform (404) is suitable for mounting surgical instruments.

7. A surgical robot, characterized in that: A surgical robot comprising an active arm as claimed in any one of claims 1 to 6.

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