Surgical robot extracorporeal positioning arm group and surgical robot system comprising the same

Abstract

The present application relates to a kind of surgical robot extracorporeal positioning arm group and the surgical robot system comprising the arm group, it includes at least one set of positioning arm group, each set of positioning arm group includes: first positioning mechanical arm, with first cross arm on it, first cross arm is connected with rotating platform on operating trolley by first rotary joint;Second positioning mechanical arm, with second cross arm on it, second cross arm is also connected with rotating platform by second rotary joint;The rotation axis of first rotary joint is coaxially arranged with the rotation axis of second rotary joint, so that second rotary joint is stacked above first rotary joint.The present application uses the design way of overlapping arrangement of multiple positioning mechanical arms, can make full use of the space in operating room in height direction, reduces the occupation of operating trolley to sick bed side space;While, under the overlapping arrangement, the independent connection of each positioning mechanical arm and rotating platform can guarantee the relative independence of each positioning mechanical arm movement, reduce the risk when motion out of control, improve the reliability of system.

Description

Technical Field

[0001] This invention relates to a medical device, specifically to an external positioning arm assembly for a surgical robot and a surgical robot system including the arm assembly. Background Technology

[0002] Compared to traditional open surgery, laparoscopic minimally invasive surgery significantly reduces incision size and improves postoperative outcomes. For example, it effectively reduces patient pain and anesthesia usage, accelerates postoperative recovery, and reduces the likelihood of postoperative infection and complications. To date, minimally invasive surgery has developed operational paradigms applicable to a variety of conditions and is driving the development of more minimally invasive surgeries. However, the limited field of vision and inconvenience of manual minimally invasive surgery make the procedure difficult, requiring long-term training for surgeons. Complex surgeries become even more challenging with minimally invasive techniques. Therefore, the development of surgical robots to assist surgeons has become a research hotspot in various countries, resulting in numerous products and research prototypes. Surgical robots typically use a teleoperation mode to perform surgical procedures, where the surgeon manipulates the dexterous surgical tools through intuitive input.

[0003] Modern laparoscopic minimally invasive surgery requires the simultaneous collaboration of multiple surgical tools and endoscopes. Surgical robots typically use multiple external positioning robotic arms, each carrying a surgical tool and endoscope. Because different patients and surgeries place different demands on the positioning of surgical tools and endoscopes, the external positioning robotic arms of the surgical robot need to be adjusted preoperatively or intraoperatively as required. The spatial positioning capability of the external positioning robotic arms directly affects the surgical robot's ability to perform various surgeries. Furthermore, collisions between the external positioning robotic arms during operation increase the risk of patient injury. Additionally, the space occupied by the external positioning robotic arms around the bed can hinder the surgeon's ability to assist and monitor the patient at the bedside.

[0004] Existing surgical robot systems typically employ multiple external positioning robotic arms for spatial positioning of surgical instruments. These arms are fixed to the same vehicle and deployed to operate, allowing for flexible positioning of surgical instruments to the designated surgical location. However, in current technology, the first joints of multiple external positioning robotic arms usually rotate along a vertical axis, and multiple first joints are arranged at the same horizontal height. This prevents the first segments of the positioning arms from overlapping, restricting their movement space during surgery. This hinders the full utilization of the full-dimensional positioning capabilities of the robotic arms and introduces a higher risk of interference and collision between the positioning arms. Summary of the Invention

[0005] To address the aforementioned problems, one objective of this invention is to provide an external positioning arm assembly for a surgical robot that is arranged in an overlapping manner and driven independently. This external positioning arm assembly can not only make more efficient use of the bedside space and the working space of the surgical robot positioning arm, but also can be well applied to the system design of multi-port, single-port and / or transorbital surgical robots and used in surgery. Another objective of this invention is to provide a surgical robot system containing this external positioning arm assembly.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an external positioning arm assembly for a surgical robot, comprising at least one positioning arm assembly, each positioning arm assembly comprising: a first positioning robotic arm, the first positioning robotic arm having a first horizontal arm, the first horizontal arm being connected to a turntable on a surgical trolley via a first rotary joint; a second positioning robotic arm, the second positioning robotic arm having a second horizontal arm, the second horizontal arm also being connected to the turntable via a second rotary joint; the rotation axis of the first rotary joint and the rotation axis of the second rotary joint are coaxially arranged, such that the second rotary joint of the second positioning robotic arm is stacked above the first rotary joint of the first positioning robotic arm.

[0007] Preferably, the second rotary joint of the surgical robot external positioning arm assembly includes: a second motor, fixedly disposed within the turntable; and a second reducer, wherein the input shaft of the second reducer is connected to the output shaft of the second motor via a second synchronous transmission belt, and the output shaft of the second reducer is configured to drive the second horizontal arm to rotate.

[0008] Preferably, the first rotary joint of the surgical robot external positioning arm assembly includes: a first motor, fixedly disposed within the first horizontal arm, with a first synchronous transmission belt fixedly connected to the output shaft of the first motor; a reducer mounting base, fixedly disposed within the second horizontal arm, with a support shaft fixedly connected to the turntable passing through the second reducer and the reducer input shaft and fixedly connected to the reducer mounting base at its lower end; a first reducer, fixedly disposed within the reducer mounting base, with the output shaft of the first reducer configured to drive the first horizontal arm to rotate; and a first reducer drive shaft, the top end of which passes through the output shaft of the first reducer located below and is coaxially fixedly connected to the input shaft of the first reducer located above, with the bottom end of the first reducer drive shaft connected to the output shaft of the first motor via the first synchronous transmission belt.

[0009] Preferably, the first rotary joint of the surgical robot external positioning arm assembly includes: a drive module base, mainly composed of a base disposed within the second horizontal arm and a main body located at the lower end of the base and having a receiving cavity; a support shaft fixedly connected to the turntable passes through the second reducer and the input shaft of the reducer and is fixedly connected to the base; a first motor, fixedly disposed within the main body, with a first synchronous transmission belt coaxially fixedly connected to the output shaft of the first motor; and a first reducer, fixedly disposed within the main body, with the input shaft of the first reducer connected to the output shaft of the first motor via the first synchronous transmission belt, and the output shaft of the first reducer configured to drive the first horizontal arm to rotate.

[0010] Preferably, in the surgical robot external positioning arm assembly, the second rotary joint further includes a second brake, which is coaxially arranged with the input shaft of the reducer. The second brake is configured to be in an unlocked state when powered on and in a locked state when powered off.

[0011] Preferably, the second rotary joint of the surgical robot external positioning arm assembly further includes a second gear and a second angle encoder. The second gear is coaxially and fixedly connected to the output shaft of the second motor, and the second angle encoder meshes with the second gear to record and provide feedback on the motion state of each second rotary joint.

[0012] Preferably, the second reducer is a harmonic reducer.

[0013] Preferably, the first rotary joint of the surgical robot external positioning arm assembly further includes a first brake coaxially mounted on the output shaft of the first reducer. The first brake is configured to be in an unlocked state when powered on and in a locked state when powered off.

[0014] Preferably, the first rotary joint of the surgical robot external positioning arm assembly further includes a first gear and a first angle encoder. The first gear is coaxially and fixedly connected to the output shaft of the first motor, and the first angle encoder meshes with the first gear to record and provide feedback on the motion state of each of the first rotary joints.

[0015] Preferably, the first reducer is a harmonic reducer.

[0016] Preferably, the first rotary joint of the surgical robot external positioning arm assembly further includes a first brake coaxially mounted on the input shaft of the first reducer. The first brake is configured to be in an unlocked state when powered on and in a locked state when powered off.

[0017] Preferably, the first rotary joint of the surgical robot external positioning arm assembly further includes a first angle encoder, and the first angle encoder moves synchronously with the output shaft of the first motor through a transmission component, for recording and feedback of the motion state of each of the first rotary joints;

[0018] Preferably, the first reducer is a harmonic reducer.

[0019] Preferably, in the surgical robot external positioning arm assembly, the second reducer and the reducer input shaft are both provided with through channels along the rotation center axis, the support shaft passes through the through channels and is fixedly connected to the reducer fixing seat, thereby connecting the first horizontal arm to the turntable, so that the first horizontal arm and the second horizontal arm are independently connected to the turntable.

[0020] Preferably, the surgical robot external positioning arm assembly further includes: a horizontal arm link, the proximal end of which is rotatably connected to the first and / or second horizontal arm of the corresponding positioning arm; a vertical arm, configured to move up and down, the proximal end of which is rotatably connected to the distal end of the horizontal arm link; a diagonal arm, the proximal end of which is rotatably connected to the distal end of the vertical arm; a fixed-point position adjustment link assembly, the proximal end of which is rotatably connected to the distal end of the diagonal arm; a linear drive device, slidably disposed at the distal end of the fixed-point position adjustment link assembly; and surgical instruments disposed on the linear drive device.

[0021] Preferably, the surgical robot external positioning arm assembly consists of two or more sets, and each set of positioning arms is mirror-symmetrical about the symmetrical plane of the turntable.

[0022] A surgical robot system includes a surgical cart and the aforementioned surgical robot external positioning arm assembly, wherein the surgical robot external positioning arm assembly is mounted on a turntable of the surgical cart; the turntable includes a turntable frame, a support shaft, and a support shaft mounting base, the support shaft mounting base being fixedly connected within the turntable frame, and one end of the support shaft being fixedly mounted on the support shaft mounting base; a second transverse arm is connected to the turntable frame via a second rotary joint, and a first transverse arm is connected to the support shaft mounting base via a first rotary joint.

[0023] The present invention, by adopting the above technical solutions, has the following advantages: 1. The present invention adopts a design that overlaps multiple positioning robotic arms, which can make full use of the space in the vertical direction of the operating room and reduce the space occupied by the operating trolley on the side of the bed; at the same time, the independent connection between each positioning robotic arm and the turntable under the overlapping arrangement can ensure the relative independence of the movement of each positioning robotic arm, reduce the risk of loss of control of movement, and improve the reliability of the system. 2. The present invention adopts a design that coaxially arranges multiple rotary joints, which compactly utilizes the internal space of each positioning robotic arm. At the same time, compared with the design of rotary joints independently arranged in the same horizontal plane, the vertical overlapping design reduces the swing interference of the horizontal arms of each positioning robotic arm in the horizontal plane, increases its movement space, and improves the flexibility of surgical operation. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the surgical robot system of the present invention from one angle;

[0025] Figure 2 This is a schematic diagram of the overall structure of the surgical robot system of the present invention from another angle;

[0026] Figure 3 This is a partial structural diagram of the second rotary joint in one embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of another partial structure of the second rotary joint in this embodiment of the present invention;

[0028] Figure 5 This is a partial cross-sectional view of the second rotary joint and the first rotary joint in this embodiment of the present invention;

[0029] Figure 6 This is a partial cross-sectional view of the first rotary joint in this embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of the present invention, which has two positioning robotic arms;

[0031] Figure 8 This is a partial structural diagram of the turntable in one embodiment of the present invention;

[0032] Figure 9 This is a schematic diagram of the structure of the first rotary joint in another embodiment of the present invention. Detailed Implementation

[0033] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are only for illustrating the essential spirit of the technical solution of the present invention.

[0034] In the description of this invention, it should be understood that the terms "proximal end," "distal end," "top end," "bottom end," "above," "below," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. In this invention, when referring to "distal end," the term refers to the end relatively far from the operator. When referring to "proximal end," the term refers to the end relatively close to the operator. Example 1:

[0035] like Figure 1 , Figure 2 As shown, the surgical robot external positioning arm assembly provided in this embodiment includes a first positioning robotic arm 3 and a second positioning robotic arm 4 mounted on a turntable 2 of the surgical trolley 1 of the surgical robot. The first positioning robotic arm 3 includes a first horizontal arm 31, which is connected to the turntable 2 via a first rotary joint. The second positioning robotic arm 4 includes a second horizontal arm 41, which is also connected to the turntable 2 via a second rotary joint. The rotation axes of the first and second rotary joints are coaxially arranged, so that the second rotary joint of the second positioning robotic arm 4 is stacked above the first rotary joint of the first positioning robotic arm 3 in the vertical direction. This results in the first positioning robotic arm 3 and the second positioning robotic arm 4 partially overlapping in the vertical direction and being independently connected to the turntable 2. This significantly reduces the size of the robotic arms in the horizontal space, increases their movement space, and avoids interference from the swinging of the horizontal arms of each positioning robotic arm in the horizontal plane.

[0036] In this embodiment, preferably, as follows: Figures 3 to 5As shown, the second rotary joint includes: a second motor 7, which is fixedly installed inside the turntable frame 201 of the turntable 2. The output shaft of the second motor 7 is coaxially fixedly connected to a pulley and a second gear 12 for the second synchronous transmission belt 11 to be wound around; and a second reducer 10, the housing of which is fixedly installed inside the turntable 2. Both the output shaft and the input shaft 101 of the second reducer 10 can rotate relative to its housing. The output shaft of the second reducer 10 is fixedly connected to the second cross arm 41 by fasteners (e.g., bolt sets), thereby driving the second cross arm 41 to rotate. Therefore, the output shaft of the second motor 7 drives the input shaft 101 of the reducer to rotate via the second synchronous transmission belt 11, thereby generating a high-speed rotational motion of the input shaft 101 of the second reducer 10. This high-speed rotation of the input shaft 101 is transmitted through the second reducer 10 and converted into a lower-speed output torque that proportionally increases in torque. This torque drives the second horizontal arm 41 of the second positioning robotic arm 4 to rotate relative to the turntable 2 around the output shaft of the second reducer 10, thus serving as the second rotary joint of the second positioning robotic arm 4. It should be understood that the second synchronous transmission belt 11 can be a belt, chain, or other structure capable of motion transmission.

[0037] In this embodiment, preferably, the second rotary joint further includes a second brake 9 coaxially arranged with the input shaft 101 of the reducer and located between the second synchronous transmission belt 11 and the second reducer 10. When powered on, the second brake 9 is in the working state (i.e., the unlocked state). At this time, the motion input of the second motor 7 is transmitted to the second reducer 10 through the second synchronous transmission belt 11, thereby driving the movement of the second positioning robotic arm 4. When powered off, the second brake 9 is in the closed state (i.e., the locked state). At this time, the motion input of the second motor 7 cannot be transmitted to the second reducer 10, and the second positioning robotic arm 4 cannot be moved, thereby improving the safety of the system and avoiding injury caused by accidental movement.

[0038] In this embodiment, preferably, the second rotary joint further includes a second gear 12 and a second angle encoder 8. The second gear 12 is coaxially and fixedly connected to the output shaft of the second motor 7. The second angle encoder 8 meshes with the second gear 12. The rotational motion output by the second motor 7 is transmitted to the second angle encoder 8 through the second gear 12. The second angle encoder 8 then monitors the angular displacement information of the second motor 7 in real time, thereby recording and feeding back the motion state of the second rotary joint. It should be understood that the second gear 12 can also be coaxially and fixedly mounted on the input shaft 101 of the reducer, and the second gear 12 and the second angle encoder 8 can also achieve synchronous movement through a pulley.

[0039] In this embodiment, preferably, as follows: Figure 5 , Figure 6As shown, the first rotary joint includes: a first motor 13, fixedly installed within the arm frame of the first horizontal arm 31, with a pulley and a first gear 18 coaxially fixedly connected to the output shaft of the first motor 13 for the first synchronous transmission belt 17 to surround; a reducer mounting base 161, fixedly installed within the arm frame of the second horizontal arm 41, with the support shaft 202 of the turntable 2 passing through the second reducer 10 and the reducer input shaft 101 and then fixedly connected to the reducer mounting base 161; and a first reducer 16, the outer casing of which is fixedly installed within the reducer mounting base 161. Furthermore, both the output shaft and the input shaft of the first reducer 16 can rotate relative to its housing. The output shaft of the first reducer 16 is fixedly connected to the arm frame of the first cross arm 31 by fasteners (e.g., bolt sets). The top end of the first reducer drive shaft 162 passes through the first reducer 16 from the output shaft side located below and is coaxially fixedly connected to the input shaft of the first reducer 16 located above. The bottom end of the first reducer drive shaft 162 is connected to the output shaft of the first motor 13 through the first synchronous transmission belt 17. Therefore, the output shaft of the first motor 13 drives the first reducer drive shaft 162 to move via the first synchronous transmission belt 17, thereby generating high-speed rotation of the input shaft of the first reducer 16. This high-speed rotation of the input shaft of the first reducer 16 is converted into a lower-speed output torque with proportionally increased torque on the output shaft of the first reducer 16. This causes the output shaft of the first reducer 16 to rotate relative to the reducer mounting base 161, resulting in relative rotation between the first horizontal arm 31 of the first positioning robotic arm 3 and the turntable 2, thus serving as the first rotary joint of the first positioning robotic arm 3. It should be understood that the first synchronous transmission belt 17 can be a belt, chain, or other structure capable of motion transmission.

[0040] In this embodiment, preferably, the first rotary joint further includes a first brake 15 coaxially mounted on the first reducer drive shaft 162. The first brake 15 is located between the first synchronous transmission belt 17 and the output shaft of the first reducer 16. When powered on, the first brake 15 is in the working state (i.e., the unlocked state). At this time, the motion input of the first motor 13 is transmitted to the first reducer 16 through the first reducer drive shaft 162, thereby driving the movement of the first positioning robotic arm 3. When powered off, the first brake 15 is in the closed state (i.e., the locked state). At this time, the motion input of the first motor 13 cannot be transmitted to the first reducer 16, and the first positioning robotic arm 3 cannot be moved, thereby improving the safety of the system and avoiding injury caused by accidental movement.

[0041] In this embodiment, preferably, the first rotary joint further includes a first gear 18 and a first angle encoder (not shown in the figure). The first gear 18 is coaxially and fixedly connected to the output shaft of the first motor 13. The first angle encoder meshes with the first gear 18. The rotational motion output by the first motor 13 drives the first angle encoder through the first gear 18, thereby monitoring the angular displacement information of the first motor 13 in real time through the first angle encoder, thus recording and feeding back the motion state of the first rotary joint. It should be understood that the first gear 18 can also be coaxially fixedly mounted on the first reducer transmission shaft 162, and the first gear 18 and the first angle encoder can also achieve synchronous movement through a pulley.

[0042] In this embodiment, preferably, both the reducer input shaft 101 and the second reducer 10 are hollow, so that the support shaft 202 of the turntable 2 can pass through the reducer input shaft 101 and the second reducer 10, connecting with the relevant structure of the first positioning robotic arm 3 while remaining unaffected by the movement of the second positioning robotic arm 4. Specifically, both the second reducer 10 and the reducer input shaft 101 have through channels along the rotation center axis. The support shaft 202 passes through the through channels and is fixedly connected to the reducer mounting base 161, thereby connecting the first horizontal arm 31 to the turntable 2. This allows the first horizontal arm 31 and the second horizontal arm 41 to be connected to the turntable 2 independently, and their respective movements do not affect each other.

[0043] In this embodiment, preferably, both the first reducer 16 and the second reducer 10 are harmonic reducers. Example 2:

[0044] like Figure 9 As shown, the difference between this embodiment and Embodiment 1 is that the first rotary joint includes: a drive module base, mainly composed of a base 163 disposed in the second cross arm 41 and a main body 164 located at the lower end of the base 163 and having a receiving cavity; a support shaft 202 fixedly connected to the turntable 2 passes through the second reducer 10 and the reducer input shaft 101 and is fixedly connected to the base 163; a first motor 13, fixedly disposed in the main body 164, with a first synchronous transmission belt 17 coaxially fixedly connected to the output shaft of the first motor 13; a first reducer 16, with the housing of the first reducer 16 fixedly disposed in the main body 164; the input shaft of the first reducer 16 is connected to the output shaft of the first motor 13 through the first synchronous transmission belt 17; and both the output shaft and the input shaft of the first reducer 16 can rotate relative to its housing; the output shaft of the first reducer 16 is fixedly connected to the arm frame of the first cross arm 31 through fasteners (e.g., bolt sets), thereby driving the first cross arm 31 to rotate.

[0045] In this embodiment, preferably, the first rotary joint further includes a first angle encoder 165 and a first brake 15. Exemplarily, the first brake 15 is coaxially arranged with the input shaft of the first reducer 16, and the first angle encoder 165 moves synchronously with the output shaft of the first motor 13 via gears. It should be understood that the first angle encoder 165 can also move synchronously with the output shaft of the first motor 13 via a timing belt, thereby monitoring the angular displacement information of the first motor 13 in real time, and recording and feeding back the motion state of the first rotary joint. Example 3:

[0046] like Figure 1 , Figure 2 As shown, the difference between this embodiment and Embodiment 1 is that the surgical robot external positioning arm assembly provided in this embodiment further includes: a third positioning robotic arm 5 with a third horizontal arm 51 and a fourth positioning robotic arm 6 with a fourth horizontal arm 61. The third horizontal arm 51 of the third positioning robotic arm 5 is connected to the turntable 2 of the surgical trolley 1 via a third rotary joint, and the fourth horizontal arm 61 of the fourth positioning robotic arm 6 is connected to the turntable 2 of the surgical trolley 1 via a fourth rotary joint. The rotation axis of the third rotary joint and the rotation axis of the fourth rotary joint are coaxially arranged so that the third rotary joint of the third positioning robotic arm 5 is stacked above the fourth rotary joint of the fourth positioning robotic arm 6 in the longitudinal direction. The overlapping arrangement of the second positioning robotic arm 4 and the first positioning robotic arm 3 is the same as that of the third positioning robotic arm 5 and the fourth positioning robotic arm 6, and they are mirror-symmetrical about the symmetry plane of the turntable 2.

[0047] In this embodiment, preferably, the turntable 2 has two support shafts 202, and one end of each support shaft 202 is fixed and symmetrically arranged on the support shaft fixing seat 203 of the turntable 2. The second cross arm 41 is connected to the turntable frame 201 through the second rotary joint, the first cross arm 31 is connected to one of the support shafts 202 through the first rotary joint, the third cross arm 51 is connected to the turntable frame 201 through the third rotary joint, and the fourth cross arm 61 is connected to the other support shaft 202 through the fourth rotary joint.

[0048] In this embodiment, preferably, as follows: Figure 2 , Figure 7As shown, each positioning robotic arm further includes: a horizontal arm link 19, the proximal end of which is connected to the horizontal arm of each positioning robotic arm via a fifth rotary joint; a vertical arm 20, configured to move up and down, the proximal end of which is connected to the distal end of the horizontal arm link 19 via a sixth rotary joint; a diagonal arm 21, the proximal end of which is connected to the distal end of the vertical arm 20 via a seventh rotary joint; a fixed-point position adjustment link assembly 22, the proximal end of which is connected to the distal end of the diagonal arm 21 via an eighth rotary joint; a linear drive device 23, slidably disposed at the distal end of the fixed-point position adjustment link assembly 22; and a surgical tool 24 disposed on the linear drive device 23. Thus, the position adjustment of each positioning robotic arm is achieved through the above multiple rotary joints, vertical arm 20 and fixed-point position adjustment linkage assembly 22, so as to ensure that the surgical tool 24 can pass through a certain point when rotating in multiple reference directions. Then, the feed and retraction of the surgical tool 24 are adjusted by the linear drive device 23 to facilitate the position adjustment of the surgical tool 24 during surgery. Example 4:

[0049] The difference between this embodiment and embodiment three is that the configuration structures of the first and second rotary joints in this embodiment are the same as those in embodiment two, and the configuration structure of the third rotary joint of the third positioning robot arm 5 is the same as that of the second rotary joint, and the configuration structure of the fourth rotary joint of the fourth positioning robot arm 6 is the same as that of the first rotary joint. Thus, the fourth rotary joint of the fourth positioning robot arm 6 is also overlapped and arranged below the third rotary joint of the third positioning robot arm 5, and is independent of the third positioning robot arm 5, and is directly connected to the turntable 2.

[0050] Based on the surgical robot external positioning arm assembly provided in the above embodiments, the present invention also provides a surgical robot system, including a surgical robot external positioning arm assembly and a surgical cart 1, wherein the surgical robot external positioning arm assembly is mounted on a turntable 2 of the surgical cart 1. Figure 5 , Figure 6 and Figure 8 As shown, the turntable 2 includes a turntable frame 201, a support shaft 202, and a support shaft fixing seat 203. The support shaft fixing seat 203 is fixedly connected to the turntable frame 201 by bolts, and one end of the support shaft 202 is fixedly mounted on the support shaft fixing seat 203. The second cross arm 41 is connected to the turntable frame 201 through a second rotary joint, and the first cross arm 31 is connected to the support shaft fixing seat 203 through a first rotary joint.

[0051] In the description of this invention, it should be understood that the use of terms such as "first," "second," and "third" to define components is merely for the purpose of distinguishing the aforementioned components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An external positioning arm assembly for a surgical robot, characterized in that, It includes at least one set of positioning arms, each set of said positioning arms including: The first positioning robotic arm (3) has a first horizontal arm (31) which is connected to the turntable (2) on the operating table (1) via a first rotary joint. The second positioning robotic arm (4) has a second horizontal arm (41), which is also connected to the turntable (2) via a second rotary joint. The rotation axis of the first rotary joint is coaxially arranged with the rotation axis of the second rotary joint, so that the second rotary joint of the second positioning robot arm (4) is stacked above the first rotary joint of the first positioning robot arm (3); The second rotary joint includes: The second motor (7) is fixedly installed inside the turntable (2); The second reducer (10) has its input shaft (101) connected to the output shaft of the second motor (7) via a second synchronous transmission belt (11). The output shaft of the second reducer (10) is configured to drive the second cross arm (41) to rotate. Both the second reducer (10) and the input shaft (101) have through channels along the rotation center axis. The first rotary joint includes a drive module. A support shaft (202) fixedly connected to the turntable (2) passes through the through channel and is connected to the fixed part of the drive module. The output part of the drive module is configured to drive the first horizontal arm (31) to rotate, thereby connecting the first horizontal arm (31) to the turntable (2) so that the first horizontal arm (31) and the second horizontal arm (41) are independently connected to the turntable (2).

2. The surgical robot external positioning arm assembly according to claim 1, characterized in that, The driving module includes: The first motor (13) is fixedly installed inside the first cross arm (31), and the first synchronous transmission belt (17) is fixedly connected to the output shaft of the first motor (13). The reducer mounting base (161) is fixedly installed inside the second cross arm (41), and the support shaft (202) passes through the through channel and is fixedly connected to the reducer mounting base (161) at the lower end; The first reducer (16) is fixedly installed in the reducer mounting base (161), and the output shaft of the first reducer (16) is configured to drive the first cross arm (31) to rotate. The first reducer drive shaft (162) has its top end passing through the output shaft of the first reducer (16) located below and being coaxially and fixedly connected to the input shaft of the first reducer (16) located above. The bottom end of the first reducer drive shaft (162) is connected to the output shaft of the first motor (13) through the first synchronous transmission belt (17).

3. The surgical robot external positioning arm assembly according to claim 1, characterized in that, The driving module includes: The drive module base mainly consists of a base (163) disposed in the second cross arm (41) and a main body (164) located at the lower end of the base (163) and having a receiving cavity. The support shaft (202) passes through the through channel and is fixedly connected to the base (163). The first motor (13) is fixedly installed inside the main body (164), and the first synchronous transmission belt (17) is coaxially fixedly connected to the output shaft of the first motor (13). The first reducer (16) is fixedly installed inside the main body (164). The input shaft of the first reducer (16) is connected to the output shaft of the first motor (13) through the first synchronous transmission belt (17). The output shaft of the first reducer (16) is configured to drive the first cross arm (31) to rotate.

4. The surgical robot external positioning arm assembly according to claim 1, characterized in that, The second rotary joint also includes a second brake (9), which is coaxially arranged with the input shaft (101) of the reducer. The second brake (9) is configured to be in an unlocked state when energized and in a locked state when de-energized.

5. The surgical robot external positioning arm assembly according to claim 1, characterized in that, The second rotary joint also includes a second gear (12) and a second angle encoder (8). The second gear (12) is coaxially fixedly connected to the output shaft of the second motor (7). The second angle encoder (8) meshes with the second gear (12) to record and provide feedback on the motion state of each of the second rotary joints.

6. The surgical robot external positioning arm assembly according to claim 1, characterized in that, The second reducer (10) is a harmonic reducer.

7. The surgical robot external positioning arm assembly according to claim 2, characterized in that, The first rotary joint also includes a first brake (15) coaxially disposed on the output shaft of the first reducer (16), the first brake (15) being configured to be in an unlocked state when energized and in a locked state when de-energized.

8. The surgical robot external positioning arm assembly according to claim 2, characterized in that, The first rotary joint also includes a first gear (18) and a first angle encoder. The first gear (18) is coaxially and fixedly connected to the output shaft of the first motor (13). The first angle encoder meshes with the first gear (18) and is used to record and provide feedback on the motion state of each of the first rotary joints.

9. The surgical robot external positioning arm assembly according to claim 2, characterized in that, The first reducer (16) is a harmonic reducer.

10. The surgical robot external positioning arm assembly according to claim 3, characterized in that, The first rotary joint also includes a first brake (15) coaxially disposed on the input shaft of the first reducer (16), the first brake (15) being configured to be in an unlocked state when energized and in a locked state when de-energized.

11. The surgical robot external positioning arm assembly according to claim 3, characterized in that, The first rotary joint also includes a first angle encoder (165), and the first angle encoder (165) moves synchronously with the output shaft of the first motor (13) through a transmission component, for recording and feedback of the motion state of each of the first rotary joints.

12. The surgical robot external positioning arm assembly according to claim 3, characterized in that, The first reducer (16) is a harmonic reducer.

13. The surgical robot external positioning arm assembly according to any one of claims 1 to 12, characterized in that, The first positioning robotic arm (3) and / or the second positioning robotic arm (4) further include: A transverse arm link (19), the proximal end of which is rotatably connected to the first and / or second transverse arm of the corresponding positioning manipulator; The vertical arm (20) is configured to move up and down, and the proximal end of the vertical arm (20) is rotatably connected to the distal end of the horizontal arm link (19); An inclined arm (21) is rotatably connected to the distal end of a vertical arm (20); Fixed position adjustment linkage assembly (22), the proximal end of the fixed position adjustment linkage assembly (22) is rotatably connected to the distal end of the inclined arm (21); A linear drive device (23) is slidably disposed at the distal end of the fixed position adjusting linkage assembly (22); Surgical instruments (24) are mounted on the linear drive device (23).

14. The surgical robot external positioning arm assembly according to any one of claims 1 to 12, characterized in that, The positioning arm group consists of two or more groups, and each group of positioning arm groups is mirror-symmetrical about the symmetrical surface of the turntable (2).

15. A surgical robot system, characterized in that, Includes an operating table (1) and an external positioning arm assembly for a surgical robot as described in any one of claims 1 to 14, wherein the external positioning arm assembly for the surgical robot is mounted on a turntable (2) of the operating table (1). The turntable (2) includes a turntable frame (201), a support shaft (202) and a support shaft fixing seat (203). The support shaft fixing seat (203) is fixedly connected to the turntable frame (201), and one end of the support shaft (202) is fixedly mounted on the support shaft fixing seat (203). The second cross arm (41) is connected to the turntable frame (201) via the second rotary joint, and the first cross arm (31) is connected to the support shaft fixing seat (203) via the first rotary joint.

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