A surgical robotic system having a multi-jointed positioning arm

Abstract

The application discloses a multi-joint positioning mechanical arm and a surgical robot system comprising the same. The multi-joint positioning mechanical arm comprises a linkage positioning device, which comprises a plurality of horizontal cross arms and a plurality of cross arm rotary joints. Each horizontal cross arm comprises a proximal end portion and a distal end portion. The plurality of horizontal cross arms are sequentially connected in a head-to-tail mode at the proximal end portions and the distal end portions respectively by the cross arm rotary joints, and two adjacent horizontal cross arms can rotate relative to each other around a vertical axis. The design of the partial overlapping arrangement of the plurality of horizontal cross arms is used to more efficiently utilize the bed side space and the working space of the surgical robot positioning mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of medical devices, and relates to a multi-joint positioning mechanical arm and a surgical robot system comprising the same. BACKGROUND

[0002] Compared with traditional open surgery, the significantly reduced incision size of endoscopic minimally invasive surgery improves postoperative outcomes, such as reducing patient pain and anesthetic use, accelerating postoperative recovery, and reducing the risk of postoperative infection and complications. To date, minimally invasive surgery has developed operation paradigms suitable for a variety of conditions and is driving the development of more minimally invasive surgery. However, the limited field of view and the inconvenience of manual minimally invasive surgery make surgical operations difficult, and surgeons need long-term training, and complex surgeries are even more difficult under minimally invasive operations. Developing surgical robots to assist surgeons in surgical operations has become a research hotspot in various countries, and numerous products and research prototypes have emerged. Surgical robots usually use a teleoperation mode to complete surgical operations, that is, a dexterous surgical tool is manipulated by a lead surgeon through intuitive operation input.

[0003] In modern endoscopic minimally invasive surgery, multiple surgical tools and endoscopes need to be used simultaneously, and surgical robots usually use extracorporeal positioning mechanical arms to carry surgical tools and endoscopes. Because different patients and surgical procedures have different requirements for the positioning of surgical tools and endoscopes, the extracorporeal positioning mechanical arms of surgical robots need to be adjusted before or during surgery. The positioning ability of the extracorporeal positioning arms in space is directly related to the ability of the surgical robot to perform various surgeries.

[0004] Extracorporeal positioning mechanical arms may collide with each other during operation, increasing the risk of injury to the patient; the space occupied by the extracorporeal positioning arms at the bedside of the patient may affect the assistance of the assisting surgeon in the surgery and real-time observation at the bedside of the patient. In existing surgical robot systems, a positioning mechanical arm with multiple joints is usually used for the spatial positioning of surgical tools. The extracorporeal positioning arm of the positioning mechanical arm is deployed for work in a fixed manner on a trolley, and a full-dimensional extracorporeal positioning mechanical arm can flexibly position the surgical tool to the designated position of the surgery. However, the multi-joint positioning mechanical arm in the prior art usually uses a long arm at the first joint to cooperate with a vertical rotary joint, thereby facilitating the subsequent expansion movement of multiple joints in space and avoiding interference and collision risks with the trolley. However, because the radius of the long arm is large, it occupies a large range of space, which occupies the space at the bedside of the patient, thereby affecting the assistance of the assisting surgeon in the surgery and real-time observation at the bedside of the patient, and is also not conducive to the arrangement of other related supporting equipment in a limited space, resulting in low space utilization.

[0005] Therefore, there is a need to design and develop a multi-joint positioning mechanical arm that occupies a small space and can be adapted to various surgical robot systems to solve the above problems of the multi-joint positioning mechanical arm of the existing surgical robot. SUMMARY

[0006] In view of the above, the object of the present application is to provide a surgical robot system with a multi-joint positioning manipulator, which reduces the lateral space of the positioning manipulator in a folded manner by employing horizontal cross-arms at the initial joints, and provides a design scheme for more efficient utilization of the bed side space and the working space of the positioning manipulator of the surgical robot. The design of the extracorporeal positioning manipulator of the surgical robot can be well applied to the system design of multi-port, single-port and natural orifice surgical robots and used for surgery.

[0007] In a first aspect, the present application provides a multi-joint positioning manipulator (hereinafter sometimes referred to as "the manipulator of the present application") comprising a linkage positioning device; the linkage positioning device comprises: a plurality of (preferably two, from the perspective of maximum space saving) horizontal cross-arms and a plurality of (preferably two) cross-arm rotation joints, each of the horizontal cross-arms comprises a proximal end and a distal end (note: the proximal end refers to the end relatively close to the device for fixing the horizontal cross-arm, and the distal end refers to the end relatively far away from the device for fixing the horizontal cross-arm, which is the base as mentioned below), the plurality of horizontal cross-arms are sequentially connected end to end at the proximal end and the distal end of each horizontal cross-arm by the cross-arm rotation joints, and the two adjacent horizontal cross-arms can rotate relative to each other about a vertical axis.

[0008] In a specific embodiment, the distal end of the proximal horizontal cross-arm and the proximal end of the distal horizontal cross-arm in the two adjacent horizontal cross-arms are hinged by the cross-arm rotation joint (note: the proximal side refers to the side relatively close to the device for fixing the horizontal cross-arm, and the distal side refers to the side relatively far away from the device for fixing the horizontal cross-arm, which is the base as mentioned below), and the distal end of the proximal horizontal cross-arm is located above the proximal end of the distal horizontal cross-arm.

[0009] By means of several (preferably two) cross-arm rotation joints, the lateral space of the linkage positioning device is reduced, so as to realize the spatial expansion movement of the multiple joints of the positioning manipulator, and more efficient utilization of the bed side space and the working space of the positioning manipulator.

[0010] In one embodiment, the linkage positioning device can further comprise a vertical arm and a vertical arm rotation joint, wherein the vertical arm comprises a vertical arm outer cylinder and a vertical arm inner cylinder, wherein the vertical arm outer cylinder and the vertical arm inner cylinder are movable relative to each other in a vertical direction, one of the vertical arm outer cylinder and the vertical arm inner cylinder is connected to a distal end of a distal-most horizontal cross arm of the plurality of horizontal cross arms via the vertical arm rotation joint to rotate relative to the distal end of the distal-most horizontal cross arm about a vertical axis. To achieve the relative movement, a driving motor or a motor can be provided in the vertical arm inner cylinder, an output shaft of the motor is fixedly connected with a motion conversion mechanism, an output shaft of the motion conversion mechanism is fixedly connected with the vertical arm outer cylinder, when the motor is normally working, the motion conversion mechanism converts the rotary motion of the motor into linear motion, thereby driving the vertical arm outer cylinder to move up and down, to achieve the relative movement between the vertical arm outer cylinder and the vertical arm inner cylinder.

[0011] In one embodiment, the linkage positioning device can further comprise an inclined arm and an inclined arm rotation joint, wherein a proximal end of the inclined arm is connected to the vertical arm via the inclined arm rotation joint, wherein the proximal end of the inclined arm is connected to the distal end of the vertical arm via the inclined arm rotation joint, and a rotation axis of the inclined arm rotation joint is angled relative to the vertical direction. In one specific embodiment, there is an included angle between the rotation axis of the inclined arm rotation joint and the rotation axis of the vertical arm rotation joint, so that the inclined arm is able to swing relative to the vertical arm. In this way, through the plurality of (preferably two) cross arm rotation joints and the inclined arm rotation joint, the plurality of (preferably two) horizontal cross arms are driven to rotate in the horizontal direction (i.e., rotate about the vertical axis), to achieve horizontal position adjustment of the positioning mechanical arm, the vertical arm is used to achieve lifting position adjustment of the positioning mechanical arm, the inclined arm rotation joint is used to drive the lateral rotation of the inclined arm, to achieve the swing position adjustment of the positioning mechanical arm, and the plurality of joints are used to achieve the in-vivo positioning of the positioning mechanical arm, to meet the preoperative or intraoperative position adjustment requirements, thereby facilitating the development of surgical work.

[0012] In one embodiment, each of the cross arm rotation joint, the vertical arm rotation joint, and the inclined arm rotation joint comprises a driving mechanism, a speed reducer, and a transmission belt, the transmission belt transmits the rotation of an output shaft of the driving mechanism to an input shaft of the speed reducer, and an output shaft of the speed reducer is arranged to drive the corresponding horizontal cross arm, vertical arm, or inclined arm to rotate.

[0013] In one preferred embodiment, each of the above-mentioned rotation joints further comprises a first brake mechanism coaxially arranged with the input shaft of the speed reducer, the first brake mechanism is arranged to be applied to brake the input shaft of the speed reducer in a power-off state, and is released to unlock the input shaft of the speed reducer in a power-on state.

[0014] In a more preferred embodiment, each rotary joint further comprises a transmission gear coaxially fixedly connected with the output shaft of the driving mechanism, and an angle encoder or a potentiometer engaged with the transmission gear for recording and feeding back the motion state of each rotary joint.

[0015] In the above embodiments of the present application, the speed reducer can be a harmonic speed reducer commonly used in the art, and the driving mechanism can be an electric motor.

[0016] In one embodiment, the multi-joint positioning robotic arm further comprises a remote center pitching mechanism, which comprises: a first movable arm, a proximal end of the first movable arm being rotatably connected to the inclined arm through a first movable joint; a second movable arm, a proximal end of the second movable arm being rotatably connected to a distal end of the first movable arm through a second movable joint, and a distal end of the second movable arm having a third movable joint for connecting a surgical instrument holder; three speed reduction wheels, the three speed reduction wheels being respectively arranged on the first to third movable joints, wherein a first speed reduction wheel is located at the proximal end of the first movable arm, an output shaft of the first speed reduction wheel driving rotation of the first movable joint, a second speed reduction wheel is located at the distal end of the first movable arm and the proximal end of the second movable arm, an output shaft of the second speed reduction wheel driving rotation of the second movable joint, and a third speed reduction wheel is located at the distal end of the second movable arm, an output shaft of the third speed reduction wheel driving rotation of the third movable joint; and two first transmission belts, the two first transmission belts being respectively wound between an input shaft of the first speed reduction wheel and an input shaft of the second speed reduction wheel, and an input shaft of the second speed reduction wheel and an input shaft of the third speed reduction wheel. In this way, the first movable arm and the second movable arm form an RCM mechanism of an equivalent double parallelogram structure through the two first transmission belts, so as to realize remote center positioning motion of the surgical instrument holder mounted at the distal end of the second movable arm.

[0017] In a preferred embodiment, the remote center pitching mechanism further comprises: an electric motor, the electric motor comprising an output shaft and being arranged in the inclined arm; a transmission wheel, the transmission wheel being arranged in the inclined arm, the transmission wheel being coaxially fixedly connected with the output shaft of the electric motor; a second transmission belt, one end of the second transmission belt being wound around the transmission wheel, and the other end of the second transmission belt being wound around the input end of the first speed reduction wheel located at the proximal end of the first movable arm, so as to transmit power of the electric motor to the input end of the first speed reduction wheel; a second brake mechanism, the second brake mechanism being coaxially arranged at at least one of the speed reduction wheels, the second brake mechanism being in a brake state to lock the speed reduction wheel in a power-off state, and the second brake mechanism being in a release state to unlock the speed reduction wheel in a power-on state; and an angle encoder or a potentiometer, the angle encoder or the potentiometer being arranged on at least one of the speed reduction wheels and / or the transmission wheel, for recording and feeding back the motion state of the load-bearing remote center motion mechanism.

[0018] In the present application, the reduction gear can adopt any type of reduction gear known in the art, preferably a harmonic reducer.

[0019] Preferably, a strip-shaped groove is provided in each of the first and second movable arms, and the strip-shaped grooves on the first and second movable arms are located on different sides, and the first transmission belt is embedded in the strip-shaped grooves without contact. In this way, on the one hand, the gold-plated design can reduce the overall weight of the telecentric tilt mechanism, and on the other hand, it can also play a role in protecting the first transmission belt, while effectively reducing the volume of the movable arm when the outer shell is wrapped. More preferably, the first and second movable arms can adopt a shell structure with reinforcing ribs, which can reduce the weight as much as possible while maintaining the strength.

[0020] In another preferred embodiment, the multi-joint positioning mechanical arm further comprises an instrument holding part provided on the telecentric tilt mechanism, and the instrument holding part is connected to the distal end of the second movable arm through a third movable joint; preferably, a surgical tool is mounted on the instrument holding part.

[0021] In a specific embodiment, the instrument holding part can include a linear module, which can be rotatably mounted on the distal end of the second movable arm through a third movable joint. In another specific embodiment, different surgical tools can be replaced on the linear module as needed, and the surgical tools can be linearly movably mounted on the linear module.

[0022] In a second aspect, the present application provides a surgical robot system, which comprises a base and at least one multi-joint positioning mechanical arm of the present application, wherein the most proximal horizontal cross arm of the multi-joint positioning mechanical arm is rotatably connected to the base through a cross arm rotation joint, and preferably the base is a surgical trolley.

[0023] In a preferred embodiment of the second aspect of the present application, the multi-joint positioning mechanical arm of the present application comprises a linkage positioning device having a plurality of rotation joints, a telecentric tilt mechanism movably connected to the linkage positioning device, and an instrument holding part provided on the distal end of the telecentric tilt mechanism. Preferably, a surgical tool for various surgeries can be mounted on the instrument holding part.

[0024] Advantages of the present application

[0025] The mechanical arm of the present application utilizes two horizontal cross arms arranged in a folded back manner and partially overlapped, thereby reducing the transverse space occupied by the positioning mechanical arm, making full use of the space in the horizontal direction in the operating room, reducing the occupation of the bed side space by the operating trolley, compactly utilizing the internal space of the positioning mechanical arm, compared with the design of using a long arm at the first joint cooperating with a vertical rotary joint, the design of simultaneously arranging two rotary joints in the horizontal direction reduces the swing interference of the cross arm of the positioning mechanical arm in the horizontal plane, increases the movement space thereof, and improves the flexibility of the surgical operation.

[0026] The design of the positioning mechanical arm of the present application can be well applied to a multi-hole, single-hole laparoscopic surgical robot system, and is particularly suitable for a natural orifice transluminal surgery robot system and is used for natural orifice transluminal surgery with relatively limited surgical space. Specifically, the multi-joint positioning mechanical arm of the present application not only can save the machine occupied space and thereby increase the movement space of the mechanical arm, but also can overcome the problem of insufficient flexibility of the surgical robot operation caused by the limitation of the surgical operation space due to the surgical procedure itself (for example, the bladder lithotomy position required by partial natural orifice transluminal surgery). BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is the overall structure schematic diagram of one embodiment of the multi-joint positioning mechanical arm of the present application.

[0028] Figure 2 is Figure 1 the partial structure schematic diagram of the rotary joint shown in

[0029] Figure 3 is Figure 1 the front view of the telecentric pitch mechanism shown in

[0030] Figure 4 is Figure 1 the rear view of the telecentric pitch mechanism shown in

[0031] Figure 5 is Figure 1 the perspective view of the telecentric pitch mechanism shown in

[0032] Figure 6 is Figure 1 the partial structure schematic diagram of the movable arm shown in

[0033] The preferred embodiments of the present application will be described herein below with reference to the accompanying drawings. It is to be understood that the embodiments or examples described herein below with reference to the accompanying drawings are merely intended to illustrate the best mode contemplated for carrying out the present application, and are not intended to be limiting to the scope of the present application. Various modifications and changes can be made to the embodiments described herein below without departing from the scope of the present application. Such modifications and changes are intended to be included within the scope of the present application. Similar reference numerals are used to designate similar components in the various embodiments of the present application shown in the accompanying drawings. DETAILED DESCRIPTION

[0034] DEFINITIONS

[0035] Distal or distal end: In the present specification, unless otherwise specified, the term "distal or distal end" refers to the side relatively close to the object being operated or the end relatively far from the device (e.g., base) of the fixed horizontal cross arm when referred to.

[0036] Proximal or proximal end: In the present specification, unless otherwise specified, the term "proximal or proximal end" refers to the side relatively far from the object being operated or the end relatively close to the device (e.g., base) of the fixed horizontal cross arm when referred to.

[0037] Front and back: In the present specification, as previously described, the terms "front" and "back" refer to relative directions, wherein the side relatively close to the object being operated is defined as the front, and the side relatively far from the object being operated is defined as the back.

[0038] The present application will be described in detail below with reference to the accompanying drawings and examples.

[0039] Figure 1 An overall structural schematic diagram of one embodiment of the multi-joint positioning robot arm of the present application is shown. In the present embodiment, the multi-joint positioning robot arm includes a multi-joint linkage positioning device, which includes a plurality of horizontal cross arms, a plurality of cross arm rotation joints, a vertical arm 3, and an inclined arm 4. Specifically, in the present embodiment, the linkage positioning device includes two horizontal cross arms and two cross arm rotation joints, i.e., a first horizontal cross arm 1, a second horizontal cross arm 2, a first cross arm rotation joint, and a second cross arm rotation joint. In the present embodiment, the first cross arm rotation joint and the second cross arm rotation joint are both rotated about a vertical axis. Figure 1 From the above, it can be seen that the multi-joint positioning robot arm of the present application includes a multi-joint linkage positioning device, which includes a plurality of horizontal cross arms, a plurality of cross arm rotation joints, a vertical arm, and an inclined arm. The multi-joint linkage positioning device is configured to be capable of moving the inclined arm in a three-dimensional space.

[0040] From the above, it can be seen that the multi-joint positioning robot arm of the present application includes a multi-joint linkage positioning device, which includes a plurality of horizontal cross arms, a plurality of cross arm rotation joints, a vertical arm, and an inclined arm. The multi-joint linkage positioning device is configured to be capable of moving the inclined arm in a three-dimensional space. Figure 1As can be seen, the proximal end of the first horizontal arm 1 is rotatably connected to the base (not shown in the figure) via a first horizontal arm rotation joint, allowing the first horizontal arm 1 to move relative to the base about a vertical axis. The distal end of the first horizontal arm 1 is rotatably connected to the proximal end of the second horizontal arm 2 via a second horizontal arm rotation joint, allowing the second horizontal arm 2 to move relative to the first horizontal arm 1 about a vertical axis, with the distal end of the first horizontal arm 1 and the proximal end of the second horizontal arm 2 overlapping each other. Specifically, in this embodiment, the distal end of the first horizontal arm 1 is located above the proximal end of the second horizontal arm 2, and the rotation axes of the first horizontal arm 1 and the second horizontal arm 2 are parallel in the vertical direction. These two horizontal arm rotation joints reduce the lateral space of the linkage positioning device, enabling multiple joints of the positioning robotic arm to unfold and move in space, and making more efficient use of the bedside space and the working space of the positioning robotic arm.

[0041] like Figure 1 As shown, the multi-joint positioning robotic arm also includes a vertical arm 3 and a vertical arm rotary joint. The vertical arm 3 includes an outer cylinder 32 and an inner cylinder 31 that can move relative to each other in the vertical direction. The inner cylinder 31 is connected to the lower end of the second horizontal arm 2 via the vertical arm rotary joint. To achieve the aforementioned relative movement, a drive motor or motor can be installed inside the inner cylinder 31. The output end of the motor or motor is fixedly connected to a motion conversion mechanism, and the output end of the motion conversion mechanism is fixedly connected to the outer cylinder 32. When the motor or motor is working normally, the rotational motion of the motor or motor is converted into linear motion through the motion conversion mechanism, thereby driving the outer cylinder 32 to move up and down, so as to achieve relative movement between the outer cylinder 32 and the inner cylinder 31. Of course, the outer cylinder 32 can also be connected to the lower end of the second horizontal arm 2 via the vertical arm rotary joint, and the drive motor or motor can be used to drive the inner cylinder 31 to move up and down, thereby achieving relative movement between the outer cylinder 32 and the inner cylinder 31.

[0042] This multi-joint positioning robotic arm also includes a slant arm 4 and a slant arm rotary joint. For example... Figure 1 As shown, the proximal end of the inclined arm 4 is connected to the outer cylinder 32 of the vertical arm via an inclined arm rotary joint, and the rotation axis of the inclined arm rotary joint is at an angle to the rotation axis of the vertical arm rotary joint relative to the vertical direction. Specifically, there is a certain angle between the rotation axis of the inclined arm rotary joint and the rotation axis of the vertical arm rotary joint, so that the inclined arm 4 swings relative to the vertical arm 3. It can be understood that the angle between the rotation axis of the inclined arm rotary joint and the vertical direction can be between 0-90°, and preferably, the angle between the two is 45°.

[0043] The first horizontal cross arm 1, the second horizontal cross arm 2 are driven to rotate in horizontal direction by the first cross arm rotary joint, the second cross arm rotary joint and the vertical arm rotary joint, so as to realize horizontal position adjustment of the positioning mechanical arm; the vertical arm 3 is used to realize lifting position adjustment of the positioning mechanical arm; the oblique arm 4 is driven to rotate laterally by the oblique arm rotary joint, so as to realize lateral swing position adjustment of the positioning mechanical arm. The positioning mechanical arm is positioned externally by multiple joints, so as to meet the position adjustment requirement before or during operation, thereby facilitating the development of operation work.

[0044] Figure 2 The partial structure diagram of a rotary joint is shown in FIG. 1. Figure 2 As shown in FIG. 1, each rotary joint comprises a driving mechanism 5, a speed reducer 6, a transmission belt 7, a first brake mechanism 8, a transmission gear 9 and an angle encoder 10 which are fixedly arranged in the arm body of the horizontal cross arm, the oblique arm and the vertical arm corresponding to each rotary joint respectively. The transmission belt 7 transmits the rotation of the output shaft of the driving mechanism 5 to the input shaft of the speed reducer 6; the transmission gear 9 is coaxially fixedly connected with the output shaft of the driving mechanism 5; the transmission gear 9 is engaged with the gear on the angle encoder 10; the rotation output by the driving mechanism 5 drives the angle encoder 10 through the transmission gear 9, so as to monitor the angular displacement information of the driving mechanism 5 in real time through the angle encoder 10. In this embodiment, the driving mechanism 5 can be a motor or a motor. It should be understood that the transmission gear 9 can also be coaxially fixedly arranged on the input shaft of the speed reducer, and synchronous motion between the transmission gear 9 and the angle encoder 10 can also be realized through a belt wheel.

[0045] In the present application, the speed reducer 6 can be any transmission speed reducer type suitable for the following functions in the art. In the present embodiment, preferably, the speed reducer 6 is a harmonic reducer, and the housing of the speed reducer 6 is fixedly arranged. The speed reducer 6 comprises an input end and an output end, the output end and the input end of which can rotate independently of the housing of the speed reducer 6, the input end of the speed reducer 6 is fixedly connected with the speed reducer 6 input shaft, the speed reducer 6 input shaft is associated with the output shaft of the driving mechanism 5 through the transmission belt 7, and the output end of the speed reducer 6 can drive the corresponding horizontal arm, vertical arm or inclined arm to rotate. The first brake mechanism 8 is coaxially arranged with the speed reducer 6 input shaft and located between the transmission belt 7 and the input end of the speed reducer 6. The first brake mechanism 8 is applied to brake to lock the speed reducer 6 input shaft in the power-off state, and is released to unlock the speed reducer 6 input shaft in the power-on state. The first brake mechanism 8 is applied to brake, and in the power-on state, the brake is in the working state, i.e. in the unlocked state, so that the movement input of the driving mechanism 5 can be transmitted to the speed reducer 6 through the speed reducer 6 input shaft, and then drive the movement of the corresponding arm body. In the power-off state, the brake is in the closed state, i.e. the corresponding arm body is in the locked state without power control, so that the movement input of the driving mechanism 5 cannot be transmitted to the speed reducer 6, and the corresponding arm body cannot be moved, thereby improving the safety of the system and avoiding injury caused by accidental movement. The output shaft of the driving mechanism 5 drives the speed reducer 6 transmission shaft to move through the transmission belt 7, so as to form the high-speed rotating movement of the input end of the speed reducer 6. The high-speed rotation of the input end of the speed reducer 6 is converted into the output torque of the speed reducer 6 output end which is lower in speed but proportional in torque through the transmission of the speed reducer 6, so that the speed reducer 6 output end produces relative rotation with respect to the housing of the speed reducer 6, thereby producing relative rotating movement between the corresponding arm bodies, which serves as a rotating joint.

[0046] The multi-joint positioning mechanical arm of the present application can further comprise a telecentric tilt mechanism. Figures 3 to 5 The front view, rear view and perspective view of the telecentric tilt mechanism are shown respectively. From Figures 3-5As shown in the figure, the telecentric tilting mechanism 11 comprises a first movable arm 111, a proximal end of the first movable arm 111 being rotatably connected to the inclined arm 4 through a first movable joint I; a second movable arm 112, a proximal end of the second movable arm 112 being rotatably connected to a distal end of the first movable arm 111 through a second movable joint II, and a distal end of the second movable arm 112 having a third movable joint III for connecting the instrument holding part 12; three reduction gears respectively arranged on the three movable joints, wherein a first reduction gear 114-1 is located at the proximal end of the first movable arm 111, an output shaft of the first reduction gear 114-1 driving the rotation of the first movable joint I, a second reduction gear 114-2 is located at the distal end of the first movable arm 111 and the proximal end of the second movable arm 112, an output shaft of the second reduction gear 114-2 driving the rotation of the second movable joint II, and a third reduction gear 114-3 is located at the distal end of the second movable arm 112, an output shaft of the third reduction gear 114-3 driving the rotation of the third movable joint III; two first transmission belts 113 are respectively connected between the input shaft of the first reduction gear 114-1 and the input shaft of the second reduction gear 114-2, and between the input shaft of the second reduction gear 114-2 and the input shaft of the third reduction gear 114-3. Thus, the first movable arm 111 and the second movable arm 112 form an RCM mechanism with equivalent double parallelogram structure through the two first transmission belts 113, so as to realize the telecentric fixed-point motion of the instrument holding part 12 mounted at the distal end of the second movable arm 112.

[0047] In the telecentric tilting mechanism 11 of the present embodiment, the three reduction gears can all be harmonic reducers, each of which has a rotating shaft, and a transmission pulley is coaxially arranged on the rotating shaft of each harmonic reducer, and the rotating shafts of the adjacent two harmonic reducers are connected through the transmission pulley and the first transmission belt 113. Thus, when the rotating shaft of the first harmonic reducer rotates under the driving of the driving force, the first transmission belt 113 connected with the transmission pulley of the first harmonic reducer obtains a synchronous motion, the rotating shaft of the first harmonic reducer outputs the rotational angular velocity of the first movable joint I at a certain multiple, at the same time, the first harmonic reducer drives the rotating shaft of the second harmonic reducer to move at the same speed through the first transmission belt 113, the rotating shaft of the second harmonic reducer outputs the rotational angular velocity of the second movable joint II at a certain multiple, since the second harmonic reducer is connected with the third harmonic reducer through another first transmission belt 113, the second harmonic reducer drives the rotating shaft of the third harmonic reducer to move at the same speed through the other first transmission belt 113, the rotating shaft of the third harmonic reducer outputs the rotational angular velocity of the third movable joint III at a certain multiple, and further controls the rotation of the instrument holding part 12 around the third movable joint III.

[0048] The telecentric pitch mechanism 11 further includes: a transmission wheel 116, a second braking mechanism 118, a second transmission belt 117, a motor or motor 115, and an angle encoder or potentiometer 119. The motor 115 and transmission wheel 116 are disposed within the inclined arm 4. The transmission wheel 116 is coaxially and fixedly connected to the output shaft of the motor 115. One end of the second transmission belt 117 wraps around the transmission wheel 116, and the other end wraps around the input end of the first reduction wheel 114-1 located near the first movable arm 111, to transmit power from the motor 115 to the input end of the first reduction wheel 114-1. The second braking mechanism 118 is coaxially disposed at at least one reduction wheel. The second braking mechanism 118 also functions as a brake, which engages to lock the reduction wheel in the de-energized state and releases to unlock the reduction wheel in the energized state. The angle encoder or potentiometer 119 is located on at least one of the reduction wheels and / or the transmission wheel, and is used to record and provide feedback on the motion state of the load-bearing telecentric motion mechanism. A second braking mechanism 118 (which can be a brake, such as the "stop brake mechanism" disclosed in invention patent application number 201811524271.1) is coaxially arranged at at least one reduction wheel. The second braking mechanism 118 engages to lock the reduction wheel when de-energized and releases to unlock the reduction wheel when energized, thereby further improving the overall stability of the telecentric pitch mechanism 11 and overcoming the problem of decreased stability after replacing the rigid parallelogram with a transmission belt. Preferably, the first transmission belt 113 and the second transmission belt 117 include various transmission chains, flexible synchronous belts, or rigid synchronous belts. Preferably, the on / off and / or operating switches of each second braking mechanism 118 are all located on the instrument clamping part 12. When the operator needs to manually adjust the posture of the load-bearing telecentric pitch mechanism 11, pressing the corresponding on / off and / or operating switch energizes the associated second braking mechanism 118, allowing it to move freely. Releasing the on / off and / or operating switch de-energizes the braking mechanism, fixing its brake-engaging posture.

[0049] In this embodiment, the telecentric pitch mechanism 11 further includes an instrument clamping part 12, which is connected to the distal end of the second movable arm 112 via a third movable joint III. In a specific embodiment, the instrument clamping part 12 may include a linear module 121 and a surgical tool 122 linearly movable and mounted on the linear module 121. Figures 3-5 Not shown in the image, see [link / reference]. Figure 1 The linear module 121 is rotatably mounted on the distal end of the second movable arm 112 via the third movable joint III. Different surgical tools can be replaced on the linear module 121 as needed.

[0050] See Figure 6The first movable arm 111 and the second movable arm 112 can also be formed with a strip-shaped groove, and the strip-shaped groove on the first movable arm 111 is located at a different side from the strip-shaped groove on the second movable arm 112, and the first transmission belt 113 is embedded in the strip-shaped groove without contact. In this way, on the one hand, the gold digging design can reduce the overall weight of the telecentric tilt mechanism 11, and on the other hand, it can also play a role in protecting the first transmission belt 113, and at the same time, when the outer shell is packaged, the volume of the movable arm can be effectively reduced. More preferably, the first movable arm 111 and the second movable arm 112 can adopt a shell structure with a reinforcing rib, which can reduce the weight as much as possible without changing the strength.

[0051] The multi-joint positioning mechanical arm of the present application can also be connected to a base to form a surgical robot system with the multi-joint positioning mechanical arm, wherein the first horizontal cross arm 1 of the multi-joint positioning mechanical arm is connected to the base through the first cross arm rotating joint (see Figure 1 ). In the present application, the base can be any movable or fixed device for supporting the multi-joint positioning mechanical arm of the present application, such as a surgical trolley. Preferably, as shown in Figures 1-6 , the multi-joint positioning mechanical arm includes a linkage positioning device with multiple joints, a telecentric tilt mechanism 11 movably connected to the linkage positioning device, and an instrument clamping part 12 arranged at the distal end of the telecentric tilt mechanism 11.

[0052] Although specific embodiments of the present application have been illustrated and described, it will be apparent to those skilled in the art that various other changes and modifications can be made without departing from the spirit and scope of the present application. Therefore, all such changes and modifications are intended to be included within the scope of the appended claims.

Claims

1. A multi-joint positioning robotic arm, characterized in that, The multi-joint positioning robot arm includes a linkage positioning device; the linkage positioning device includes: multiple horizontal arms and multiple horizontal arm rotation joints, each horizontal arm includes a proximal end and a distal end, the multiple horizontal arms are connected end to end in sequence by each horizontal arm rotation joint at each proximal end and each distal end, and two adjacent horizontal arms can rotate about the vertical axis relative to each other. The multi-joint positioning robotic arm also includes a telecentric pitch mechanism (11), which comprises: The first movable arm (111) has its proximal end rotatably connected to the distal end of the linkage positioning device via a first movable joint (Ⅰ). The second movable arm (112) has its proximal end rotatably connected to the distal end of the first movable arm (111) via a second movable joint (II). The distal end of the second movable arm (112) is provided with a third movable joint (III) for connecting the instrument clamping part (12). Three reduction gears are respectively disposed on the first to third movable joints, wherein the first reduction gear (114-1) is located at the proximal end of the first movable arm (111), and its output shaft drives the rotation of the first movable joint (I); the second reduction gear (114-2) is located at the distal end of the first movable arm (111) and the proximal end of the second movable arm (112), and its output shaft drives the rotation of the second movable joint (II); the third reduction gear (114-3) is located at the distal end of the second movable arm (112), and its output shaft drives the rotation of the third movable joint (III). Two first transmission belts (113) are respectively wrapped around the input shaft of the first reduction wheel (114-1) and the input shaft of the second reduction wheel (114-2), as well as between the input shaft of the second reduction wheel (114-2) and the input shaft of the third reduction wheel (114-3); Both the first movable arm (111) and the second movable arm (112) are provided with strip-shaped grooves, and the strip-shaped grooves on the first movable arm (111) and the second movable arm (112) are located on different sides, and the first transmission belt (113) is embedded in the strip-shaped grooves without contact.

2. The multi-joint positioning robotic arm according to claim 1, characterized in that, The distal end of the proximal horizontal arm and the proximal end of the distal horizontal arm are hinged by the horizontal arm rotation joint of the two adjacent horizontal arms, and the distal end of the proximal horizontal arm is located above the proximal end of the distal horizontal arm.

3. The multi-joint positioning robotic arm according to claim 1, characterized in that, The linkage positioning device further includes a vertical arm (3) and a vertical arm rotation joint, wherein the vertical arm (3) includes a vertical arm outer cylinder (32) and a vertical arm inner cylinder (31) that can move relative to each other in the vertical direction. One of the vertical arm outer cylinder (32) and the vertical arm inner cylinder (31) is connected to the far end of the farthest horizontal arm among the plurality of horizontal arms through the vertical arm rotation joint so as to rotate about the vertical axis relative to the far end of the farthest horizontal arm.

4. The multi-joint positioning robotic arm according to claim 3, characterized in that, The linkage positioning device further includes a slanted arm (4) and a slanted arm rotation joint, wherein the proximal end of the slanted arm (4) is connected to the distal end of the vertical arm (3) through the slanted arm rotation joint, and the rotation axis of the slanted arm rotation joint is at an angle relative to the vertical direction, and the proximal end of the first movable arm (111) is rotatably connected to the distal end of the vertical arm (3) through the first movable joint (Ⅰ).

5. The multi-joint positioning robotic arm according to any one of claims 1-4, characterized in that, Each of the horizontal arm rotating joint, vertical arm rotating joint, and diagonal arm rotating joint includes a drive mechanism (5), a reducer (6), and a transmission belt (7). The transmission belt (7) transmits the rotation of the output shaft of the drive mechanism (5) to the input shaft of the reducer (6). The output shaft of the reducer (6) is configured to drive the corresponding horizontal arm, vertical arm, or diagonal arm to rotate.

6. The multi-joint positioning robotic arm according to claim 5, characterized in that, Each of the rotary joints further includes a first braking mechanism (8), which is coaxially arranged with the input shaft of the reducer. The first braking mechanism (8) is configured to apply a brake to lock the input shaft of the reducer in the power-off state and to release the brake to unlock the input shaft of the reducer in the power-on state.

7. The multi-joint positioning robotic arm according to claim 5, characterized in that, Each rotary joint also includes a transmission gear and an angle encoder or potentiometer, wherein the transmission gear is coaxially and fixedly connected to the output shaft of the drive mechanism, and the angle encoder or potentiometer meshes with the transmission gear to record and provide feedback on the motion state of each rotary joint.

8. The multi-joint positioning robotic arm according to claim 4, characterized in that, The telecentric pitch mechanism (11) also includes: The motor (115) includes an output shaft and is disposed within the inclined arm (4); The transmission wheel (116) is disposed inside the inclined arm (4) and is coaxially fixedly connected to the output shaft of the motor (115). A second transmission belt (117) has one end wrapped around the transmission wheel (116) and the other end wrapped around the input end of the first reduction wheel (114-1) located near the first movable arm (111) to transmit power from the motor (115) to the input end of the first reduction wheel (114-1). A second braking mechanism (118) is coaxially disposed at at least one of the reduction gears, and the second braking mechanism (118) is configured to engage the brake to lock the reduction gear in a de-energized state and release the brake to unlock the reduction gear in a energized state; and An angle encoder (119) or potentiometer is provided on at least one of the reduction gears and / or the transmission gears for recording and feedback of the motion state of the load-bearing telecentric motion mechanism.

9. A surgical robot system, characterized in that, The surgical robot system includes a base and at least one multi-joint positioning manipulator according to any one of claims 1-8, wherein the nearest horizontal transverse arm (1) of the multi-joint positioning manipulator is rotatably connected to the base via a transverse arm rotation joint.

10. The surgical robot system according to claim 9, characterized in that, The multi-joint positioning robotic arm includes a linkage positioning device, a telecentric pitch mechanism (11) movably connected to the linkage positioning device, and an instrument clamping part (12) disposed on the distal end of the telecentric pitch mechanism (11); surgical tools are mounted on the instrument clamping part (12).

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