A mechanical arm structure and surgical robot

Abstract

An embodiment of this specification provides a robotic arm structure and a surgical robot, which includes a bracket and a surgical robotic arm. The surgical robotic arm includes a robotic arm structure, a steering arm, and a surgical execution structure connected to the steering arm. The robotic arm structure includes a positioning plate and at least one robotic arm arranged on the positioning plate; the positioning plate is provided with an arc-shaped guide, the at least one robotic arm slides on the arc-shaped guide, the steering arm is connected to the robotic arm, and the positioning plate is arranged on the bracket.

Description

Technical Field

[0001] This specification relates to the field of robotics technology, and in particular to a robotic arm structure and a surgical robot. Background Art

[0002] Robots are widely used in various technical fields, and the robotic arm system is an important component of the robot system.

[0003] Due to the advantages of high precision and efficiency offered by robots, demand for them is increasing for surgeries requiring high-precision operations. Currently, minimally invasive endoscopic surgery is becoming increasingly common. Traditionally, endoscopic procedures are performed manually by doctors and assistants using minimally invasive endoscopic medical instruments. During the operation, medical personnel use a medical endoscope to enter the body through natural orifices or small surgical incisions. Using a high-brightness cold light source, the imaging system performs clinical diagnosis of internal organs and minimally invasive instruments are used to perform minimally invasive treatments. This type of surgery is inflexible, requiring doctors to undergo extensive professional training and possessing high skills and experience. Furthermore, due to limitations in the degree of freedom of the instruments and the available operating space, many surgeries cannot be performed conveniently. To increase the operating space, the length of the surgical robotic arm or the transmission chain must be increased, resulting in a longer robotic arm and increased space requirements.

[0004] In the operating room, a long robotic arm will occupy more surgical space, making it difficult for the surgeon to operate. A short robotic arm will reduce its reach, which in turn reduces the effective range of the robotic arm and the effective range of the instruments being operated. It may even cause interference between the robotic arms or between the instruments being operated.

[0005] Therefore, it is necessary to provide a new robotic arm structure and surgical robot to solve the above problems. Summary of the Invention

[0006] One or more embodiments of the present specification provide a robotic arm structure comprising: a positioning plate and at least one connecting arm disposed on the positioning plate; the positioning plate has an arc-shaped guide, and the at least one connecting arm slides on the arc-shaped guide.

[0007] In some embodiments, the arcuate guide comprises an arcuate slide rail or an arcuate slide groove.

[0008] In some embodiments, an opening is provided on a side surface of the positioning plate, and the arc-shaped guide is provided in the opening.

[0009] In some embodiments, the arc-shaped guide includes a first arc-shaped guide and a second arc-shaped guide, and the first arc-shaped guide is distributed on both sides of the second arc-shaped guide.

[0010] In some embodiments, the side surface of the positioning plate includes a first arcuate surface and a second arcuate surface, the first arcuate guide is arranged on the first arcuate surface, and the second arcuate guide is arranged on the second arcuate surface; the second arcuate surface is arranged outside the first arcuate surface.

[0011] In some embodiments, the perpendicular midplane of the first arcuate surface is parallel to the perpendicular midplane of the second arcuate surface.

[0012] In some embodiments, the first arc-shaped guide has a first axis, and the second arc-shaped guide has a second axis; the distance between the first axis and the second axis has a value range greater than or equal to 0.

[0013] In some embodiments, the robotic arm structure includes four connecting arms, two of which cooperate with the first arc-shaped guide member, and the other two connecting arms cooperate with the second arc-shaped guide member.

[0014] In some embodiments, the central angle of the second arc-shaped guide member is 30° to 90°; the central angle of the first arc-shaped guide member is 30° to 90°.

[0015] In some embodiments, the robotic arm structure also includes a steering arm and a sliding connector for slidingly connecting the steering arm and the connecting arm; the steering arm is sleeved on the outside of the connecting arm, and the sliding connector is arranged on the inside of the connecting arm.

[0016] In some embodiments, the robotic arm structure includes a parallel linkage mechanism transmission-connected to the steering arm and a slide transmission-connected to the parallel linkage mechanism, and the slide is used for slidingly installing an execution device.

[0017] One or more embodiments of this specification provide a surgical robot comprising a base, a support connected to the base, and a robotic arm structure connected to the support, wherein the support is connected to a positioning plate in the robotic arm structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] This specification will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, like numbers represent like structures, wherein:

[0019] Figure 1 is a schematic structural diagram of a surgical robotic arm according to some embodiments of this specification;

[0020] Figure 2 is a schematic diagram of a structure for performing a surgery according to some embodiments of this specification;

[0021] Figure 3 is a schematic diagram of the structure of a surgical robot according to some embodiments of this specification;

[0022] Figure 4 It is a schematic diagram of the structure of a surgical robot according to some embodiments of this specification. DETAILED DESCRIPTION

[0023] To more clearly illustrate the technical solutions of the embodiments of this specification, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this specification. Those skilled in the art can apply this specification to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0024] It should be understood that the terms "system," "device," "unit," and / or "module" used herein are a method for distinguishing different components, elements, parts, portions, or assemblies at different levels. However, if other terms can achieve the same purpose, the terms may be replaced by other expressions.

[0025] As used in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not refer to the singular but also include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0026] Flowcharts are used throughout this specification to illustrate the operations performed by systems according to embodiments of this specification. It should be understood that preceding or following operations do not necessarily need to be performed in exact order. Instead, the steps may be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0027] When a robotic arm is connected to a positioning or support structure, it typically uses an articulated connection to ensure rotation. The robotic arm can rotate about the hinge point, covering a range defined as the effective operating space. However, the distance between the free end of the robotic arm and the rotation center is affected by the effective length of the robotic arm, and this distance affects the space occupied by the equipment and structure as a whole, as well as the rigidity of the robotic arm itself.

[0028] This solution adopts a method of connecting the connecting arm and the positioning structure through an arc-shaped guide, which can shorten the length of the robotic arm while keeping the effective coverage range of the robotic arm unchanged.

[0029] Figure 1 It is a schematic diagram of an application scenario of the robotic arm structure shown in some embodiments of this specification.

[0030] The robotic arm structure includes a positioning plate 5 and at least one connecting arm 6 mounted on the positioning plate 5. The positioning plate 5 includes an arc-shaped guide 14, on which the at least one connecting arm 6 slides. The positioning plate 5 serves as a mounting base for supporting the connecting arm 6, and the connecting arm 6 serves as a connecting structure for connecting to other mechanical structures. When the connecting arm 6 needs to rotate, a driving force is applied to the connecting arm 6, and the arc-shaped guide 14 is used to restrict the connecting arm 6 from sliding along the arc defined by the arc-shaped guide 14, thereby meeting production and operational requirements for rotating the connecting arm 6. When the connecting arm 6 rotates, it can also drive the entire structure to which it is connected to move.

[0031] In some embodiments, the arc direction defined by the arc guide 14 is a circular arc, and the arc guide 14 has a fixed axis. When the connecting arm 6 slides relative to the arc guide 14 , it rotates around the axis of the arc guide 14 .

[0032] In some embodiments, the connecting arm 6 is hinged to the positioning plate 5, and the rotation center of the connecting arm 6 coincides with the axis of the arc-shaped guide 14. Compared with the hinged connection between the connecting arm 6 and the positioning plate 5, in some embodiments, the scheme of connecting the connecting arm 6 and the arc-shaped guide 14 is utilized. Under the condition that the effective working space size of the connecting arm 6 remains unchanged, the length of the connecting arm 6 can be shortened and the space occupied by the connecting arm 6 can be reduced. Accordingly, since the length of the connecting arm 6 is shortened, the material required for the production of the connecting arm 6 is reduced, and the production cost and the dead weight of the connecting arm 6 can also be reduced. Since the length of the connecting arm 6 is shortened, the rigidity and bending strength of the connecting arm 6 can be increased under the condition of the same cross-sectional area. Even when used in a pressurized environment, the shape accuracy and straightness of the connecting arm 6 itself can be maintained, and the bending of the connecting arm 6 and the deterioration of the position accuracy of other structures can be avoided.

[0033] In some embodiments, the curved guide 14 comprises a curved rail or a curved slot. For example, a curved rail is provided on the positioning plate 5, connecting the connecting arm 6 to the curved rail. Accordingly, a slot is provided on the connecting arm 6 to accommodate the curved rail. The curved rail can be designed with a cross-section perpendicular to its length to have a triangular, quadrilateral, circular arc with a central angle greater than 180°, an I-shaped, a T-shaped, or a dovetail shape. The slot can also be designed with a corresponding cross-section perpendicular to its length to have a corresponding shape.

[0034] In some embodiments, an arcuate chute may be provided on the positioning plate 5, and correspondingly, a slider capable of being mounted in conjunction with the arcuate chute may be provided on the connecting arm 6. The cross-section of the arcuate chute may be designed to be triangular, quadrilateral, an arc with a central angle greater than 180°, an I-shaped, a T-shaped, or a dovetail shape, and the cross-section of the slider may also be designed to have a corresponding shape.

[0035] The cross-section of the arc-shaped slide rail or arc-shaped slide groove is designed to be an arc shape, an I-shape, a T-shape, a dovetail shape, etc. with a central angle greater than 180°. After the connecting arm 6 is installed with the arc-shaped slide rail, the arc-shaped slide rail can be used to limit the rotational freedom of the connecting arm 6 to a certain extent, thereby effectively improving the position accuracy and stability of the connecting arm 6.

[0036] It should be understood that Figure 1 The positioning plate 5 shown can be implemented using a variety of structures or shapes. For example, in some embodiments, the positioning plate 5 can be in the shape of a square plate, a circular plate, or a plate-like structure of other shapes. Its shape can be designed according to actual needs. In order to meet the requirements of the positioning plate 5 for accuracy, rigidity, and plasticity, the positioning plate 5 can be made of metal.

[0037] In some embodiments, there can be only one arcuate guide 14, with multiple connecting arms 6 connected to the same arcuate guide 14. There can also be multiple arcuate guides 14, with each arcuate guide 14 connected to the connecting arms 6 in a one-to-one correspondence, and the arcuate guides 14 are spaced apart from each other. When using multiple arcuate guides 14, depending on actual needs, the multiple arcuate guides 14 can be coaxial and equal in diameter, non-coaxial and equal in diameter, coaxial and unequal in diameter, or non-coaxial and unequal in diameter, and can be arranged in the same plane or in different planes. Coaxial arcuate guides mean that the axes of the multiple arcuate guides 14 are the same or substantially the same. Equal in diameter means that the corresponding radii of the multiple arcuate guides 14 are equal or substantially equal. Arranged arcuate guides in the same plane mean that the multiple arcuate guides 14 are arranged in the same plane. Arranged arcuate guides in different planes mean that the multiple arcuate guides 14 are arranged in multiple planes that are not co-horizontal, and the multiple planes that are not co-horizontal can be parallel or non-parallel to each other.

[0038] It should be noted that, after understanding the principle of the robot arm structure, those skilled in the art may arbitrarily combine positioning plates 5 and connecting arms 6 of any shape without departing from this principle. Such variations are within the scope of protection of this specification.

[0039] In some embodiments, an opening 15 is provided on a side surface of the positioning plate 5 , and the arc-shaped guide 14 is disposed in the opening 15 .

[0040] When the positioning plate 5 is set horizontally, the positioning plate 5 is used as a reference datum and the side with the opening 15 is used as the main viewing surface to determine the up, down, left and right relationships. The opening 15 can be a groove with three closed sides, namely an end face opening, an upper side opening, left and right side openings, and a lower side opening, or a groove with four closed sides, namely an end face opening, upper and lower side openings, left and right side openings. The arc-shaped guide 14 is set in the opening 15, and accordingly, a part of the connecting arm 6 connected to the arc-shaped guide 14 is also set in the opening 15. The provision of the opening 15 allows the connecting arm 6 to sink into the interior of the opening 15 compared to the upper surface of the positioning plate 5, reducing or avoiding the formation of a convex structure that occupies additional space, improving space utilization, and helping to reduce the overall size of the robotic arm structure. At the same time, while ensuring the strength of the positioning plate 5, the weight of the positioning plate 5 can be reduced by grooving.

[0041] In some embodiments, when the positioning plate 5 is horizontally arranged, the ends of the curved rails or curved grooves can contact the left and right side surfaces of the opening 15, and the sides of the opening 15 are used to limit the ends of the curved rails or curved grooves, thereby controlling the extreme positions of the movement of the connecting arm 6 and preventing the connecting arm 6 from escaping from the curved rails or curved grooves. The ends of the curved rails or curved grooves can also be spaced apart from the left and right side surfaces of the opening 15, with the spacing being less than the width of the connecting arm 6.

[0042] A buffer structure can also be provided on the side of the opening 15 , such as a rubber pad or a spring. When the connecting arm 6 moves to the extreme position, the connecting arm 6 first contacts the buffer structure to prevent the connecting arm 6 from colliding with the opening 15 and generating vibration.

[0043] In some embodiments, when the arc-shaped slide rail or the arc-shaped slide groove is an arc, the arc-shaped slide rail or the arc-shaped slide groove has a uniquely determined axis, and the opening 15 is a fan-shaped groove coaxial with the arc-shaped slide rail or the arc-shaped slide groove. Designing the opening 15 as a fan-shaped groove can make the left and right sides of the opening 15 coplanar with the axis of the arc-shaped slide rail or the arc-shaped slide groove. When the connecting arm 6 moves to the extreme position, the left and right sides of the opening 15 can remain parallel to the sides of the connecting arm 6, avoiding the formation of unnecessary angles between the left and right sides of the opening 15 and the connecting arm 6, thereby improving the space utilization inside the opening 15 and making the overall structure of the robotic arm simpler.

[0044] In some embodiments, the arcuate guide 14 includes a first arcuate guide and a second arcuate guide, with the first arcuate guide being located on either side of the second arcuate guide. The side surface of the positioning plate 5 includes a first arcuate surface 51 and a second arcuate surface 52, with the first arcuate guide being located on the first arcuate surface 51 and the second arcuate guide being located on the second arcuate surface 52; the second arcuate surface 52 is located outside the first arcuate surface 51.

[0045] By providing the first arc surface 51 and the second arc surface 52 , the first arc guide and the second arc guide can be staggered with each other, thereby facilitating mutual avoidance between the connecting arm 6 or other structures connected thereto, thereby preventing interference between the structures.

[0046] In some embodiments, the first arc-shaped guide has a first axis, and the second arc-shaped guide has a second axis; the distance between the first axis and the second axis has a value range greater than or equal to 0.

[0047] When the distance between the first axis and the second axis is 0, that is, the first axis and the second axis are coaxial, when the connecting arm 6 moves along the arc guide 14, it rotates with the axis of the first axis as the center of rotation, so that the multiple connecting arms 6 corresponding to the first arc guide and the second arc guide can use the same axis as the positioning reference, which is beneficial to improving positioning efficiency and positioning accuracy.

[0048] In some embodiments, the distance between the first axis and the second axis may be greater than 0, the connecting arm 6 corresponding to the first arc-shaped guide member uses the first axis as a positioning reference, and the connecting arm 6 corresponding to the second arc-shaped guide member uses the second axis as a positioning reference.

[0049] In some embodiments, in order to meet usage requirements, four connecting arms 6 are set, and the connecting arms 6 are used to connect other structures to form four robotic arms. The four arc guides 14 corresponding to the four connecting arms 6 are symmetrically distributed on the positioning plate 5, and the axes of the four arc guides 14 are collinear.

[0050] In some embodiments, the two middle connecting arms 6 corresponding to the second arc-shaped guide are the second connecting arms 62 , and the two connecting arms 6 on both sides corresponding to the first arc-shaped guide are the first connecting arms 61 .

[0051] The radius corresponding to the second arc-shaped guide is larger than the radius corresponding to the first arc-shaped guide, that is, the diameter of the arc-shaped guide 14 located in the middle is larger than the diameter of the arc-shaped guides 14 located on both sides, but the distance from the free end of each connecting arm 6 to the axis of the arc-shaped guide 14 is the same. Accordingly, the length of the second connecting arm 62 is smaller than the length of the first connecting arm 61, so that the coverage range of the four connecting arms 6 can remain the same to meet the corresponding usage requirements and avoid the connecting arms 6 occupying too much space.

[0052] In some embodiments, the distance from the free end of the second connecting arm 62 to the axis of the arc-shaped guide 14 is greater than the distance from the free end of the first connecting arm 61 to the axis of the arc-shaped guide 14, so that the operating range covered by the second connecting arm 62 can be greater than the operating range covered by the first connecting arm 61, making it easier for other structures connected to the connecting arm 6 to be staggered with each other to reduce the risk of interference and collision.

[0053] In some embodiments, the median perpendicular plane of the first curved surface 51 is parallel to or coincides with the median perpendicular plane of the second curved surface 52. The median perpendicular plane can be understood as a plane that axially symmetrically distributes the first curved surface 51 or the second curved surface 52 along the left-right direction. Symmetrical distribution of the first curved surface 51 and the second curved surface 52 about the same plane helps maintain overall balance of the robotic arm structure.

[0054] In some embodiments, the central angle of the second arc-shaped guide member is 30° to 90°; the central angle of the first arc-shaped guide member is 30° to 90°.

[0055] The sizes of the central angles of the second arc-shaped guide and the first arc-shaped guide are selected as needed to control the maximum angle of rotation of the connecting arm 6 .

[0056] In some embodiments, for example, when four connecting arms 6 are used, the central angles of the second arc guide and the first arc guide are both less than 45°, for example, 30°, 35°, or 40°, so that the second arc guide and the first arc guide are arranged within the same semicircle, thereby avoiding other structures within the other semicircle. Alternatively, the central angles of the second arc guide and the first arc guide can be 60°, 75°, 80°, 90°, etc., so that the four arc guides 14 can be distributed within a 360° range.

[0057] According to actual needs, the sizes of the central angles corresponding to the second arc-shaped guide and the first arc-shaped guide can be arbitrarily combined and are not limited to the above examples.

[0058] In some embodiments, the robotic arm structure also includes a steering arm 7 and a sliding connector for slidingly connecting the steering arm 7 and the connecting arm 6; the steering arm 7 is sleeved on the outside of the connecting arm 6, and the sliding connector is arranged on the inside of the connecting arm 6.

[0059] In some embodiments, the length direction of the steering arm 7 is perpendicular to the length direction of the connecting arm 6 , and the steering arm 7 can be used as an installation base for other structures.

[0060] In some embodiments, the connecting arm 6 is kept horizontal and the steering arm 7 is kept vertically downward. The rotation of the connecting arm 6 can drive the steering arm 7 and the structure connected to the steering arm 7 to rotate, thereby adjusting the horizontal position of the steering arm 7 and the structure connected to the steering arm 7.

[0061] The steering arm 7 extends downward, leaving space for the structure connected to the steering arm 7 and enabling the structure connected to the steering arm 7 to work in the space below the mounting plate 5, thereby improving space utilization.

[0062] In some embodiments, the robotic arm structure includes a parallel linkage mechanism 10 that is transmission-connected to the steering arm 7 and a slide 11 that is transmission-connected to the parallel linkage mechanism 10 , and the slide 11 is used for slidingly installing an execution device 12 .

[0063] The parallel linkage mechanism 10 uses a transmission chain composed of connecting rods to drive the slide 11 to move, and the slide 11 drives the execution device 12 to move, and the execution device 12 is used to perform related operations.

[0064] Figure 3 、 Figure 4 This is a schematic diagram of the structure of a surgical robot according to some embodiments of this specification. The surgical robot comprises a base 1, a support member connected to the base 1, and a robotic arm structure connected to the support member; wherein the support member is connected to a positioning plate 5 in the robotic arm structure. The support member is mounted on the base 1 and is used to support the entire robotic arm structure. The entire surgical robot can be moved by moving the base 1.

[0065] An appropriate number of connecting arms 6 is selected based on surgical requirements. Taking endoscopic surgery as an example, in this embodiment, at least three connecting arms 6 are provided on the positioning plate 5, correspondingly with at least three steering arms 7 and at least three surgical execution structures. The axes of the arcuate guides 14 corresponding to the three connecting arms 6 are collinear. Alternatively, four steering arms 7 can be provided, with three used for surgery and one remaining as a backup.

[0066] Since the connecting arm 6 is connected to the positioning plate 5 through the arc-shaped guide 14, the overall length of the connecting arm 6 is shortened, so that the space occupied by structures such as the connecting arm 6, the steering arm 7 and the surgical execution structure can be reduced, thereby reducing the space occupied by the overall structure in the operating room and avoiding the surgical robot arm from occupying too much of the doctor's operating space.

[0067] In some embodiments, the surgical execution structure includes a parallel linkage mechanism 10 and a slide 11 that is transmission-connected to the parallel linkage mechanism 10. The parallel linkage mechanism 10 includes a first link 101, a second link 102, and a third link 103 that are hinged end to end. The free end of the first link 101 is transmission-connected to the steering arm 7, and the free end of the third link 103 is hinged to the slide 11. A distal fixed point is defined on the slide 11 or on the extension line of the slide 11, and an execution instrument 12 is installed on the slide 11 that passes through the distal fixed point.

[0068] The slide 11 is used as the installation base of the actuator 12 , and the parallel linkage mechanism 10 can drive the slide 11 and the actuator 12 to move to a suitable position as a whole.

[0069] During surgery, the execution instrument 12 will enter the human body through a natural cavity or a small surgical incision, so that the position of the execution instrument 12 corresponding to the distal fixed point stays at the incision. When the parallel linkage mechanism 10 subsequently drives the execution instrument 12 to move, the execution instrument 12 rotates around the distal fixed point to prevent the execution instrument 12 from repeatedly pulling the tissue near the surgical incision and causing damage. In endoscopic surgery, the execution instrument 12 generally includes instruments such as an endoscope, surgical tweezers, and surgical scissors. In some embodiments, an end drive module 13 is provided on the slide 11, and the end drive module 13 is connected to the execution instrument 12 by transmission, so that the end drive module 13 can control the execution instrument 12 to perform shearing, cutting, and other actions to remove diseased or damaged tissue.

[0070] Figure 2 This is a schematic diagram of the structure of a parallel linkage mechanism 10 according to some embodiments of this specification. The parallel linkage mechanism 10 utilizes a first link 101, a second link 102, and a third link 103, which are hinged end-to-end. This improves the flexibility of the parallel linkage mechanism 10 itself, thereby increasing the adjustable range of the actuator 12. The relative movements between the first link 101 and the second link 102, the second link 102 and the third link 103, and the third link 103 and the slide 11 can be controlled automatically or manually. As needed, the number of links can be increased or decreased to increase or decrease the degrees of freedom of the parallel linkage mechanism 10.

[0071] In endoscopic surgery, three actuators 12 are used, one of which is an endoscope. The three distal fixed points corresponding to the three slides 11 can be connected to form an isosceles triangle. The three distal fixed points just correspond to the three surgical incisions. The positioning plate 5 is defined with a positioning center axis, and the vertices of the isosceles triangle can be collinear with the positioning center axis. The connecting arm 6 corresponding to the endoscope is the middle connecting arm 6 among the three connecting arms 6 on the positioning plate 5. The positioning center axis is used as the positioning reference for the three distal fixed points. Since the same positioning reference is used, the efficiency and accuracy of positioning can be improved. When performing automatic control, the difficulty of editing the program can also be reduced. When controlling the action of the actuator 12, the control steps can be reduced.

[0072] In some embodiments, the arc-shaped slide rail or arc-shaped slide groove takes the positioning center axis as the axis. When controlling the rotation of the connecting arm 6, the connecting arm 6 rotates around the positioning center axis as the axis, so that the positioning center axis serves as both the remote fixed point and the positioning reference of the connecting arm 6, reducing the number of positioning references. By referring to the same positioning reference, the efficiency and accuracy of positioning can be further improved.

[0073] In some embodiments, the steering arm 7 includes a first steering sub-arm 71 and a second steering sub-arm 72. The first steering sub-arm 71 is in transmission connection with the second connecting sub-arm 72, the second steering sub-arm 72 is in sliding connection with the first steering sub-arm 71, and the second steering sub-arm 72 is in transmission connection with the first connecting rod 101. The sliding connection between the second steering sub-arm 72 and the first steering sub-arm 71 provides the steering arm 7 with a telescopic function, allowing the length of the steering arm 7 to be adjusted as needed, thereby adjusting the height position of the entire structure, including the parallel linkage mechanism 10, the slide 11, and the actuator 12.

[0074] The second steering arm 72 is also rotatably connected to the first steering arm 71, so that the sliding direction of the second steering arm 72 relative to the first steering arm 71 is parallel to the rotation center of the second steering arm 72 relative to the first steering arm 71. By controlling the rotation of the second steering arm 72 relative to the first steering arm 71, the parallel linkage mechanism 10, the slide 11, the actuator 12, and other structures can be driven to rotate horizontally, thereby increasing the degree of freedom of the steering arm 7.

[0075] In some embodiments, the free end of the second steering sub-arm 72 is bent at an angle less than 90°, and the end face of the free end of the second steering sub-arm 72 is perpendicular to the axis of the second steering sub-arm 72. The parallel linkage mechanism 10 is arranged along the axis of the bent second steering sub-arm 72, and the free end of the second steering sub-arm 72 is rotated toward the positioning center axis, so that the parallel linkage mechanism 10, the slide 11, the actuator 12 and other structures fall within the coverage of the positioning plate 5, thereby bringing the center of gravity of the parallel linkage mechanism 10, the slide 11, the actuator 12 and other structures closer to the center of gravity of the positioning plate 5, which is beneficial to improving the overall stability of the structure. During surgery, the space below the positioning plate 5 can be used to improve space utilization and reduce the space occupied by the structure in the operating room.

[0076] In some embodiments, a avoidance arm 8 is provided between the second steering sub-arm 72 and the first connecting rod 101, one end of the avoidance arm 8 is rotatably connected to the end face of the second steering sub-arm 72, and the free end of the avoidance arm 8 is transmission-connected to the first connecting rod 101, and the avoidance arm 8 is parallel or colinear with the axis of the free end face of the second steering sub-arm 72 relative to the rotation center of the second steering sub-arm 72.

[0077] The avoidance arm 8 can add a rotational degree of freedom between the second steering sub-arm 72 and the first connecting rod 101 , thereby increasing the flexibility and operable space of the parallel linkage mechanism 10 .

[0078] A deflection arm 9 is disposed between the avoidance arm 8 and the first connecting rod 101. Its ends are hinged to the avoidance arm 8 and the first connecting rod 101, respectively. The deflection arm 9, in conjunction with the avoidance arm 8, provides a redundant degree of freedom, increasing the flexibility of the parallel linkage 10 while enabling mutual avoidance between the parallel linkages 10 to prevent collisions. The deflection arm 9 also provides a rotational degree of freedom, enabling the actuator 12 to more flexibly rotate about a distal fixed point.

[0079] In some embodiments, the rotation center of the deflection arm 9 relative to the avoidance arm 8 is coplanar with the rotation center of the avoidance arm 8 relative to the second steering sub-arm 72. The rotation center of the deflection arm 9 relative to the avoidance arm 8 is spatially perpendicular to the rotation center of the deflection arm 9 relative to the first link 101. The deflection arm 9 and the second steering sub-arm 72 are located on opposite sides of the avoidance arm 8. The rotation center of the third link 103 relative to the slide 11 is parallel to the rotation center of the deflection arm 9 relative to the first link 101.

[0080] The direction of force transmission can be controlled by controlling the relative position of the rotation center, and can be set according to actual needs.

[0081] The surgical robot arm is supported by a support member, and the entire surgical robot arm is moved by moving the support member. The connecting arm 6 is set in a direction close to the support member, so as to move the center of gravity of the surgical robot arm closer to the support member and improve the stability of the overall structure.

[0082] In some embodiments, the support member includes a lifting column 3 that is slidably connected to the base 1 in the vertical direction and a telescopic arm 4 that is arranged on the lifting column 3 and is transmission-connected to the positioning plate 5. The positioning plate 5 is rotatably connected to the telescopic arm 4. The lifting direction of the lifting column 3 is parallel to the positioning center axis, the telescopic direction of the telescopic arm 4 is perpendicular to the positioning center axis, and the positioning plate 5 is parallel to the positioning center axis relative to the rotation center of the telescopic arm 4.

[0083] The lifting column 3 can drive the positioning plate 5 as a whole to move in the vertical direction, and the telescopic arm 4 can drive the positioning plate 5 as a whole to move along the telescopic direction of the telescopic arm 4, so as to adjust the spatial position of the positioning plate 5 and rationally utilize the surgical space.

[0084] In some embodiments, a plurality of rollers are disposed beneath the base 1, and an armrest 2 capable of driving the rollers is disposed on the base 1. The rollers facilitate movement of the base 1. A transmission structure connected between the armrest 2 and the rollers can be disposed within the base 1. This transmission structure can utilize existing technology, and its specific structure and operating principle are common knowledge to those skilled in the art. The transmission structure is not considered an improvement in this solution, and its specific structure and operating principle are not described in detail here.

[0085] While the basic concepts have been described above, it will be apparent to those skilled in the art that the detailed disclosure is merely illustrative and does not limit this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are suggested in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

[0086] This specification also uses specific terms to describe the embodiments of this specification. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "one embodiment," "an embodiment," or "an alternative embodiment" two or more times in different locations in this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of this specification may be appropriately combined.

[0087] In addition, unless expressly stated in the claims, the order of the processing elements and sequences, the use of alphanumeric characters, or the use of other names described in this specification are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some of the invention embodiments currently considered useful through various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the spirit and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0088] Similarly, it should be noted that, in order to simplify the presentation of this specification and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this specification sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not imply that the subject matter of this specification requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single disclosed embodiment.

[0089] In some embodiments, numbers are used to describe the quantity of components and attributes. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the description and claims are approximate values, which may change according to the required characteristics of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the settings of such numerical values are as accurate as possible within the feasible range.

[0090] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, and documents, cited in this specification is hereby incorporated by reference in its entirety. This includes application history documents that are inconsistent with or conflict with the content of this specification, as well as documents (currently or subsequently attached to this specification) that limit the broadest scope of the claims of this specification. It should be noted that if the descriptions, definitions, and / or terminology used in the accompanying materials are inconsistent or conflicting with the content of this specification, the descriptions, definitions, and / or terminology used in this specification will control.

[0091] Finally, it should be understood that the embodiments described in this specification are intended only to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly described and illustrated in this specification.

Claims

1. A robotic arm structure, characterized in that: It comprises a positioning plate (5) and at least one connecting arm (6) arranged on the positioning plate (5); an arc-shaped guide (14) is provided on the positioning plate (5), and the at least one connecting arm (6) slides on the arc-shaped guide (14); The arc-shaped guide (14) comprises a first arc-shaped guide and a second arc-shaped guide; The side surface of the positioning plate (5) comprises a first arcuate surface (51) and a second arcuate surface (52); The first arc-shaped guide is arranged on the first arc-shaped surface (51), and the second arc-shaped guide is arranged on the second arc-shaped surface (52); The second arcuate surface (52) is arranged outside the first arcuate surface (51).

2. The robotic arm structure according to claim 1, wherein: The arc-shaped guide (14) comprises an arc-shaped slide rail or an arc-shaped slide groove.

3. The robotic arm structure according to claim 1, characterized in that: An opening (15) is provided on the side of the positioning plate (5), and the arc-shaped guide (14) is provided in the opening (15).

4. The robotic arm structure according to claim 1, wherein: The first arc-shaped guide members are distributed on both sides of the second arc-shaped guide member.

5. The robotic arm structure according to claim 1, characterized in that: The mid-vertical plane of the first arcuate surface (51) is parallel to the mid-vertical plane of the second arcuate surface (52).

6. The robotic arm structure according to claim 1, characterized in that: The first arc-shaped guide has a first axis, and the second arc-shaped guide has a second axis; the distance between the first axis and the second axis has a value range greater than or equal to 0.

7. The robotic arm structure according to claim 1, characterized in that: The mechanical arm structure comprises four connecting arms (6), two of which cooperate with the first arc-shaped guide member, and the other two connecting arms (6) cooperate with the second arc-shaped guide member.

8. The robotic arm structure according to claim 7, characterized in that: The central angle of the second arc-shaped guide member is 30° to 90°; the central angle of the first arc-shaped guide member is 30° to 90°.

9. The robotic arm structure according to any one of claims 1 to 3, characterized in that: The mechanical arm structure further comprises a steering arm (7) and a sliding connection member for slidingly connecting the steering arm (7) and the connecting arm (6); the steering arm is sleeved on the outside of the connecting arm, and the sliding connection member is arranged on the inside of the connecting arm.

10. The robotic arm structure according to claim 9, characterized in that: The mechanical arm structure comprises a parallel linkage mechanism (10) transmission-connected to the steering arm (7) and a slide (11) transmission-connected to the parallel linkage mechanism (10), wherein the slide (11) is used for slidingly installing an execution device (12).

11. A surgical robot, characterized in that: The surgical robot comprises a base (1), a support member connected to the base (1), and a robotic arm structure connected to the support member; the robotic arm structure comprises at least the robotic arm structure of any one of claims 1 to 10; Wherein, the support member is connected to a positioning plate (5) in the mechanical arm structure.

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