Manipulator and surgical robot

Abstract

This specification relates to one or more embodiments of a surgical robot and its manipulator arm. The manipulator arm includes a yaw mechanism and a parallel linkage mechanism connected to each other. The parallel linkage mechanism includes a first link, a second link, a third link, and a virtual link, which are sequentially connected. The yaw mechanism and the parallel linkage mechanism define a fixed point, which passes through the yaw axis of the yaw mechanism and is the intersection of the third link and the virtual link. The virtual link remains in a fixed position when the parallel linkage mechanism moves. The yaw axis and the virtual link form a first plane, and the second link is located on one side of the first plane.

Description

Technical Field

[0001] This specification relates to the field of medical device technology, and in particular to a medical device stent. Background Technology

[0002] In the medical field, the use of surgical robots to perform surgery on patients is becoming increasingly common. Surgical robots typically consist of multiple manipulators, each equipped with specific medical instruments. Operators can control these manipulators to manipulate the instruments and perform surgery. However, due to the limited operating space, the manipulators are prone to collisions during movement, which may affect the efficiency of the surgery and cause harm to the patient.

[0003] To address the aforementioned issues, a manipulator and surgical robot are provided, which increase the clearance and operating space between the manipulators, reduce the likelihood of collisions between the manipulators, improve surgical efficiency and safety, and reduce harm to patients. Summary of the Invention

[0004] One of the purposes of this specification is to provide a surgical robot manipulator arm comprising an interconnected oscillation mechanism and a parallel linkage mechanism. The parallel linkage mechanism includes a first link, a second link, a third link, and a virtual link, which are sequentially connected. The oscillation mechanism and the parallel linkage mechanism define a fixed point, which passes through the oscillation axis of the oscillation mechanism and is the intersection of the third link and the virtual link. The virtual link remains in a fixed position when the parallel linkage mechanism moves. The oscillation axis and the virtual link form a first plane, and the second link is located on one side of the first plane.

[0005] One of the purposes of this specification is to provide a surgical robot, including the manipulator arm described in the foregoing embodiments. Attached Figure Description

[0006] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0007] Figure 1 These are schematic diagrams of the surgical robot according to some embodiments of this specification;

[0008] Figure 2 This is a schematic diagram of the surgical robot shown in some embodiments of this specification from another angle;

[0009] Figure 3This is a schematic diagram of the surgical robot according to other embodiments of this specification;

[0010] Figure 4 This is a schematic diagram of the structure of the control arm shown in some embodiments of this specification;

[0011] Figure 5 This is a schematic diagram of the structure of the control arm according to other embodiments of this specification;

[0012] Figure 6 yes Figure 5 A schematic diagram of the control arm at another angle;

[0013] Figure 7 This is a schematic diagram of the structure of the control arm shown in some embodiments of this specification;

[0014] Figure 8 yes Figure 7 A schematic diagram of the control arm at another angle;

[0015] Figure 9 This is a schematic diagram of the structure of the control arm shown in some embodiments of this specification;

[0016] Figure 10 This is a schematic diagram of the structure of the control arm shown in some embodiments of this specification;

[0017] Figure 11 yes Figure 9 A schematic diagram of the control arm at another angle;

[0018] Figure 12 This is a schematic diagram of the structure of the control arm shown in some embodiments of this specification;

[0019] Figure 13 yes Figure 12 A schematic diagram of the control arm at another angle;

[0020] Figure 14 yes Figure 13 A cross-sectional view of the control arm in the DD direction;

[0021] Figure 15 This is a schematic diagram of the connection between the actuator and the universal joint according to some embodiments of this specification;

[0022] Figure 16 yes Figure 15 An enlarged diagram of the central circular region.

[0023] Reference numerals: 100; 10; 11; 12; 20; 21; 210; 22; 221; 222; 23; 230; 231; 24; 25; 26; 27; 28; 29; 30; 40; 51; 52; 53; 54; 55; 56; 57; 58; 60; 70; 80; 81; 82; 83; 84; 85; 86; 87; 110; 200; Detailed Implementation

[0024] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0025] Those skilled in the art will understand that the terms "first," "second," etc., in this specification are only used to distinguish different devices, modules, or parameters, and do not represent any specific technical meaning, nor do they indicate a necessary logical order between them.

[0026] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0027] This specification covers any alternatives, modifications, equivalent methods, and solutions made within the spirit and scope of this specification as defined in the claims. Furthermore, to provide a better understanding of this specification, certain specific details are described in detail below. However, this specification will be fully understood by those skilled in the art even without these detailed descriptions.

[0028] like Figures 1 to 11As shown, some embodiments of this specification provide a manipulator arm for a surgical robot. Figures 1 to 2 An exemplary surgical robot 200 is illustrated. The surgical robot 200 may include a plurality of spaced-apart manipulator arms 110, on which medical instruments may be mounted. The manipulator arms are controlled to manipulate the medical instruments for surgical procedures. In some embodiments, the medical instruments 60 may include endoscopes, scissors, grasping forceps, ionizing hooks, needle holders, puncture needles, bipolar ionizing forceps, etc. In some embodiments, the manipulator arms 110 need to cooperate with each other to complete the surgery, so collisions between the manipulator arms 110 during movement are likely to occur, such as… Figure 2 As shown, there is a collision zone between the two control arms 110.

[0029] Figure 3 Another surgical robot 200 is illustrated as an example. This surgical robot 200 may include a plurality of spaced-apart manipulators 110 and a manipulator 100 disposed on at least one side of each manipulator 110. The manipulator 100 may include a yaw mechanism 10 and a parallel linkage mechanism 20 interconnected. The parallel linkage mechanism 20 may include a first link 21, a second link 22, a third link 23, and a virtual link 24, which are sequentially connected. The yaw mechanism 10 may define a fixed point with the parallel linkage mechanism 20. This fixed point can pass through the yaw axis of the yaw mechanism 10, and is the intersection of the third link 23 and the virtual link 24. The virtual link 24 remains in a fixed position during the movement of the parallel linkage mechanism 20. The yaw axis of the yaw mechanism 10 may lie in the same plane as the central axis of the virtual link 24, thereby defining a first plane 25. The second link 22 may be located on one side of the first plane 25. The fixed point can be a virtual spatial point whose position remains unchanged during the movement of the manipulator arm 100. The medical device mounted on the manipulator arm 100 can always move around this fixed point, which can reduce the pulling of the medical device on the patient's body tissues (e.g., the skin inside the nasal cavity) during the movement and reduce trauma to the patient's body tissues.

[0030] In some cases, because the second link 22 is located on one side of the first plane 25, a certain distance is maintained between the second link 22 and the first plane 25 to create clearance space, such as... Figure 3 As shown, the clearance space can effectively prevent collisions between the control arm 100 and the adjacent control arm 110, making it easier for the control arm 100 or control arm 110 to perform more precise operations.

[0031] Combination Figure 4 and Figure 5As shown, in some embodiments, the control arm 100 may further include a first drive motor 30 and a first arm 40. One end of the first arm 40 is provided with a first roller 51, and the second end of the first arm 40 is provided with a second roller 52. The first roller 51 and the second roller 52 are tractively connected. The first roller 51 and the second roller 52 are rotatable relative to the first arm 40. The first drive motor 30 is tractively connected to the first roller 51. The second roller 52 is fixedly connected to the first connecting rod 21. Furthermore, the yaw mechanism 10 may also include a second drive motor 11 and a yaw arm 12 tractively connected to the second drive motor 11. The yaw arm 12 is fixedly connected to the first end of the first arm 40.

[0032] The first drive motor 30 can provide driving force to rotate the first roller 51 connected to it. In some embodiments, the first drive motor 30 may include an output shaft, which can be fixedly connected to the rotating shaft of the first roller 51. When the first drive motor 30 is working, it can drive the first roller 51 to rotate around the central axis of the output shaft of the first drive motor 30. In some embodiments, when the first drive motor 30 is working, the torque output by the first drive motor 30 can be transmitted to the parallel linkage mechanism 20 via the second roller 52, and finally to the third link 23, so that the third link 23 rotates around a fixed point and perpendicular to the axis of the first plane 25 (this axis can be called the parallel linkage axis).

[0033] The second drive motor 11 can be used to provide driving force to rotate the yaw arm 12 fixedly connected to it. The yaw arm 12 can refer to a component capable of driving connected parts to rotate around a specific axis. In some embodiments, the second drive motor 11 may include an output shaft, and the yaw arm 12 may include a housing. The output shaft of the second drive motor 11 can be fixedly connected to the housing of the yaw arm 12. When the second drive motor 11 is working, the output shaft can transmit torque to the yaw arm 12, thereby driving the yaw arm 12 to rotate along the central axis of the output shaft of the second drive motor 11. Therefore, the central axis of the output shaft of the second drive motor 11 can be called the yaw axis. Furthermore, since the yaw arm 12 is fixedly connected to the first arm 40, and the first arm 40 is connected to the first link 21 of the parallel linkage mechanism 20, the entire operating arm 100 can rotate along the yaw axis under the control of the second drive motor 11.

[0034] In some embodiments, the first drive motor 30 can be fixed to the yaw arm 12 so that the torque of the second drive motor 11 can be transmitted to the first roller 51, and then to the second roller 52 via the first roller 51. For example, in Figure 4 and Figure 5 In the embodiment shown, the first drive motor 30 can be fixed to the housing of the eccentric arm 12.

[0035] The transmission connection between the first roller 51 and the second roller 52 can mean that the first roller 51 and the second roller 52 are connected through a transmission component. When the first roller 51 rotates around the shaft under the drive of the first drive motor 30, the torque can be transmitted to the second roller 52 through the transmission component, causing the second roller 52 to rotate synchronously. In some embodiments, the transmission component may include a transmission rope, a transmission belt, a chain, etc.

[0036] It should be noted that, for illustrative purposes only, the first roller 51, the second roller 52, etc., are not the only components capable of transmitting torque as described in this specification. In some embodiments, the first roller 51, the second roller 52, etc., can be replaced with other components, such as a sprocket. Accordingly, the transmission component that enables the transmission connection can be replaced according to the actual component type. For example, when the roller is replaced with a sprocket, the transmission component may include a chain capable of meshing with gears, and the purpose of transmitting torque can also be achieved through the cooperation of the sprocket and the chain.

[0037] In some embodiments, the central axis direction of the first roller 51 and the second roller 52 may be parallel to the thickness direction of the first arm 40. The thickness direction of the first arm 40 can be determined by... Figures 4 to 12 The arrow X in the diagram represents this. Combined with... Figure 5 and Figure 7 As shown, in some embodiments, the first roller 51 and the second roller 52 may be disposed inside the first arm 40. Figure 7 An exemplary diagram shows the complete structure of the first arm 40. Figure 5 An exemplary diagram shows the first arm 40 section structure, through Figure 5 The positional relationship between the first roller 51, the second roller 52, and the first arm 40 can be clearly shown. The first connecting rod 21 is connected to the outside of the first arm 40 and is fixed relative to the second roller 52. Since the first roller 51 and the second roller 52 are connected by a transmission, when the first roller 51 rotates under the drive of the first drive motor 30, it can drive the second roller 52 to rotate, thereby causing the first connecting rod 21 to rotate relative to the first arm 40 around the central axis of the second roller 52.

[0038] In some embodiments, the first link 21 may include a second arm 210, one end of which is fixed relative to a second roller 52, and the second roller 52 is capable of driving the second arm 210 to rotate relative to the first arm 40. One end of the second arm 210 is provided with a third roller 53, and the other end is provided with a fourth roller 54 that is throttledly connected to the third roller 53. The third roller 53 is fixed relative to the first arm 40, and the fourth roller 54 is fixedly connected to the second link 22.

[0039] In this embodiment, since one end of the second arm 210 is fixed relative to the second roller 52, and the second roller 52 can rotate relative to the first arm 40, when the second roller 52 rotates (for example, driven by the first roller 51), it can drive one end of the second arm 210 to rotate relative to the second end of the first arm 40. Furthermore, since the third roller 53 located at one end of the second arm 210 is fixed relative to the first arm 40, when the second arm 210 rotates relative to the first arm 40, the first arm 40 will drive the third roller 53 to rotate relative to the second arm 210. The fourth roller 54 located at the other end of the second arm 210 is connected to the third roller 53, so the third roller 53 will drive the fourth roller 54 to rotate relative to the other end of the second arm 210. Also, since the fourth roller 54 is fixedly connected to the second connecting rod 22, the fourth roller 54 will drive the second connecting rod 22 to rotate relative to the other end of the second arm 210. Therefore, the torque transmitted from the first drive motor 30 to the first roller 51 will be transmitted to the second link 22 via the first roller 51, the second roller 52, the third roller 53, and the fourth roller 54. The operator can control the movement of the second link 22 through the first drive motor 30.

[0040] In some embodiments, the second roller 52 and the third roller 53 may be coaxially arranged. Figure 5 , Figure 7 and Figure 14 As shown, in some specific embodiments, the control arm 100 further includes a first rotating shaft 26, which is parallel to or coincides with the central axis of the second roller 52. The first rotating shaft 26 is fixedly connected to the second roller 52 and can pass through the first arm 40 along its thickness direction to be fixedly connected to the second arm 210. In some embodiments, a third roller 53 and a fourth roller 54 may be disposed inside the second arm 210. Figure 7 An exemplary diagram shows the complete structure of the first arm 40. Figure 5 An exemplary diagram shows the structure of the second arm 210 portion, through... Figure 5 The positional relationship between the third roller 53 and the fourth roller 54 and the second arm 210 can be clearly shown. In some embodiments, the third roller 53 is provided with a through hole, the central axis of which coincides with the central axis of the third roller 53. The inner diameter of the through hole is larger than the outer diameter of the first rotating shaft 26, allowing the first rotating shaft 26 to pass through the through hole of the first arm 40 and the third roller 53 to be fixed to the second arm 210. The central axis of the first rotating shaft 26 coincides with the central axis of the through hole of the third roller 53. In some cases, when the second roller 52 rotates, the second roller 52 can drive the second arm 210 to rotate relative to the first arm 40 via the first rotating shaft 26. Since the third roller 53 is fixed to the first arm 40, the third roller 53 will rotate relative to the second roller 52 along the first rotating shaft 26.

[0041] In some embodiments, the third roller 53 can be fixedly connected to the first arm 40 by means of welding, gluing (or welding), threaded connection, snap-fit, etc. In some embodiments, the principle of the transmission connection between the third roller 53 and the fourth roller 54 can be the same as or similar to the principle of the transmission connection between the first roller 51 and the second roller 52, and will not be described in detail here.

[0042] In some embodiments, the second link 22 may be connected to the side of the second arm 210 away from the first plane 25. For example, in combination... Figure 5 and Figure 7 As shown in the embodiment, the third roller 53 and the fourth roller 54 are both located inside the second arm 210, wherein the second link 22 is fixed to the outside of the second arm 210 by the fourth roller 54.

[0043] In some embodiments, the distance between the end of the second arm 210 furthest from the first arm 40 (i.e., the end where the fourth roller 54 is disposed) and the first plane 25 is greater than the distance between the end of the second arm 210 closest to the first arm 40 (i.e., the end where the third roller 53 is disposed) and the first plane 25. The distance between the second arm 210 and the first plane 25 can refer to the distance between the midpoint of the second arm 210 in the thickness direction and the first plane 25. In this embodiment, since the end of the second arm 210 furthest from the first arm 40 is farther from the first plane 25 than the end closer to the first arm 40, the distance between the second link 22 connected to the end of the second arm 210 furthest from the first arm 40 and the first plane 25 is greater. This allows the second link 22 to be offset relative to the first plane 25 by a certain distance (which can be called the offset distance), forming a clearance space and reducing the impact on adjacent manipulators of the surgical robot 200 (e.g., Figure 3 The possibility of a collision between the control arm 100 and control arm 110 in the middle. In some embodiments, the offset distance may be equivalent to the distance between the midpoint of the end of the second arm 210 away from the first arm 40 and the midpoint of the end of the second arm 210 closer to the first arm 40 in the thickness direction of the second arm 210.

[0044] In some embodiments, the second arm 210 can be tilted relative to the first arm 40 such that the distance between the end of the second arm 210 away from the first arm 40 and the first plane 25 is greater than the distance between the end of the second arm 210 closer to the first arm 40 and the first plane 25. The tilting of the second arm 210 relative to the first arm 40 can mean that the line connecting the end of the second arm 210 closer to the first arm 40 and the end away from the first arm 40 (e.g., the line connecting the first rotation axis 26 and the second rotation axis 27) is obliquely intersecting the first plane 25.

[0045] In other embodiments, the thickness of the end of the second arm 210 furthest from the first arm 40 can be increased so that the distance between the end of the second arm 210 furthest from the first arm 40 and the first plane 25 is greater than the distance between the end of the second arm 210 closer to the first arm 40 and the first plane 25. For example, the thickness of the second arm 210 can be gradually increased from the end closer to the first arm 40 to the end furthest from the first arm 40 to achieve the above objective.

[0046] In some alternative embodiments, the second arm 210 may be tilted relative to the first arm 40, and the thickness of the end of the second arm 210 away from the first arm 40 may be increased to further increase the distance between the end of the second arm 210 away from the first arm 40 and the first plane 25, thereby increasing the size of the clearance space.

[0047] In some embodiments, the second arm 210 may include a first sub-arm (not shown) and a second sub-arm (not shown) fixedly connected to the first sub-arm. One end of the first sub-arm may be fixedly connected to the second roller 52, and the other end may be fixedly connected to the second sub-arm. The second sub-arm may be connected to the side of the first sub-arm away from the first plane 25. A second connecting rod 22 may be connected to the side of the second sub-arm away from the first plane 25. A third roller 53 may be disposed on the first sub-arm, and a fourth roller 54 may be disposed on the second sub-arm. In this embodiment, the second arm 210 is composed of the first sub-arm and the second sub-arm, and the second sub-arm is fixedly connected to the side of the first arm 40 away from the first plane 25. Since the second sub-arm itself has thickness, the distance between the second sub-arm and the first plane 25 will be greater than the distance between the first arm and the first plane 25. In other embodiments, the second connecting rod 22 may be directly connected to the end face of the second sub-arm away from the first arm.

[0048] In some embodiments, a first intermediate wheel (not shown in the figure) is provided at the end of the first sub-arm near the second sub-arm, and the first intermediate wheel is pulverizedly connected to the third roller 53. A second intermediate wheel (not shown in the figure) is provided at the end of the second sub-arm near the first sub-arm, and the second intermediate wheel is pulverizedly connected to the fourth roller 54. The first intermediate wheel and the second intermediate wheel are connected. In this embodiment, since the first intermediate wheel and the third roller 53 are pulverizedly connected, when the second arm 210 rotates relative to the first arm 40, the third roller 53 will drive the first intermediate wheel to rotate, the first intermediate wheel will drive the second intermediate wheel to rotate, and the second intermediate wheel will drive the fourth roller 54 to rotate. That is, the pulverized connection between the third roller 53 and the fourth roller 54 is achieved through the first intermediate wheel and the second intermediate wheel.

[0049] In some embodiments, the second link 22 may include a third arm 221 and a fourth arm 222 fixedly connected to the third arm 221. The third arm 221 may be connected to the side of the second arm 210 away from the first plane 25. The fourth arm 222 may be connected to the side of the third arm 221 away from the first plane 25. A fifth roller 55 and a sixth roller 56 pulverizedly connected to the fifth roller 55 may be respectively provided at both ends of the third arm 221, and the fifth roller 55 may be fixedly connected to the third arm 221. The fourth roller 54 may be fixedly connected to the third arm 221. A seventh roller 57 and an eighth roller 58 pulverizedly connected to the seventh roller 57 are respectively provided at both ends of the fourth arm 222, the seventh roller 57 is fixedly connected to the sixth roller 56, and the eighth roller 58 is fixedly connected to the third link 23.

[0050] In this embodiment, when the fourth roller 54 (driven by the third roller 53) rotates, the fourth roller 54 drives the third arm 221 to rotate relative to the second arm 210. At this time, since the fifth roller 55 is fixedly connected to the third arm 221, the third arm 221 drives the fifth roller 55 to rotate synchronously relative to the second arm 210, thereby driving the sixth roller 56, which is connected to the fifth roller 55, to rotate relative to the third arm 221. Since the sixth roller 56 is connected to the seventh roller 57, and the third arm 221 and the fourth arm 222 are fixed, the sixth roller 56 drives the seventh roller 57 to rotate relative to the fourth arm 222, which in turn drives the eighth roller 58 to rotate relative to the fourth arm 222, and finally drives the third connecting rod 23, which is fixedly connected to the eighth roller 58, to rotate relative to the fourth arm 222.

[0051] Furthermore, since the third arm 221 is connected to the side of the second arm 210 away from the first plane 25, and the fourth arm 222 is connected to the side of the third arm 221 away from the first plane 25, and both the third arm 221 and the fourth arm 222 have a certain thickness, this causes the fourth arm 222 to be offset a certain distance (i.e., offset distance) relative to the third arm 221 in a direction away from the first plane 25. This offset distance also increases the clearance space of the control arm 100. Figure 9 As shown, in the thickness direction, the distance S in which the midpoint of the fourth arm 222 is offset from the midpoint of the third arm 221 in a direction away from the first plane 25 is denoted by the fourth arm 222.

[0052] In some embodiments, the fourth roller 54 and the fifth roller 55 are coaxially arranged and capable of rotating relative to each other. For example... Figure 5 and Figure 14As shown, in some specific embodiments, the control arm 100 further includes a second rotating shaft 27, which is fixedly connected to the fourth roller 54, and the central axis directions of the second rotating shaft 27 and the fourth roller 54 coincide. The rotating shaft of the fifth roller 55 is fixed to the third arm 221, and the second rotating shaft 27 passes through the through hole of the second arm 210 and the fifth roller 55 and is fixed to the third arm 221, while the central axis directions of the second rotating shaft 27 and the fifth roller 55 coincide. When the fourth roller 54 drives the third arm 221 to rotate relative to the second arm 210, the fifth roller 55 can rotate relative to the fourth roller 54 along the second rotating shaft 27.

[0053] In some embodiments, the sixth roller 56 and the seventh roller 57 are also coaxially arranged. Figure 5 , Figure 7 , Figure 10 and Figure 14 As shown, in some specific embodiments, the fifth roller 55 and the sixth roller 56 are housed inside the third arm 221. The seventh roller 57 and the eighth roller 58 are housed inside the fourth arm 222. The operating arm 100 also includes a third rotating shaft 28, one end of which is rotatably connected to the third arm 221, and the other end passes through the sixth roller 56 and the seventh roller 57 in sequence and is rotatably connected to the fourth arm 222. This allows the third arm 221 and the fourth arm 222 to be relatively fixed, and the third rotating shaft 28 to rotate relative to the third arm 221 and the fourth arm 222. Furthermore, the third rotating shaft 28 is also fixedly connected to the sixth roller 56 and the seventh roller 57, and the central axis direction of the third rotating shaft 28 coincides with the central axis direction of the sixth roller 56 and the seventh roller 57. This allows the sixth roller 56 and the seventh roller 57 to rotate relative to the third arm 221 and the fourth arm 222 along the third rotating shaft 28, and when the sixth roller 56 rotates, it can drive the seventh roller 57 to rotate synchronously.

[0054] Combination Figure 5 , Figure 7 , Figure 10 and Figure 14 As shown, in some embodiments, the control arm 100 further includes a fourth rotation shaft 29, through which the eighth roller 58 and the third link 23 can be fixedly connected. For example, the fourth rotation shaft 29 can be fixed to the eighth roller 58 and the third link 23, and the fourth rotation shaft 29 can be rotatably connected to the fourth arm 222 to hinge the third link 23 to the fourth arm 222.

[0055] In some embodiments, the second link 22 may include a complete fifth arm (not shown), wherein the distance between the end of the fifth arm furthest from the second arm 210 and the first plane 25 is greater than the distance between the end of the fifth arm closest to the second arm 210 and the first plane 25. In this embodiment, by making the end of the fifth arm furthest from the second arm 210 farther from the first plane 25 than the end of the fifth arm closest to the second arm 210, the distance between the third link 23 connected to the other end of the fifth arm and the first plane 25 is increased, thereby creating a clearance space between the third link 23 and the first plane 25. In some embodiments, the fifth arm may be tilted relative to the second arm 210 so that the distance between the end of the fifth arm furthest from the second arm 210 and the first plane 25 is greater than the distance between the end of the fifth arm closest to the second arm 210 and the first plane 25. In other embodiments, the above objective may be achieved by increasing the thickness of the fifth arm furthest from the second arm 210. In some embodiments, increasing the distance between the end of the fifth arm away from the second arm 210 and the first plane 25 can be done in the same or similar way as increasing the distance between the end of the second arm 210 away from the first arm 40 and the first plane 25, which will not be described in detail here.

[0056] like Figures 4 to 13 As shown, in some embodiments, the third link 23 may include a slide 230, which is rotatable relative to the second link 22 and can hold the medical device 60, which passes through a fixed point. In this embodiment, since the medical device 60 always passes through the fixed point, trauma to the patient's body tissues can be reduced when the medical device 60 moves under the action of the manipulator 100 (driven by the first drive motor 30 and / or the second drive motor 11).

[0057] In some embodiments, a motion track 231 is provided on the slide table 230, and the motion track 231 is arranged along the length direction of the slide table 230, and the length direction of the slide table 230 can be [transmitted / accessible]. Figure 6 , Figure 8 as well as Figure 11 The arrow Y in the diagram represents this. After setting the slide 230, the medical device 60 can move along the direction set by the motion track 231, thereby adjusting the position of the medical device 60.

[0058] This embodiment can be combined with the first link 21 and the second link 22 in one or more of the foregoing embodiments to increase the clearance space of the control arm 100 and prevent the slide table 230 from colliding with adjacent control arms (e.g., Figure 3 When the manipulator 100 and manipulator 110 collide, the medical device 60 set on the slide 230 passes through the fixed point, so as to ensure that the fixed point is always located on the swing axis of the swing mechanism 10.

[0059] In some embodiments, the slide 230 may be located on one side of the first plane 25, and an actuator 70 may be disposed on the slide 230. The actuator 70 may be connected to the medical device 60 via a universal joint 80. The actuator 70 may refer to a component with a specific function connected to the edge of the joint of the manipulator arm 100, for example, in... Figures 4 to 13 In the illustrated embodiment, the actuator 70 is mounted on the motion track 231 of the slide 230, can slide along the motion track 231, and can be used to clamp the medical device 60. This allows the position of the medical device 60 to be controlled by controlling the movement of the actuator 70 along the motion track 231 of the slide 230. The universal joint 80 can refer to a variable-angle power transmission component used to change the direction of the transmission shaft. For example, in... Figure 11 In the embodiment shown, the central axis of the medical device 60 and the central axis of the actuator 70 do not coincide. Instead, they are connected by a universal joint 80, which allows the torque of the actuator 70 to be transmitted to the medical device 60, thereby enabling control of the medical device 60.

[0060] Combination Figure 6 , Figure 8 , Figure 11 as well as Figures 15 to 16 As shown, in some embodiments, the universal joint 80 may include a first connecting shaft 81, a second connecting shaft 82, and a third connecting shaft 83 connected in sequence. The first connecting shaft 81 is drivenly connected to the actuator 70, and the third connecting shaft 83 is connected to the medical device 60. The central axis of the first connecting shaft 81 is parallel to the central axis of the third connecting shaft 83. The first connecting shaft 81 and the second connecting shaft 82, as well as the second connecting shaft 82 and the third connecting shaft 83, are connected by flexible joints. The flexible joints can convert rotation on the first connecting shaft 81 into rotation on the third connecting shaft 83.

[0061] In some embodiments, the distance between the central axis α of the first connecting shaft 81 and the central axis β of the third connecting shaft 83 can be equal to the offset distance. This distance can be referred to as the correction distance. In one or more embodiments of this specification, improvements to the first link 21 and the second link 22 provide the control arm 100 with a certain clearance, but this may cause the medical device 60 to deviate from the yaw axis (i.e., the medical device 60 does not pass the yaw axis). Connecting the actuator 70 and the medical device 60 via the universal joint 80 allows the central axis of the medical device 60 to be offset a certain distance towards the first plane 25 (e.g., ...). Figure 11 As shown, the correction distance is e), which is exactly equal to the offset distance (e). Figure 9 The offset distance S in the middle is used to ensure that the fixed point is always located on the swing axis when the medical device 60 passes through the swing axis.

[0062] In some embodiments, the flexible joint includes a first flexible joint 84 and a second flexible joint 85. The first flexible joint 84 is used to hinge the first connecting shaft 81 to the second connecting shaft 82, and the second flexible joint 85 is used to hinge the second connecting shaft 82 to the third connecting shaft 83. Both the first flexible joint 84 and the second flexible joint 85 include a first hinge 86 and a second hinge 87 connected to each other. The central axis α of the first hinge 86 is perpendicular to the central axis β of the second hinge 87. Taking the first flexible joint 84 as an example, the first hinge 86 of the first flexible joint 84 is fixed to the first connecting shaft 81, and the second hinge 87 is fixed to the second connecting shaft 82. Since the first hinge 86 and the second hinge 87 are hinged, the rotation of the first connecting shaft 81 (i.e., the rotation of the first connecting shaft 81 about its central axis) can be converted into the rotation of the second connecting shaft 82 (i.e., the rotation of the second connecting shaft 82 about its central axis). Similarly, the rotation of the second connecting shaft 82 can be converted into the rotation of the third connecting shaft 83 (i.e., the rotation of the third connecting shaft 83 around the central axis of the third connecting shaft 83) through the second flexible joint 85, which ultimately drives the medical device 60 to rotate around the central axis of the third connecting shaft 83.

[0063] In some embodiments, through holes may be provided on the flexible joint, the first connecting shaft 81, the second connecting shaft 82, and the third connecting shaft 83. The through holes can be used to install other components, such as steel wires, electrical wires, and water pipes.

[0064] In some embodiments, the parallel linkage mechanism 20 may define a parallelogram, with the fixed point being one of the vertices of the parallelogram. The points perpendicular to the axis of rotation between the fixed point and the two adjacent links may be the other three vertices of the parallelogram. The yaw axis may lie on the plane containing the parallelogram.

[0065] In some embodiments, since the virtual link 24 is the line connecting the fixed point and the axis of rotation of the second roller 52 (e.g., the perpendicular line from the fixed point to the axis of rotation of the second roller 52), and the second roller 52, when rotating, will cause the third arm 221 and the fourth arm 222 to rotate relative to the second arm 210, the third arm 221 and the fourth arm 222 (i.e., the third link 23) are always parallel to the virtual link 24. Here, parallelism means that the line connecting the axis of rotation of the eighth roller 58 and the axis of rotation of the fifth roller 55 (e.g., the perpendicular line between the second rotation axis 27 and the fourth rotation axis 29) is parallel to the virtual link 24. In some embodiments, when the second roller 52 of the control arm 100 of this specification rotates, it can drive the second arm 210 to rotate relative to the first arm 40, causing the third roller 53, which is fixed to the first arm 40, to rotate relative to the second arm 210, and then, through the fourth roller 54, drive the third arm 221 to rotate relative to the second arm 210. Furthermore, the fifth roller 55 is fixedly connected to the third arm 221, the fifth roller 55 is drivenly connected to the sixth roller 56, the sixth roller 56 is connected to the seventh roller 57, the seventh roller 57 is drivenly connected to the eighth roller 58, and the eighth roller 58 is connected to the slide table 230. This allows the second roller 52 to transmit torque sequentially through the second arm 210, the third roller 53, the fourth roller 54, the third arm 221, the fifth roller 55, the sixth roller 56, the seventh roller 57, and the eighth roller 58 to the slide table 230, causing the slide table 230 to rotate. This ensures that the line connecting the axis of rotation of the eighth roller 58 and the far fixed point (e.g., the perpendicular line between the fourth rotation axis 29 and the fixed point) remains parallel to the second arm 210 (e.g., the perpendicular line between the first rotation axis 26 and the second rotation axis 27). Therefore, the parallel linkage mechanism 20 has two pairs of parallel sides, and the parallel linkage mechanism 20 can define a parallelogram.

[0066] In some embodiments, the rotation axes of the first link 21 and the second link 22 can be the rotation axes of the coaxially arranged fourth roller 54 and fifth roller 55 (e.g., the second rotation axis 27), and the perpendicular point of the fixed point to the second rotation axis 27 can be one of its vertices. The perpendicular point of the fixed point to the second rotation axis 27 can be the intersection of the perpendicular line from the fixed point to the second rotation axis 27 and the second rotation axis 27. The rotation axes of the second link 22 and the third link 23 can be the rotation axis of the eighth roller 58 (e.g., the fourth rotation axis 29), and the perpendicular point of the fixed point to the fourth rotation axis 29 can be one of its vertices. The perpendicular point of the fixed point to the fourth rotation axis 29 can be the intersection of the perpendicular line from the fixed point to the fourth rotation axis 29 and the fourth rotation axis 29. The rotation axis of the virtual link 24 and the first link 21 can be the rotation axis of the second roller 52 and the third roller 53 (e.g., the first rotation axis 26) that are coaxially arranged. The perpendicular point between the fixed point and the first rotation axis 26 can be one of the vertices. The perpendicular point between the fixed point and the first rotation axis 26 can be the intersection of the perpendicular line from the fixed point to the first rotation axis 26 and the first rotation axis 26.

[0067] The beneficial effects that the manipulator and surgical robot in the embodiments of this specification may bring include, but are not limited to: (1) by setting the second arm so that the distance between the end of the second arm away from the first arm and the first plane is greater than the distance between the end of the second arm closer to the first arm and the first plane, the distance between the end of the second arm away from the first arm and the second link and the first plane is increased, forming a clearance space and an operating space, reducing the possibility of collision of the manipulator; (2) due to the existence of a virtual fixed point, when the doctor adjusts the position and angle of the medical device, the fixed point always remains stationary, which can reduce the pulling on the patient's body tissue and reduce the trauma to the patient; (3) by connecting the actuator and the medical device through a universal joint, and making the correction distance of the universal joint equal to the offset distance of the first link or the second link, it is possible to form a clearance space while ensuring that the fixed point is always located on the yaw axis.

[0068] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A manipulator arm for a surgical robot, characterized in that, It includes an interconnected oscillation mechanism and a parallel linkage mechanism. The parallel linkage mechanism includes a first link, a second link, a third link, and a virtual link. The first link, the second link, and the third link are sequentially connected in a transmission manner. The yaw mechanism and the parallel linkage mechanism define a fixed point, which passes through the yaw axis of the yaw mechanism and is the intersection of the third link and the virtual link. The virtual link remains in a constant position when the parallel linkage mechanism moves. The yaw axis and the virtual link form a first plane, and the second link is located on one side of the first plane; The first link includes a second arm, the second link includes a third arm and a fourth arm fixedly connected to the third arm, the third arm is connected to the side of the second arm away from the first plane, and the fourth arm is connected to the side of the third arm away from the first plane; wherein, in the thickness direction, the midpoint of the fourth arm is offset relative to the midpoint of the third arm in a direction away from the first plane.

2. The control arm according to claim 1, characterized in that, The control arm also includes a first drive motor and a first arm. A first roller is provided at a first end of the first arm, and a second roller is provided at a second end of the first arm. The first roller and the second roller are connected in a transmission manner. The first roller and the second roller are rotatable relative to the first arm. The first drive motor is connected in a driving manner to the first roller, and the second roller is fixedly connected to the first connecting rod. The yaw mechanism includes a second drive motor and a yaw arm that is driven and connected to the second drive motor. The yaw arm is fixedly connected to the first end of the first arm.

3. The control arm according to claim 2, characterized in that, The first link includes a second arm, one end of which is fixed relative to the second roller, and the second roller can drive the second arm to rotate relative to the first arm; One end of the second arm is provided with a third roller, and the other end is provided with a fourth roller that is throttle-connected to the third roller. The third roller is fixed relative to the first arm, and the fourth roller is fixedly connected to the second connecting rod.

4. The control arm according to claim 3, characterized in that, The second link is connected to the side of the second arm away from the first plane.

5. The control arm according to claim 4, characterized in that, The third arm is provided with a fifth roller and a sixth roller that is motive-connected to the fifth roller at both ends. The fifth roller is fixedly connected to the third arm, and the fourth roller is fixedly connected to the third arm. The fourth arm is provided with a seventh roller and an eighth roller that is motive-connected to the seventh roller at both ends. The sixth roller is fixedly connected to the seventh roller, and the eighth roller is fixedly connected to the third link.

6. The control arm according to claim 4, characterized in that, The second link includes a complete fifth arm, the distance between the end of the fifth arm furthest from the second arm and the first plane is greater than the distance between the end of the fifth arm closest to the second arm and the first plane.

7. The control arm according to claim 1, characterized in that, The third link includes a slide table that is rotatable relative to the second link and can hold a medical device, which passes through the fixed point.

8. The control arm according to claim 7, characterized in that, The slide is located on one side of the first plane, and an actuator is provided on the slide. The actuator is connected to the medical device via a universal joint.

9. The control arm according to claim 1, characterized in that, The parallel linkage mechanism defines a parallelogram, the fixed point is one of the vertices of the parallelogram, and the perpendicular points of the fixed point to the axis of rotation between two adjacent links are the other three vertices of the parallelogram. The yaw axis is located on the plane containing the parallelogram.

10. A surgical robot, characterized in that, include: The control arm as described in any one of claims 1-9.

11. The surgical robot according to claim 10, characterized in that, The surgical robot includes a plurality of manipulators arranged at intervals, wherein the manipulator as described in any one of claims 1-9 is disposed on at least one side of the plurality of manipulators.

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