Robotic arm omnidirectional rotation structure and surgical robot

Abstract

This invention discloses a robotic arm omnidirectional rotation structure and a surgical robot. The robotic arm omnidirectional rotation structure includes: a first swing joint, a second swing joint, a third swing joint, and a third joint. The second swing joint is connected to the first swing joint via a third power mechanism, which drives the second swing joint to rotate 360° relative to the first swing joint. The third swing joint is connected to the second swing joint via a first rotation mechanism, which drives the first rotation mechanism via a first transmission belt to achieve 360° rotation of the third swing joint relative to the second swing joint. The third joint is connected to the third swing joint via a second rotation mechanism, which drives the second rotation mechanism via a second transmission belt to achieve 360° rotation of the third joint around the third swing joint. This application solves the problem in the prior art that robotic arms cannot achieve 360° rotation, increasing the reachable space during surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a robotic arm omnidirectional rotation structure and a surgical robot. Background Technology

[0002] Minimally invasive surgical robots are automated surgical devices that utilize instruments such as endoscopes to perform surgeries in a very small space using a master-slave teleoperation method. To minimize the incision size, a robotic arm is typically attached to the end effector, utilizing fixed points on the arm for manipulation. The attached robotic arm generally has a telecentric fixed point function, which helps to reduce the incision size and healing time. The mechanism implementing the fixed point function mostly uses a parallelogram structure. Existing transmission structures mostly employ wire drives, linkages, and steel belt drives, but the angle of motion is limited by the structure and cannot achieve unlimited 360-degree rotation. Summary of the Invention

[0003] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a robotic arm full-angle rotation structure and a surgical robot, which can solve the problem that the robotic arm in the prior art cannot achieve 360-degree rotation, thereby increasing the reachable space during the surgical process.

[0004] The specific technical solution of this invention is as follows:

[0005] A robotic arm omnidirectional rotation structure includes: a first swing joint, a second swing joint, a third swing joint, and a third joint. The second swing joint is connected to the first swing joint via a third power mechanism, which drives the second swing joint to rotate 360° relative to the first swing joint. The third swing joint is connected to the second swing joint via a first rotation mechanism, and the first swing joint drives the first rotation mechanism via a first transmission belt to achieve 360° rotation of the third swing joint relative to the second swing joint. The third joint is connected to the third swing joint via a second rotation mechanism, and the second swing joint drives the second rotation mechanism via a second transmission belt to achieve 360° rotation of the third joint around the third swing joint.

[0006] Preferably, the third power mechanism includes: a third motor unit mounted on the first swing joint, the third motor unit including: a third motor shaft having a fifth through hole; a third motor rotor mounted on the third motor shaft; and a third motor stator fixed to the first swing joint, wherein the third motor rotor and the third motor shaft are rotatable relative to the third motor stator;

[0007] The third reduction mechanism is sleeved on the third motor shaft;

[0008] A third output shaft is fixedly connected to the second swing joint, the third output shaft has a sixth through hole, and the third output shaft is connected to the output end of the third reduction mechanism;

[0009] The robotic arm's full-angle rotation structure includes: a cable, which passes through the fifth through hole of the third motor shaft and the sixth through hole of the third output shaft from the first swing joint and enters the second swing joint;

[0010] The cable is electrically connected to the third motor unit via the third electric slider.

[0011] Preferably, the first rotating mechanism includes: a first rotating wheel, the first rotating wheel including a first wheel body, a first mounting portion, and a first shaft connecting the first wheel body and the first mounting portion, the first shaft passing through the second swing joint and being rotatable between the first and second swing joints; the first wheel body is fitted with the first transmission belt, the first mounting portion is fixedly connected to the third swing joint, the outer diameter of the first wheel body is equal to the outer diameter of the first annular portion formed by the first swing joint; the first wheel body is located within the contour formed by the second swing joint in the horizontal direction.

[0012] Preferably, the first rotating mechanism includes: a first rotating wheel having a seventh through hole, the first rotating wheel being mounted on the second swing joint and rotatable between the first rotating wheel and the second swing joint; one end of the first rotating wheel being fitted with the first transmission belt, the other end of the first transmission belt being fitted with the first annular portion formed by the first swing joint; and the other end of the first rotating wheel being fixedly connected to the third swing joint.

[0013] The robotic arm's full-angle rotation structure includes a cable, which enters the third swing joint from the second swing joint through the seventh through hole of the first rotating wheel.

[0014] Preferably, the second rotating mechanism includes: a second rotating wheel, the second rotating wheel including a second wheel body, a second mounting part, and a second shaft connecting the second wheel body and the second mounting part, the second shaft passing through the third swing joint and being rotatable between the second and third swing joints; the second wheel body is fitted with the second transmission belt, the second mounting part is fixedly connected to the third joint, the outer diameter of the second wheel body is equal to the outer diameter of the second annular portion formed by the second swing joint; the second wheel body is located within the contour formed by the third swing joint in the horizontal direction.

[0015] Preferably, the second rotating mechanism includes: a second rotating wheel, which is mounted on the third swing joint and is rotatable between the second rotating wheel and the third swing joint; one end of the second rotating wheel is fitted with the second transmission belt, and the other end of the second transmission belt is fitted with the second annular portion formed by the second swing joint; the other end of the second rotating wheel is connected to the third joint.

[0016] Preferably, the second rotating mechanism includes: a second rotating wheel, which is mounted on the third swing joint and rotatable between the second rotating wheel and the third swing joint; a first electrical interface component and a detachable mechanical interface component mounted on the second rotating wheel;

[0017] A fourth electric slider is mounted on the second rotating wheel, and the first connecting end of the fourth electric slider is electrically connected to the electrical interface component;

[0018] The robotic arm's full-angle rotation structure includes a cable, which is electrically connected to the second connecting end of the fourth electric slider, and the first connecting end and the second connecting end are capable of relative rotation.

[0019] Preferably, the first electrical interface component has multiple sets of electrical interfaces, which are circumferentially distributed around the axis of the first electrical interface component; the detachable mechanical interface component has multiple mechanical interfaces, which are circumferentially distributed around the axis of the detachable mechanical interface component; the third joint has a second electrical interface component that cooperates with the first electrical interface component and a detachable mechanical mechanism that cooperates with the detachable mechanical interface component. The third joint can be installed on the second rotating wheel at different angles so that the second electrical interface component can be electrically connected to at least one set of electrical interfaces on the first electrical interface component, and the detachable mechanical mechanism can be connected to at least one mechanical interface on the detachable mechanical interface component.

[0020] Preferably, the detachable mechanical mechanism includes: a slider mounted on the third joint; an elastic member capable of driving the slider to slide in a radial direction; when the elastic member contracts, the slider can be installed into or removed from the mechanical interface; when the elastic member opens, the elastic member can retain the slider in the mechanical interface.

[0021] Preferably, the robotic arm full-angle rotation structure further includes: a torque sensor, which is disposed on the second rotating wheel, and is used to identify the angle at which the third joint is mounted on the second rotating wheel based on the detected torque value of the second rotating wheel.

[0022] Preferably, the second swing joint is provided with a first tensioning wheel, which can abut against the first transmission belt and adjust the tension of the first transmission belt;

[0023] And / or, the third swing joint is provided with a second tensioning wheel, which can abut against the second transmission belt and adjust the tension of the second transmission belt.

[0024] Preferably, the first transmission belt and the second transmission belt are synchronous belts.

[0025] Preferably, the third swing joint and the first swing joint are located on both sides of the second swing joint, the first transmission belt is located inside the second swing joint, and the second transmission belt is located inside the third swing joint.

[0026] Preferably, the robotic arm's full-angle rotation structure includes: a second joint, wherein the first swing joint is connected to the second joint via a second power mechanism, and the second power mechanism is used to drive the first swing joint to rotate relative to the second joint;

[0027] The second power mechanism includes: a second motor unit mounted on the second joint, the second motor unit including: a second motor shaft having a third through hole; a second motor rotor mounted on the second motor shaft; a second motor stator fixed to the second joint, the second motor rotor and the second motor shaft being rotatable relative to the second motor stator;

[0028] The second reduction mechanism is sleeved on the second motor shaft;

[0029] A second output shaft is fixedly connected to the first swing joint, the second output shaft has a fourth through hole, and the second output shaft is connected to the output end of the second reduction mechanism;

[0030] The robotic arm's full-angle rotation structure includes: a cable, which passes through the second joint, through the third through hole of the second motor shaft, and the fourth through hole of the second output shaft, and enters the first swing joint;

[0031] The second electric slider is used to electrically connect the cable to the second motor unit.

[0032] Preferably, the robotic arm's full-angle rotation structure includes: a first joint, and a second joint connected to the first joint via a first power mechanism, wherein the first power mechanism is used to drive the second joint to rotate relative to the first joint;

[0033] The first power mechanism includes: a first motor unit mounted on the first joint, the first motor unit including: a first motor shaft having a first through hole; a first motor rotor mounted on the first motor shaft; a first motor stator fixed to the first joint, the first motor rotor and the first motor shaft being rotatable relative to the first motor stator;

[0034] The first reduction mechanism is sleeved on the first motor shaft;

[0035] A first output shaft is fixedly connected to the second joint, the first output shaft has a second through hole, and the first output shaft is connected to the first output end of the first reduction mechanism;

[0036] The robotic arm's full-angle rotation structure also includes: a cable, which passes through the first through hole of the first motor shaft and the second through hole of the first output shaft from the first joint and enters the second joint;

[0037] The first electric slider, through which the cable is electrically connected to the first motor unit.

[0038] A surgical robot includes a mechanical body and a robotic arm omnidirectional rotation structure as described in any of the preceding claims, wherein the robotic arm omnidirectional rotation structure is connected to the mechanical body via a first joint and a second joint.

[0039] The technical solution of the present invention has the following significant beneficial effects:

[0040] In this application, the second swing joint is connected to the first swing joint via a third power mechanism, and the third swing joint is connected to the second swing joint via a first rotating mechanism. The first rotating mechanism and the first swing joint rotate synchronously via a first transmission belt, and the second rotating mechanism and the second swing joint rotate synchronously via a second transmission belt. Therefore, when the third power mechanism drives the second swing joint to rotate, the third swing joint will also rotate accordingly, and the second rotating mechanism will also rotate. Since the third joint is connected to the third swing joint via the second rotating mechanism, the third joint will also rotate. The third power mechanism can drive the second swing joint to rotate 360 ​​degrees relative to the first swing joint. Therefore, the first, second, and third swing joints can also achieve synchronous 360-degree infinite rotational movement, which can meet the patient's needs for the full-angle rotational range of motion of the robotic arm in different postures.

[0041] Specific embodiments of the invention are disclosed in detail below with reference to the description and accompanying drawings, indicating how the principles of the invention can be employed. It should be understood that the embodiments of the invention are not therefore limited in scope. Features described and / or shown for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. Attached Figure Description

[0042] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, guided by the teachings of this invention, can select various possible shapes and proportions to implement the invention according to specific circumstances.

[0043] Figure 1 This is a patient-side scene diagram of the surgical robot of the present invention;

[0044] Figure 2 This is a flowchart illustrating the working principle of the robotic arm's full-angle rotation structure of the present invention.

[0045] Figure 3 This is a schematic diagram of the zero-position fixed point A of the full-angle rotation structure of the robotic arm of the present invention;

[0046] Figures 4a to 4c This is a schematic diagram illustrating an example of the use of the robotic arm's full-angle rotation structure of the present invention;

[0047] Figure 5 This is a side view schematic diagram of the full-angle rotation structure of the robotic arm of the present invention;

[0048] Figure 6 This is a schematic diagram of the interior of the first joint, the second joint, and the first swing joint of the robotic arm's full-angle rotation structure of the present invention.

[0049] Figure 7 This is a schematic diagram of the first power mechanism of the robotic arm's full-angle rotation structure of the present invention;

[0050] Figure 8 This is a schematic diagram of the transmission structure at the first swing joint, the second swing joint, and the third swing joint of the robotic arm's full-angle rotation structure of the present invention.

[0051] Figure 9 This is a front view of the second swing joint of the robotic arm's full-angle rotation structure of the present invention;

[0052] Figure 10This is a schematic diagram of the second swing joint, the third swing joint, and the transmission structure at the third joint of the robotic arm's full-angle rotation structure of the present invention.

[0053] Figure 11 This is a cross-sectional view of the second rotating mechanism in the full-angle rotation structure of the robotic arm of the present invention;

[0054] Figure 12 This is a front view of the third swing joint of the robotic arm's full-angle rotation structure of the present invention;

[0055] Figure 13 This is a front view of the first electrical interface component and the detachable mechanical interface component on the second rotating mechanism of the robotic arm's full-angle rotation structure of the present invention;

[0056] Figure 14 This is a schematic diagram of the second electrical interface component and the detachable mechanical mechanism on the third joint of the full-angle rotation structure of the robotic arm of the present invention.

[0057] Figure 15 This is a schematic diagram of the structure of the robotic arm's full-angle rotation structure after the third joint is connected to the second rotation mechanism.

[0058] Figure 16a and Figure 16b This is a schematic diagram showing the third joint of the robotic arm's full-angle rotation structure installed at different angles.

[0059] The reference numerals in the above figures are as follows:

[0060] 1. First joint; 2. Second joint; 3. First power mechanism; 31. First motor shaft; 311. First through hole; 32. First motor rotor; 33. First motor stator; 34. First reduction mechanism; 35. First output shaft; 351. Second through hole; 36. First mounting base; 37. First motor unit blocking component; 38. First bearing; 4. First swing joint; 41. First annular portion; 5. Second power mechanism; 6. Second swing joint; 61. First tension wheel; 62. Second annular portion; 7. Third power mechanism; 8. Third swing joint; 81. Second tension wheel; 9. First rotating mechanism; 91. First rotating wheel; 911. Seventh through hole; 912. First wheel body; 913. First mounting part; 914. First shaft 92. First outer pressure cover; 93. Fourth bearing; 94. First inner pressure cover; 10. Second rotating mechanism; 101. Second rotating wheel; 1011. Second wheel body; 1012. Second mounting part; 1013. Second shaft body; 102. Fourth electric slider; 103. First electrical interface component; 104. Detachable mechanical interface component; 1041. Mechanical interface; 105. Second outer pressure cover; 106. Fifth bearing; 107. Second inner pressure cover; 11. Third joint; 111. Sliding component; 112. Elastic component; 113. Second electrical interface component; 12. Cable; 13. First electric slider; 14. Torque sensor; 15. First transmission belt; 16. Second transmission belt; 100. Mechanical body; 200. Full-angle rotation structure of the robotic arm. Detailed Implementation

[0061] The details of the present invention can be more clearly understood by referring to the accompanying drawings and the description of specific embodiments. However, the specific embodiments of the present invention described herein are for illustrative purposes only and should not be construed as limiting the invention in any way. Under the teachings of this invention, those skilled in the art can conceive of any possible modifications based on the invention, all of which should be considered within the scope of the invention. It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "mounted," "connected," and "connected" should be interpreted broadly, for example, they can refer to mechanical or electrical connections, or internal communication between two elements, and can be direct or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0063] Minimally invasive surgical robots are mechanical devices suitable for performing surgery in confined spaces. Figure 1 This is a patient-side scene diagram of the surgical robot of the present invention, such as... Figure 1 As shown, the surgical robot uses a mechanical body 100 to mount multiple robotic arms with a fully rotating structure 200, enabling complex instrument operations during surgery. The mounted robotic arms typically have a zero-position fixed point, thus reducing wound size and healing time.

[0064] Figure 2 This is a flowchart illustrating the working principle of the robotic arm's full-angle rotation structure of the present invention, as shown below. Figure 2 As shown, the surgical robot may include several parts such as a mechanical body 100, a robotic arm omnidirectional rotation structure 200, a host computer, and a display. The robotic arm omnidirectional rotation structure 200 may include a drive module, a power mechanism, multiple joints, and multiple swing joints. The host computer drives the drive module, which in turn controls and drives each power mechanism to complete the rotational and swing joint movements. Specifically, Figure 3 This is a schematic diagram of the zero-position fixed point A of the full-angle rotation structure of the robotic arm of the present invention, as shown below. Figure 3 As shown, the robotic arm's full-angle rotation structure 200 may include: a first swing joint 4, a second swing joint 6, a third swing joint 8, and a third joint 11. The second swing joint 6 is connected to the first swing joint 4 via a third power mechanism 7, which drives the second swing joint 6 to rotate 360° relative to the first swing joint 4. The third swing joint 8 is connected to the second swing joint 6 via a first rotation mechanism 9, and the first swing joint 4 drives the first rotation mechanism 9 via a first transmission belt 15 to enable the third swing joint 8 to rotate 360° relative to the second swing joint 6. The third joint 11 is connected to the third swing joint 8 via a second rotation mechanism 10, and the second swing joint 6 drives the second rotation mechanism 10 via a second transmission belt 16 to enable the third joint 11 to rotate 360° around the third swing joint 8.

[0065] As a feasible option, the robotic arm's omnidirectional rotation structure 200 may include: a second joint 2, wherein a first swing joint 4 is connected to the second joint 2 via a second power mechanism 5, the second power mechanism 5 being used to drive the first swing joint 4 to rotate relative to the second joint 2. Further, the robotic arm's omnidirectional rotation structure 200 may also include: a first joint 1, wherein a second joint 2 is connected to the first joint 1 via a first power mechanism 3, the first power mechanism 3 being used to drive the second joint 2 to rotate relative to the first joint 1.

[0066] The first joint 1 can be mounted on any base for fixation, such as the mechanical body 100. The second joint 2 can rotate relative to the first joint 1 via a first power mechanism 3, the rotation occurring about the rotation axis of the first power mechanism 3. For example, the second joint 2 can rotate ±90° relative to the first joint 1, or it can rotate with a larger amplitude. The first swing joint 4 can rotate relative to the second joint 2 via a second power mechanism 5, the rotation occurring about the rotation axis of the second power mechanism 5. For example, the first swing joint 4 can achieve an infinite 360-degree rotational movement about the rotation axis of the second power mechanism 5. Figure 3 As shown, the rotation axis of the first power mechanism 3 is not parallel to the rotation axis of the second power mechanism 5. Generally, in order to ensure that the full-angle rotation structure 200 of the robotic arm can be in the maximum adjustment range, the rotation axis of the first power mechanism 3 and the rotation axis of the second power mechanism 5 can be perpendicular to each other.

[0067] Since the second swing joint 6 is connected to the first swing joint 4 via the third power mechanism 7, and the third swing joint 8 is connected to the second swing joint 6 via the first rotating mechanism 9, and the first rotating mechanism 9 and the first swing joint 4 rotate synchronously via the first transmission belt 15, and the second rotating mechanism 10 and the second swing joint 6 rotate synchronously via the second transmission belt 16, when the third power mechanism 7 drives the second swing joint 6 to rotate, the third swing joint 8 will also rotate accordingly, and the second rotating mechanism 10 will also rotate. Since the third joint 11 is connected to the third swing joint 8 via the second rotating mechanism 10, the third joint 11 will also rotate. Because all the above rotations are synchronous and at the same angle, the rotation angles between the second swing joint 6 and the first swing joint 4, between the second swing joint 6 and the third swing joint 8, and between the third swing joint 8 and the third joint 11 are all the same. The third power mechanism 7 can drive the second swing joint 6 to rotate 360 ​​degrees relative to the first swing joint 4. Therefore, the first swing joint 4, the second swing joint 6, and the third swing joint 8 can also achieve synchronous 360-degree infinite rotational movement, which can meet the needs of patients for the full-angle rotational movement range of the robotic arm in different postures.

[0068] The robotic arm's omnidirectional rotation structure allows it to be adapted to different surgical scenarios in various postures. Figures 4a to 4c This is a schematic diagram illustrating an example of the use of the robotic arm's full-angle rotation structure of the present invention, as shown below. Figure 4a As shown, an example where the second swing joint 6 is at an 80-degree angle to the first swing joint 4 is suitable for general abdominal and lower limb surgeries, and for supine positions; Figure 4b As shown, an example where the second swing joint 6 is at a 240-degree angle to the first swing joint 4 is suitable for general oral surgeries and supine or prone positions; Figure 4c As shown, the example shows a 315-degree angle between the second swing joint 6 and the first swing joint 4, which is suitable for general gastrointestinal surgeries and lateral decubitus positions. The robotic arm's full-angle rotation structure 200 can achieve infinite rotational motion through the synchronous swinging of the first swing joint 4, the second swing joint 6, the third swing joint 8, and the third joint 11, thereby enabling surgical instruments to reach different postures to better adapt to surgical scenarios in different departments.

[0069] In a preferred embodiment, the third joint 11 can be detachably connected to the second rotating mechanism 10. The second rotating mechanism 10 may have a detachable interface, which may include a first electrical interface 103 and a detachable mechanical interface 104. The third joint 11 can be mounted on the second rotating mechanism 10 at a certain angle. By inferring the range of usable surgical postures, multiple angle configurations of the third joint 11 can be achieved through the detachable interface, reducing the range of adjustments required for other joints and pivot joints during surgery.

[0070] To ensure that the incision in minimally invasive surgery is as small as possible, the operation is generally performed through the zero-position fixed point A formed by the second swing joint 6, the third swing joint 8, and the third joint 11. The rotation axis of the third power mechanism 7, the rotation axis of the first rotation mechanism 9, the rotation axis of the second rotation mechanism 10, and the zero-position fixed point A form a parallelogram. When the robotic arm's full-angle rotation structure 200 adjusts its posture, the included angle of the parallelogram changes when the third power mechanism 7 drives the first swing joint 4, the second swing joint 6, and the third swing joint 8 to rotate synchronously. However, the absolute position of the zero-position fixed point A does not change, thus minimizing the incision size in minimally invasive surgery.

[0071] Figure 5 This is a side view schematic diagram of the full-angle rotation structure of the robotic arm of the present invention, as shown below. Figure 5As shown, the third swing joint 8 and the first swing joint 4 are located on opposite sides of the second swing joint 6, the first transmission belt 15 is located inside the second swing joint 6, and the second transmission belt 16 is located inside the third swing joint 8. With this structure, when the second swing joint 6 and the first swing joint 4 achieve infinite rotational movement, the third swing joint 8, the first transmission belt 15, and the second transmission belt 16 will not interfere with or obstruct either of them, ensuring that the infinite rotational movement can be achieved. Furthermore, the third joint 11 is located on the opposite side of the third swing joint 8 from the second swing joint 6. Similarly, when the second swing joint 6 and the third swing joint 8 achieve infinite rotational movement, the third joint 11 and the second transmission belt 16 will not interfere with or obstruct either of them, ensuring that the infinite rotational movement can be achieved. It should be noted that the first transmission belt 15 is located inside the second swing joint 6, and the second transmission belt 16 is located inside the third swing joint 8. Specifically, this can be understood as follows: Figure 5 As shown, the first transmission belt 15 is located within the contour formed by the second swing joint 6 in the horizontal direction. Due to the structural differences of the second swing joint 6, the first transmission belt 15 may not be completely inside the second swing joint 6. Similarly, the second transmission belt 16 is also located within the contour formed by the second swing joint 6 in the horizontal direction. Through the aforementioned structures of the first transmission belt 15 and the second transmission belt 16, the first swing joint 4, the second swing joint 6, the third swing joint 8, and the third joint 11 can be closely grouped together, resulting in a smaller volume occupied by the entire robotic arm's full-angle rotation structure 200.

[0072] Figure 6 This is a schematic diagram of the internal structure of the robotic arm's full-angle rotation structure of the present invention, specifically at the first joint, the second joint 2, and the first swing joint 4. Figure 3 and Figure 6 As shown, the second joint 2 is connected to the first joint 1 via the first power mechanism 3. The first power mechanism 3 can be fixedly installed on the first joint 1, and the second joint 2 is fixedly installed on the output end of the first power mechanism 3. The first power mechanism 3 can actively drive the output end to rotate, thereby driving the second joint 2 to rotate. The first swing joint 4 is connected to the second joint 2 via the second power mechanism 5. The second power mechanism 5 can be fixedly installed on the second joint 2, and the first swing joint 4 is fixedly installed on the output end of the second power mechanism 5. The second power mechanism 5 can actively drive the output end to rotate, thereby driving the first swing joint 4 to rotate.

[0073] Figure 7 This is a schematic diagram of the first power mechanism of the robotic arm's full-angle rotation structure of the present invention, as shown below. Figure 7As shown, the first power mechanism 3 may include: a first motor unit mounted on the first joint 1, the first motor unit including: a first motor shaft 31 having a first through hole 311; a first motor rotor 32 mounted on the first motor shaft 31; a first motor stator 33 fixed to the first joint 1, the first motor rotor 32 and the first motor shaft 31 being rotatable relative to the first motor stator 33; a first reduction mechanism 34 sleeved on the first motor shaft 31; and a first output shaft 35 fixedly connected to the second joint 2, the first output shaft 35 having a second through hole 351, the first output shaft 35 being connected to the first output end of the first reduction mechanism 34. After the first motor rotor 32 rotates under electric drive, the first reduction mechanism 34 reduces the speed, and the reduced rotation is then transmitted through the first output end of the first reduction mechanism 34 to the first output shaft 35, which serves as the output end, and the first output shaft 35 drives the second joint 2 to rotate.

[0074] Among them, such as Figure 7 As shown, the first joint 1 may have a first power mechanism mounting hole. The first power mechanism 3 may include a first mounting base 36 fixedly disposed in the first power mechanism mounting hole, and the first motor unit is disposed within the first mounting base 36. In order to limit the first motor unit and prevent it from falling out of the first mounting base 36, the first power mechanism 3 may further include a first motor unit blocking member 37, which may be annular and disposed at the outer end of the first mounting base 36, for limiting the first motor unit in the direction of the rotation axis of the first power mechanism 3.

[0075] In order to support and limit the first motor rotor 32 in the radial direction, while ensuring the rotation of the first motor rotor 32, such as Figure 7 As shown, the first power mechanism 3 may further include a first bearing 38 disposed between the inner side wall of the first mounting base 36 and the outer side wall of the first motor rotor 32.

[0076] like Figure 7As shown, the omnidirectional rotation structure of the robotic arm may further include: a cable 12, which passes through the first through hole 311 of the first motor shaft 31 and the second through hole 351 of the first output shaft 35 from the first joint 1 into the second joint 2; and a first electric slider 13, through which the cable 12 is electrically connected to the first motor unit. The cable 12 is electrically connected to the first connecting end of the first electric slider 13, and the first motor unit is electrically connected to the second connecting end of the first electric slider 13. The first and second connecting ends of the first electric slider 13 can rotate relative to each other while maintaining an electrical connection. The cable 12 needs to supply power to the first power mechanism 3, the second power mechanism 5, and the third power mechanism 7 and / or provide various signal interactions. The cable 12 also needs to be laid to the third joint 11 to supply power to different surgical instruments mounted on the third joint 11 and provide various signal interactions. Therefore, the cable 12 needs to pass through the first joint 1, the second joint 2, the first swing joint 4, the second swing joint 6, the third swing joint 8, and the third joint 11 during its laying. When cable 12 passes through the first through hole 311 of the first motor shaft 31 and the second through hole 351 of the first output shaft 35 into the second joint 2 from the first joint 1, the passage of cable 12 will not affect the rotation between the first joint 1 and the second joint 2. The first joint 1 and the second joint 2 can achieve infinite 360-degree rotation, and at the same time, cable 12 will never become tangled. The first electric slider 13 allows cable 12 to remain stationary even as the first motor unit rotates continuously, and it can achieve electrical connection with the first motor unit for power supply and / or the exchange of various signals. Alternatively, the first electric slider 13 can be mounted on the first output shaft 35 or on the first motor shaft 31.

[0077] The structure of the second power mechanism 5 can be similar to that of the first power mechanism 3. The second power mechanism 5 may include: a second motor unit mounted on the second joint 2, the second motor unit including: a second motor shaft having a third through hole; a second motor rotor mounted on the second motor shaft; a second motor stator fixed to the second joint 2, the second motor rotor and the second motor shaft being rotatable relative to the second motor stator; a second reduction mechanism sleeved on the second motor shaft; and a second output shaft fixedly connected to the first swing joint 4, the second output shaft having a fourth through hole, the second output shaft being connected to the output end of the second reduction mechanism. The second joint 2 may have a second power mechanism mounting hole, and the second power mechanism 5 may include a second mounting seat fixedly disposed in the second power mechanism mounting hole, with the second motor unit disposed within the second mounting seat. To limit the second motor unit and prevent it from falling out of the second mounting seat, the second power mechanism 5 may further include: a second motor unit blocking member, which may be annular and disposed at the outer end of the second mounting seat, for limiting the second motor unit in the direction of the rotation axis of the second power mechanism 5. In order to support and limit the second motor rotor in the radial direction, while ensuring the rotation of the second motor rotor, the second power mechanism 5 may also include a second bearing disposed between the inner side wall of the second mounting base and the outer side wall of the second motor rotor.

[0078] Similarly, cable 12 can pass through the second joint 2, through the third through hole of the second motor shaft, and the fourth through hole of the second output shaft to enter the first swing joint 4. The robotic arm's full-angle rotation structure 200 includes a second electric slider, through which cable 12 is electrically connected to the second motor unit. The passage of cable 12 will not affect the rotation between the second joint 2 and the first swing joint 4, allowing for 360-degree infinite rotation between the first swing joint 4 and the second joint 2. The second electric slider ensures that cable 12 remains stationary while the second motor unit rotates continuously, and maintains an electrical connection for power supply and / or signal interaction. Alternatively, the second electric slider can be mounted on the second output shaft or the second motor shaft.

[0079] Figure 8 This is a schematic diagram of the transmission structure at the first swing joint, the second swing joint 6, and the third swing joint 8 of the robotic arm's full-angle rotation structure of the present invention, as shown below. Figure 3 , Figure 6 and Figure 8As shown, the structure of the third power mechanism 7 can be similar to that of the first power mechanism 3. The third power mechanism 7 may include: a third motor unit mounted on the first swing joint 4; the third motor unit includes: a third motor shaft with a fifth through hole; a third motor rotor mounted on the third motor shaft; a third motor stator fixed to the first swing joint 4, the third motor rotor and the third motor shaft being rotatable relative to the third motor stator; a third reduction mechanism sleeved on the third motor shaft; and a third output shaft fixedly connected to the second swing joint 6, the third output shaft having a sixth through hole, and the third output shaft being connected to the output end of the third reduction mechanism. The first swing joint 4 can be generally L-shaped, and the rotation axis of the second power mechanism 5 and the rotation axis of the third power mechanism 7 are not parallel, for example, they can be perpendicular, thus allowing for a wider and larger adjustment range of the entire robotic arm's full-angle rotation structure 200. One end of the first swing joint 4 is connected to the second power mechanism 5, and the third power mechanism 7 is mounted at the other end of the first swing joint 4. The other end of the first swing joint 4 may have a third power mechanism mounting hole. The third power mechanism 7 may include a third mounting base fixedly disposed in the third power mechanism mounting hole, and the third motor unit is disposed within the third mounting base. To limit the third motor unit and prevent it from falling out of the third mounting base, the third power mechanism 7 may further include a third motor unit blocking member, which may be annular and disposed at the outer end of the third mounting base, for limiting the third motor unit in the direction of the rotation axis of the third power mechanism 7. To support and limit the third motor rotor in the radial direction while ensuring the rotation of the third motor rotor, the third power mechanism 7 may further include a third bearing disposed between the inner side wall of the third mounting base and the outer side wall of the third motor rotor.

[0080] Similarly, cable 12 passes through the fifth through hole of the third motor shaft and the sixth through hole of the third output shaft from the first swing joint 4 into the second swing joint 6. The robotic arm's full-angle rotation structure 200 may include a third electric slider, through which cable 12 is electrically connected to the third motor unit. The passage of cable 12 does not affect the rotation between the second swing joint 6 and the first swing joint 4, allowing for 360-degree infinite rotation between the first swing joint 4 and the second swing joint 6. The third electric slider ensures that cable 12 remains stationary while the third motor unit rotates continuously, enabling electrical connection for power supply and / or signal interaction. Alternatively, the third electric slider can be mounted on the third output shaft or the third motor shaft.

[0081] like Figure 8As shown, the third swing joint 8 is connected to the second swing joint 6 via the first rotating mechanism 9. The first rotating mechanism 9 and the first swing joint 4 rotate synchronously via the first transmission belt 15. One end of the second swing joint 6 is connected to the third output shaft of the third power mechanism 7, and the other end of the second swing joint 6 is equipped with the first rotating mechanism 9. The rotation axis of the third power mechanism 7 can be parallel to the rotation axis of the first rotating mechanism 9. The first rotating mechanism 9 may include: a first rotating wheel 91 with a seventh through hole 911, the first rotating wheel 91 is mounted on the second swing joint 6 and can rotate between the two; one end of the first rotating wheel 91 is fitted with the first transmission belt 15, and the other end of the first transmission belt 15 is fitted with the first annular portion 41 formed by the first swing joint 4; the other end of the first rotating wheel 91 is fixedly connected to the third swing joint 8. The first rotating wheel 91 may include a first wheel body 912, a first mounting portion 913, and a first shaft body 914 connecting the first wheel body 912 and the first mounting portion 913. The first shaft 914 passes through the second swing joint 6 and is rotatable with the second swing joint 6. The first wheel 912 is fitted with the first transmission belt 15, and the first mounting part 913 is fixedly connected to the third swing joint 8. The outer diameter of the first wheel 912 is equal to the outer diameter of the first annular portion 41 formed by the first swing joint 4, thereby achieving synchronous and proportional rotation. The first wheel 912 is located within the contour formed by the second swing joint 6 in the horizontal direction to avoid interference with the first swing joint 4, thus making the full-angle rotation structure of the robotic arm more compact. Similarly, the first annular portion 41 formed by the first swing joint 4 can be located within the contour formed by the second swing joint 6 in the horizontal direction, so that the first transmission belt 15 can be located within the contour formed by the second swing joint 6 in the horizontal direction, making the full-angle rotation structure of the robotic arm more compact.

[0082] Specifically, such as Figure 8As shown, the other end of the second swing joint 6 may have a first rotating mechanism mounting hole. The first rotating mechanism 9 may further include a first outer pressure cover 92, a fourth bearing 93, and a first inner pressure cover 94. The fourth bearing 93 is disposed between the second swing joint 6 and the first rotating wheel 91, thereby limiting and supporting the first rotating wheel 91 in the radial direction, while ensuring the rotation of the first rotating wheel 91. The outer wall of the first rotating wheel 91 has a step, which limits the inner side of the fourth bearing 93 near the third power mechanism 7. The first outer pressure cover 92 is sleeved on the first rotating wheel 91 and located in the first rotating mechanism mounting hole, limiting the outer side of the fourth bearing 93 near the third power mechanism 7. The first inner pressure cover 94 is sleeved outside the first rotating wheel 91 and located inside the mounting hole of the first rotating mechanism. The first inner pressure cover 94 limits the inner side of the fourth bearing 93 away from the third power mechanism 7, while the outer side of the fourth bearing 93 away from the third power mechanism 7 is limited by the inner edge of the second swing joint 6 at the mounting hole of the first rotating mechanism. The first inner pressure cover 94 can be fixed to the first rotating wheel 91 by screws or the like.

[0083] like Figure 8 As shown, cable 12 passes through the seventh through hole 911 of the first rotating wheel 91 from the second swing joint 6 into the third swing joint 8. In this way, the passage of cable 12 does not affect the rotation between the second swing joint 6 and the third swing joint 8, allowing for 360-degree infinite rotation between them. Furthermore, the seventh through hole can be located at the rotation axis of the first rotating wheel 91.

[0084] like Figure 8As shown, the first rotating wheel 91 is mounted to the first transmission belt 15 at one end near the third power mechanism 7. Alternatively, the other end of the first swing joint 4 has a first annular portion 41 protruding towards the first swing joint 4, and this first annular portion 41 also forms a partial mounting hole for the third power mechanism. The other end of the first transmission belt 15 is mounted to the first annular portion 41 of the first swing joint 4. When the third power mechanism 7 drives the first swing joint 4 to rotate, the first transmission belt 15 rotates around the first annular portion 41, which in turn drives the first rotating wheel 91 to rotate. The outer diameter of the first annular portion 41 is the same as the outer diameter of the mating point between the first rotating wheel 91 and the first transmission belt 15, thereby ensuring that the rotation amplitude of the second swing joint 6 driven by the third power mechanism 7 is the same as the rotation amplitude of the first rotating wheel 91 driven by the first transmission belt 15, thus ensuring that the robotic arm's full-angle rotation structure 200 can achieve the zero-position fixed point A. Since the third power mechanism 7 can drive the second swing joint 6 to rotate 360 ​​degrees relative to the first swing joint 4, and since the first transmission belt 15 is present, the third swing joint 8 can also rotate 360 ​​degrees relative to the second swing joint 6.

[0085] Figure 9 This is a front view of the second swing joint of the robotic arm's full-angle rotation structure of the present invention, as shown below. Figure 9 As shown, in a preferred embodiment, a first tensioning wheel 61 may be provided on the second swing joint 6. The first tensioning wheel 61 may be located on the side of the second swing joint 6 facing the first swing joint 4. By adjusting the position of the first tensioning wheel 61, the first tensioning wheel 61 can abut against the first transmission belt 15 and adjust the tension of the first transmission belt 15. For example, the first tensioning wheel 61 can move in a groove and can be locked, thereby realizing the adjustment of the position of the first tensioning wheel 61. The above structure can ensure the transmission between the first transmission belt 15 and the first rotating wheel 91 and the first ring part 41, and prevent the first rotating wheel 91 and the first ring part 41 from not being able to achieve a good 1:1 transmission when the first transmission belt 15 is slack.

[0086] Figure 10 This is a schematic diagram of the transmission structure at the second swing joint, the third swing joint 8, and the third joint 11 of the robotic arm's full-angle rotation structure of the present invention, as shown below. Figure 10As shown, the third joint 11 is connected to the third swing joint 8 via the second rotating mechanism 10. The third joint 11 is connected to the second rotating mechanism 10, one end of the third swing joint 8 is connected to the first rotating mechanism 9, and the other end of the third swing joint 8 is equipped with the second rotating mechanism 10. The rotation axis of the second rotating mechanism 10 can be parallel to the rotation axis of the first rotating mechanism 9. The second rotating mechanism 10 may include: a second rotating wheel 101, which is mounted on the third swing joint 8 and rotatable with it; one end of the second rotating wheel 101 is fitted with a second transmission belt 16, and the other end of the second transmission belt 16 is fitted with a second annular portion 62 formed by the second swing joint 6; the other end of the second rotating wheel 101 is connected to the third joint 11. The second rotating wheel 101 may include a second wheel body 1011, a second mounting portion 1012, and a second shaft body 1013 connecting the second wheel body 1011 and the second mounting portion 1012. The second shaft 1013 passes through the third swing joint 8 and is rotatable with the third swing joint 8. The second wheel 1011 is fitted with the second transmission belt 16, and the second mounting part 1012 is fixedly connected to the third joint 11. The outer diameter of the second wheel 1011 is equal to the outer diameter of the second annular portion 62 formed by the second swing joint 6, thereby achieving synchronous and proportional rotation. The second wheel 1011 is located within the contour formed by the third swing joint 8 in the horizontal direction to avoid interference with the second swing joint 6, thus making the full-angle rotation structure of the robotic arm more compact. Similarly, the second annular portion 62 formed by the second swing joint 6 can be located within the contour formed by the third swing joint 8 in the horizontal direction, so that the second transmission belt 16 can be located within the contour formed by the third swing joint 8 in the horizontal direction, making the full-angle rotation structure of the robotic arm more compact.

[0087] Specifically, Figure 11 This is a cross-sectional view of the second rotating mechanism in the full-angle rotation structure of the robotic arm of the present invention, as shown below. Figure 11As shown, the other end of the third swing joint 8 may have a mounting hole for a second rotating mechanism. The second rotating mechanism 10 may further include a second outer pressure cover 105, a fifth bearing 106, and a second inner pressure cover 107. The fifth bearing 106 is disposed between the third swing joint 8 and the second rotating wheel 101, thereby limiting and supporting the second rotating wheel 101 in the radial direction, while simultaneously ensuring the rotation of the second rotating wheel 101. The outer wall of the second rotating wheel 101 has a step, which limits the inner side of the fifth bearing 106 near the second swing joint 6. The second outer pressure cover 105 is sleeved on the second rotating wheel 101 and located inside the mounting hole for the second rotating mechanism, limiting the outer side of the fifth bearing 106 near the second swing joint 6. The second inner pressure cover 107 is sleeved outside the second rotating wheel 101 and located inside the mounting hole of the second rotating mechanism. The second inner pressure cover 107 limits the inner side of the fifth bearing 106 away from the second rotating mechanism 10, while the outer side of the fifth bearing 106 away from the second rotating mechanism 10 is limited by the inner edge of the mounting hole of the second rotating mechanism via the third swing joint 8. The second inner pressure cover 107 can be fixed to the second rotating wheel 101 by screws or the like.

[0088] like Figure 10As shown, the second rotating mechanism 10 and the second swing joint 6 can rotate synchronously via the second transmission belt 16, and the third joint 11 can rotate 360 ​​degrees relative to the second swing joint 6. The end of the second rotating wheel 101 near the second swing joint 6 is fitted with the second transmission belt 16. Alternatively, the other end of the second swing joint 6 has a second annular portion 62 protruding towards the third swing joint 8, and this second annular portion 62 also forms a partial mounting hole for the first rotating mechanism. The other end of the second transmission belt 16 is fitted with the second annular portion 62 of the second swing joint 6. When the first rotating wheel 91 drives the third swing joint 8 to rotate, the second transmission belt 16 rotates around the second annular portion 62, which in turn drives the second rotating wheel 101 to rotate. The outer diameter of the second annular portion 62 is the same as the outer diameter of the mating point of the second rotating wheel 101 and the second transmission belt 16. This ensures that the rotation amplitude of the third swing joint 8 driven by the first rotating wheel 91 is the same as the rotation amplitude of the second rotating wheel 101 driven by the second transmission belt 16, thereby ensuring that the robotic arm's full-angle rotation structure can achieve the zero fixed point A. Since the first rotating wheel 91 can drive the third swing joint 8 to rotate 360 ​​degrees relative to the second swing joint 6, and due to the presence of the second transmission belt 16, the third joint 11 can also rotate 360 ​​degrees relative to the third swing joint 8. Utilizing the first transmission belt 15 and the second transmission belt 16 not only allows the robotic arm's full-angle rotation structure 200 to maintain the zero fixed point A and achieve 360-degree infinite rotation, increasing the surgical reach, but also reduces the swing space during posture adjustment, thus saving space.

[0089] Furthermore, the first transmission belt 15 and the second transmission belt 16 can be synchronous belts, which can improve the accuracy of the transmission ratio and reduce the force on the shaft. Correspondingly, the second annular portion 62 and the second rotating wheel 101 need to have corresponding tooth profiles at their mating points with the second transmission belt 16 so that they mesh with the second transmission belt 16. Similarly, the first annular portion 41 and the first rotating wheel 91 need to have corresponding tooth profiles at their mating points with the first transmission belt 15 so that they mesh with the first transmission belt 15.

[0090] like Figure 11As shown, as a feasible option, the second rotating mechanism 10 may include: a first electrical interface 103 and a detachable mechanical interface 104 mounted on the second rotating wheel 101; and a fourth electric slider 102 mounted on the second rotating wheel 101, with its first connecting end electrically connected to the electrical interface. The first electrical interface 103 and the detachable mechanical interface 104 may be mounted on the second mounting portion 1012 of the second rotating wheel 101, with the detachable mechanical interface 104 used to engage with the third joint 11. The cable 12 is electrically connected to the second connecting end of the fourth electric slider 102, and the first connecting end and the second connecting end are rotatable relative to each other. Through the fourth electric slider 102, even when the second rotating wheel 101 is continuously rotating, the cable 12 can remain stationary and electrically connected to the first electrical interface 103 on the second rotating wheel 101 for power supply and / or the exchange of various signals.

[0091] Figure 12 This is a front view of the third swing joint of the robotic arm's full-angle rotation structure of the present invention, as shown below. Figure 12 As shown, a second tensioning pulley 81 can be provided on the third swing joint 8. Similarly, the second tensioning pulley 81 can be located on the side of the third swing joint 8 facing the second swing joint 6. By adjusting the position of the second tensioning pulley 81, the second tensioning pulley 81 can abut against the second transmission belt 16 and adjust the tension of the second transmission belt 16. For example, the second tensioning pulley 81 can move in a groove and can be locked, thereby realizing the adjustment of the position of the second tensioning pulley 81. The above structure can ensure the transmission between the second transmission belt 16, the second rotating wheel 101, and the second annular portion 62, and prevent the first rotating wheel 91 and the second annular portion 62 from not achieving a good 1:1 transmission ratio after the first transmission belt 15 becomes loose.

[0092] Figure 13 This is a front view of the first electrical interface component and the detachable mechanical interface component on the second rotating mechanism of the robotic arm's full-angle rotation structure of the present invention, as shown below. Figure 13As shown, the first electrical interface 103 may have multiple sets of electrical interfaces, which are circumferentially distributed around the axis of the first electrical interface 103. Similarly, the detachable mechanical interface 104 may have multiple mechanical interfaces 1041, which are circumferentially distributed around the axis of the detachable mechanical interface 104. The third joint 11 may have a second electrical interface 113 that cooperates with the first electrical interface 103 and a detachable mechanical mechanism that cooperates with the detachable mechanical interface 104. In this way, the third joint 11 can be installed on the second rotating wheel 101 at different angles, ensuring that the second electrical interface 113 can always be electrically connected to at least one set of electrical interfaces on the first electrical interface 103, and that the detachable mechanical mechanism can be connected to at least one mechanical interface 1041 on the detachable mechanical interface 104. The above structure allows the third joint 11 to be mounted on the second rotating wheel 101 at different angles while maintaining the electrical connection between the third joint 11 and the first electrical interface 103 on the second rotating mechanism 10, as well as the robust physical connection between the third joint 11 and the detachable mechanical interface 104 on the second rotating mechanism 10. This enables multi-angle mounting of the third joint 11, conveniently meeting the needs of patients in different postures. Because the third joint 11 can be mounted at various angles, it can have different initial positions, allowing for optimal angle combinations to adapt to the surgical range, thereby reducing redundant motion space in the robotic arm's full-angle rotation structure.

[0093] Figure 14 This is a schematic diagram of the second electrical interface component and the detachable mechanical mechanism on the third joint of the full-angle rotation structure of the robotic arm of the present invention, as shown below. Figure 14 As shown, in one feasible embodiment, the detachable mechanical mechanism of the third joint 11 may include: a slider 111 mounted on the third joint 11; and an elastic member 112, which can drive the slider 111 to slide in the radial direction. The slider 111 may be disposed in a groove on the third joint 11, and the elastic member 112 may also be disposed in a groove on the third joint 11, with one end of the elastic member 112 abutting against the third joint 11 and the other end of the elastic member 112 abutting against the slider 111. Figure 15 This is a schematic diagram of the structure of the robotic arm's full-angle rotation structure after the third joint is connected to the second rotating mechanism, as shown below. Figures 13 to 15As shown, when the elastic element 112 contracts, the sliding element 111 can be installed into or removed from the mechanical interface 1041; when the elastic element 112 opens, it allows the sliding element 111 to remain in the mechanical interface 1041. For example, there can be two sliding elements 111, arranged opposite to each other. The first electrical interface element 103 can be located at the rotation axis of the second rotating wheel 101 of the second rotating mechanism 10. Correspondingly, the second electrical interface element 113 of the third joint 11 is also located at the rotation axis of the third joint 11, thus ensuring that the third joint 11 can be installed onto the second rotating wheel 101 of the second rotating mechanism 10 at multiple angles.

[0094] like Figure 15 As shown, as a feasible option, the robotic arm's full-angle rotation structure 200 may include a torque sensor 14. The torque sensor 14 can be mounted on the second rotating wheel 101 and is used to detect the torque value of the second rotating wheel 101. The torque sensor 14 can be electrically connected to the fourth electric slider 102 and the cable 12 for power supply and / or to provide various signal interactions. Since the angle of the third joint 11 connected to the second rotating wheel 101 varies after the second rotating wheel 101 rotates, the weight of the third joint 11 will generate different magnitudes of torque on the second rotating wheel 101 at different angles. The torque sensor 14 can identify the angle at which the third joint 11 is mounted on the second rotating wheel 101 based on the detected torque value.

[0095] When the common posture of the robotic arm's full-angle rotation structure 200 during surgery can be predicted, the third joint 11 can be pre-adjusted to the predicted common posture or an approximate posture via the second electrical interface 113 and the detachable mechanical mechanism, thereby reducing the adjustment time of the robotic arm's full-angle rotation structure 200 during surgery. Figure 16a and Figure 16b This is a schematic diagram showing the third joint of the robotic arm's full-angle rotation structure installed at different angles, as shown below. Figures 16a to 16b As shown, the third joint 11 is mounted on the second rotating wheel 101 at different angles, specifically in two cases where the angle between the third joint 11 and the direction of gravity is 0 degrees and 45 degrees. Figure 2As shown, cable 12 can be electrically connected to the host's drive module. Through the drive module, data is transmitted to torque sensor 14. By identifying different torques, the different posture angles of the third joint 11 are determined. The host transmits this information to the display, which shows the different postures of the third joint 11, as well as the 360-degree full range of motion of the second joint 2, the first swing joint 4, the second swing joint 6, and the third swing joint 8. By utilizing full-range motion simulation software, the posture simulation of the entire stroke can be achieved on the display, further improving work efficiency.

[0096] Through the detachable structure between the second rotating wheel 101 and the third joint 11 and the torque sensor 14, not only can the third joint 11 be configured with different angles relative to the transmission structure with the zero fixed point A, but also the information of its initial position can be obtained when the third joint 11 is installed, thereby realizing the visualization of the reachable space of the robotic arm's full-angle rotation structure 200.

[0097] In all the above embodiments, the transmission belt can be a steel belt, silk belt, or other transmission component, not limited to a belt. This application does not impose any limitations on it, as long as it can achieve transmission.

[0098] This application also proposes a surgical robot, which may include a mechanical body 100 and a robotic arm omnidirectional rotation structure 200 as described above. The robotic arm omnidirectional rotation structure 200 may be connected to the mechanical body 100 via a first joint 1 and a second joint 2.

[0099] All articles and references disclosed herein, including patent applications and publications, are incorporated herein by reference for various purposes. The term “substantially constitutes…” used to describe a combination should include the identified element, component, part, or step, as well as other elements, components, parts, or steps that do not substantially affect the essential novelty of the combination. The use of the terms “comprising” or “including” to describe combinations of elements, components, parts, or steps herein also contemplates embodiments substantially constituted by such elements, components, parts, or steps. The use of the term “may” herein is intended to indicate that any described attribute “may” include is optional. Multiple elements, components, parts, or steps can be provided by a single integrated element, component, part, or step. Alternatively, a single integrated element, component, part, or step can be divided into multiple separate elements, components, parts, or steps. The disclosure of “a” or “an” used to describe an element, component, part, or step does not imply exclusion of other elements, components, parts, or steps.

Claims

1. A robotic arm omnidirectional rotation structure, characterized in that, The robotic arm's omnidirectional rotation structure includes: a first swing joint, a second swing joint, a third swing joint, and a third joint. The second swing joint is connected to the first swing joint via a third power mechanism, which drives the second swing joint to rotate 360° relative to the first swing joint. The third swing joint is connected to the second swing joint via a first rotating mechanism, and the first swing joint drives the first rotating mechanism via a first transmission belt to achieve a 360° rotation of the third swing joint relative to the second swing joint. The third joint is connected to the third swing joint via a second rotating mechanism, and the second swing joint drives the second rotating mechanism via a second transmission belt to achieve a 360° rotation of the third joint around the third swing joint. The third swing joint and the first swing joint are located on opposite sides of the second swing joint, with the first transmission belt located inside the second swing joint and the second transmission belt located inside the third swing joint. The third joint is located on the opposite side of the third swing joint from the second swing joint.

2. The robotic arm omnidirectional rotation structure according to claim 1, characterized in that, The third power mechanism includes: a third motor unit mounted on the first swing joint, the third motor unit including: a third motor shaft having a fifth through hole; a third motor rotor mounted on the third motor shaft; and a third motor stator fixed to the first swing joint, the third motor rotor and the third motor shaft being rotatable relative to the third motor stator; The third reduction mechanism is sleeved on the third motor shaft; A third output shaft is fixedly connected to the second swing joint, the third output shaft has a sixth through hole, and the third output shaft is connected to the output end of the third reduction mechanism; The robotic arm's full-angle rotation structure includes: a cable, which passes through the fifth through hole of the third motor shaft and the sixth through hole of the third output shaft from the first swing joint and enters the second swing joint; The cable is electrically connected to the third motor unit via the third electric slider.

3. The robotic arm omnidirectional rotation structure according to claim 1, characterized in that, The first rotating mechanism includes: a first rotating wheel, the first rotating wheel including a first wheel body, a first mounting part, and a first shaft connecting the first wheel body and the first mounting part, the first shaft passing through the second swing joint and being rotatable between the first and second swing joints; the first wheel body is fitted with the first transmission belt, the first mounting part is fixedly connected to the third swing joint, the outer diameter of the first wheel body is equal to the outer diameter of the first annular portion formed by the first swing joint; the first wheel body is located within the contour formed by the second swing joint in the horizontal direction.

4. The robotic arm full-angle rotation structure according to claim 1, characterized in that, The first rotating mechanism includes: a first rotating wheel having a seventh through hole, the first rotating wheel being mounted on the second swing joint and rotatable between the first rotating wheel and the second swing joint; one end of the first rotating wheel being fitted with the first transmission belt, the other end of the first transmission belt being fitted with the first annular portion formed by the first swing joint; and the other end of the first rotating wheel being fixedly connected to the third swing joint. The robotic arm's full-angle rotation structure includes a cable, which enters the third swing joint from the second swing joint through the seventh through hole of the first rotating wheel.

5. The robotic arm omnidirectional rotation structure according to claim 1, characterized in that, The second rotating mechanism includes: a second rotating wheel, the second rotating wheel including a second wheel body, a second mounting part, and a second shaft connecting the second wheel body and the second mounting part; the second shaft passes through the third swing joint and is rotatable with the third swing joint; the second wheel body is fitted with the second transmission belt, the second mounting part is fixedly connected to the third joint, the outer diameter of the second wheel body is equal to the outer diameter of the second annular portion formed by the second swing joint; the second wheel body is located within the contour formed by the third swing joint in the horizontal direction.

6. The robotic arm omnidirectional rotation structure according to claim 4, characterized in that, The second rotating mechanism includes: a second rotating wheel, which is mounted on the third swing joint and is rotatable between the second rotating wheel and the third swing joint; one end of the second rotating wheel is fitted with the second transmission belt, and the other end of the second transmission belt is fitted with the second annular portion formed by the second swing joint; the other end of the second rotating wheel is connected to the third joint.

7. The robotic arm full-angle rotation structure according to claim 1, characterized in that, The second rotating mechanism includes: a second rotating wheel, which is mounted on the third swing joint and rotatable between the second rotating wheel and the third swing joint; a first electrical interface component and a detachable mechanical interface component mounted on the second rotating wheel; A fourth electric slider is mounted on the second rotating wheel, and the first connecting end of the fourth electric slider is electrically connected to the electrical interface component; The robotic arm's full-angle rotation structure includes a cable, which is electrically connected to the second connecting end of the fourth electric slider, and the first connecting end and the second connecting end are capable of relative rotation.

8. The robotic arm omnidirectional rotation structure according to claim 7, characterized in that, The first electrical interface component has multiple sets of electrical interfaces, which are circumferentially distributed around the axis of the first electrical interface component; the detachable mechanical interface component has multiple mechanical interfaces, which are circumferentially distributed around the axis of the detachable mechanical interface component; the third joint has a second electrical interface component that cooperates with the first electrical interface component and a detachable mechanical mechanism that cooperates with the detachable mechanical interface component. The third joint can be installed on the second rotating wheel at different angles so that the second electrical interface component can be electrically connected to at least one set of electrical interfaces on the first electrical interface component, and the detachable mechanical mechanism can be connected to at least one mechanical interface on the detachable mechanical interface component.

9. The robotic arm omnidirectional rotation structure according to claim 8, characterized in that, The detachable mechanical mechanism includes: a slider mounted on the third joint; an elastic element capable of driving the slider to slide in a radial direction; when the elastic element contracts, the slider can be installed into or removed from the mechanical interface; when the elastic element opens, the elastic element allows the slider to be held in the mechanical interface.

10. The robotic arm omnidirectional rotation structure according to claim 8, characterized in that, The robotic arm's full-angle rotation structure also includes a torque sensor, which is mounted on the second rotating wheel and is used to identify the angle at which the third joint is mounted on the second rotating wheel based on the detected torque value of the second rotating wheel.

11. The robotic arm omnidirectional rotation structure according to claim 1, characterized in that, The second swing joint is provided with a first tensioning wheel, which can abut against the first transmission belt and adjust the tension of the first transmission belt; And / or, the third swing joint is provided with a second tensioning wheel, which can abut against the second transmission belt and adjust the tension of the second transmission belt.

12. The robotic arm omnidirectional rotation structure according to claim 1, characterized in that, The first transmission belt and the second transmission belt are synchronous belts.

13. The robotic arm omnidirectional rotation structure according to claim 1, characterized in that, The first transmission belt is located within the contour formed by the second swing joint in the horizontal direction, and the second transmission belt is located within the contour formed by the second swing joint in the horizontal direction.

14. The robotic arm omnidirectional rotation structure according to claim 1, characterized in that, The robotic arm's full-angle rotation structure includes: a second joint, wherein the first swing joint is connected to the second joint via a second power mechanism, and the second power mechanism is used to drive the first swing joint to rotate relative to the second joint; The second power mechanism includes: a second motor unit mounted on the second joint, the second motor unit including: a second motor shaft having a third through hole; a second motor rotor mounted on the second motor shaft; a second motor stator fixed to the second joint, the second motor rotor and the second motor shaft being rotatable relative to the second motor stator; The second reduction mechanism is sleeved on the second motor shaft; A second output shaft is fixedly connected to the first swing joint, the second output shaft has a fourth through hole, and the second output shaft is connected to the output end of the second reduction mechanism; The robotic arm's full-angle rotation structure includes: a cable, which passes through the second joint, through the third through hole of the second motor shaft, and the fourth through hole of the second output shaft, and enters the first swing joint; The second electric slider is used to electrically connect the cable to the second motor unit.

15. The robotic arm omnidirectional rotation structure according to claim 14, characterized in that, The robotic arm's full-angle rotation structure includes: a first joint, and a second joint connected to the first joint via a first power mechanism, wherein the first power mechanism is used to drive the second joint to rotate relative to the first joint; The first power mechanism includes: a first motor unit mounted on the first joint, the first motor unit including: a first motor shaft having a first through hole; a first motor rotor mounted on the first motor shaft; a first motor stator fixed to the first joint, the first motor rotor and the first motor shaft being rotatable relative to the first motor stator; The first reduction mechanism is sleeved on the first motor shaft; A first output shaft is fixedly connected to the second joint, the first output shaft has a second through hole, and the first output shaft is connected to the first output end of the first reduction mechanism; The robotic arm's full-angle rotation structure also includes: a cable, which passes through the first through hole of the first motor shaft and the second through hole of the first output shaft from the first joint and enters the second joint; The first electric slider, through which the cable is electrically connected to the first motor unit.

16. A surgical robot, characterized in that, The surgical robot includes a mechanical body and a robotic arm omnidirectional rotation structure as described in any one of claims 1 to 15, wherein the robotic arm omnidirectional rotation structure is connected to the mechanical body via a first joint and a second joint.

Images