A modular adjustment arm system for a surgical robot

Abstract

The present invention relates to the technical field of medical devices, and specifically to a modular adjustment arm system for a surgical robot, which includes a base, a lifting column, a horizontal movement module, a rotating hub, and an operating arm module. A lifting column is installed on the base, and the lifting column moves up and down along the vertical direction of the base. The lifting end of the lifting column is fixed with a horizontal movement module, and a rotating hub is connected to the horizontal movement module and drives the rotating hub to perform a linear movement along the length direction of the horizontal movement module. The rotating hub rotates around its own center. An operating arm module is installed below the rotating hub. There are 2-4 operating arm modules, and the 2-4 operating arm modules are evenly distributed along the circumference. The end of each operating arm module is connected to a surgical instrument for surgery. Compared with the prior art, the present invention can install 2-4 operating arm modules according to the actual needs of the hospital, thereby reducing the equipment procurement cost of the hospital and greatly increasing the flexibility of the hospital to select different configurations.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly to a modular adjustment arm system for a surgical robot for adjusting the pose of an end effector on a surgical robot device. Background Art

[0002] Currently, various surgical robots or robot-assisted surgical devices have been widely used in various clinical surgeries in hospitals, such as percutaneous biopsy, laparoscopic surgery, and orthopedic surgery. Different surgical robots are often equipped with different numbers of operating arms to meet the needs of different surgical types.

[0003] The patent "Split Minimally Invasive Surgical Instrument Auxiliary System" with the patent application publication number CN109091238B proposed a surgical robot system with two operating arms. The patent "Suspension Disk Positioning Mechanism and Surgical Robot" with the patent application publication number CN212261519U proposed a surgical robot system with four operating arms. Usually, the maximum number of operating arms required for a surgical robot is four, but some hospitals find that a two-arm or three-arm configuration is sufficient according to the actual surgical type and scenario. For the multi-arm surgical robots proposed above, the number of operating arms is fixed and cannot be increased or decreased. If a surgical robot with a modular adjustment arm system can be provided, which can be flexibly switched between two arms, three arms, and four arms, the flexibility of hospitals in choosing equipment configurations can be greatly increased, thus meeting the actual needs of different hospitals for different surgical types. Summary of the Invention

[0004] The object of the present invention is to solve the above-mentioned deficiencies and provide a modular adjustment arm system for a surgical robot, which can install 2-4 operating arm modules according to the actual needs of the hospital, thereby reducing the equipment procurement cost of the hospital and greatly increasing the flexibility of the hospital in choosing different configurations.

[0005] To achieve the above object, a modular adjustment arm system for a surgical robot is designed, which includes a base 1, a lifting column 2, a horizontal movement module 3, a rotating hub 4, and an operating arm module 5. The lifting column 2 is installed on the base 1 and moves up and down along the vertical direction of the base 1. The lifting end of the lifting column 2 is fixed with a horizontal movement module 3. The horizontal movement module 3 is connected with a rotating hub 4 and drives the rotating hub 4 to move linearly along the length direction of the horizontal movement module 3. The rotating hub 4 rotates around its own center. An operating arm module 5 is installed below the rotating hub 4. There are 2-4 operating arm modules 5, and the 2-4 operating arm modules 5 are evenly distributed along the circumference. The end of each operating arm module 5 is connected with a surgical instrument 6 for surgery.

[0006] Preferably, the rotary hub 4 includes a hub base 17, on which an articulation module 18 is mounted. On the central axis of the hub base 17, an X - roller bearing 16 is installed. The outer ring of the X - roller bearing 16 is fixed on the translation base 8 of the horizontal movement module 3. Below the inner ring of the X - roller bearing 16 is fixed together with the hub base 17, and above the inner ring of the X - roller bearing 16 is fixed together with a large pulley 15. A motor 9 and a corner reducer 10 are fixed on the translation base 8. The output end of the motor 9 is connected to the corner reducer 10. The output shaft of the corner reducer 10 is fixed together with a small pulley 12. The small pulley 12 is connected to the large pulley 15 through a timing belt 14 and drives the large pulley 15 to rotate together, thereby driving the articulation module 18 to rotate around the central axis of the hub base 17. The manipulator arm module 5 is fixed below the articulation module 18 and rotates horizontally under its drive.

[0007] Preferably, the translation base 8 is slidably connected to a slider guide rail 19. The slider guide rail 19 extends along the length direction of the horizontal base 20 and is fixed on the horizontal base 20. At the other end of the horizontal base 20, a second motor 21 is installed. The output shaft of the second motor 21 is connected to a reduction box 22. The output shaft of the reduction box 22 is connected to a lead screw 25 through a coupling 23. The length direction of the lead screw 25 is parallel to the length direction of the slider guide rail 19. The lead screw 25 rotates driven by the second motor 21. The nut on the lead screw 25 is connected to the translation base 8 through a lead screw fixing seat 24. The translation base 8 and the lead screw fixing seat 24 perform a translation movement along the length direction of the lead screw 25 when the lead screw 25 rotates.

[0008] Preferably, the output end of the motor 9 is fixed together with the corner reducer 10. The corner reducer 10 is fixed on a fixing plate 11. The fixing plate 11 is fixed on the translation base 8, and the corner reducer 10 is fixed below the fixing plate 11. Both ends of the fixing plate 11 are connected to the translation base 8.

[0009] Preferably, a timing belt tensioning bolt 13 is provided at the timing belt 14, and the timing belt tensioning bolt 13 is used to tension the timing belt 14.

[0010] Preferably, at most four articulation modules 18 are mounted on the hub base 17. The four articulation modules 18 are evenly distributed along the same arc on the hub base 17 and are equidistant from the central axis of the hub base 17, so that the actions of the manipulator arm modules 5 below each articulation module 18 do not interfere with each other.

[0011] Preferably, at most four manipulator arm modules 5 are installed below the rotary hub 4. Each manipulator arm module 5 is connected to the rotary hub 4 through a connecting shaft and rotates around its connecting shaft with the rotary hub 4.

[0012] Preferably, each operating arm module 5 includes a translatable translation adjustment shaft 26, a liftable lift adjustment shaft 27, and a rotatable rotation adjustment shaft 28. One end of the translation adjustment shaft 26 is connected to the rotation hub 4 through a connecting shaft. Below the other end of the translation adjustment shaft 26, a lift adjustment shaft 27 is fixed. The other end of the lift adjustment shaft 27 is rotatably connected to the rotation adjustment shaft 28, and the end of the rotation adjustment shaft 28 is connected to a surgical instrument 6 for surgery.

[0013] Compared with the prior art, the present invention provides a modular adjustment arm system for a surgical robot, which can install 2-4 identical operating arm modules according to the actual needs of the hospital and can be flexibly switched between two-arm, three-arm, and four-arm configurations, thereby reducing the equipment procurement cost of the hospital and greatly increasing the flexibility of the hospital in choosing equipment configurations, so as to meet the actual needs of different hospitals for different surgical types. In addition, through precise synchronous belt drive and joint module drive, the present invention can ensure the accuracy of the rotational positioning of the operating arm. At the same time, by arranging the operating arm modules symmetrically around the center, the modular design of the operating arm can be realized, so as to achieve the function of allowing the hospital to flexibly configure the number of operating arms according to the needs of different types of surgeries, greatly increasing the flexibility of the hospital in selecting equipment models, reducing the processing and manufacturing costs and the procurement costs of the hospital, and is worthy of popularization and application. [Description of the Drawings]

[0014] Figure 1 is a schematic structural diagram of the present invention;

[0015] Figure 2 is a schematic structural diagram of the rotation hub of the present invention;

[0016] Figure 3 is a schematic diagram of the present invention when performing surgery with three arms installed;

[0017] Figure 4 is a schematic diagram of the present invention when performing surgery with four arms installed;

[0018] Figure 5 is a top view of the present invention when performing surgery with two arms installed;

[0019] Figure 6 is a top view of the present invention when performing surgery with three arms installed;

[0020] Figure 7 is a top view of the present invention when performing surgery with four arms installed;

[0021] Figure 8 is a partial structural schematic diagram of the present invention;

[0022] Figure 9It is a schematic structural diagram of the horizontal motion module of the present invention;

[0023] In the figure: 1. Base; 2. Lifting column; 3. Horizontal motion module; 4. Rotation hub; 5. Operating arm module; 6. Surgical instrument; 7. Operating table; 8. Translation base; 9. Motor; 10. Angle reducer; 11. Fixed plate; 12. Small pulley; 13. Synchronous belt tensioning bolt; 14. Synchronous belt; 15. Large pulley; 16. Crossed roller bearing; 17. Hub base; 18. Joint module; 19. Slide rail; 20. Horizontal base; 21. Second motor; 22. Reducing box; 23. Coupling; 24. Screw rod fixing seat; 25. Screw rod; 26. Translation adjustment shaft; 27. Lifting adjustment shaft; 28. Rotation adjustment shaft. [Specific embodiments]

[0024] The present invention will be further described below with reference to the accompanying drawings:

[0025] As shown in the accompanying drawings, the present invention provides a modular adjustment arm system for a surgical robot, including a base 1, a lifting column 2, a horizontal motion module 3, a rotation hub 4 and an operating arm module 5. A lifting column 2 is installed on the base 1, and the lifting column 2 moves up and down along the vertical direction of the base 1. The lifting end of the lifting column 2 is fixed with a horizontal motion module 3. A rotation hub 4 is connected to the horizontal motion module 3 and drives the rotation hub 4 to move linearly along the length direction of the horizontal motion module 3. The rotation hub 4 rotates around its own center. An operating arm module 5 is installed below the rotation hub 4. There are 2 - 4 operating arm modules 5, and the 2 - 4 operating arm modules 5 are evenly distributed along the circumference. The end of each operating arm module 5 is connected to a surgical instrument 6 for surgery.

[0026] Among them, at most four operating arm modules 5 are installed below the rotation hub 4. Each operating arm module 5 is connected to the rotation hub 4 through a connecting shaft and rotates around its connecting shaft with the rotation hub 4; each operating arm module 5 includes a translatable translation adjustment shaft 26, a liftable lifting adjustment shaft 27 and a rotatable rotation adjustment shaft 28. As shown in the accompanying drawings Figure 8 shown, one end of the translation adjustment shaft 26 is connected to the rotation hub 4 through a connecting shaft. The other end of the translation adjustment shaft 26 is fixed with a lifting adjustment shaft 27 below. The other end of the lifting adjustment shaft 27 is rotatably connected to the rotation adjustment shaft 28. The end of the rotation adjustment shaft 28 is connected to a surgical instrument 6 for surgery.

[0027] The rotary pivot 4 includes a pivot base 17, on which a joint module 18 is installed. On the central axis of the pivot base 17, an X - roller bearing 16 is installed. The outer ring of the X - roller bearing 16 is fixed on the translation base 8 of the horizontal motion module 3. Below the inner ring of the X - roller bearing 16 is fixed together with the pivot base 17, and above the inner ring of the X - roller bearing 16 is fixed together with the large pulley 15. A motor 9 and a rotation speed reducer 10 are fixed on the translation base 8. The output end of the motor 9 is connected to the rotation speed reducer 10. The output shaft of the rotation speed reducer 10 is fixed together with the small pulley 12. The small pulley 12 is connected to the large pulley 15 through a timing belt 14 and drives the large pulley 15 to rotate together, thereby driving the joint module 18 to rotate around the central axis of the pivot base 17. The manipulator arm module 5 is fixed below the joint module 18 and rotates horizontally under its drive.

[0028] Among them, the output end of the motor 9 is fixed together with the rotation speed reducer 10. The rotation speed reducer 10 is fixed on a fixing plate 11, and the fixing plate 11 is fixed on the translation base 8. And the rotation speed reducer 10 is fixed below the fixing plate 11. Both ends of the fixing plate 11 are connected to the translation base 8. A timing belt tensioning bolt 13 is provided at the timing belt 14, and the timing belt tensioning bolt 13 is used to tension the timing belt 14. At most four joint modules 18 are installed on the pivot base 17. The four joint modules 18 are evenly distributed along the same arc on the pivot base 17 and are at equal distances from the central axis of the pivot base 17, so that the actions of the manipulator arm modules 5 below each joint module 18 do not interfere with each other.

[0029] As shown in the Figure 1 accompanying figure, it is a schematic diagram when using two identical manipulator arm modules for related surgeries. The lifting column 2 can move up and down in the vertical direction along the base 1. The horizontal motion module 3 is fixed on the lifting column 2 and can drive the rotary pivot 4 to move linearly along the length direction of the horizontal motion module 3. At most 4 manipulator arm modules 5 can be installed below the rotary pivot 4 and can rotate around its own center. Each manipulator arm module 5 can rotate around its connection axis with the rotary pivot 4 and includes a translation adjustment axis, a lifting adjustment axis and a rotation adjustment axis.

[0030] As shown in the Figure 2As shown in the figure, up to 4 joint modules 18 can be installed on the hub base 17. These 4 joint modules are evenly distributed along the same arc on the hub base 17 and are equidistant from the central axis of the base. The outer ring of the crossed roller bearing 16 is fixed on the translation base 8, the lower part of the inner ring is fixed together with the hub base 17, and the upper part is fixed together with the large pulley 15. The output end of the motor 9 is fixed together with the angle reducer 10 and is fixed on the translation base 8 through the fixing plate 11. The output shaft of the angle reducer 10 is fixed together with the small pulley 12 and drives the large pulley 15 to rotate together through the synchronous belt 14. The operating arm module 5 is fixed under the joint module 18 and rotates horizontally under its drive.

[0031] As shown in the Figure 3 figure, it is a schematic diagram of the adjusting arm system of the present invention with 3 operating arm modules during surgery. As shown in the Figure 4 figure, it is a schematic diagram of the adjusting arm system of the present invention with 4 operating arm modules during surgery.

[0032] As shown in the Figure 9 figure, the translation base 8 is fixed together with the horizontal base 20 through the guide rail slider 19 and can perform translational motion along the length direction of the guide rail; the output shaft of the motor two 21 is connected with the planetary gearbox 22, and the output shaft of the gearbox is fixed together with the lead screw 25 through the coupling 23, so that the motor two 21 drives the lead screw 25 to rotate together; the nut on the lead screw is connected with the translation base 8 through the lead screw fixing seat 24. Therefore, when the lead screw rotates, the translation base 8 moves along the length direction of the lead screw together with the lead screw fixing seat 24 and the lead screw nut, and the length direction of the lead screw is parallel to the length direction of the guide rail. Specifically, the translation base 8 is slidably connected to the slider guide rail 19. The slider guide rail 19 extends along the length direction of the horizontal base 20 and is fixed on the horizontal base 20. The other end of the horizontal base 20 is equipped with the motor two 21. The output shaft of the motor two 21 is connected to the gearbox 22. The output shaft of the gearbox 22 is connected to the lead screw 25 through the coupling 23. The length direction of the lead screw 25 is parallel to the length direction of the slider guide rail 19. The lead screw 25 rotates under the drive of the motor two 21. The nut on the lead screw 25 is connected with the translation base 8 through the lead screw fixing seat 24. The translation base 8 and the lead screw fixing seat 24 perform translational motion along the length direction of the lead screw 25 when the lead screw 25 rotates.

[0033] In summary, for the modular adjusting arm system of the present invention, the accuracy of the rotational positioning of the operating arm can be ensured through precise synchronous belt drive and joint module drive. At the same time, through the method of arranging the operating arm modules symmetrically around the center, the modular design of the operating arm can be realized, so as to realize the function of allowing the hospital to flexibly configure the number of operating arms according to the needs of different types of surgeries, greatly increasing the flexibility of the hospital's procurement equipment selection, and reducing the processing and manufacturing costs and the hospital's procurement costs.

[0034] The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A modular adjustment arm system for a surgical robot, characterized in that: It includes a base (1), a lifting column (2), a horizontal movement module (3), a rotating hub (4) and an operating arm module (5). The lifting column (2) is installed on the base (1), and the lifting column (2) moves up and down in the vertical direction of the base (1). The lifting end of the lifting column (2) is fixed with a horizontal movement module (3). The horizontal movement module (3) is connected with a rotating hub (4) and drives the rotating hub (4) to move linearly along the length direction of the horizontal movement module (3). The rotating hub (4) rotates around its own center. An operating arm module (5) is installed below the rotating hub (4). There are 2 - 4 operating arm modules (5), and the 2 - 4 operating arm modules (5) are evenly distributed along the circumference. The end of each operating arm module (5) is connected with a surgical instrument (6) for surgery; The rotating hub (4) includes a hub base (17). An articulation module (18) is installed on the hub base (17). A crossed roller bearing (16) is installed on the central axis of the hub base (17). The outer ring of the crossed roller bearing (16) is fixed on the translation base (8) of the horizontal movement module (3). The lower part of the inner ring of the crossed roller bearing (16) is fixed together with the hub base (17). The upper part of the inner ring of the crossed roller bearing (16) is fixed together with a large pulley (15). A motor (9) and an angle reducer (10) are fixed on the translation base (8). The output end of the motor (9) is connected with the angle reducer (10). The output shaft of the angle reducer (10) is fixed together with a small pulley (12). The small pulley (12) is connected with the large pulley (15) through a synchronous belt (14) and drives the large pulley (15) to rotate together, thereby driving the articulation module (18) to rotate around the central axis of the hub base (17). The operating arm module (5) is fixed below the articulation module (18) and rotates horizontally under its drive; At most four operating arm modules (5) are installed below the rotating hub (4). Each operating arm module (5) is connected with the rotating hub (4) through a connecting shaft and rotates around its connecting shaft with the rotating hub (4).

2. The modular adjustment arm system of the surgical robot according to claim 1, wherein: The translation base (8) is slidably connected to a slider guide rail (19). The slider guide rail (19) extends along the length direction of the horizontal base (20) and is fixed on the horizontal base (20). A second motor (21) is installed at the other end of the horizontal base (20). The output shaft of the second motor (21) is connected with a reduction box (22). The output shaft of the reduction box (22) is connected with a lead screw (25) through a coupling (23). The length direction of the lead screw (25) is parallel to the length direction of the slider guide rail (19). The lead screw (25) rotates driven by the second motor (21). The nut on the lead screw (25) is connected with the translation base (8) through a lead screw fixing seat (24). The translation base (8) and the lead screw fixing seat (24) make a translational movement along the length direction of the lead screw (25) when the lead screw (25) rotates.

3. The modular adjustment arm system of the surgical robot according to claim 1, characterized in that: The output end of the motor (9) is fixed to the corner reducer (10), the corner reducer (10) is fixed to the fixing plate (11), and the fixing plate (11) is fixed to the translation base (8).

4. The modular adjustment arm system of the surgical robot according to claim 1, wherein: A timing belt tensioning bolt (13) is provided at the timing belt (14), and the timing belt tensioning bolt (13) is used to tension the timing belt (14).

5. The modular adjustment arm system of the surgical robot according to claim 1, characterized in that: At most four joint modules (18) are installed on the hub base (17), and the four joint modules (18) are evenly distributed along the same arc on the hub base (17) and are equidistant from the central axis of the hub base (17).

6. The modular adjustment arm system of the surgical robot according to claim 1, characterized in that: Each operating arm module (5) includes a translatable translation adjustment shaft (26), a liftable lift adjustment shaft (27), and a rotatable rotation adjustment shaft (28). One end of the translation adjustment shaft (26) is connected to the rotation hub (4) through a connecting shaft. A lift adjustment shaft (27) is fixed below the other end of the translation adjustment shaft (26). The other end of the lift adjustment shaft (27) is rotatably connected to the rotation adjustment shaft (28), and the end of the rotation adjustment shaft (28) is connected to a surgical instrument (6) for surgery.

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