A robotic arm suitable for a da vinci robot for mice

Abstract

This invention discloses a robotic arm for the da Vinci robot suitable for mice, comprising a bedside robotic arm body with several surgical robotic arms mounted on it. An extension arm is mounted on the outermost surgical robotic arm, which includes an arc-shaped arm and a movable sleeve. The arc-shaped arm has several protruding teeth, and a boss is located on the outer side of the movable sleeve. A connecting seat is mounted on the boss, and a worm gear is rotatably connected inside the movable sleeve, meshing with the protruding teeth. In this invention, the extension arm provides a wider range of motion for the surgical robotic arm, allowing the instrument arm to move around to the front of the instruments of other surgical robotic arms when holding surgical instruments. This assists in the surgical procedure while preventing multiple surgical instruments from colliding within the confined space inside the mouse.

Description

Technical Field

[0001] This invention belongs to the field of surgical robot technology, specifically a robotic arm for the da Vinci robot suitable for mice. Background Technology

[0002] The da Vinci Surgical System is an advanced robotic platform that enables complex surgical procedures using minimally invasive methods. The da Vinci robot consists of three parts: the surgeon's console, the bedside robotic arm system, and the imaging system. The bedside robotic arm system is the operating component of the surgical robot, and its main function is to provide support for the instrument arm and camera arm.

[0003] In her article "The da Vinci Robot—A Powerful Tool for Minimally Invasive Surgery," published in the second issue of the journal *Health Advice* in 2020, Huang Xuehui introduced the da Vinci Surgical Robot. The article points out that the da Vinci robot is essentially an automated, upgraded version of laparoscopy. Surgeons no longer need to stand beside the operating table; instead, they can sit on the control panel and operate the equipment using their hands and feet. Compared to traditional laparoscopic surgery, da Vinci robotic surgery not only provides higher-resolution imaging and clearer three-dimensional visualization of the surgical area, making it easier for doctors to observe blind spots during surgery, but its instruments can also rotate 360° within the body, resulting in more precise surgical outcomes.

[0004] Before performing surgery with the da Vinci robot, operators need to practice operating it continuously. Mice are a common practice subject for da Vinci robot surgery. However, when practicing surgery with the da Vinci robot inside a mouse, the small size of the mouse makes it easy for the surgical instruments on the multiple robotic arms of the da Vinci robot to touch each other when performing surgery on the mouse at the same time. This can affect the practice on the mouse and damage the da Vinci robot.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a robotic arm for the da Vinci robot suitable for mice, in order to solve the above-mentioned problems of the prior art.

[0007] To achieve the above objectives, the present invention provides a robotic arm for the da Vinci robot suitable for mice, comprising a bedside robotic arm body, on which several surgical robotic arms are mounted. An extension arm is mounted on the outermost surgical robotic arm, comprising an arc-shaped arm and a movable sleeve fitted over the arc-shaped arm. Several protruding teeth are provided at the outer edge of the top of the arc-shaped arm. The movable sleeve is capable of sliding along the arc-shaped arm. A protrusion is provided on the outer end face of the movable sleeve. A worm gear is rotatably connected inside the movable sleeve, and the worm gear meshes with the protruding teeth. A third drive motor is mounted at the top of the movable sleeve. A first toothed pulley is coaxially connected to the end of the output shaft of the third drive motor. A second toothed pulley is coaxially connected to the shaft of the worm gear, and the first toothed pulley and the second toothed pulley are connected by a toothed belt.

[0008] In the technical solution of the present invention, the main body of the bedside robotic arm includes a base, a lifting seat disposed at the top of the base, a fixed arm fixed at the top of the lifting seat, a telescopic arm extending into the fixed arm, and a fixed plate installed at the end of the telescopic arm, wherein the surgical robotic arm is installed at the outer edge of the fixed plate.

[0009] In the technical solution of the present invention, the surgical robotic arm includes a hinged arm mounted on a fixed plate, a movable arm mounted at the bottom end of the hinged arm, a plurality of joint arms, and an instrument arm mounted on the distal joint arm. The surgical instrument is clamped on the instrument arm, and the extension arm is mounted between the distal joint arm and the instrument arm.

[0010] In the technical solution of the present invention, the first end of the arc-shaped arm is provided with an end seat, the end seat extends into the end of the joint arm and is hinged to the joint arm, and the first end of the end seat is coaxially connected to a first drive motor, the first drive motor being fixed to the end of the joint arm.

[0011] In the technical solution of the present invention, a side groove is provided at the outer edge of the top end of the arc-shaped arm, the protruding tooth is located in the side groove, a sleeve cavity is provided inside the movable sleeve, and the arc-shaped arm passes through the sleeve cavity.

[0012] In the technical solution of the present invention, a through groove is provided at the front edge of the top of the movable sleeve, the worm gear is installed in the through groove, the first and last ends of the worm gear are respectively inserted into the left and right side walls of the through groove, a vertical plate is fixed at the top of the movable sleeve, and the third drive motor is fixed on the right end face of the vertical plate.

[0013] In the technical solution of the present invention, a connecting seat is provided on the front side of the movable sleeve, and a protruding arm is provided at the first end of the connecting seat. The protruding arm is hinged to the protruding seat, and a second drive motor is installed at the top end of the protruding seat. The output shaft end of the second drive motor is coaxially connected to the first end of the protruding arm.

[0014] In the technical solution of the present invention, a fourth drive motor is installed on the outer surface of the end of the connecting seat, the instrument arm can be installed on the end of the protruding arm, and the output shaft end of the fourth drive motor is fixedly connected to the instrument arm.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0016] 1. In this invention, by setting an extension arm on the outermost surgical robotic arm, the surgical robotic arm equipped with the extension arm has a wider range of motion when other surgical robotic arms are performing surgical operations on mice. This allows the instrument arm on the surgical robotic arm to move around to the front of the surgical instruments of other surgical robotic arms when holding surgical instruments. This not only assists in the surgical operation but also prevents multiple surgical instruments from touching each other in the narrow space inside the mouse.

[0017] 2. In this invention, by setting a connecting seat on the movable sleeve and installing the instrument arm on the connecting seat, the instrument arm can move relative to the movable sleeve in the horizontal and vertical directions to adjust the angle of the surgical instruments clamped on the instrument arm, so that the surgical instruments on the instrument arm can participate in the surgery in the mouse from multiple angles. Attached Figure Description

[0018] Figure 1 This is a simplified schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a structural diagram of the main body of the bedside robotic arm in this invention;

[0020] Figure 3 This is a structural diagram of the surgical robotic arm in this invention;

[0021] Figure 4 This is a schematic diagram of the installation of the extension arm in this invention;

[0022] Figure 5 This is a structural diagram of the extension arm in this invention;

[0023] Figure 6 This is a structural diagram of the extended arc arm in this invention;

[0024] Figure 7 This is a structural diagram of the movable sleeve in this invention;

[0025] Figure 8This is a partial structural diagram of the movable sleeve in this invention;

[0026] Figure 9 This is a schematic diagram showing the connection between the third drive motor and the worm gear in this invention;

[0027] Figure 10 This is a structural diagram of the present invention.

[0028] Explanation of reference numerals in the attached figures:

[0029] 1-Bedside robotic arm main body; 11-Base; 12-Lifting seat; 13-Fixed arm; 14-Telescopic arm; 15-Fixed plate;

[0030] 2- Surgical robotic arm; 21- Articulated arm; 22- Movable arm; 23- Jointed arm; 231- First drive motor; 24- Instrument arm;

[0031] 3-Extended arm; 31-Arc arm; 311-End seat; 312-Side groove; 313-Protruding tooth; 314-Limiting block; 32-Modible sleeve; 321-Cavity; 322-Protruding seat; 323-Second drive motor; 324-Through groove; 325-Vertical plate; 326-Third drive motor; 3261-First toothed pulley; 327-Worm; 3271-Second toothed pulley; 328-Toothed belt; 329-Connecting seat; 3291-Protruding arm; 3292-Fourth drive motor. Detailed Implementation

[0032] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0033] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0034] Reference Figures 1-10 The present invention relates to a robotic arm for the da Vinci robot for mice, comprising a bedside robotic arm body 1, on which a plurality of surgical robotic arms 2 are mounted. The bedside robotic arm body 1 includes a base 11, a lifting seat 12 disposed at the top of the base 11 and capable of being raised and lowered, a fixed arm 13 fixed at the top of the lifting seat 12, a telescopic arm 14 extending into the fixed arm 13, and a fixed plate 15 mounted at the end of the telescopic arm 14. The surgical robotic arms 2 are mounted at the outer edge of the fixed plate 15. The telescopic arm 14 can drive the fixed plate 15 to perform telescopic movements within the fixed arm 13 to adjust the position of the fixed plate 15.

[0035] Specifically, the surgical robotic arm 2 includes a hinged arm 21 mounted on a fixed plate 15, a movable arm 22 mounted at the bottom of the hinged arm 21, several articulated arms 23, and an instrument arm 24 mounted on the distal articulated arm 23. The surgical instruments are held in the instrument arm 24. The hinged arm 21, the movable arm 22, and the articulated arm 23 are each equipped with a separate drive motor, so that the hinged arm 21, the movable arm 22, and the articulated arm 23 can move freely under the control of the drive motor to insert the surgical instruments into the body of the experimental mouse.

[0036] In this invention, an extension arm 3 is mounted on the outermost surgical robotic arm 2. The extension arm 3 is installed between the distal joint arm 23 and the instrument arm 24. The extension arm 3 includes an arc-shaped arm 31 and a movable sleeve 32 that fits around the outside of the arc-shaped arm 31. Several protruding teeth 313 are provided on the outer edge of the top end of the arc-shaped arm 31. An end seat 311 is provided at the first end of the arc-shaped arm 31. The end seat 311 extends into the end of the joint arm 23 and is hinged to the joint arm 23. A first drive motor 231 is coaxially connected to the first end of the end seat 311. The first drive motor 231 is fixed to the end of the joint arm 23, so that the first drive motor 231 can drive the arc-shaped arm 31 to rotate at the end of the joint arm 23 during operation, thereby adjusting the angle of the arc-shaped arm 31.

[0037] Specifically, a side groove 312 is provided at the outer edge of the top of the arc arm 31, and a protruding tooth 313 is located in the side groove 312. A sleeve cavity 321 is provided in the movable sleeve 32, and the arc arm 31 passes through the sleeve cavity 321, so that the arc arm 31 is restricted inside the movable sleeve 32 and can slide along the arc arm 31.

[0038] Furthermore, a worm gear 327 is rotatably connected inside the movable sleeve 32. The worm gear 327 meshes with the protruding teeth 313. A through groove 324 is provided at the front edge of the top of the movable sleeve 32. The worm gear 327 is installed in the through groove 324. The first and last ends of the worm gear 327 are respectively inserted into the left and right side walls of the through groove 324, so that the worm gear 327 is restricted to the inside of the through groove 324 and can rotate within the through groove 324. A third drive motor 326 is mounted on the top of the movable sleeve 32. A vertical plate 325 is fixed to the top of the movable sleeve 32. The third drive motor 326 is fixed to the right end face of the vertical plate 325. A first toothed pulley 3261 is coaxially connected to the end of the output shaft of the third drive motor 326. A second toothed pulley 3271 is coaxially connected to the shaft of the worm gear 327. The first toothed pulley 3261 and the second toothed pulley 3271 are connected by a toothed belt 328. When the third drive motor 326 is connected to an external power source... When connected, the third drive motor 326 starts working and drives the first toothed pulley 3261 to rotate. Under the connection of the toothed belt 328, the first toothed pulley 3261 drives the second toothed pulley 3271 to rotate, thereby causing the second toothed pulley 3271 to drive the worm 327 to rotate together. Under the action of the convex tooth 313, the worm 327 can drive the movable sleeve 32 to make corresponding movements along the arc arm 31, so as to adjust the position of the movable sleeve 32 on the arc arm 31.

[0039] Furthermore, a limiting block 314 is fixed at the first end of the top surface of the arc-shaped arm 31. The limiting block 314 is protruding and can block the movement of the movable sleeve 32, preventing the movable sleeve 32 from coming off the arc-shaped arm 31.

[0040] In addition, a protrusion 322 is provided on the outer end face of the movable sleeve 32, and a connecting seat 329 is provided on the front side of the movable sleeve 32. The first end of the connecting seat 329 is provided with a protruding arm 3291, which is hinged to the protrusion 322. A second drive motor 323 is installed on the top of the protrusion 322. The output shaft end of the second drive motor 323 is coaxially connected to the first end of the protruding arm 3291. When the second drive motor 323 is connected to an external power source, the second drive motor 323 starts to work and can drive the protruding arm 3291 to rotate around the protrusion 322, thereby achieving the purpose of adjusting the angle of the connecting seat 329 on the movable sleeve 32, thereby changing the angle of the instrument arm 24 installed on the connecting seat 329 in the horizontal direction.

[0041] It is worth noting that a fourth drive motor 3292 is installed on the outer surface of the end of the connecting seat 329. The instrument arm 24 can be installed at the end of the protruding arm 3291. The output shaft end of the fourth drive motor 3292 is fixedly connected to the instrument arm 24. When the fourth drive motor 3292 is connected to the outside, the fourth drive motor 3292 starts to work and can drive the instrument arm 24 to rotate at the end of the connecting seat 329, thereby changing the angle of the instrument arm 24 installed on the connecting seat 329 in the vertical direction.

[0042] The working principle of the robotic arm of the Da Vinci robot for mice in this invention is as follows:

[0043] First, by controlling the surgical robotic arm 2 to move to the desired position, the first drive motor 231 is activated, causing it to rotate the arc-shaped arm 31 at the end of the articulated arm 23, thus adjusting the angle of the arc-shaped arm 31. Then, by controlling the third drive motor 326, the third drive motor 326 drives the first toothed pulley 3261 to rotate, which in turn drives the second toothed pulley 3271 and the worm gear 327 to rotate via the toothed belt 328, allowing the worm gear 327 to... The tooth 313 drives the movable sleeve 32 to move along the arc arm 31, thereby adjusting the position of the movable sleeve 32 on the arc arm 31. Finally, by controlling the second drive motor 323 and the fourth drive motor 3292, the connecting seat 329 and the instrument arm 24 mounted on the connecting seat 329 can change their angles in the horizontal and vertical directions, respectively, so that the instrument arm 24 can easily insert the instrument into the mouse's body, preventing the situation where multiple surgical instruments touch each other due to the limited space inside the mouse.

[0044] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A robotic arm for the da Vinci robot suitable for mice, comprising a bedside robotic arm body (1), wherein a plurality of surgical robotic arms (2) are mounted on the bedside robotic arm body (1), characterized in that: An extension arm (3) is mounted on the surgical robotic arm (2) located at the outermost position. The extension arm (3) includes an arc-shaped arm (31) and a movable sleeve (32) fitted outside the arc-shaped arm (31). Several protruding teeth (313) are provided at the outer edge of the top of the arc-shaped arm (31). The movable sleeve (32) can slide along the arc-shaped arm (31). A boss (322) is provided on the outer end face of the movable sleeve (32). The movable sleeve (32) is rotatably connected to the inside. A worm gear (327) is connected to the worm (327) and meshes with the tooth (313). A third drive motor (326) is installed at the top of the movable sleeve (32). A first toothed pulley (3261) is coaxially connected to the end of the output shaft of the third drive motor (326). A second toothed pulley (3271) is coaxially connected to the shaft of the worm gear (327). The first toothed pulley (3261) and the second toothed pulley (3271) are connected by a toothed belt (328). The first end of the arc arm (31) is provided with an end seat (311), which extends into the end of the joint arm (23) and is hinged to the joint arm (23). The first end of the end seat (311) is coaxially connected to a first drive motor (231), which is fixed to the end of the joint arm (23). A side groove (312) is provided at the outer edge of the top end of the arc arm (31), the protruding tooth (313) is located in the side groove (312), and a sleeve cavity (321) is provided in the movable sleeve (32), through which the arc arm (31) passes; A through groove (324) is provided at the front edge of the top of the movable sleeve (32). The worm (327) is installed in the through groove (324). The first and last ends of the worm (327) are inserted into the left and right side walls of the through groove (324). A vertical plate (325) is fixed at the top of the movable sleeve (32). The third drive motor (326) is fixed on the right end face of the vertical plate (325). The front side of the movable sleeve (32) is provided with a connecting seat (329), the first end of the connecting seat (329) is provided with a protruding arm (3291), the protruding arm (3291) is hinged to the protruding seat (322), the top end of the protruding seat (322) is equipped with a second drive motor (323), and the end of the output shaft of the second drive motor (323) is coaxially connected to the first end of the protruding arm (3291); A fourth drive motor (3292) is installed on the outer surface of the end of the connector (329), and the instrument arm (24) can be installed at the end of the protruding arm (3291). The output shaft end of the fourth drive motor (3292) is fixedly connected to the instrument arm (24).

2. The robotic arm for the da Vinci robot suitable for mice as described in claim 1, characterized in that: The main body (1) of the bedside robotic arm includes a base (11), a lifting seat (12) disposed at the top of the base (11), a fixed arm (13) fixed at the top of the lifting seat (12), a telescopic arm (14) extending into the fixed arm (13), and a fixed plate (15) installed at the end of the telescopic arm (14). The surgical robotic arm (2) is installed at the outer edge of the fixed plate (15).

3. The robotic arm for mice using the da Vinci robot as described in claim 1, characterized in that: The surgical robotic arm (2) includes a hinged arm (21) mounted on a fixed plate (15), a movable arm (22) mounted at the bottom of the hinged arm (21), a plurality of articulated arms (23), and an instrument arm (24) mounted on the articulated arm (23) at the far end. Surgical instruments are held on the instrument arm (24), and an extension arm (3) is mounted between the articulated arm (23) at the far end and the instrument arm (24).

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