surgical robotic system

Abstract

A surgical robot system (100) relates to the field of medical devices and includes a turntable (111) and at least one positioning arm (120, 120a, 120b). The at least one positioning arm (120, 120a, 120b) includes a first cross arm (121, 121a, 121b) and a first rotation joint (130, 140). The first rotation joint (130, 140) is arranged in the first cross arm (121, 121a, 121b) or the turntable (111). The proximal end of the first cross arm (121, 121a, 121b) is rotationally connected to the turntable (111) via the first rotation joint (130, 140), and the first cross arm (121, 121a, 121b) is operable to rotate around a longitudinal axis relative to the turntable (111). By overlapping and coaxially connecting the first cross arms (121, 121a, 121b) of a pair of positioning arms (120, 120a, 120b) to the turntable (111), the longitudinal space occupied by the positioning arms (120, 120a, 120b) can be reduced, and the risk of interference and collision between the positioning arms (120, 120a, 120b) can be reduced. By rotating the multiple cross arms (121, 121a, 121b) of the positioning arms (120, 120a, 120b), the spatial extension of the positioning arms (120, 120a, 120b) in the horizontal direction is achieved, reducing the risk of collision or interference between the positioning arms (120, 120a, 120b) and the trolley (110), other equipment, personnel or the positioning arms (120, 120a, 120b), and improving space utilization.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent applications filed on June 30, 2020, with application number 2020106173762, entitled “A load-bearing telecentric motion mechanism and a minimally invasive surgical robot having the same”, filed on July 23, 2020, with application number 202010716439X, entitled “Surgical robot extracorporeal positioning arm and a surgical robot system comprising the arm group”, and filed on July 23, 2020, with application number 2020107276643, entitled “A surgical robot system with a multi-joint positioning robotic arm”. The full texts of these applications are incorporated herein by reference in their entirety. Technical Field

[0003] The present disclosure relates to the field of medical devices, and in particular to a surgical robot system. Background Art

[0004] Compared to traditional surgery, laparoscopic minimally invasive surgery is less traumatic and has a faster postoperative recovery, and has been widely used. Existing laparoscopic surgical robot systems use positioning arms to carry surgical instruments. Depending on the patient and surgical procedure, the positioning arm needs to be adjusted and positioned before or during surgery to adjust the surgical instruments to the designated surgical position. During surgery, the surgeon uses teleoperation mode to control the surgical actuators at the end of the surgical instruments to perform surgical procedures on different parts of the body. For surgical robot systems, the positioning arm's positioning capability in extracorporeal space is directly related to whether the surgical robot can perform a variety of surgical procedures. Summary of the Invention

[0005] In some embodiments, the present disclosure provides a surgical robot system, comprising: a turntable; at least one positioning arm, comprising a first cross arm and a first rotation joint, the first rotation joint being arranged in the first cross arm or the turntable, the proximal end of the first cross arm being rotationally connected to the turntable through the first rotation joint, and the first cross arm being operable to rotate around a longitudinal axis relative to the turntable. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0007] Figure 1 A schematic structural diagram of a surgical robot system according to some embodiments of the present disclosure is shown;

[0008] Figure 2 A schematic structural diagram of a positioning arm according to some embodiments of the present disclosure is shown;

[0009] Figure 3 A schematic structural diagram of a turntable according to some embodiments of the present disclosure is shown;

[0010] Figure 4 A partial schematic diagram illustrating a first rotation joint of a first positioning arm according to some embodiments of the present disclosure is shown;

[0011] Figure 5 A longitudinal partial cross-sectional view illustrating a first rotation joint of a first positioning arm according to some embodiments of the present disclosure;

[0012] Figure 6 A longitudinal partial cross-sectional view illustrating a first rotation joint of a second positioning arm according to some embodiments of the present disclosure;

[0013] Figure 7 A schematic longitudinal partial cross-sectional view of another first rotation joint of a second positioning arm according to some embodiments of the present disclosure is shown;

[0014] Figure 8 A perspective view showing a telecentric motion mechanism according to some embodiments of the present disclosure;

[0015] Figure 9 A front view showing a telecentric motion mechanism according to some embodiments of the present disclosure;

[0016] Figure 10 shows a rear view of a telecentric motion mechanism according to some embodiments of the present disclosure;

[0017] Figure 11 A partial structural schematic diagram of a movable arm according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0018] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0019] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In this disclosure, the end closest to the operator (e.g., doctor) is defined as the proximal end, near portion, or rear end, and the end closest to the patient being operated on is defined as the distal end, far end, or front end. Those skilled in the art will appreciate that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0020] Figure 1 FIG. 1 shows a schematic structural diagram of a surgical robot system 100 according to some embodiments of the present disclosure. Figure 2 FIG. 1 shows a schematic structural diagram of the positioning arm 120 according to some embodiments of the present disclosure. Figure 1 As shown, the surgical robot system 100 may include at least one surgical trolley 110 and at least one positioning arm 120. At least one surgical trolley 110 may include a turntable 111. It should be understood that in some embodiments, the surgical robot system 100 may not include the surgical trolley 110, and the turntable 111 may be mounted on other structures, such as a support, a building, etc. Figure 1 and Figure 2 As shown, at least one positioning arm 120 (e.g., Figure 2 The positioning arm 120a or the positioning arm 120b) may include a first cross arm 121 (eg, Figure 2 The first cross arm 121a or the first cross arm 121b) and the first rotation joint (for example, Figure 2The first rotary joint 130 or the first rotary joint 140). The first rotary joint can be arranged in the first cross arm 121 or in the turntable 111. The proximal end of the first cross arm 121 is rotationally connected to the turntable 111 through the first rotary joint, so that the first cross arm 121 rotates relative to the turntable 111 around the rotation axis of the first rotary joint (for example, an axis perpendicular to the horizontal plane). It should be understood that the rotation axis of the first rotary joint can be set to be longitudinal along the height direction of the operating trolley 110. In some embodiments, the operating trolley 110 may further include a trolley base 112 and a beam 113 mounted on the top of the trolley base 112. The turntable 111 can be fixedly arranged at the end of the beam 113 for supporting at least one positioning arm 120. In some embodiments, the beam 113 can be perpendicular to the height direction of the trolley base 112. It should be understood that although Figure 1 Four positioning arms 120 are shown in FIG. 1 , but the surgical robotic system 100 may include other numbers of positioning arms 120 , such as one, two, five, and so on.

[0021] In some embodiments, as Figure 2 As shown, at least one positioning arm 120 may include a first positioning arm 120a and a second positioning arm 120b. The first cross arm 121a of the first positioning arm 120a and the first cross arm 121b of the second positioning arm 120b are rotatable relative to each other. The proximal ends of the first cross arm 121a of the first positioning arm 120a and the first cross arm 121b of the second positioning arm 120b are respectively rotatably connected to the turntable 111. In some embodiments, as Figure 2 As shown, the rotation axes of the first rotary joint 130 of the first positioning arm 120a and the first rotary joint 140 of the second positioning arm 120b are coaxially arranged. The first cross arm 121a of the first positioning arm 120a can partially overlap with the first cross arm 121b of the second positioning arm 120b in the longitudinal direction. Thus, the first positioning arm 120a and the second positioning arm 120b can form a positioning arm group with a partially overlapping arrangement, which can significantly reduce the size of the positioning arms in the horizontal space and increase their range of motion. Furthermore, it can prevent the first cross arms 120a-b of the first positioning arm 120a and the second positioning arm 120b from swinging in the horizontal plane and interfering with each other.

[0022] Figure 3 A schematic structural diagram of a turntable 111 according to some embodiments of the present disclosure is shown. Figure 4 and Figure 5 1 and 2 respectively show a partial schematic diagram and a longitudinal partial cross-sectional view of the first rotation joint 130 of the first positioning arm 120a according to some embodiments of the present disclosure. Figure 3-Figure 5As shown, the first rotary joint 130 of the first positioning arm 120a may include a first motor 131, a first transmission device 132 and a first reducer 133. The first motor 131 may be fixedly disposed in the turntable 111, and the first transmission device 132 is linked to the first motor 131 to transmit the driving force of the first motor 131. Figure 4 and 5 As shown, the first reducer 133 may include a first reducer input shaft 1331 and a first reducer output shaft 1332. The first reducer input shaft 1331 is connected to the output shaft of the first motor 131 through the first transmission device 132. The first reducer output shaft 1332 is fixedly connected to the first cross arm 121a of the first positioning arm 120a, and is used to drive the first cross arm 121a of the first positioning arm 120a to rotate. In some embodiments, the housing of the first reducer 133 is fixedly disposed in the turntable 111, and the first reducer output shaft 1332 and the first reducer input shaft 1331 can rotate relative to their housings. The first reducer output shaft 1332 is fixedly connected to the first cross arm 121a of the first positioning arm 120a through fasteners (such as a bolt group), thereby driving the first cross arm 121a of the first positioning arm 120a to rotate. In some embodiments, the first reducer 133 may be a harmonic reducer.

[0023] In some embodiments, as Figure 4 As shown, the first transmission device 132 may include a first pulley 1321 and a first synchronous transmission belt 1322. The first pulley 1321 is coaxially fixed to the output shaft of the first motor 131. A transmission wheel that cooperates with the first pulley 1321 is coaxially fixed to the first reducer input shaft 1331. The first synchronous transmission belt 1322 is looped around the first pulley 1321 and the transmission wheel. Thus, the output shaft of the first motor 131 drives the first reducer input shaft 1331 to rotate via the first synchronous transmission belt 1322, thereby generating rotational motion of the first reducer input shaft 1331. The rotation of the first reducer input shaft 1331 is converted into a lower-speed but proportionally increased torque output torque of the first reducer output shaft 1332 through the reduction transmission of the first reducer 133, thereby driving the first cross arm 121a of the first positioning arm 120a to rotate relative to the turntable 111 about the first reducer output shaft 1332, thereby forming the first rotary joint 130 of the first positioning arm 120a. It should be understood that the first synchronous transmission belt 1322 can be a belt or a chain belt. In some embodiments, the first transmission device 132 can also include other structures that can achieve motion transmission, such as a gear transmission structure.

[0024] In some embodiments, as Figure 4 and Figure 5As shown, the first rotary joint 130 of the first positioning arm 120a may further include a first brake 134 coaxially arranged with the first reducer input shaft 1331. The first brake 134 may be located between the transmission wheel and the first reducer output shaft 1332. When the power is on, the first brake 134 is in an operating state (e.g., an unlocked state), so that the driving force of the first motor 131 is transmitted to the first reducer input shaft 1331 through the first synchronous transmission belt 1322, thereby driving the first cross arm of the first positioning arm 120a to move. When the power is off, the first brake 134 is in a closed state (e.g., a locked state), so that the driving force of the first motor 131 cannot be transmitted to the first reducer 133 or the first positioning arm 120a, and the first positioning arm 120a is locked. Therefore, the safety of the first rotary joint 130 can be improved, and injuries caused by accidental movement of the positioning arm can be avoided.

[0025] In some embodiments, as Figure 4 As shown, the first rotary joint 130 of the first positioning arm 120a may further include a first gear 135 and a first angle encoder 136. The first gear 135 is coaxially fixedly mounted on the output shaft of the first motor 131, and the first angle encoder 136 meshes with the first gear 135. The rotational motion output by the first motor 131 is transmitted to the first angle encoder 136 via the first gear 135. The first angle encoder 136 allows real-time monitoring of the angular displacement of the first motor 131, thereby recording and providing feedback on the motion state of the first rotary joint 130 of the first positioning arm 120a. In some embodiments, the first gear 135 may also be coaxially fixedly mounted on the first reducer input shaft 1331. It should be understood that the first gear 135 and the first angle encoder 136 may also achieve synchronous motion via a pulley, thereby enabling the first angle encoder 136 to monitor the angular displacement of the first motor 131. In some embodiments, the first angle encoder 136 may also be a potentiometer or other device capable of detecting angular displacement.

[0026] Figure 6 FIG. 1 shows a longitudinal partial cross-sectional view of the first rotation joint 140 of the second positioning arm 120b according to some embodiments of the present disclosure. Figure 6As shown, the first rotary joint 140 of the second positioning arm 120b may include a second motor 141, a second transmission device 142, a reducer fixing seat 144, a support shaft 145 and a second reducer 143. The second motor 141 and the reducer fixing seat 144 can be fixedly arranged in the first cross arm 121b of the second positioning arm 120b. The second transmission device 142 is linked with the second motor 141 to transmit the driving force of the second motor 141. The proximal end of the support shaft 145 passes through the first reducer 133 and the first reducer input shaft 1331, and is fixedly connected to the turntable 111. The distal end of the support shaft 145 is fixedly connected to the reducer fixing seat 144. In some embodiments, as Figure 6 As shown, the second reducer 143 may include a second reducer transmission shaft 1433, a second reducer input shaft 1431, and a second reducer output shaft 1432. The proximal portion of the second reducer 143 is fixedly connected to the reducer fixing base 144. The proximal end of the second reducer transmission shaft 1433 passes through the second reducer 143 from the second reducer output shaft 1432 located at the distal end and is coaxially fixedly connected to the second reducer input shaft 1431 located at the proximal end. The distal end of the second reducer transmission shaft 1433 is connected to the output shaft of the second motor 141 via the second transmission device 142. The second reducer output shaft 1432 is fixedly connected to the first cross arm 121b of the second positioning arm 120b, and is used to drive the first cross arm 121b of the second positioning arm 120b to rotate. In some embodiments, the housing of the second reducer 143 is fixedly disposed within the reducer fixing base 144, and the second reducer output shaft 1432 and the second reducer input shaft 1431 are rotatable relative to each other. The second speed reducer output shaft 1432 is fixedly connected to the first cross arm 121b of the second positioning arm 120b by fasteners (such as bolts), thereby driving the first cross arm 121b of the second positioning arm 120b to rotate. In some embodiments, the second speed reducer 143 can be a harmonic speed reducer.

[0027] In some embodiments, as Figure 6As shown, the second transmission device 142 may include a second pulley 1421 and a second synchronous transmission belt 1422. The second pulley 1421 is coaxially fixed to the output shaft of the second motor 141. A transmission wheel that cooperates with the second pulley 1421 is coaxially fixed to the second reducer transmission shaft 1433. The second synchronous transmission belt 1422 is looped around the second pulley 1421 and the transmission wheel. As a result, the output shaft of the second motor 141 drives the second reducer transmission shaft 1433 via the second synchronous transmission belt 1422, thereby generating rotational motion of the second reducer input shaft 1431. The rotation of the second reducer input shaft 1431 is converted into a lower-speed but proportionally increased torque output torque of the second reducer output shaft 1432 through the reduction transmission of the second reducer 143, causing the second reducer output shaft 1432 to rotate relative to the reducer fixing base 144, thereby generating relative rotational motion between the first cross arm 121b of the second positioning arm 120b and the turntable 111, thereby forming the first rotary joint 140 of the second positioning arm 120b. It should be understood that the second synchronous transmission belt 1422 can be a belt or a chain belt. In some embodiments, the second transmission device 142 can also include other structures capable of achieving motion transmission, such as a gear transmission structure.

[0028] In some embodiments, as Figure 5 and Figure 6 As shown, the first reducer 133 and the first reducer input shaft 1331 may include a through channel along the central axis of rotation. In some embodiments, the support shaft 145 passes through the through channel and is fixedly connected to the reducer fixing seat 144 to connect the first cross arm 121b of the second positioning arm 120b to the turntable 111, so that the second positioning arm 120b and the first cross arm 121a-b of the first positioning arm 120a are connected to the turntable 111 independently of each other. The first reducer input shaft 1331 and the first reducer 133 adopt a hollow design so that the support shaft 145 passes through the first reducer input shaft 1331 and the first reducer 133 and is connected to the second positioning arm 120b, and is not affected by the movement of the first positioning arm 120a. In some embodiments, as Figure 3 As shown, the turntable 111 may include a turntable frame 1111 and a support shaft fixing seat 1112. The support shaft fixing seat 1112 is fixedly connected to the turntable frame 1111. The proximal end of the support shaft 145 is fixedly disposed on the support shaft fixing seat 1112. The first cross arm 121a of the first positioning arm 120a is connected to the turntable frame 1111 via the first rotation joint 130 of the first positioning arm 120a. The first cross arm 121b of the second positioning arm 120b is connected to the support shaft fixing seat 1112 via the first rotation joint 140 of the second positioning arm 120b.

[0029] In some embodiments, as Figure 6As shown, the first rotary joint 140 of the second positioning arm 120b may further include a second brake 146 coaxially disposed on the second reducer drive shaft 1433. The second brake 146 may be located between the second synchronous drive belt 1422 and the second reducer output shaft 1432. When powered on, the second brake 146 is in an active state (e.g., unlocked). The driving force of the second motor 141 is transmitted via the second synchronous drive belt 1422 to the second reducer drive shaft 1433, and then to the second reducer input shaft 1431, thereby driving the first cross arm 121b of the second positioning arm 120b to move. When powered off, the second brake 146 is in a closed state (e.g., locked). The driving force of the second motor 141 cannot be transmitted to the second reducer 143 or the first cross arm 121b, and the first cross arm 121b of the second positioning arm 120b is locked. This improves the safety of the first rotary joint 140 and prevents injuries from accidental movement of the positioning arm.

[0030] In some embodiments, the first rotary joint 140 of the second positioning arm 120b may further include a second gear and a second angle encoder (not shown in the figure). The second gear is coaxially fixedly connected to the output shaft of the second motor, and the second angle encoder is engaged with the second gear. The rotational motion output by the second motor drives the second angle encoder through the second gear, and then monitors the angular displacement information of the second motor 141 in real time through the second angle encoder, thereby recording and feeding back the motion state of the first rotary joint 140 of the second positioning arm 120b. In some embodiments, the second gear can also be coaxially fixedly arranged on the second reducer drive shaft 1433. It should be understood that the first gear and the first angle encoder can also achieve synchronous motion through a pulley to achieve angular displacement information monitoring of the second motor 141 through the second angle encoder.

[0031] Figure 7 FIG. 1 is a schematic longitudinal partial cross-sectional view of another first rotation joint of the second positioning arm according to some embodiments of the present disclosure. Figure 7As shown, the first rotary joint 140' of the second positioning arm 120b may include a drive module seat 144', a support shaft 145', a second motor 141', a second transmission device 142', and a second reducer 143'. The drive module seat 144' may include a base 1441' at least partially disposed within the first cross arm 121a of the first positioning arm 120a, and a main body 1442' located distally from the base 1441' and having a receiving cavity. The proximal end of the support shaft 145' passes through the first reducer 133 and the first reducer input shaft 1331 and is fixedly connected to the turntable 111. The distal end of the support shaft 145' is fixedly connected to the base 1441'. The second motor 141' is fixedly disposed within the main body 1442'. The second transmission device 142' works in conjunction with the second motor 141' to transmit the driving force of the second motor 141'. The second reducer 143' may include a second reducer input shaft 1431' and a second reducer output shaft 1432'. The second reducer 143' is fixedly disposed in the main body 1442', and the second reducer input shaft 1431' is connected to the output shaft of the second motor 141' through the second transmission device 142'. The second reducer output shaft 1432' is fixedly connected to the first cross arm 121b of the second positioning arm 120b, and is used to drive the first cross arm 121b of the second positioning arm 120b to rotate. In some embodiments, the second reducer 143' may be a harmonic reducer. In some embodiments, the housing of the second reducer 143' is fixedly disposed in the main body 1442', and the second reducer output shaft 1432' and the second reducer input shaft 1431' can rotate relative to their housings. The second reducer output shaft 1432' is fixedly connected to the first cross arm 121b of the second positioning arm 120b through a fastener (such as a bolt group), thereby driving the first cross arm 121b of the second positioning arm 120b to rotate. In some embodiments, the second transmission device 142' may include a second pulley and a second synchronous transmission belt (not shown). The second pulley is coaxially fixed to the output shaft of the second motor 141'. A transmission wheel that cooperates with the pulley is coaxially fixed to the second reducer input shaft 1431'. The second synchronous transmission belt is looped around the second pulley and the transmission wheel. Thus, the output shaft of the second motor 141' drives the second reducer input shaft 1431' to rotate via the second synchronous transmission belt, thereby driving relative rotational motion between the first cross arm 121b of the second positioning arm 120b and the turntable 111.

[0032] In some embodiments, as Figure 7As shown, the first rotary joint 140' of the second positioning arm 120b may further include a second angle encoder 148' and a second brake 146'. The second brake 146' is coaxially arranged with the second reducer input shaft 1431', and the second angle encoder 148' can move synchronously with the output shaft of the second motor 141' via a second gear 147'. It should be understood that the second angle encoder 148' can also move synchronously with the output shaft of the second motor via a synchronous belt, and then the angular displacement information of the second motor 141' can be monitored in real time through the second angle encoder 148', thereby recording and providing feedback on the motion state of the first rotary joint 140' of the second positioning arm 120b.

[0033] In some embodiments, as Figure 1 and Figure 2 As shown, the first positioning arm 120a (or the second positioning arm 120b) may also include at least one second cross arm 122 and a second rotation joint 150. The proximal end of the at least one second cross arm 122 is rotationally connected to the distal end of the first cross arm 121a through the second rotation joint 150, so that the second cross arm 122 rotates around the longitudinal axis relative to the first cross arm 121a. In some embodiments, the distal end of the first cross arm 121a and the proximal end of the second cross arm 122 are arranged overlappingly. The distal end of the first cross arm 121a is located above the proximal end of the second cross arm 122, and the rotation axes of the first cross arm 121a and the second cross arm 122 are parallel in the longitudinal direction. Through the first rotation joint 130 and the second rotation joint 150, the lateral space of the positioning arm can be reduced without affecting the lateral expansion movement of the positioning arm in the space, and the space on the side of the bed and the working space of the positioning arm can be used more efficiently.

[0034] In some embodiments, the first positioning arm 120a (or the second positioning arm 120b) may further include a plurality of second cross arms 122 and a plurality of second rotation joints 150. Each second cross arm 122 includes a proximal end portion and a distal end portion, and the plurality of second cross arms 122 are connected end to end at each proximal end portion and each distal end portion by a corresponding second rotation joint 150, and two adjacent second cross arms 122 can rotate relative to each other around the longitudinal axis.

[0035] In some embodiments, as Figure 1 and Figure 2As shown, the first positioning arm 120a (or second positioning arm 120b) may further include a vertical arm 123 and a vertical arm rotation joint 160. In some embodiments, the vertical arm 123 may include a vertical arm outer cylinder 1231 and a vertical arm inner cylinder 1232 that are movable relative to each other along the longitudinal axis. One of the vertical arm outer cylinder 1231 and the vertical arm inner cylinder 1232 is connected to the distal end of the second horizontal arm 122 via the vertical arm rotation joint 160, allowing rotation about the longitudinal axis relative to the distal end of the second horizontal arm 122. In some embodiments, the vertical arm inner cylinder 1232 is connected below the distal end of the second horizontal arm 122 via the vertical arm rotation joint 160. In some embodiments, a drive motor or motor (not shown) may be disposed within the vertical arm inner cylinder 1232. The output end of the motor or motor is fixedly connected to a motion conversion mechanism, which is fixedly connected to the output end of the motion conversion mechanism and the vertical arm outer cylinder 1231. It should be understood that the motion conversion mechanism may include a structure that converts rotational motion into linear motion, such as a screw-nut structure. When the motor is operating, the motor's rotational motion is converted into linear motion via a motion conversion mechanism, thereby driving the vertical arm outer cylinder 1231 to move up and down, thereby achieving relative movement between the vertical arm outer cylinder 1231 and the vertical arm inner cylinder 1232. In some embodiments, the vertical arm outer cylinder 1231 may be connected to the lower distal end of the second horizontal arm 122 via a vertical arm rotation joint 160, and the drive motor may be used to drive the vertical arm inner cylinder 1232 to move up and down, thereby achieving relative movement between the vertical arm outer cylinder 1231 and the vertical arm inner cylinder 1232.

[0036] In some embodiments, as Figure 1 and Figure 2 As shown, the first positioning arm 120a (or the second positioning arm 120b) may further include an oblique arm 124 and an oblique arm rotation joint 170. The proximal end of the oblique arm 124 may be connected to the vertical arm outer cylinder 1231 via the oblique arm rotation joint 170, and the rotation axis of the oblique arm rotation joint 170 is angled with the rotation axis of the vertical arm rotation joint 160. In some embodiments, the rotation axis of the vertical arm rotation joint 160 is longitudinal, and there is a certain angle between the rotation axis of the oblique arm rotation joint 170 and the rotation axis of the vertical arm rotation joint 160, so that the oblique arm 124 performs a yaw motion relative to the vertical arm 123. It should be understood that the angle between the rotation axis of the oblique arm rotation joint 170 and the rotation axis of the vertical arm rotation joint 160 may be between 0-90°. In some embodiments, the angle between the rotation axis of the oblique arm rotation joint 170 and the rotation axis of the vertical arm rotation joint 160 is 45°.

[0037] The first rotary joint 130 and the second rotary joint 150 can drive the first cross arm 121a and the second cross arm 122 of the first positioning arm 120a (or the second positioning arm 120b) to rotate in the lateral direction (for example, horizontal direction), thereby adjusting the lateral position of the first positioning arm 120a. The vertical arm rotary joint 160 can drive the vertical arm 123 of the first positioning arm 120a (or the second positioning arm 120b) to move in the longitudinal direction, thereby adjusting the lifting position of the first positioning arm 120a. The oblique arm rotary joint 170 can drive the oblique arm 124 of the first positioning arm 120a (or the second positioning arm 120b) to rotate laterally, thereby adjusting the lateral swing position of the first positioning arm 120a. The above multiple joints can realize the in vitro positioning of the positioning arm to meet the position adjustment requirements before or during surgery, thereby facilitating the development of surgical work.

[0038] In some embodiments, the first positioning arm 120a (or the second positioning arm 120b) may further include a telecentric motion mechanism. Figure 8 、 Figure 9 and Figure 10 1 and 2 show a perspective view, a front view and a rear view of the telecentric motion mechanism 180 according to some embodiments of the present disclosure. Figures 8-10 As shown, the telecentric motion mechanism 180 may include a first movable arm 181, a first movable joint 183a, a second movable arm 182, a second movable joint 183b, a third movable joint 183c, a first transmission mechanism, a second transmission mechanism, and a third movable arm 185. The first movable joint 183a may be disposed within the first movable arm 181 or the oblique arm 124. The proximal end of the first movable arm 181 is rotatably connected to the distal end of the oblique arm 124 via the first movable joint 183a. The second movable joint 183b may be disposed within the first movable arm 181 or the second movable arm 182. The distal end of the first movable arm 181 is rotatably connected to the proximal end of the second movable arm 182 via the second movable joint 183b. The third movable joint 183c may be disposed within the second movable arm 182 or the third movable arm 185. The first transmission mechanism is connected to the first movable joint 183a and the second movable joint 183b, respectively, to ensure that the first movable joint 183a and the second movable joint 183b are in motion. The second transmission mechanism is connected to the second movable joint 183b and the third movable joint 183c respectively, so that the second movable joint 183b and the third movable joint 183c are linked together.

[0039] The third movable arm 185 is rotatably connected to the distal end of the second movable arm 182 via the third movable joint 183c so that the distal end of the third movable arm 185 moves around a distal fixed point. In some embodiments, the third movable arm 185 can be an instrument connection portion for connecting surgical instruments. It should be understood that the distal fixed point can be a remote center of motion (RCM), such as the abdominal entry point where the sheath and surgical instruments are inserted. The distal end of the telecentric motion mechanism 180 can always perform rotational motion around the distal center of motion to achieve a rotational operation on a fixed point near the patient's surgical site.

[0040] In some embodiments, as Figure 9 and Figure 10As shown, the first movable joint 183a may include a first reduction gear 1831, which may include a first input shaft and a first output shaft that are rotatable relative to each other. The first reduction gear 1831 may be located at the proximal end of the first movable arm 181. The first input shaft rotates under the drive of a driving device, such as a motor, and the first output shaft rotates through the reduction gear of the first reduction gear 1831. The first output shaft is fixedly connected to the first movable arm 181 and is configured to drive the first movable arm 181 to rotate, thereby forming the first movable joint 183a. The second movable joint 183b may include a second reduction gear 1832, which may include a second input shaft and a second output shaft that are rotatable relative to each other. The second reduction gear 1832 may be located at the distal end of the first movable arm 181 and the proximal end of the second movable arm 182. The second input shaft rotates under the drive of a driving device, such as a motor, and the second output shaft rotates through the reduction gear of the second reduction gear 1832. The second output shaft is fixedly connected to the second movable arm 182 or the first movable arm 181, and is used to drive the second movable arm 182 or the first movable arm 181 to rotate, thereby forming a second movable joint 183b. The third movable joint 183c may include a third reduction gear 1833, which may include a third input shaft and a third output shaft that are rotatable relative to each other. The third reduction gear 1833 may be located at the distal end of the second movable arm 182. The third input shaft rotates under the drive of a drive device, such as a motor, and the reduction gear 1833 drives the third output shaft to rotate. The third output shaft is fixedly connected to the third movable arm 185, and is used to drive the third movable arm 185 to rotate, thereby forming the third movable joint 183c. The first transmission mechanism may include a first transmission belt 184a, and the second transmission mechanism may include a second transmission belt 184b. The first transmission belt 184a is looped around the first and second input shafts, while the second transmission belt 184b is looped around the second and third input shafts, thereby achieving linkage between the first, second, and third input shafts through the drive device. In some embodiments, transmission wheels can be coaxially fixed to the first, second, and third input shafts, and the first and second transmission belts 184a, 184b can be looped around the input shafts via the corresponding transmission wheels. In some embodiments, the first and second transmission belts 184a, 184b can include various transmission chains, flexible synchronous belts, or rigid synchronous belts.

[0041] In some embodiments, the rotation axes of the first, second, and third movable joints 183a, 183b, and 183c are parallel to each other, and the planes on which the first, second, and third movable joints 183a, 183b, 183c lie are perpendicular to the rotation axes. Thus, the first and second movable arms 181, 182, via the first and second transmission belts 184a, 184b, form an RCM mechanism equivalent to a double parallelogram structure, thereby enabling the distal end of the third movable arm 185, mounted at the distal end of the second movable arm 182, to move about a telecentric fixed point. In some embodiments, the first, second, and third reduction gears 1831, 1832, 1833 may be harmonic reducers.

[0042] In some embodiments, as Figure 10As shown, the surgical robot system 100 may further include an auxiliary power mechanism. The auxiliary power mechanism may include a third motor 186 and a third pulley 187. The third motor 186 and the third pulley 187 are disposed within the oblique arm, with the third pulley 187 coaxially and fixedly connected to the output shaft of the third motor 186. The third transmission device may include a third transmission belt 184c, with the proximal end of the third transmission belt 184c wrapped around the third pulley 187 and the distal end wrapped around the first input shaft, thereby transmitting power from the third motor 186 to the first input shaft. In some embodiments, the third transmission belt 184c may include various transmission chains, flexible synchronous belts, or rigid synchronous belts. In some embodiments, the transmission belt and the pulley or transmission wheel may be connected by toothed engagement. The third motor 186 drives the third pulley 187 to rotate, causing the third transmission belt 184c connected to the third pulley 187 to move synchronously, thereby driving the first input shaft of the first reduction pulley 1831 connected to the third transmission belt 184c to rotate. The first input shaft outputs a driving force at a certain multiple, driving the first output shaft of the first reduction gear 1831 to rotate, thereby rotating the first movable joint 183a. The first input shaft drives the second input shaft of the second reduction gear 1832 to rotate synchronously via the first transmission belt 184a. The second input shaft outputs a driving force at a certain multiple, driving the second output shaft of the second reduction gear 1832 to rotate, thereby rotating the second movable joint 183b. The second input shaft drives the third input shaft of the third reduction gear 1833 to rotate synchronously via the second transmission belt 184b. The third input shaft outputs a driving force at a certain multiple, driving the third output shaft of the third reduction gear 1833 to rotate, thereby rotating the third movable joint 183c. This controls the rotation of the third movable arm 185 about the third movable joint 183c. The first, second, and third output shafts can have the same angular velocity. In some embodiments, the first, second, and third reduction gears 1831, 1832, and 1833 can have the same reduction ratio to control the angular velocity of each output shaft to be the same. In some embodiments, the first reduction gear 1831, the second reduction gear 1832, and the third reduction gear 1833 can have different reduction ratios. The radii of the corresponding pulleys or transmission wheels can be changed to achieve the same angular velocity for each output shaft. The auxiliary power mechanism can provide auxiliary power to the first movable arm 181, and motion and posture data of the first movable arm 181 can be obtained by detecting the speed of the third motor 186 and monitoring its status.

[0043] In some embodiments, as Figures 8-10As shown, the telecentric motion mechanism 180 also includes at least one brake mechanism 188 and at least one angle encoder 189 (or potentiometer). The at least one brake mechanism 188 is coupled to the first reduction gear 1831, the second reduction gear 1832, or the third reduction gear 1833 (e.g., coaxially or via a transmission). The at least one brake mechanism 188 can be configured to brake to lock the corresponding reduction gear when powered off and release to unlock the corresponding reduction gear when powered on. In some embodiments, the three brake mechanisms 188 can be coupled to the first reduction gear 1831, the second reduction gear 1832, and the third reduction gear 1833, respectively, to lock or release the corresponding reduction gears. The at least one angle encoder 189 (or potentiometer) is disposed on the corresponding first reduction gear 1831, the second reduction gear 1832, and the third reduction gear 1833, or on the corresponding pulleys or transmission wheels, for example, via gear meshing, to record and provide feedback on the motion state of the telecentric motion mechanism 180. In some embodiments, the brake mechanism 188 can be a holding brake. The braking mechanism 188 is provided to improve the overall stability of the telecentric motion mechanism 180 .

[0044] Figure 11 FIG. 1 shows a partial structural diagram of the first movable arm 181 according to some embodiments of the present disclosure. Figures 9-11 As shown, a first strip groove 1811 is provided on the first movable arm 181, and a second strip groove 1821 is provided on the second movable arm 182. The first strip groove 1811 and the second strip groove 1821 are respectively located on the sides of the first movable arm 181 and the second movable arm 182 that are away from each other. The first transmission belt 184a and the second transmission belt 184b are respectively located in the first strip groove 1811 and the second strip groove 1821 without contact. A reinforcing rib structure can be provided in the first strip groove 1811 and the second strip groove 1821. In this way, the overall weight of the telecentric motion mechanism 180 can be reduced while maintaining substantially the same strength, and the first transmission belt 184a and the second transmission belt 184b can also be protected. By providing a reinforcing rib structure in the groove, the volume of the movable arm can also be effectively reduced when the outer shell is enclosed.

[0045] In some embodiments, as Figure 1 and Figure 8As shown, the third movable arm 185 may include a linear motion assembly 1851 and a surgical instrument 1852. The linear motion assembly 1851 is disposed along the length of the third movable arm 185. The surgical instrument 1852 is detachably mounted on the linear motion assembly 1851 and driven by the linear motion assembly 1851 to move relative to the length of the third movable arm 185. In some embodiments, the surgical instrument 1852 may include a surgical tool or an endoscope. The distal end of the surgical tool is connected to an end surgical effector, and the distal end of the endoscopic tool is connected to an illumination device or an image acquisition device.

[0046] In some embodiments, the on / off and / or operating switches for the brake mechanism 188 of the telecentric motion mechanism 180 can be located on the third movable arm 185. When the operator needs to manually adjust the posture of the telecentric motion mechanism 180, they can long-press the corresponding on / off and / or operating switch to energize and release the associated brake mechanism 188, allowing the movable arm to move. Releasing the on / off and / or operating switch deenergizes and engages the brake mechanism 188, maintaining the movable arm's posture.

[0047] In some embodiments, as Figure 1 and Figure 2 As shown, the surgical robot system 100 may include at least two positioning arm groups, each consisting of a first positioning arm 120a and a second positioning arm 120b. The at least two positioning arm groups may be mirror-symmetrical about the central cross-section of the turntable 111. The multiple positioning arms can move relatively independently without causing interference with each other, enabling a variety of surgeries, including single-port, multi-port, and mixed-port surgeries.

[0048] In some embodiments of the present disclosure, the first cross arm of the positioning arm (e.g., Figure 1 The first cross arm 121, Figure 2 The first cross arm 121a or the first cross arm 121b) is connected to the first rotation joint (for example, Figure 2 The first rotary joint 130 or the first rotary joint 140) is connected to the turntable (eg, Figure 1 Furthermore, in some embodiments, the first cross arms of a pair of positioning arms can overlap and be coaxially connected to the turntable. Thus, some embodiments of the present disclosure can reduce the longitudinal space occupied by the positioning arms and reduce the risk of interference and collision between the positioning arms.

[0049] In some embodiments of the present disclosure, the second cross arm of the positioning arm (e.g., Figure 1 The second cross arm 122) is connected to the second rotation joint (eg, Figure 2 The second rotary joint 150) and the first cross arm (eg, Figure 1 The first cross arm 121, Figure 2Therefore, some embodiments of the present disclosure can achieve lateral spatial extension of the positioning arm through the rotational connection of multiple cross arms, reducing the risk of collision or interference between the positioning arm and the trolley, other equipment, personnel, or the positioning arm, and improving space utilization.

[0050] In some embodiments of the present disclosure, the positioning arm includes a telecentric motion mechanism (e.g., Figures 8-10 Compared to the double parallelogram structure, the telecentric motion mechanism according to some embodiments of the present disclosure can provide more flexible design and control.

[0051] The present disclosure also discloses the following embodiments:

[0052] 1. A telecentric motion mechanism, comprising:

[0053] a first movable arm;

[0054] a first movable joint, wherein the proximal end of the first movable arm is rotatably connected to the mounting structure via the first movable joint;

[0055] a second movable arm;

[0056] a second movable joint, wherein the distal end of the first movable arm is rotatably connected to the proximal end of the second movable arm via the second movable joint;

[0057] The third movable joint;

[0058] a first transmission mechanism connected to the first movable joint and the second movable joint so as to enable the first movable joint and the second movable joint to rotate synchronously;

[0059] a second transmission mechanism connected to the second movable joint and the third movable joint so as to enable the second movable joint and the third movable joint to rotate synchronously;

[0060] The third movable arm is rotatably connected to the distal end of the second movable arm through the third movable joint, so that the distal end of the third movable arm moves around the distal center.

[0061] 2. According to the telecentric motion mechanism of item 1, the first movable joint includes a first reduction wheel, the first reduction wheel includes a first input shaft and a first output shaft, and the first output shaft is used to drive the first movable joint to rotate;

[0062] The second movable joint includes a second reduction wheel, the second reduction wheel includes a second input shaft and a second output shaft, and the second output shaft is used to drive the rotation of the first movable joint or the second movable joint;

[0063] The third movable joint includes a third reduction wheel, the third reduction wheel includes a third input shaft and a third output shaft, and the third output shaft is used to drive the rotation of the third movable joint;

[0064] The first transmission mechanism includes a first transmission belt connecting the first input shaft and the second input shaft, and the second transmission mechanism includes a second transmission belt connecting the second input shaft and the third input shaft.

[0065] 3. The telecentric motion mechanism according to item 1, further comprising: a power mechanism, wherein the power mechanism comprises:

[0066] a third motor including an output shaft;

[0067] The third transmission mechanism connects the output shaft of the third motor to the first input shaft, the second input shaft or the third input shaft.

[0068] 4. According to the telecentric motion mechanism described in item 3, the third transmission mechanism includes a third transmission belt.

[0069] 5. The telecentric motion mechanism according to item 2, further comprising:

[0070] At least one braking mechanism is coupled to the first reduction wheel, the second reduction wheel or the third reduction wheel, and is used to lock or unlock the corresponding reduction wheel.

[0071] 6. The telecentric motion mechanism according to item 1, further comprising:

[0072] At least one angle encoder or potentiometer is coupled to the first revolving joint, the second revolving joint, or the third revolving joint.

[0073] 7. According to the telecentric motion mechanism described in item 1, a first strip groove is provided on the first movable arm, and a second strip groove is provided on the second movable arm. The first strip groove and the second strip groove are respectively located on the sides of the first movable arm and the second movable arm away from each other, and the first transmission mechanism and the second transmission mechanism are respectively located in the first strip groove and the second strip groove.

[0074] 8. According to the telecentric motion mechanism of item 1, the third movable arm comprises:

[0075] a linear moving assembly, arranged on the third movable arm along the length direction of the third movable arm;

[0076] A surgical instrument is mounted on the linear motion assembly, and the linear motion assembly drives the surgical instrument to move in the length direction of the third movable arm.

[0077] 9. According to the telecentric motion mechanism of item 2, the first transmission belt and the second transmission belt include at least one of a transmission chain, a flexible synchronous belt or a rigid synchronous belt.

[0078] 10. According to the telecentric motion mechanism described in Item 2, the first reduction wheel, the second reduction wheel or the third reduction wheel includes a harmonic reducer.

[0079] 11. According to the telecentric motion mechanism described in item 1, a reinforcing rib structure is provided in the first movable arm and / or the second movable arm.

[0080] 12. A surgical robot system, comprising: a telecentric motion mechanism as described in any one of items 1-11.

[0081] 13. The surgical robot system according to item 12, comprising:

[0082] Turntable;

[0083] at least one positioning arm, comprising a first cross arm and a first rotation joint, wherein the first rotation joint is disposed in the first cross arm or the turntable, a proximal end of the first cross arm is rotationally connected to the turntable via the first rotation joint, and the first cross arm is operable to rotate relative to the turntable about a longitudinal axis;

[0084] The distal end of the at least one positioning arm includes the mounting structure, and the at least one telecentric motion mechanism is rotatably connected to the mounting structure.

[0085] 14. The surgical robot system according to item 13, wherein the at least one positioning arm comprises: a first positioning arm and a second positioning arm;

[0086] The proximal ends of the first transverse arm of the first positioning arm and the proximal ends of the first transverse arm of the second positioning arm are respectively connected to the turntable, and the first transverse arm of the first positioning arm and the first transverse arm of the second positioning arm are rotatable relative to each other.

[0087] 15. According to the surgical robot system of item 13, the rotation axes of the first rotation joint of the first positioning arm and the first rotation joint of the second positioning arm are coaxially arranged.

[0088] 16. The surgical robot system according to item 15, wherein the first rotation joint of the first positioning arm comprises:

[0089] A first motor is fixedly disposed in the turntable;

[0090] a first transmission device, for transmitting the driving force of the first motor;

[0091] The first reducer includes a first reducer input shaft and a first reducer output shaft. The first reducer input shaft is connected to the output shaft of the first motor through the first transmission device. The first reducer output shaft is fixedly connected to the first cross arm of the first positioning arm, and is used to drive the first cross arm of the first positioning arm to rotate.

[0092] 17. The surgical robot system according to item 16, wherein the first rotation joint of the second positioning arm comprises:

[0093] Second motor;

[0094] a second transmission device for transmitting the driving force of the second motor;

[0095] a second reducer, comprising a second reducer input shaft and a second reducer output shaft, wherein the second reducer input shaft is connected to the output shaft of the second motor via the second transmission device, and the second reducer output shaft is fixedly connected to the first cross arm of the second positioning arm, for driving the first cross arm of the second positioning arm to rotate;

[0096] The support shaft passes through the first reducer, has a proximal end fixedly connected to the turntable, and a distal end fixedly connected to the second reducer.

[0097] 18. According to the surgical robot system described in Item 17, the second reducer also includes a second reducer drive shaft, one end of the second reducer drive shaft is coaxially arranged and fixedly connected to the second reducer input shaft, and the second reducer drive shaft is connected to the output shaft of the second motor through the second transmission device.

[0098] 19. According to the surgical robot system of item 18, the second motor and the second reducer are at least partially fixed in the first cross arm of the second positioning arm.

[0099] 20. According to the surgical robot system of item 19, the first rotation joint of the second positioning arm further comprises:

[0100] A reducer fixing seat, fixedly disposed in the first transverse arm of the first positioning arm and fixedly connected to the distal end of the support shaft;

[0101] The proximal part of the second reducer is fixedly connected to the reducer fixing seat, the proximal end of the second reducer transmission shaft passes through the second reducer from the second reducer output shaft located at the distal end, and is coaxially arranged and fixedly connected to the second reducer input shaft located at the proximal end, and the distal end of the second reducer transmission shaft is connected to the output shaft of the second motor through the second transmission device.

[0102] 21. The surgical robot system according to item 17, wherein the first rotation joint of the second positioning arm comprises:

[0103] The driving module seat includes a base at least partially arranged in the first horizontal arm of the first positioning arm and a main body located at the far end of the base and having a accommodating cavity. The far end of the support shaft is fixedly connected to the base, and the second motor and the second reducer are fixedly arranged in the main body.

[0104] 22. According to the surgical robot system of item 17, the first rotary joint of the first positioning arm further includes a first brake, and the first brake is coaxially arranged with the first reducer input shaft; or

[0105] The first rotary joint of the second positioning arm further includes a second holding brake coaxially arranged on the output shaft of the second reducer.

[0106] 23. The surgical robot system according to item 17, wherein the first rotary joint of the first positioning arm further comprises a first angle encoder, and the first angle encoder is connected to the output shaft of the first motor or the input shaft of the first reducer via a transmission member;

[0107] The first rotary joint of the second positioning arm further includes a second angle encoder, and the second angle encoder is connected to the output shaft of the second motor or the input shaft of the second reducer or the transmission shaft of the second reducer through a transmission member.

[0108] 24. According to the surgical robot system of Item 17, the first reducer or the second reducer is a harmonic reducer.

[0109] 25. According to the surgical robot system described in Item 17, the first reducer and the first reducer input shaft include a through channel along the rotation axis, the support shaft passes through the through channel to connect the first cross arm of the second positioning arm with the turntable, and the first cross arm of the second positioning arm and the first cross arm of the first positioning arm are connected to the turntable independently of each other.

[0110] 26. The surgical robot system according to item 17, wherein the turntable comprises a turntable frame and a support shaft fixing seat, the support shaft fixing seat is fixedly connected to the turntable frame, and the proximal end of the support shaft is fixedly disposed on the support shaft fixing seat;

[0111] The first transverse arm of the first positioning arm is connected to the turntable frame through the first rotation joint of the first positioning arm, and the first transverse arm of the second positioning arm is connected to the support shaft fixing seat through the first rotation joint of the second positioning arm.

[0112] 27. According to the surgical robot system described in Item 13, the at least one positioning arm also includes at least one second cross arm and a second rotation joint, the proximal end of the at least one second cross arm is rotationally connected to the distal end of the first cross arm through the second rotation joint, and the rotation axis of the second rotation joint is parallel to the rotation axis of the first rotation joint.

[0113] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A surgical robot system, comprising: Turntable; at least one positioning arm, comprising a first cross arm and a first rotation joint, wherein the first rotation joint is disposed in the first cross arm or the turntable, a proximal end of the first cross arm is rotationally connected to the turntable via the first rotation joint, and the first cross arm is operable to rotate relative to the turntable about a longitudinal axis; The at least one positioning arm includes: a first positioning arm and a second positioning arm; The proximal ends of the first transverse arm of the first positioning arm and the proximal ends of the first transverse arm of the second positioning arm are respectively connected to the turntable, and the first transverse arm of the first positioning arm and the first transverse arm of the second positioning arm are rotatable relative to each other; The rotation axes of the first rotation joint of the first positioning arm and the first rotation joint of the second positioning arm are coaxially arranged; The first rotation joint of the first positioning arm includes: A first motor is fixedly disposed in the turntable; a first transmission device, for transmitting the driving force of the first motor; a first reducer, comprising a first reducer input shaft and a first reducer output shaft, wherein the first reducer input shaft is connected to the output shaft of the first motor via the first transmission device, and the first reducer output shaft is fixedly connected to the first cross arm of the first positioning arm, for driving the first cross arm of the first positioning arm to rotate; The first rotation joint of the second positioning arm includes: Second motor; a second transmission device for transmitting the driving force of the second motor; a second reducer, comprising a second reducer input shaft and a second reducer output shaft, wherein the second reducer input shaft is connected to the output shaft of the second motor via the second transmission device, and the second reducer output shaft is fixedly connected to the first cross arm of the second positioning arm, for driving the first cross arm of the second positioning arm to rotate; The support shaft passes through the first reducer, has a proximal end fixedly connected to the turntable, and a distal end fixedly connected to the second reducer.

2. The surgical robot system according to claim 1, wherein: The second reducer also includes a second reducer drive shaft, one end of which is coaxially arranged and fixedly connected to the second reducer input shaft, and the second reducer drive shaft is connected to the output shaft of the second motor through the second transmission device.

3. The surgical robot system according to claim 2, wherein: The second motor and the second reducer are at least partially fixedly disposed in the first cross arm of the second positioning arm.

4. The surgical robot system according to claim 3, wherein: The first rotation joint of the second positioning arm also includes: A reducer fixing seat, fixedly disposed in the first transverse arm of the first positioning arm and fixedly connected to the distal end of the support shaft; The proximal part of the second reducer is fixedly connected to the reducer fixing seat, the proximal end of the second reducer transmission shaft passes through the second reducer from the second reducer output shaft located at the distal end, and is coaxially arranged and fixedly connected to the second reducer input shaft located at the proximal end, and the distal end of the second reducer transmission shaft is connected to the output shaft of the second motor through the second transmission device.

5. The surgical robot system according to claim 1, wherein: The first rotation joint of the second positioning arm includes: The driving module seat includes a base at least partially arranged in the first horizontal arm of the first positioning arm and a main body located at the far end of the base and having a accommodating cavity. The far end of the support shaft is fixedly connected to the base, and the second motor and the second reducer are fixedly arranged in the main body.

6. The surgical robot system according to claim 1, wherein: The first rotary joint of the first positioning arm further includes a first brake, and the first brake is coaxially arranged with the first reducer input shaft; or The first rotary joint of the second positioning arm further includes a second brake coaxially arranged on the output shaft of the second reducer.

7. The surgical robot system according to claim 1, wherein: The first rotary joint of the first positioning arm further includes a first angle encoder, and the first angle encoder is connected to the output shaft of the first motor or the input shaft of the first reducer through a transmission member; The first rotary joint of the second positioning arm further includes a second angle encoder, and the second angle encoder is connected to the output shaft of the second motor or the input shaft of the second reducer or the transmission shaft of the second reducer through a transmission member.

8. The surgical robot system according to claim 1, wherein: The first reducer or the second reducer is a harmonic reducer.

9. The surgical robot system according to claim 1, wherein: The first reducer and the first reducer input shaft include a through channel along the rotation axis, the support shaft passes through the through channel to connect the first cross arm of the second positioning arm with the turntable, and the first cross arm of the second positioning arm and the first cross arm of the first positioning arm are connected to the turntable independently of each other.

10. The surgical robot system according to claim 1, wherein: The turntable includes a turntable frame and a support shaft fixing seat, wherein the support shaft fixing seat is fixedly connected to the turntable frame, and the proximal end of the support shaft is fixedly arranged on the support shaft fixing seat; The first transverse arm of the first positioning arm is connected to the turntable frame through the first rotation joint of the first positioning arm, and the first transverse arm of the second positioning arm is connected to the support shaft fixing seat through the first rotation joint of the second positioning arm.

11. The surgical robot system according to claim 1, wherein: The at least one positioning arm also includes at least one second cross arm and a second rotation joint, the proximal end of the at least one second cross arm is rotationally connected to the distal end of the first cross arm through the second rotation joint, and the rotation axis of the second rotation joint is parallel to the rotation axis of the first rotation joint.

12. The surgical robot system according to claim 11, wherein: The at least one positioning arm also includes a vertical arm and a vertical arm rotation joint, the vertical arm includes a vertical arm outer tube and a vertical arm inner tube that can move relative to each other in the longitudinal direction, and one of the vertical arm outer tube and the vertical arm inner tube is connected to the distal end of the second horizontal arm through the vertical arm rotation joint so as to rotate around the longitudinal axis relative to the distal end of the second horizontal arm.

13. The surgical robot system according to claim 12, wherein: The at least one positioning arm further comprises an oblique arm and an oblique arm rotation joint, wherein the proximal end of the oblique arm is connected to the distal end of the vertical arm through the oblique arm rotation joint, and the rotation axis of the oblique arm rotation joint is angled relative to the longitudinal direction.

14. The surgical robot system according to claim 13, wherein: The at least one positioning arm further comprises a telecentric motion mechanism, the telecentric motion mechanism comprising: a first movable arm; a first movable joint, wherein the proximal end of the first movable arm is rotatably connected to the distal end of the oblique arm via the first movable joint; a second movable arm; a second movable joint, wherein the distal end of the first movable arm is rotatably connected to the proximal end of the second movable arm via the second movable joint; The third movable joint; a first transmission mechanism connected to the first movable joint and the second movable joint so as to enable the first movable joint and the second movable joint to rotate synchronously; a second transmission mechanism connected to the second movable joint and the third movable joint so as to enable the second movable joint and the third movable joint to rotate synchronously; The third movable arm is rotatably connected to the distal end of the second movable arm through the third movable joint, so that the distal end of the third movable arm moves around a distal fixed point.

15. The surgical robot system according to claim 14, wherein: The first movable joint includes a first reduction wheel, the first reduction wheel includes a first input shaft and a first output shaft, and the first output shaft is used to drive the first movable joint to rotate; The second movable joint includes a second reduction wheel, the second reduction wheel includes a second input shaft and a second output shaft, and the second output shaft is used to drive the rotation of the first movable joint or the second movable joint; The third movable joint includes a third reduction wheel, the third reduction wheel includes a third input shaft and a third output shaft, and the third output shaft is used to drive the rotation of the third movable joint; The first transmission mechanism includes a first transmission belt connecting the first input shaft and the second input shaft, and the second transmission mechanism includes a second transmission belt connecting the second input shaft and the third input shaft.

16. The surgical robot system according to claim 1, wherein: It comprises at least two positioning arm groups, each of the positioning arm groups comprises the first positioning arm and the second positioning arm, and the at least two positioning arm groups are mirror-symmetrical with respect to the symmetry plane of the turntable.

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