Surgical robot, positioning device and positioning method thereof

Abstract

The present application relates to a kind of surgical robot, positioning device and its positioning method.The positioning device includes: first positioning structure;Second positioning structure, including suspension link and multiple positioning mechanical arms;Operating device;One end of multiple positioning mechanical arms is rotatably connected with first positioning structure by suspension link, and the other end is equipped with operating device;Control equipment is used to control the first positioning structure and the second positioning structure drive operating device autonomous motion.When operating device is positioned, first positioning structure drives the movement of second positioning structure and operating device on it, each positioning mechanical arm drives the movement of corresponding operating device, realizes the positioning of operating device, so that operating device is in the required spatial position, and the structure of the positioning device is single compact, easy to integrate into surgical robot or other positioning equipment.

Description

Technical Field

[0001] This invention relates to the field of medical equipment technology, and in particular to a surgical robot, a positioning device, and a positioning method thereof. Background Technology

[0002] With the rapid development of technology, minimally invasive surgical robots have been endowed with more powerful functions. As the main positioning auxiliary unit of a minimally invasive surgical robot, the positioning robotic arm's motion performance and adjustment capabilities directly determine the robot's performance, affecting the surgical outcome and the operating experience of medical staff. Giving the positioning robotic arm active positioning capabilities can shorten preoperative preparation time and improve surgical efficiency.

[0003] Currently, some minimally invasive surgical robots primarily rely on manual dragging for positioning during surgical preparation and the actual surgery. Automatic positioning is only achieved through oscillation during contraction and expansion. Other minimally invasive surgical robots, while capable of automatic positioning, often suffer from bulky robotic arms and complex transmission structures when attempting active positioning. In other words, current minimally invasive surgical robots suffer from complex structures and bulky shapes for active positioning, impacting their performance. Summary of the Invention

[0004] Therefore, it is necessary to address the issues of complex structures in current minimally invasive surgical robots for active positioning, and to provide a surgical robot, positioning device, and positioning method that are simple in structure and easy to achieve active positioning.

[0005] A positioning device for a surgical robot, comprising:

[0006] First placement structure;

[0007] The second positioning structure includes suspension links and multiple positioning robotic arms;

[0008] Operating device;

[0009] One end of each of the multiple positioning robotic arms is rotatably connected to the first positioning structure via a suspension link, and the other end is equipped with an operating device.

[0010] A control device is used to control the first and second positioning structures to drive the operating device to move autonomously.

[0011] In one embodiment, the positioning robotic arm includes multiple joints, which are connected in series with the suspension link and the operating device. Each joint is equipped with a drive device to drive the joint to move the operating device autonomously.

[0012] In one embodiment, the plurality of joint components include a first rotating component and a second rotating component, as well as a first linear motion component and a second linear motion component, wherein the suspension link and the operating device are connected in series via the first rotating component, the first linear motion component, the second rotating component, and the second linear motion component.

[0013] In one embodiment, the first rotating assembly includes a first output component, a first mounting housing, and a rotary motor, a first brake, and a first encoder disposed on the first mounting housing. The first mounting housing is mounted on the first linear motion assembly, the first brake is disposed at the end of the rotary motor, the first encoder is electrically connected to the rotary motor, the first output component is mounted on the output end of the rotary motor, and the first output component is connected to the suspension link.

[0014] In one embodiment, the first linear motion component is a transmission structure with a low reduction ratio, and the transmission structure in the first linear motion component is a chain drive structure, a belt drive structure, or a rope drive structure.

[0015] The first linear motion component includes a second mounting housing and a transmission group and a drive group disposed in the second mounting housing. The drive group is connected to the transmission group and drives the transmission group to move. The transmission group is connected to the second rotating component and drives the second rotating component to move.

[0016] When the transmission group is a rope transmission structure, the transmission group achieves transmission through multiple parallel wire harnesses.

[0017] In one embodiment, the second rotating component adopts the structure of a joint drive module, and the output end of the second rotating component is connected to the second linear motion component.

[0018] In one embodiment, the second linear motion component is a gravity balance structure;

[0019] The second linear motion component includes a fourth mounting housing, a gravity balance group, a lifting group, and a lifting linkage. The gravity balance group is disposed in the fourth mounting housing, and the bottom of the gravity balance group is connected to the lifting linkage. The lifting group is disposed in the fourth mounting housing, connected to the lifting linkage, and drives the lifting linkage to move up and down. The end of the lifting linkage is connected to the operating device.

[0020] A positioning method, applied to the positioning device described in any of the above technical features, the positioning method comprising the following steps:

[0021] Obtain the target position of the operating device;

[0022] Perform inverse kinematics solution of multiple swing manipulators in the second swing structure to obtain control commands for multiple swing manipulators;

[0023] Perform forward kinematics on multiple positioning robotic arms and check for interference among them.

[0024] If there is no interference, the control command is sent to multiple of the positioning robotic arms;

[0025] Multiple positioning robotic arms move according to the corresponding control commands;

[0026] The positioning robotic arm drives the operating device to the target position to complete the positioning operation.

[0027] A positioning method, applied to the positioning device described in any of the above technical features, the positioning method comprising the following steps:

[0028] Press the enable button on the positioning robotic arm;

[0029] Each of the aforementioned positioning robotic arms is unlocked, and each of the aforementioned positioning robotic arms enters follow mode;

[0030] The position difference of each joint in the positioning robotic arm is periodically obtained;

[0031] Compare the position differences and joint thresholds of each joint of the positioning robotic arm;

[0032] If the position difference is less than or equal to the joint threshold, continue to obtain the position difference;

[0033] If the position difference is greater than the joint threshold, a motion command is generated to control the positioning robotic arm (the corresponding joint movement); until the positioning operation is completed.

[0034] A surgical robot includes a trolley base, operating instruments, and a positioning device as described in any of the above technical features;

[0035] The first positioning structure of the positioning device is installed on the trolley base, and the operating device of the positioning device carries the operating instrument.

[0036] By adopting the above technical solution, the present invention has at least the following technical effects:

[0037] The surgical robot, positioning device, and positioning method described in the above embodiments include a first positioning structure rotatably connected to a suspension link of a second positioning structure. The suspension link is connected to multiple positioning robotic arms of the second positioning structure. The end of each positioning robotic arm away from the suspension link is connected to an operating device. The first positioning structure and the multiple positioning robotic arms are electrically connected to an external control device. The control device controls the first positioning structure to move the second positioning structure and controls the multiple positioning robotic arms to move their corresponding operating devices, thereby moving the operating devices to the desired positions and completing the positioning of the operating devices. When the positioning device of the present invention positions the operating devices, the first positioning structure moves the second positioning structure and the operating devices thereon, and each positioning robotic arm moves its corresponding operating device, thus achieving the positioning of the operating devices and placing them in the required spatial position. Furthermore, the positioning device has a simple and compact structure, making it easy to integrate into surgical robots or other devices requiring positioning. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of a positioning device according to an embodiment of the present invention applied to a surgical robot;

[0039] Figure 2 for Figure 1 A schematic diagram of the first positioning structure connected to the suspension link in the positioning device shown;

[0040] Figure 3 for Figure 1 A schematic diagram of the first placement structure in the placement device shown;

[0041] Figure 4 for Figure 3 A three-dimensional view of the positioning robotic arm in the first positioning structure shown;

[0042] Figure 5 for Figure 4 A perspective view of the first rotating component in the positioning robotic arm shown;

[0043] Figure 6 for Figure 5 A cross-sectional view of the first rotating component shown;

[0044] Figure 7 for Figure 4 The diagram shows the structure of the first linear motion component in the positioning robotic arm.

[0045] Figure 8 for Figure 7 The diagram shows the transmission group and drive group of the first linear motion assembly at two angles.

[0046] Figure 9 for Figure 4 A perspective view of the second rotating component in the positioning robotic arm shown;

[0047] Figure 10 for Figure 9 The diagram shows the internal structure of the second rotating component.

[0048] Figure 11 for Figure 4 A schematic diagram of the second linear motion component in the swing-positioning robotic arm shown;

[0049] Figure 12 for Figure 11 A schematic diagram of the transmission assembly and mounting assembly in the second linear motion assembly shown;

[0050] Figure 13 for Figure 3 The diagram shows the power supply and communication links in the manipulator arm.

[0051] Figure 14 for Figure 1 A flowchart of the active positioning and dragging positioning of the positioning device.

[0052] Wherein: 10, positioning device; 100, first positioning structure; 110, lifting component; 120, first rotating component; 130, moving component; 140, second rotating component; 200, second positioning structure; 210, suspension link; 220, positioning robotic arm; 221, first rotating assembly; 2211, first output component; 2212, first mounting housing; 2213, rotary motor; 22131, motor stator; 22312, motor rotor; 2214, first brake; 22141, brake stator; 22142, brake rotor; 2215, first encoder; 2216, first support bearing; 2217, fixed... 2218. Fixed flange; 2219. Encoder support; 2210. Second support bearing; 2211. Cable bracket; 222. First linear motion assembly; 2221. Second mounting housing; 2222. Transmission assembly; 22221. Tensioner wheel; 22222. Wiring harness; 22223. Moving pulley; 22224. Fixed pulley; 22225. Fixed wheel; 22226. First idler wheel; 22227. Second idler wheel; 22228. Adapter plate; 2223. Drive assembly; 22231. Drive motor; 22232. Drive wheel; 22233. Driven wheel; 22234. Synchronous belt; 22235. Tensioning component; 22236. 222237, Motor connection plate; 222238, Third driver; 2224, Second encoder; 2225, Guide assembly; 22251, Guide slide rail; 22252, Slider; 2226, Dustproof winder; 223, Second rotating assembly; 2231, Second output component; 2232, Third mounting housing; 2233, Drive module; 2234, Reducer; 224, Second linear motion assembly; 2241, Fourth mounting housing; 2242, Gravity balance assembly; 22421, Constant force elastic element; 22422, Winding component; 22423, Mounting plate; 22424, Fixing block; 2243, Lifting assembly; 22431, Lifting... 22432, Motor mounting plate; 22433, Transmission belt assembly; 224331, First pulley; 224333, Second pulley; 224332, Transmission rope; 22434, Mounting assembly; 224341, Bearing plate; 224342, Tensioning block; 224343, Guide wheel; 224344, Rope winding wheel; 224345, Adapter block; 224346, Fifth brake; 2244, Lifting linkage; 2245, Second brake; 2246, Fifth encoder; 2247, Guide rail; 20, Operating device; 300, Hospital bed; 40, Operating instrument; 50, Trolley base; 60, Control equipment. Detailed Implementation

[0053] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0054] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0056] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0057] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0058] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0059] See Figures 1 to 12 This invention provides a positioning device 10. An operating device 20 is installed at the end of the positioning device 10. The operating device 20 is a device used by the surgical robot to drive surgical instruments during surgery. The end of the operating device 20 can dock with a cannula, and the operating device 20 can carry the surgical instruments, which are then inserted into the target body through the cannula for surgical operations. Furthermore, the operating device 20 can drive the surgical instruments to adjust their posture, such as rotation, pitch, and translation, during surgery via a drive device. The positioning device 10 can move the operating device 20 to the target position, making the spatial position of the operating device 20 convenient for later use. Moreover, the positioning device 10 can be installed on the surface of the ground, a table, or other platforms.

[0060] In this invention, the positioning device 10 is applied to a surgical robot. An operating device 20 is installed at the end of the positioning device 10. After the positioning device 10 positions the operating device 20, the operating device 20 can dock with the trocar on the patient's body surface. At this point, the initial position of the operating device 20 during surgery is the target position. This target position refers to the position where the operating device docks with the trocar on the patient's body surface and moves to a suitable position for surgical operation. After reaching the target position, the operating device 20 can carry the surgical instruments 40 to perform the surgical operation. Currently, minimally invasive surgical robots mainly achieve positioning through manual dragging during the surgical preparation and operation phases. Automatic positioning is only achieved through oscillation during contraction and expansion. Some minimally invasive surgical robots, although capable of automatic positioning, often result in bulky robotic arms and complex transmission structures when implementing active positioning. In other words, current minimally invasive surgical robots have complex structures and bulky shapes for active positioning, affecting their performance.

[0061] To address this, the present invention provides a positioning device 10, which enables automatic positioning of the operating device 20, placing the operating device 20 in the target position required before surgery. Furthermore, the positioning device 10 has a compact structure, facilitating integration into surgical robots or other devices requiring positioning. The specific structure of the positioning device 10 is described below.

[0062] See Figures 1 to 3 In one embodiment, the positioning device 10 includes a first positioning structure 100, a second positioning structure 200, an operating device 20, and a control device 60. The second positioning structure 200 is disposed on the first positioning structure 100; the second positioning structure 200 includes a suspension link 210 and a plurality of positioning robotic arms 220, one end of which is rotatably connected to the first positioning structure 100 via the suspension link 210, and the other end is equipped with the operating device 20; the first positioning structure 100 and the second positioning structure 200 are electrically connected to the external control device 60, and the control device 60 is used to control the first positioning structure 100 and the second positioning structure 200 to drive the operating device 20 to move autonomously, so as to adjust the position of the operating device 20.

[0063] The first positioning structure 100 serves as a support structure for the positioning device 10, and the second positioning structure 200 is mounted on the first positioning structure 100. An operating device 20 is installed at the end of the second positioning structure 200. When the first positioning structure 100 moves, it can drive the second positioning structure 200 to move, and in turn, the second positioning structure 200 can drive the operating device 20 on it to move synchronously.

[0064] The first positioning structure 100 is used to adjust the larger spatial position of the operating device 20, achieving coarse alignment between the operating device 20 and the lesion area. The second positioning structure 200 is used to achieve fine alignment between the operating device 20 and the lesion area. The automatic adjustment of the spatial position of the operating device 20 is achieved through the cooperation of the first positioning structure 100 and the second positioning structure 200. In this invention, the first positioning structure 100 and the second positioning structure 200 drive the operating device 20 to move, enabling the operating device 20 to align with the puncture card on the patient's body surface and install the puncture card onto the operating device 20, thus completing the positioning of the operating device 20.

[0065] Specifically, the first positioning structure 100 can drive the second positioning structure 200 to perform vertical lifting, horizontal translation, and at least one vertical rotation. This allows the first positioning structure 100 to drive the second positioning structure 200 within a relatively large spatial range, thereby achieving coarse alignment between the operating device 20 at the end of the second positioning structure 200 and the lesion area. The second positioning structure 200 can drive the operating device 20 to perform lifting, translation, and rotation to move the operating device 20, enabling it to align with the puncture card and facilitate docking. Furthermore, when positioning the operating device 20, the first positioning structure 100 can be controlled first, followed by the second positioning structure 200; alternatively, the first positioning structure 100 and the second positioning structure 200 can move simultaneously.

[0066] The second positioning structure 200 includes a suspension link 210 and multiple positioning robotic arms 220. The suspension link 210 is rotatably connected to the end of the first positioning structure 100, and the end of the first positioning structure 100 can drive the suspension link 210 to rotate relative to the main body of the first positioning structure 100. Multiple positioning robotic arms 220 are rotatably mounted at intervals on the suspension link 210, and each positioning robotic arm 220 can rotate relative to the suspension link 210. An operating device 20 is installed at the end of each positioning robotic arm 220. Thus, when the first positioning structure 100 drives the suspension link 210 to rotate, the suspension link 210 can drive the multiple positioning robotic arms 220 to rotate synchronously, and each positioning robotic arm 220 can drive its corresponding operating device 20 to rotate relative to the suspension link 210.

[0067] It is worth noting that the number of positioning robotic arms 220 in this application can be multiple, including two, three, or other numbers. In one embodiment of this application, the number of positioning robotic arms is four. Accordingly, the suspension link 210 has four mounting positions for rotatably mounting four positioning robotic arms 220. One end of each positioning robotic arm is connected to the suspension link 210, and the other end is equipped with an operating device 20. The operating device 20 is used to carry the operating instrument 40. It should be noted that the operating instrument includes not only surgical instruments but also tools that assist in surgical operations, such as endoscopes. The surgical instruments 40 carried on the operating devices 20 at the ends of different positioning robotic arms 220 can be the same or different. The positioning structure of each positioning robotic arm 220 is the same; the following description only uses the structure of one positioning robotic arm 220.

[0068] See Figure 1 and Figure 2 In one embodiment, the first positioning structure 100 includes multiple joints, each joint having a driving device that can drive the first positioning structure 100 to achieve lifting, rotation, and translation movements. In one embodiment of this application, the first positioning structure 100 includes a lifting member 110, a first rotating member 120, a moving member 130, and a second rotating member 140. The first rotating member 120 is disposed between the lifting member 110 and the moving member 130 and rotatably connects the lifting member 110 and the moving member 130. The second rotating member 140 is disposed on the moving member 130 and rotatably connects to the suspension link 210.

[0069] When the positioning device 10 of the present invention is applied to a surgical robot, the positioning device 10 is mounted on the trolley base 50. That is, the bottom of the lifting member 110 is mounted on the trolley base 50, the lifting member 110 is a liftable structure, the top of the lifting member 110 is mounted on the first rotating member 120, and the first rotating member 120 is also connected to the moving member 130. The end of the moving member 130 away from the first rotating member 120 is mounted on the second rotating member 140, and the second rotating member 140 is connected to the suspension link 210.

[0070] In this way, the lifting component 110 can drive the moving component 130 and the second rotating component 140 to perform lifting and lowering movements via the first rotating component 120. Furthermore, the second rotating component 140 can drive the positioning robotic arm 220 and its operating device 20 to perform lifting and lowering movements via the suspension link 210. The first rotating component 120 can drive the moving component 130 and the second rotating component 140 to rotate in the horizontal plane. Furthermore, the second rotating component 140 can drive the positioning robotic arm 220 and its operating device 20 to perform rotational movements via the suspension link 210. When the moving component 130 moves, it can drive the suspension link 210 and the positioning robotic arm 220 and its operating device 20 to perform translational movements via the second rotating component 140. When the second rotating component 140 rotates, it can drive the positioning robotic arm 220 and its operating device 20 to perform rotational movements via the suspension link 210.

[0071] Optionally, the lifting member 110 and the moving member 130 can be ball screw structures, belt drive structures, or other structures capable of outputting linear motion. For example, both the lifting member 110 and the moving member 130 include a motor, a movable mounting housing, and a ball screw. The movable mounting housing includes a main housing and a movable housing, which is movably disposed within and extends out of the main housing. The ball screw of the ball screw is rotatably disposed within the movable mounting housing and connected to the motor. The screw nut of the ball screw is sleeved on the ball screw and connected to the movable housing. Thus, when the motor drives the ball screw to rotate, the screw nut can move along the ball screw, thereby causing the movable housing to extend or retract into the main housing. Of course, in other embodiments of the present invention, the lifting member 110 and the moving member 130 can also be other structures capable of outputting linear motion.

[0072] Optionally, the first rotating member 120 and the second rotating member 140 may be a motor, a rotating joint, etc. Exemplarily, both the first rotating member 120 and the second rotating member 140 include a motor and a rotating mounting housing. The motor is mounted in the rotating mounting housing, and its output terminal outputs rotational motion. The rotating mounting housing of the first rotating member 120 is mounted to the top of the lifting member 110, and the motor output terminal of the first rotating member 120 is connected to the moving member 130, driving the moving member 130 to rotate. The rotating mounting housing of the second rotating member 140 is mounted to the moving member 130, and the motor output terminal of the second rotating member 140 is connected to the suspension link 210, driving the suspension link 210 to rotate. Of course, in other embodiments of the present invention, the first rotating member 120 and the second rotating member 140 may also have other structures capable of outputting rotational motion, or, in the above embodiments, components such as a brake or a reducer may be added.

[0073] The first positioning structure 100 in the above embodiment has four degrees of freedom. Specifically, it is formed by connecting four joints—the lifting member 110, the first rotating member 120, the moving member 130, and the second rotating member 140—to achieve four degrees of freedom. This four-degree-of-freedom structure enables the positioning of the second positioning structure 200 and the operating device 20. Of course, in other embodiments of the present invention, the first positioning structure 100 may include more moving members, lifting members, and rotating members to increase its degrees of freedom.

[0074] See Figures 1 to 4 In one embodiment, the positioning robotic arm 220 includes multiple joints, which are connected in series to a suspension link 210 and an operating device 20. Each joint is equipped with a drive device to drive the joint and thus move the operating device 20 autonomously. Further, each joint includes multiple rotating components and multiple linear motion components, with each rotating component and each linear motion component connected in series. The rotating component at the beginning of the series connection is rotatably connected to the suspension link 210, and the linear motion component at the end of the series connection is connected to the operating device 20.

[0075] The positioning robotic arm 220 drives the end effector 20 to move through multiple rotating components and multiple linear motion components. The rotating components output rotational motion, and the linear motion components output linear motion. Each rotating component and each linear motion component is connected in series to form the positioning robotic arm 220. The first end of the positioning robotic arm 220 is a rotating component used to rotatably connect to the suspension link 210, and the last end of the positioning robotic arm 220 is a linear motion component used to connect to the end effector 20.

[0076] Multiple rotating components and multiple linear motion components are connected in series: This can be achieved by connecting multiple rotating components in series, and then connecting them in series with multiple linear motion components; alternatively, multiple rotating components and multiple linear motion components can be arranged alternately, with a rotating component at the beginning and a linear motion component at the end; or, some rotating components can be arranged alternately, with a rotating component at the beginning and a linear motion component at the end. Of course, in other embodiments of the present invention, the multiple rotating components and multiple linear motion components can also be other structures capable of driving the operating device 20 to move. In this embodiment, the multiple rotating components and multiple linear motion components are arranged alternately in series, with a rotating component at the beginning and a linear motion component at the end.

[0077] See Figures 1 to 4In one embodiment, the plurality of rotating components include a first rotating component 221 and a second rotating component 223, and the plurality of linear motion components include a first linear motion component 222 and a second linear motion component 224. The first rotating component 221, the first linear motion component 222, the second rotating component 223, and the second linear motion component 224 are connected in series. The suspension link 210 and the operating device 20 are rotatably connected to the suspension link 210 via the first rotating component 221, and the second linear motion component 224 is connected to the operating device 20.

[0078] In other words, the positioning robotic arm 220 in this embodiment includes four joint components: a first rotating component 221, a second rotating component 223, a first linear motion component 222, and a second linear motion component 224. These four joint components are connected in series: the first rotating component 221 is connected in series with the first linear motion component 222, the first linear motion component 222 is connected in series with the first rotating component 221, and the first rotating component 221 is connected in series with the first linear motion component 222. The first rotating component 221 is the leading end of the positioning robotic arm 220, used to connect the suspension link 210, and the second linear motion component 224 is the trailing end of the positioning robotic arm 220, used to mount the operating device 20.

[0079] The first linear motion component 222 is arranged horizontally, and the first rotating component 221 is located at the end of the first linear motion component 222 to rotatably connect to the suspension link 210. When the second rotating component 223 is connected to the first linear motion component 222, it is connected to the transmission assembly 2222 (described in detail later) of the first linear motion component 222, so that the first linear motion component 222 can drive the second rotating component 223 to move. The rotation axis of the second rotating component 223 is perpendicular to the first linear motion component 222. After connecting to the second rotating component 223, the second linear motion component 224 is arranged perpendicular to the first linear motion component 222.

[0080] After the first rotating component 221 is connected to the suspension link 210, the first rotating component 221 can rotate relative to the suspension link 210. Thus, when the first rotating component 221 rotates, it drives the first linear motion component 222, the second rotating component 223, and the second linear motion component 224 to rotate. The first linear motion component 222 outputs linear motion to move the second rotating component 223. When the second rotating component 223 rotates, it drives the second linear motion component 224 to rotate. The second linear motion component 224 can output lifting motion (linear motion) to drive the operating device 20 to rise and fall.

[0081] Through the cooperation of the first rotating component 221, the first linear motion component 222, the second rotating component 223, and the second linear motion component 224, the tail-end operating device 20 can perform linear movement, lifting, and rotation operations, thereby achieving the positioning of the operating device 20. In other words, the positioning robotic arm 220 can use the four degrees of freedom of its joints to deliver the distal point of the operating device 20 to the target position in the surgical space.

[0082] See Figure 1 , Figures 4 to 6 In one embodiment, the first rotating assembly 221 includes a first output component 2211, a first mounting housing 2212, and a rotary motor 2213, a first brake 2214, and a first encoder 2215 disposed on the first mounting housing 2212. The first mounting housing 2212 is mounted on the first linear motion assembly 222. The first brake 2214 is disposed at the end of the rotary motor 2213. The first encoder 2215 is electrically connected to the rotary motor 2213. The first output component 2211 is mounted on the output end of the rotary motor 2213, and the first output component 2211 is connected to the suspension link 210. The first rotating assembly 221 is used to realize direct drive transmission.

[0083] The first mounting housing 2212 serves as the outer shell of the first rotating component 221. It supports the various components of the first rotating component 221, facilitating installation and protecting these components from damage. When the first rotating component 221 is installed onto the first linear motion component 222, the first mounting housing 2212 is connected to the second mounting housing 2221 (mentioned later) of the first linear motion component 222.

[0084] Rotary motor 2213 serves as the rotational power source for the first rotating assembly 221, and is mounted within the first mounting housing 2212. The output end of rotary motor 2213 is connected to a first output component 2211, which extends out of the first mounting housing 2212. When the first rotating assembly 221 is mounted to the first linear motion assembly 222 and rotatably connected to the mounting position of the suspension link 210, the first output component 2211 connects to the suspension link 210. Thus, when rotary motor 2213 outputs rotational motion, it drives the first linear motion assembly 222 to move relative to the suspension link 210 via the first output component 2211.

[0085] The first brake 2214 is a braking element of the first rotating assembly 221. It engages the rotating motor 2213, locking it when it stops rotating and preventing it from moving under slight external forces, thus ensuring the positional accuracy of the first rotating assembly 221 and the first linear motion assembly 222 after they have stopped moving. The first brake 2214 is located in the first mounting housing 2212 and at the end of the rotating motor 2213 furthest from the first output component 2211.

[0086] The first encoder 2215 is disposed in the first mounting housing 2212 and electrically connected to the rotary motor 2213, and is used to detect the rotation angle of the output rotational motion of the rotary motor 2213. The positioning device 10 of the present invention has an active positioning function and a drag positioning function, both of which can realize the automatic positioning of the positioning robot arm 220. During active positioning, the first rotating component 221 receives the set rotation angle fed back by the external control device 60, and the first encoder 2215 detects the rotation angle of the rotary motor 2213. If the rotation angle is the same as the set rotation angle, it indicates that the rotation is in place; if it is different, it indicates that the rotation is not in place or is excessive. During drag positioning, the first encoder 2215 records the position difference of the rotary motor 2213 at different times, and indirectly calculates the force on the first rotating component 221 by multiplying the position difference by the stiffness. In this way, the control device 60 calculates the difference of the first rotating component 221 based on the force, and then drives the rotary motor 2213 to output the corresponding rotation angle.

[0087] Optionally, the first rotating component 221 includes a first driver, which is connected to the control device 60 via transmission. The first driver is also electrically connected to the rotating motor 2213 and the brake. The first driver can control the rotating motor 2213 to output corresponding rotational motion according to the control command issued by the control device 60, and can control the first brake 2214 to lock the rotating motor 2213 according to the stop command issued by the control device 60.

[0088] Optionally, the rotary motor 2213 includes a motor stator 22131 and a motor rotor 22312. The motor stator 22131 is mounted on the first mounting housing 2212, and the motor rotor 22312 is rotatably mounted on the motor stator 22131 and connected to the first output component 2211. When energized, the motor stator 22131 drives the motor rotor 22312 to rotate the first output component 2211. Optionally, the motor stator 22131 is fixed to the inner wall of the first mounting housing 2212 by adhesive bonding; of course, it can also be fixed to the inner wall of the first mounting housing 2212 by other means. Optionally, the first output component 2211 and the motor rotor 22312 are fixed together by a pressure ring (not shown). Optionally, the first output component 2211 and the motor rotor 22312 can also be fixed together by bolts or other connection methods. Optionally, the first output component 2211 is a component such as an output flange or an output shaft that can transmit the rotational motion of the motor rotor 22312 and can be connected to the suspension link 210.

[0089] Optionally, the first rotating assembly 221 further includes a first support bearing 2216, which is disposed between the motor rotor 22312 and the first mounting housing 2212 for rotatably supporting the motor rotor 22312. The outer ring of the first support bearing 2216 abuts against the inner wall of the first mounting housing 2212, and the inner ring of the first support bearing 2216 is fitted onto the outer wall of the motor rotor 22312. The inner and outer rings of the first support bearing 2216 are fixed by a pressure ring (not shown).

[0090] Optionally, the first rotating assembly 221 further includes a fixed flange 2217, which is mounted on the top of the first mounting housing 2212 and supports the first brake 2214. Specifically, the first brake 2214 includes a friction plate, a spring plate, a brake stator 22141, and a brake rotor 22142. The friction plate is fixed to an elastic plate, and the spring plate is fixedly connected to the brake rotor 22142. The brake stator 22141 is mounted to the fixed flange 2217. The friction plate can move axially relative to the brake rotor 22142. When the brake is energized, it attracts the friction plate, causing it to abut against the brake rotor 22142, thus restricting the rotation of the brake rotor 22142. The brake rotor 22142 is connected to the motor rotor 22312, thereby restricting the rotation of the motor rotor 22312. When the brake is de-energized, the friction pads are released. Under the action of the spring, the friction pads move away from the brake rotor 22142. At this time, the brake rotor 22142 can rotate synchronously with the motor rotor 22312. The energization and de-energization of the brake are controlled by the control device 60.

[0091] Optionally, the first rotating assembly 221 further includes an encoder support 2218 and a second support bearing 2219. The encoder support 2218 is mounted to the fixed flange 2217 via the second support bearing 2219, and the end of the encoder support 2218 is connected to the first output component 2211. The code disk of the first encoder 2215 is fixed to the encoder support 2218, and the read head of the first encoder 2215 is coaxially fixed to the fixed flange 2217 with the code disk. Thus, when the motor rotor 22312 drives the first output component 2211 to rotate, the first output component 2211 drives the code disk of the first encoder 2215 to rotate, and the read head of the first encoder 2215 can read the position of the code disk on the fixed flange 2217. Optionally, the first encoder 2215 is a high-resolution encoder.

[0092] like Figure 6 As shown, the first output component 2211 extends to the fixed flange 2217 and is indirectly connected to the fixed flange 2217 via the second support bearing 2219 and the first encoder 2215, providing rotational support for the first output component 2211 and ensuring its smooth rotation. Optionally, the rotary motor 2213, the first brake 2214, and the first encoder 2215 need to be placed coaxially to ensure the normal rotation of all components.

[0093] Optionally, the first rotating assembly 221 further includes a cable holder 2210, which is located above the first encoder 2215, and the first output member 2211 has a hollow structure. The cable from the previous structure passes through the inner hole of the first output member 2211 (e.g., ...). Figure 6 (As shown by the dashed line), constrained by the cable bracket 2210, the cable passes through a through hole in the first mounting housing 2212 to the next structure. The cable passes through each joint of the first positioning structure 100 and through each positioning robotic arm 220 of the second positioning structure 200, enabling power and communication for the positioning robotic arms 220, and then connects to the operating device 20, enabling power and communication for the operating device 20, as shown by the dashed line. Figure 13 As shown.

[0094] Optionally, the first support bearing 2216 and the second support bearing 2219 are cross-roller bearings, or other types of peripheral bearings. During active positioning, the first rotating assembly 221 needs to drive the positioning robot arm 220 to move the operating device 20, and its load has the characteristics of large driving inertia and large bending moment. Therefore, the first rotating assembly 221 adopts a compact arrangement of the first brake 2214, the rotary motor 2213, the cross-roller bearing, and the high-resolution encoder, which achieves structural miniaturization while enabling the joint where the first rotating assembly 221 is located to have high-precision movement and position holding.

[0095] See Figure 1 , Figure 4 , Figure 7 and Figure 8 In one embodiment, the first linear motion component 222 is a low-reduction-ratio transmission structure. The transmission structure in the first linear motion component 222 is a chain drive, belt drive, or rope drive. The low-reduction-ratio first linear motion component 222 can achieve reverse-drive motion, has high transmission stiffness, and provides high-precision position feedback, thus achieving accurate position control. Its structure is described in detail below:

[0096] See Figure 1 , Figure 4 , Figure 7 and Figure 8 In one embodiment, the first linear motion component 222 includes a second mounting housing 2221 and a transmission group 2222, a drive group 2223 and a first encoding group disposed in the second mounting housing 2221. The drive group 2223 is connected to the transmission group 2222 and drives the transmission group 2222 to move. The transmission group 2222 is connected to the second rotating component 223 and drives the second rotating component 223 to move.

[0097] The first mounting housing 2212 is mounted on one end of the second mounting housing 2221. The first mounting housing 2212 houses the transmission assembly 2222, the drive assembly 2223, and the first encoding group. The first rotating assembly 221 drives the second linear motion assembly 224 to rotate through the connection between the first mounting housing 2212 and the second mounting housing 2221. The drive assembly 2223 is connected to the transmission assembly 2222, enabling the drive assembly 2222 to move, thus causing the transmission assembly 2222 to output linear motion. The transmission assembly 2222 is connected to the third mounting housing 2232 of the second rotating assembly 223. When the drive assembly 2223 drives the transmission assembly 2222, the transmission assembly 2222 can drive the third mounting housing 2232 to perform linear motion, thereby driving the third rotating assembly 223 to move. The first encoding group is used to detect the position of the third mounting housing 2232 and the output motion of the drive assembly 2223.

[0098] Optionally, the drive group 2223 includes a drive motor 22231, which connects to the transmission group 2222 and drives the transmission group 2222 to perform linear motion. Of course, the drive group 2223 also includes an adapter group, which connects the output end of the drive motor 22231 to the transmission group 2222. Optionally, the adapter group can be a synchronous belt 22234 structure, a gear structure, a sprocket structure, etc. For example, the adapter group is a belt drive structure, which includes a drive pulley 22232, a driven pulley 22233, and a synchronous belt 22234. The drive pulley 22232 is mounted on the output end of the drive motor 22231, the driven pulley 22233 is connected to the input end of the transmission group 2222, and the synchronous belt 22234 connects the drive pulley 22232 and the driven pulley 22233. The drive motor 22231 drives the transmission assembly 2222 to move through the cooperation of the drive wheel 22232, the timing belt 22234, and the driven wheel 22233. Optionally, the diameter of the drive wheel 22232 is smaller than the diameter of the driven wheel 22233. Optionally, the drive assembly 2223 also includes a tensioning component 22235, which is used to tension the timing belt 22234. The tension of the timing belt 22234 is achieved by adjusting its position with screws.

[0099] See Figure 1 , Figure 4 , Figure 7 and Figure 8 Optionally, the first linear motion component 222 includes a guide group 2225, which is disposed on the inner wall of the second mounting housing 2221 and connected to the transmission group 2222. The guide group 2225 guides the movement of the transmission group 2222, ensuring the accuracy of the linear motion trajectory output by the transmission group 2222, thereby ensuring the accurate movement of the second rotating component 223. Optionally, the guide group 2225 includes a guide rail 22251 and a slider 22252. The guide rail 22251 is disposed on the inner wall of the first mounting housing 2212, and the slider 22252 is slidably disposed on the guide rail 22251. The slider 22252 connects the transmission group 2222 and the third mounting housing 2232. Optionally, there are two guide rails 22251, and two sliders 22252 are slidably disposed on each guide rail 22251.

[0100] See Figure 1 , Figure 4 , Figure 7 and Figure 8Optionally, the encoding group includes a second encoder 2224 and a third encoder. The third encoder is integrated into the drive group 2223, and the second encoder 2224 is disposed on the second rotating assembly 223. The third encoder is integrated into the drive motor 22231, which detects the encoder value at the drive motor 22231. The scale of the second encoder 2224 is attached to the first mounting housing 2212, and the read head of the second encoder 2224 is fixed to the third mounting housing 2232 of the second rotating assembly 223. When the drive motor 22231 drives the transmission group 2222 to move the slider 22252 along the guide rail 22251, the second encoder 2224 can detect the position of the read head through the scale, and thus the second encoder 2224 can provide feedback on the absolute position of the second rotating assembly 223 relative to the second mounting housing 2221.

[0101] See Figure 1 , Figure 4 , Figure 7 and Figure 8 In one embodiment, the second rotating assembly 223 further includes a dustproof winder 2226, which is disposed in the second mounting housing 2221 and can abut against the outer wall of the third mounting housing 2232 to seal the second mounting housing 2221 and the third mounting housing 2232. The dustproof winder 2226 can extend or wind up, and its end is connected to the third mounting housing 2232. When the transmission assembly 2222 drives the second rotating assembly 223 to move, the third mounting housing 2232 can drive the partially wound portion of the dustproof winder 2226 to extend. During the movement of the second rotating assembly 223, the dustproof strip of the dustproof winder 2226 movably fits against the gap between the second rotating assembly 223 and the second mounting housing 2221.

[0102] In one embodiment, the transmission group 2222 is a structure capable of outputting linear motion, such as a chain drive, belt drive, or rope drive. Conventional linear motion structures use ball screw drives, which have advantages such as good transmission rigidity and high precision, but are difficult to reverse-drive motion. Therefore, the transmission group 2222 in this invention is a chain drive, belt drive, or rope drive, etc.

[0103] In this embodiment, the transmission group 2222 is a rope drive structure with a low reduction ratio, enabling reverse drive motion. Simultaneously, this transmission group 2222 has high transmission stiffness and uses a high-precision second encoder 2224 for position feedback, achieving accurate position control. The rope drive transmission group 2222 uses a multi-bundle steel wire rope drive, achieving compliant reverse drive while maintaining high transmission stiffness and operational position accuracy. The structure of the rope drive transmission group 2222 is as follows:

[0104] See Figure 1 , Figure 4 , Figure 7 and Figure 8 In one embodiment, the transmission assembly 2222 includes a plurality of tensioning wheels 22221, a wire harness 22222 and a pulley assembly. The tensioning wheels 22221 and the pulley assembly are disposed at both ends of the second mounting housing 2221 along its length. The wire harness 22222 is sleeved on the output end of the drive assembly 2223, the tensioning wheels 22221 and the pulley assembly, and the wire harness 22222 is connected to the second rotating assembly 223.

[0105] The driven wheels 22233 of the pulley block and drive group 2223 are located at both ends of the second mounting housing 2221. The wire harness 22222 passes around the driven wheels 22233 and the pulley block. Multiple tensioning wheels 22221 are arranged on the same side as the drive wheels 22232 to tension the wire harness 22222. The transmission group 2222 also includes two movable pulleys 22223. The wire harness 22222 is located after the driven wheels 22233 and the pulley block. The wire harness 22222 passes around the movable pulleys 22223 respectively. At this time, the two movable pulleys 22223 carry the wire harness 22222 and are arranged opposite each other to form the two output ends of the transmission group 2222. The two movable pulleys 22223 are respectively connected to two sliders 22252. When the drive motor 22231 drives the wire harness 22222 to rotate via the driven wheel 22233, the wire harness 22222 can drive the two movable pulleys 22223 to move, and then the two movable pulleys 22223 can drive the corresponding slider 22252 to move, so that the slider 22252 drives the second rotating component 223 to move.

[0106] Of course, in other embodiments of the present invention, the pulley block and driven wheel 22233 are disposed at both ends of the second mounting housing 2221. The wire harness 22222 passes around the driven wheel 22233 and the pulley block. Multiple tensioning wheels 22221 are disposed on the same side as the drive wheel 22232 for tensioning the wire harness 22222. The slider 22252 is directly connected to the wire harness 22222. Thus, when the drive motor 22231 drives the wire harness 22222 to rotate through the driven wheel 22233, the wire harness 22222 drives the two sliders 22252 to move, causing the sliders 22252 to drive the second rotating assembly 223 to move.

[0107] Optionally, the drive assembly 2223 further includes a motor connecting plate 22236, with the drive motor 22231, drive wheel 22232, and driven wheel 22233 respectively located on both sides of the motor connecting plate 22236. The tensioning wheel 22221 is located on the same side as the driven wheel 22233 and is used to tension the wire harness 22222. Optionally, the transmission assembly 2222 further includes a winding wheel, which is coaxially arranged with the driven wheel 22233. The winding wheel is used to wind the wire harness 22222, so that when the driven wheel 22233 rotates, it can drive the coaxial winding wheel to rotate synchronously, thereby driving the wire harness 22222 to rotate. Optionally, the drive assembly 2223 further includes a support shaft and a third brake. The third brake is coaxially arranged with the winding wheel and the driven wheel 22233. The winding wheel is mounted on the support shaft. The rotor of the third brake is mounted at one end of the support shaft, and the driven wheel 22233 is mounted at the other end of the support shaft. The support shaft is coupled to the motor connecting plate 22236 and the fixing plate of the third brake through bearings. Optionally, the drive assembly 2223 also includes a second driver, which is electrically connected to the drive motor 22231 and the external control device 60.

[0108] Tensioning pulleys 22221 are used to tension the wire harness 22222, ensuring the transmission effect of the transmission assembly 2222. Multiple tensioning pulleys 22221 can wind the wire harness 22222 separately. For example, there are five tensioning pulleys 22221, which are mounted on the motor connecting plate 22236 to tension the wire harness 22222. The tension of the wire harness 22222 can be adjusted by tightening the screws of the tensioning pulleys 22221 with a torque wrench. Optionally, the transmission assembly 2222 also includes a first idler pulley 22226 and a second idler pulley 22227. The first idler pulley 22226 is mounted on the motor connecting plate 22236, and the second idler pulley 22227 is mounted on a corresponding pulley group. The first idler pulley 22226 and the second idler pulley 22227 can limit the position of the wire harness 22222. Optionally, the pulley block includes a fixed pulley 22224 and a fixed wheel 22225, which are disposed on the inner wall of the second mounting housing 2221, and a movable pulley 22223 is disposed between the fixed pulley 22224 and the fixed wheel 22225.

[0109] Optionally, the transmission assembly 2222 further includes an adapter plate 22228, which connects the slider 22252 to the wire harness 22222 or the pulley block, and connects to the second rotating component 223. The adapter plate 22228 connects the movable pulley 22223 to the slider 22252, and connects to the third mounting housing 2232, so that when the wire harness 22222 moves, it can drive the second rotating component 223 to move via the movable pulley 22223, the slider 22252, and the adapter plate 22228. Optionally, there can be multiple wire harnesses 22222, arranged in parallel, which can enhance the rigidity of the transmission assembly 2222 and ensure its performance.

[0110] The cable harness 22222 of the cable drive assembly 2222 is fixed at one end to a fixed pulley 22225, passes through a movable pulley 22223, a fixed pulley 22224, and a second idler pulley 22227, then passes through a winding pulley and another movable pulley 22223, and is fixed to five tension pulleys 22221 via a first idler pulley 22226. The drive motor 22231 can rotate the drive wheel 22232, which in turn drives the driven wheel 22233 to rotate via a synchronous belt 2223451. Simultaneously, the rotation of the winding pulley causes the movable pulley 22223 on the cable harness 22222 to move in a specified direction. The movable pulley 22223 is connected to the second rotating assembly 223 via an adapter plate 22228 and a slider 22252.

[0111] See Figure 1 , Figure 4 , Figure 9 and Figure 10 In one embodiment, the second rotating component 223 adopts a joint drive module structure. That is, the drive module 2233 used by the second rotating component 223 is a general-purpose robot joint drive module, which improves joint response capability and reduces cost. Optionally, the first rotating member 120 and the second rotating member 140 may also adopt the aforementioned drive module 2233.

[0112] See Figure 1 , Figure 4 , Figure 9 and Figure 10 In one embodiment, the second rotating component 223 includes a second output component 2231, a third mounting housing 2232, and a drive module 2233 and a reducer 2234 disposed in the third mounting housing 2232. The reducer 2234 is mounted on the output end of the drive module 2233, and the second output component 2231 is mounted on the output end of the reducer 2234. The second output component 2231 is connected to the second linear motion component 224. At least two fourth encoders are integrated in the drive module 2233.

[0113] The drive module 2233 is installed in the third mounting housing 2232. A reducer 2234 is located at the end of the drive module 2233, and a second output component 2231 is installed at the output end of the reducer 2234. The third mounting housing 2232 is connected to the movable pulley 22223 and the slider 22252 via an adapter plate 22228, allowing the third mounting housing 2232 to move with the movement of the cable. The second output component 2231 is connected to the fourth mounting housing 2241 of the second linear motion assembly 224. The drive module 2233 reduces speed through the reducer 2234 and drives the second output component 2231 to rotate, which in turn drives the fourth mounting housing 2232 to rotate.

[0114] Optionally, the second output component 2231 may be an output flange or an output shaft, etc. Optionally, the second mounting housing 2221 may be cylindrical, and the longitudinal section of the second mounting housing 2221 may be square. Optionally, the second rotating assembly 223 may also include a third support bearing, which connects the third mounting housing 2232 and the reducer 2234. Optionally, the reducer 2234 may be a harmonic reducer 2234 or other type of reducer 2234. Optionally, the third support bearing may be a crossed roller bearing. The drive module 2233 is highly integrated with a fourth brake, a torque motor, and two fourth encoders. The drive module 2233 is hollow to facilitate cable routing. Optionally, the drive module 2233 integrates a third driver 222237, which is electrically connected to the torque motor and the external control device 60.

[0115] The two fourth encoders provide precise angle and deceleration feedback, with a speed of 90° / s. 2 The acceleration response capability. The encoding value of the fourth encoder located at the output end of the drive module 2233 is multiplied by the reduction ratio of the reducer 2234, and the difference is made with the value of the fourth encoder at the motor end. The difference is used to detect the magnitude of the force on the second rotating component 223.

[0116] See Figure 1 , Figure 4 , Figure 11 and Figure 12 In one embodiment, the second linear motion component 224 is a gravity balancing structure to balance most of the load weight. Here, the gravity balancing structure mainly performs load weight compensation and provides active motion.

[0117] See Figure 1 , Figure 4 , Figure 11 and Figure 12In one embodiment, the second linear motion component 224 includes a fourth mounting housing 2241, a gravity balance group 2242, a lifting group 2243, a lifting link 2244, a second brake 2245, a fifth encoder 2246, and a sixth encoder. The gravity balance group 2242 is disposed in the fourth mounting housing 2241, and the bottom of the gravity balance group 2242 is connected to the lifting link 2244. The lifting group 2243 is disposed in the fourth mounting housing 2241. The second brake 2245 is disposed in the gravity balance group 2242 and the lifting group 2243. The lifting group 2243 is connected to the lifting link 2244 and drives the lifting link 2244 to move up and down. The end of the lifting link 2244 is connected to the operating device 20. The fifth encoder 2246 is connected to the second brake 2245. The sixth encoder is integrated into the lifting group 2243.

[0118] The fourth mounting housing 2241 is the outer shell of the linear motion component, and is connected to the second output component 2231 of the second rotating component 223. The fourth mounting housing 2241 can rotate with the second output component 2231 to drive the second linear motion component 224 to rotate. The lifting link 2244 is movably mounted at the bottom of the fourth housing and can extend or retract into the fourth housing. The lifting of the lifting link 2244 is achieved through a lifting assembly 2243, which is disposed within the fourth mounting housing 2241 and connected to the lifting link 2244. When the lifting assembly 2243 moves, it drives the lifting link 2244 to rise or fall.

[0119] The gravity balancing assembly 2242 is used to balance the gravity of the lifting rod. This reduces wear and tear on the lifting assembly 2243 and the magnitude of its output force when the lifting assembly 2243 drives the lifting link 2244 in lifting motion. The second brake 2245 is located at the top of the lifting link 2244 and connected to the base of the gravity balancing assembly 2242. The second brake 2245 stops the gravity balancing assembly 2242 and fixes the position of the lifting link 2244. The sixth encoder is integrated into the lifting assembly 2243 and is used to detect the encoded value at the motor output of the lifting assembly 2243. The fifth encoder 2246 is coaxially arranged with the second brake 2245 and is used to detect the position difference of the lifting link 2244 at different times to calculate the force on the second linear motion component 224.

[0120] See Figure 1 , Figure 4 , Figure 11 and Figure 12In one embodiment, the gravity balance assembly 2242 includes a constant force elastic member 22421, a winding member 22422, and a mounting plate 22423. The lower part of the mounting plate 22423 is connected to the lifting link 2244. The winding member 22422 and the second brake 2245 are mounted on the upper part of the mounting plate 22423. One end of the constant force elastic member 22421 is fixed to the top of the fourth mounting housing 2241, and the other end can be wound around the winding member 22422.

[0121] The top of the constant force elastic element 22421 is mounted to the top of the fourth mounting housing 2241, and the constant force elastic element 22421 is wound and mounted on the mounting plate 22423. The bottom of the mounting plate 22423 is mounted on the lifting link 2244. The elastic force of the constant force elastic element 22421 can counteract part of the gravity. When subjected to an external force, the lifting link 2244 can be raised or lowered in the direction of the external force by the automatic rotation of the constant force elastic element 22421. Furthermore, the gravity of the lifting link 2244 can cause the constant force elastic element 22421 to extend. The constant force elastic element 22421 is wound on the winding member 22422. The rotor of the second brake 2245 is coaxially arranged with the fifth encoder 2246 and connected to the constant force elastic element 22421. When the second brake 2245 applies pressure, its rotor cannot rotate, preventing the constant force elastic element 22421 from automatically rotating and releasing, thus preventing the lifting linkage 2244 from rotating. The second brake 2245 is used to brake the constant force elastic element 22421.

[0122] Optionally, the gravity balance assembly 2242 further includes a fixing block 22424, which is disposed on top of the fourth mounting housing 2241 and is used to connect the constant force elastic element 22421. Optionally, the constant force elastic element 22421 is a constant force coiled spring or other coilable elastic element. Since the constant force elastic element 22421 balances most of the load weight, the lifting assembly 2243 here mainly performs load weight compensation and provides active movement.

[0123] Optionally, the second linear motion component 224 further includes a guide rail 2247, and a groove is provided on the outer wall of the lifting link 2244. The groove cooperates with the guide rail 2247 to guide the lifting movement of the lifting link 2244. Optionally, there are two guide rails 2247, and the two guide rails 2247 are correspondingly arranged with the groove. Of course, in other embodiments of this invention, a sliding block can also be provided on the guide rail 2247, and the sliding block is fixed to the outer wall of the lifting link 2244.

[0124] See Figure 1 , Figure 4 , Figure 11 and Figure 12In one embodiment, the lifting assembly 2243 includes a lifting motor 22431, a motor mounting plate 22432, a transmission belt assembly 22433, and a mounting assembly 22434. The motor mounting plate 22432 is mounted to the top of the fourth mounting housing 2241, the lifting motor 22431 is mounted to the motor mounting plate 22432, and the transmission belt assembly 22433 is mounted to the fourth mounting housing 2241. The output end of the lifting motor 22431 is connected to one end of the transmission belt assembly 22433, and the other end of the transmission belt assembly 22433 extends to the bottom of the fourth mounting housing 2241. The mounting assembly 22434 is mounted to the transmission belt assembly 22433 and connected to the lifting linkage 2244. Thus, when the lifting motor 22431 drives the transmission belt assembly 22433 to rotate, the transmission belt assembly 22433 drives the lifting linkage 2244 to rise and fall via the mounting assembly 22434. A sixth encoder is integrated into the output end of the lifting motor 22431. Optionally, the lifting assembly 2243 includes a fourth drive, which is connected to an external control device 60 and electrically connected to the lifting motor 22431.

[0125] Optionally, the transmission belt assembly 22433 can be a belt drive structure, a chain drive structure, or a rope drive structure. If the transmission belt assembly 22433 is a rope drive structure, it includes a first pulley 224331, a second pulley 224333, and a transmission rope 224332. The first pulley 224331 is mounted to the output end of the motor, and the second pulley 224333 is rotatably mounted to the bottom of the fourth mounting housing 2241. The transmission rope 224332 drivesly connects the first pulley 224331 and the second pulley 224333. The mounting assembly 22434 is mounted onto the transmission rope 224332.

[0126] Optionally, the mounting assembly 22434 includes a fifth brake 224346, a support plate 224341, a tensioning block 224342, a guide wheel 224343, a rope winding wheel 224344, and an adapter block 224345. The adapter block 224345 is disposed on the support plate 224341 and is used to fix the transmission rope 224332 to the support plate 224341. Optionally, the adapter block 224345 fixes the two ends of the two transmission ropes 224332 to the support plate 224341. The tensioning block 224342 is disposed on the support plate 224341 and is movably disposed relative to the adapter block 224345 for tensioning the transmission ropes 224332. The guide wheel 224343 is rotatably disposed on the support plate 224341 for guiding the movement of the transmission ropes 224332. The support plate 224341 is used to mount the stator of the fifth brake 224346, and the winding pulley 224344 is coaxially arranged with the rotor of the fifth brake 224346. The fifth brake 224346 is used to brake the lifting motor 22431.

[0127] One end of the transmission rope 224332 is secured to the tensioning block 224342, passes over the first pulley 224331, through the guide wheel 224343, then over the winding wheel 224344, and through the guide wheel 224343 again, passing over the second pulley 224333, and finally secured to the adapter block 224345. When the lifting motor 22431 drives the first pulley 224331 to rotate, the first pulley 224331 drives the transmission rope 224332 to rotate, which in turn drives the support plate 224341 to move, and then drives the mounting plate 22423 and the lifting linkage 2244 to perform lifting and lowering movements through the support plate 224341.

[0128] See Figure 1 and Figure 13 The positioning robotic arm 220 of this invention adopts a series power supply and communication link. All control commands are responded to by the corresponding components controlled by the drivers of each joint. The first rotary component 221 provides position feedback through a single absolute encoder, namely the first encoder 2215. The second linear motion component 224 provides speed feedback through a third encoder integrated in the drive motor 22231, and position feedback through the second encoder 2224. The two fourth encoders in the second rotary component 223 are both absolute encoders, capable of providing both speed and position feedback. The sixth encoder integrated in the lifting motor 22431 in the second linear motion component 224 provides speed feedback, and the fifth encoder 2246 provides position feedback. The second brake 2245 and the fifth brake 224346 are redundantly configured.

[0129] The positioning device 10 of the present invention achieves the positioning of the operating device 20 through multiple positioning robotic arms 220 of the first positioning structure 100 and the second positioning structure 200. Through the driver and encoder of each joint in the positioning robotic arm 220, it can achieve both active positioning and passive, compliant drag positioning of the positioning robotic arm 220, resulting in fast response and smooth movement. Furthermore, the positioning device 10 has a compact structure, high rigidity, small backlash, and high positioning accuracy.

[0130] The positioning device 10 of the present invention has two positioning methods: an active positioning method and a drag positioning method. Both positioning methods can realize the positioning of the operating device 20. The two positioning methods are described below.

[0131] like Figure 14 As shown in (a), the present invention also provides a placement method applicable to the placement device 10 in any embodiment. The placement method includes the following steps:

[0132] Obtain the target position of the operating device 20;

[0133] Perform inverse kinematics of multiple swing manipulators 220 of the second swing structure 200 to obtain control commands for multiple swing manipulators 220;

[0134] Perform forward kinematics on multiple positioning robotic arms 220 and check the interference between them.

[0135] If there is no interference, control commands are sent to multiple positioning robotic arms 220;

[0136] Multiple positioning robotic arms 220 move according to corresponding control commands;

[0137] The positioning robotic arm 220 drives the operating device 20 to move to the target position, completing the positioning operation.

[0138] The aforementioned positioning method is an active positioning method. Active positioning enables rapid deployment and retraction; combined with visual positioning, it allows for automatic positioning; and it can also optimize the positioning posture, improving intraoperative positioning efficiency. The control method is as follows: First, the control device 60 acquires the desired pose of the target (i.e., the telecentric point) of the operating device 20. Then, it performs inverse kinematics of the positioning robot arm 220, optimizing constraints such as positioning posture and distance between adjacent arms to find the optimal set of joint position values. Next, in a simulation environment, the positioning robot arm 220 undergoes structural interference and motion control command checks. After confirmation, the commands are sent to the actuators of each joint, which control the movements of each joint of the positioning robot arm 220. Finally, the control device 60 confirms the completion of the positioning. The entire positioning process is fast, stable, safe, and requires no manual secondary adjustments.

[0139] like Figure 14 As shown in (b), the present invention also provides a placement method applied to the placement device 10 of any of the above embodiments. The placement method includes the following steps:

[0140] Press the enable button on the positioning robotic arm 220;

[0141] Each robotic arm 220 is unlocked and enters follow mode;

[0142] Periodically acquire the position difference of each joint in the positioning robotic arm 220;

[0143] Compare the position differences and joint thresholds of each joint of the positioning robotic arm 220;

[0144] If the position difference is less than or equal to the joint threshold, continue to obtain the feedback difference;

[0145] If the position difference is greater than the joint threshold, a motion command is generated to control the joint movement of the positioning robotic arm 220.

[0146] Continue until the placement process is complete.

[0147] The aforementioned positioning method involves passive positioning. An enable button is set on a joint of the positioning robotic arm 220, which unlocks the arm, allowing the user to manually drag its position. Specifically, the drag positioning function is activated by pressing the enable switch on the robotic arm 220. During drag positioning, the first encoder 2215 of the first rotary component 221, a high-resolution encoder, indirectly detects the force on the joint by recording the position difference at different times. The second linear motion component 224 indirectly detects the force on the joint through the second encoder 2224. The second rotary component 223 multiplies the output encoder value by the reduction ratio of the reducer and calculates the difference with the motor encoder value; this difference is used to detect the force on the joint. The fourth linear motion component detects the force through the difference in values ​​from the fifth encoder 2246 at different times. When the position difference is greater than the preset threshold, it means that the joint is being dragged by an external force. At this time, the position difference between the two is eliminated by the action of the motor end, which realizes the assistance of dragging, and thus realizes the dragging and positioning of the positioning robot arm.

[0148] The specific drag-and-place control process is as follows: Figure 14 (b) shows that the joint threshold Pj is a preset displacement value for the corresponding joint. In each time cycle T, the joint response is controlled by comparing the position difference Δp of each joint with the joint threshold Pj. In the next cycle, if Δp > Pj for joint j, joint j begins stepping motion, the direction determined by the sign of Δp, and the step size is Δp. After the motion is complete, the comparison between Δp and Pj is repeated, and the cycle continues. If Δp < Pj, the comparison between the position difference Δp of each joint and the joint threshold Pj is repeated.

[0149] The robot's velocity Jacobian matrix is: V=J(q)dθ / dt(1)

[0150] We can obtain: dX=J(q)dθ(2)

[0151] Here, dX = [px,py,pz,0,0,φz] and dθ = [dq1,dp2,dq3,dp4]. Let px,py,pz, and φz be the minimum drag amounts in sequence, and use formula (2) to calculate dq1,dp2,dq3, anddp4 respectively, which are the joint thresholds Pj. This value is the theoretical threshold. In order to improve the drag accuracy and compliance, the joint threshold Pj can also be obtained by calibration. That is, apply the minimum drag displacement / angle at the target position (x,y,z) of the operating device 20 and in the z-axis direction, read the position difference of each joint encoder, and select the maximum value as the joint threshold Pj. Similarly, given the drag speed of the target position of the operating device 20, the speed of the stepping motion is obtained by formula (1).

[0152] The present invention also provides a surgical robot, including a trolley base 50, an operating device 20, and a positioning device 10 of any of the above embodiments; a first positioning structure 100 of the positioning device 10 is mounted on the trolley base 50, the operating device 20 is mounted on the end of the second positioning structure 200 of the positioning device 10, and the operating device 20 carries the operating instrument 40.

[0153] The trolley base 50 is supported by four wheels. The first two wheels are power-assisted wheels, providing power for the movement of the surgical robot, while the two rear wheels are passive omnidirectional wheels, providing steering functionality. The bottom of the lifting component 110 of the first positioning structure 100 is mounted on top of the trolley base 50. The trolley base drives the positioning device 10 to move, and an operating device 20 is installed at the end of the positioning device 10. The operating device 20 clamps the operating instrument 40, realizing the surgical function of the surgical robot.

[0154] In the preoperative preparation stage, a sterile cover is first fitted to the operating device 20. Then, the surgical robot is moved to a suitable position near the bed 300. Next, the end of the operating device 20 is moved near the trocar by the positioning device 10 to achieve trocar docking. Finally, the instruments and endoscope are manually installed onto the operating device 20, and the surgery is prepared. The positioning device 10 of this invention has a simple control method and can be inherited as a functional unit into the surgical robot.

[0155] It is worth noting that the aforementioned positioning device 10 is used, but not limited to, surgical robots, and can also be applied to other equipment or fields that require active positioning. Moreover, the structure and implementation of each joint of the positioning robotic arm 220 are not limited to the field of surgical robots, and the positioning method of the positioning device 10 can also be used, but not limited to, the field of surgical robots.

[0156] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0157] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A positioning device (10) for a surgical robot, characterized in that, include: First placement structure (100); The second positioning structure (200) includes a suspension link (210) and multiple positioning robotic arms (220). Operating device (20); One end of each of the multiple positioning robotic arms is rotatably connected to the first positioning structure (100) via a suspension link (210), and the other end is equipped with an operating device (20). A control device (60) is used to control the first placement structure (100) and the second placement structure (200) to drive the operating device (20) to move autonomously; The positioning robotic arm (220) includes four joints, each of which includes multiple rotating components and multiple linear motion components. The multiple rotating components and multiple linear motion components are connected in series. The four joints are a first rotating component (221), a second rotating component (223), a first linear motion component (222), and a second linear motion component (224). The first positioning structure (100) can drive the second positioning structure (200) to move, so as to achieve coarse alignment between the operating device (20) at the end of the second positioning structure (200) and the lesion area; the second positioning structure (200) can drive the operating device (20) to perform lifting, translation and rotation movements, so that the operating device (20) can be aligned with the puncture card, which facilitates its docking with the puncture card; The first linear motion component (222) is a transmission structure with a low reduction ratio. The transmission structure in the first linear motion component (222) is a chain drive structure, a belt drive structure, or a rope drive structure. The first linear motion component (222) includes a second mounting housing (2221) and a transmission group (2222) and a drive group (2223) disposed in the second mounting housing (2221). The drive group (2223) is connected to the transmission group (2222) and drives the transmission group (2222) to move. The transmission group (2222) is connected to the second rotating component (223) and drives the second rotating component (223) to move.

2. The placement device (10) according to claim 1, characterized in that, The four joint components are connected in series to the suspension link (210) and the operating device (20). Each joint component is equipped with a driving device for driving the joint component to drive the operating device (20) to move autonomously.

3. The placement device (10) according to claim 2, characterized in that, The suspension link (210) and the operating device (20) are connected in series via the first rotating component (221), the first linear motion component (222), the second rotating component (223), and the second linear motion component (224).

4. The placement device (10) according to claim 3, characterized in that, The first rotating assembly (221) includes a first output component (2211), a first mounting housing (2212), and a rotary motor (2213), a first brake (2214), and a first encoder (2215) disposed on the first mounting housing (2212). The first mounting housing (2212) is mounted on the first linear motion assembly (222). The first brake (2214) is disposed at the end of the rotary motor (2213). The first encoder (2215) is electrically connected to the rotary motor (2213). The first output component (2211) is mounted on the output end of the rotary motor (2213). The first output component (2211) is connected to the suspension link (210).

5. The placement device (10) according to claim 3, characterized in that, When the transmission group (2222) is a rope transmission structure, the transmission group (2222) achieves transmission through multiple parallel wire harnesses (22222).

6. The placement device (10) according to claim 3, characterized in that, The second rotating component (223) adopts the structure of a joint drive module, and the output end of the second rotating component (223) is connected to the second linear motion component (224).

7. The placement device (10) according to claim 3, characterized in that, The second linear motion component (224) is a gravity balance structure; The second linear motion assembly (224) includes a fourth mounting housing (2241), a gravity balance group (2242), a lifting group (2243), and a lifting link (2244). The gravity balance group (2242) is disposed in the fourth mounting housing (2241), and the bottom of the gravity balance group (2242) is connected to the lifting link (2244). The lifting group (2243) is disposed in the fourth mounting housing (2241), and the lifting group (2243) is connected to the lifting link (2244) and drives the lifting link (2244) to rise and fall. The end of the lifting link (2244) is connected to the operating device (20).

8. A placement method, characterized in that, Applied to the placement device (10) according to any one of claims 1 to 7, the placement method includes the following steps: Obtain the target position of the operating device (20); Perform inverse kinematics of multiple swing manipulators (220) of the second swing structure (200) to obtain control commands for multiple swing manipulators (220); Perform forward kinematics on multiple positioning robotic arms (220) and check the interference of multiple positioning robotic arms (220); If there is no interference, the control command is sent to the multiple positioning robotic arms (220). The plurality of said positioning robotic arms (220) move according to the corresponding control commands; The positioning robotic arm (220) drives the operating device (20) to move to the target position and complete the positioning operation.

9. A placement method, characterized in that, Applied to the placement device (10) according to any one of claims 1 to 7, the placement method includes the following steps: Press the enable button on the positioning robotic arm (220); Each of the aforementioned positioning robotic arms (220) is unlocked, and each of the aforementioned positioning robotic arms (220) enters follow mode; The position difference of each joint in the positioning robot arm (220) is periodically obtained; Compare the position differences and joint thresholds of each joint of the positioning robotic arm (220); If the position difference is less than or equal to the joint threshold, continue to obtain the position difference; If the position difference is greater than the joint threshold, a motion command is generated to control the joint movement of the positioning robotic arm (220); Continue until the placement process is complete.

10. A surgical robot, characterized in that, It includes a trolley base (50), an operating device (40), and a positioning device (10) as described in any one of claims 1 to 7. The first positioning structure (100) of the positioning device (10) is installed on the trolley base (50), and the operating device (20) of the positioning device carries the operating instrument (40).

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