The end of the robotic arm and the surgical robot

Abstract

The present invention discloses an end of a robotic arm, comprising: a holding end for holding an actuator or an instrument; a docking body for connecting to the robotic arm, and at least one of a translation device, a rotation device, and a pitching device for driving the holding end to translate, rotate, and pitch respectively is used to connect between the holding end and the docking body. By integrating N degrees of freedom at the end, the present invention can reduce the applicable requirements of the medical robot for the robotic arm, greatly reduce the volume after the robotic arm and the end of the robotic arm are assembled, and increase the flexibility of the operation of the robotic arm. In addition, since the end of the robotic arm can adjust its position within a small volume range, the risk of accidental contact of the end of the robotic arm with the patient during the operation can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an end of a robotic arm and a surgical robot. Background Art

[0002] In modern medicine, more and more automated devices are applied to clinical practice, such as puncture surgical robots, orthopedic surgical robots, etc. Taking the puncture surgical robot as an example, when performing puncture, it is necessary to clarify the puncture pose, including six degrees of freedom of x, y, z, α, β, and γ. Therefore, in the clinical application of existing surgical robots, a six-degree-of-freedom robotic arm is mostly used to dock the end of the robotic arm to position the instrument or actuator, such as CN206612845U and CN209059429U. However, the six-degree-of-freedom robotic arm still has many drawbacks. Since it uses a multi-axis robotic arm with six degrees of freedom, the required positioning and stretching space is relatively large, and the space amplitude required in the longitudinal direction of the human body is relatively large, which poses spatial requirements for the puncture mechanical positioning and execution. Moreover, there is a risk of accidental collision during the telescopic positioning of the robotic arm. Summary of the Invention

[0003] Object of the Invention: Aiming at the above problems, the present invention provides an end of a robotic arm and a surgical robot, which can effectively reduce the movement space required for the positioning of a six-degree-of-freedom robotic arm when used in conjunction with a low-dimensional robotic arm.

[0004] Technical Solution:

[0005] The end of the robotic arm includes: a holding end for holding an actuator or an instrument; a docking body for connecting to the robotic arm, and the holding end and the docking body are connected by at least one of a translation device, a rotation device, and a pitching device respectively used to drive the holding end to translate, rotate, and pitch.

[0006] The translation device includes a first base and a first driving component, and the first driving component is used to drive the first base to translate relative to the docking body.

[0007] The first driving component includes a first driving motor fixed on the first base, a lead screw, and a guide rail parallel to the lead screw. The docking body is threadedly connected to the lead screw and simultaneously slidably mounted on the guide rail, and the first driving motor drives the lead screw through a first transmission member.

[0008] A limiting device is further provided at the end of the guide rail on the first base.

[0009] The limiting device adopts a proximity switch or a proximity sensor.

[0010] The rotating device includes a second base, a second driving component, and a rotating body; the second driving component is arranged inside the second base, and the rotating body is arranged at the output end of the second driving component; the second driving component includes a second driving motor and a second transmission member, and the second driving motor drives the rotating body to rotate through the second transmission member.

[0011] The rotating body is one of a hollow cylinder, a U-shaped arc plate, or two rigid plates that are centrosymmetric.

[0012] The pitching device includes a third driving component and a pitching body, the pitching body is rotatably fixed at the end of the rotating body, and the output end of the third driving component, the output end of the second driving component, and the rotating body are coaxial.

[0013] The third driving component includes a third driving motor fixedly installed inside the second base, a rotating shaft that is concentric with the rotating body and penetrates through the rotating body, a first bevel gear fixed at the end of the rotating shaft, and a second bevel gear fixed on the pitching body. The third driving motor drives the rotating shaft to rotate through a third transmission member, and the first bevel gear meshes with the second bevel gear.

[0014] The pitching body is rotatably installed at the end of the rotating body through a rotating shaft, and the second bevel gear is fixedly installed on the rotating shaft. The second bevel gear and the pitching body are respectively located inside and outside the rotating body.

[0015] The pitching body adopts a U-shaped structure. The end of the rotating body includes two centrosymmetric ears, and both ends of the pitching body are rotatably connected to the ears through the rotating shaft.

[0016] An encoder is provided on the side of the first bevel gear or the second bevel gear.

[0017] The translation device, the rotating device, and the pitching device all include driving motors, and each of the driving motors is coplanar and arranged side by side inside the second base.

[0018] The transmission member adopts gear meshing transmission or synchronous pulley transmission. The synchronous pulley includes a driving wheel, a driven wheel, and a synchronous belt.

[0019] An encoder is provided on the side of the driving wheel or the driven wheel.

[0020] A braking member is provided on the side of the driving wheel or the driven wheel.

[0021] A surgical robot includes a robotic arm, an actuator or an instrument, and the end of the aforementioned robotic arm. The robotic arm is connected to the docking body, and the actuator or the instrument is held on the holding end.

[0022] The degree of freedom of the end of the robotic arm plus the degree of freedom of the robotic arm is greater than or equal to six.

[0023] The actuator is a puncture actuator, and the instrument is a guiding sleeve or a puncture needle.

[0024] Beneficial effects: The end of the robotic arm and the surgical robot provided by the present invention can reduce the applicable requirements of the robotic arm for the robotic arm by integrating N degrees of freedom at the end. Taking the end of a three-degree-of-freedom robotic arm as an example, only a robotic arm with three or more degrees of freedom needs to be adapted. Compared with the traditional six-degree-of-freedom robotic arm, the volume after assembling the robotic arm and the end of the robotic arm is greatly reduced, and it can be reduced by nearly 1 / 2; and the flexibility of the robotic arm operation becomes higher. After the N-degree-of-freedom robotic arm end is adapted to the 6-N-degree-of-freedom robotic arm, the corresponding control logic is superimposed to perform rough positioning with the large-volume 6-N-degree-of-freedom robotic arm, and then the small-volume N-degree-of-freedom robotic arm end is used for fine end positioning. Since the end position and the robotic arm support platform position are uniquely determined during the operation, and the volume of the N-degree-of-freedom robotic arm end is precise and small, compared with the traditional six-degree-of-freedom robotic arm, the space between the original end position and the robotic arm support position, which was originally used to accommodate the movement of six arms, becomes basically only used to accommodate the movement of 6-N arms, so that the dead point positions of the movements of each robotic arm are reduced, and therefore the flexibility of the robotic arm operation is greatly increased; in addition, since the N-degree-of-freedom robotic arm end can adjust the end N-degree-of-freedom position within a small volume range, the risk of accidental contact between the end of the robotic arm and the patient during the operation can be reduced. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of the end of a three-degree-of-freedom robotic arm;

[0026] Figure 2 It is a schematic structural diagram of the translation device;

[0027] Figure 3 It is a schematic side semi-anatomical structural diagram of the rotating device and the pitching device;

[0028] Figure 4 It is a schematic three-dimensional semi-anatomical structural diagram of the rotating device and the pitching device;

[0029] Figure 5 It is a schematic structural diagram of the third driving component.

[0030] Among them: 1. Translation base, 2. Rotation base, 3. First driving component, 4. Robotic arm docking body, 5. Second driving component, 6. Rotating body, 7. Third driving component, 8. Pitching body;

[0031] Px is the translational motion, Pα is the rotational motion, P β is the pitching motion;

[0032] 31. First driving motor, 32. First driving pulley, 33. First driven pulley, 34. First synchronous belt, 35. Lead screw, 36. Guide rail, 37. Proximity sensor, 38. First encoder;

[0033] 51. Second driving motor, 52. Second driving pulley, 53. Second driven pulley, 54. Second synchronous belt, 55. Rotary brake, 56. Second encoder;

[0034] 71. Third driving motor, 72. Third driving pulley, 73. Third driven pulley, 74. Third synchronous belt, 75. Rotary shaft, 76. First bevel gear, 77. Second bevel gear, 78. Pitching brake, 79. Third encoder;

[0035] 81. Rotating shaft. Detailed implementation mode

[0036] The present invention will be further clarified below in conjunction with the drawings and specific embodiments.

[0037] Figure 1 The present invention provides a three-degree-of-freedom robotic arm end, the structure of which is as Figure 1 shown. The three-degree-of-freedom robotic arm end provided by the present invention includes a robotic arm docking body 4, a translation device, a rotation device, a pitching device, and a holding end (not shown in the figure); the translation device is used to realize the Px drive of the pitching body 8, the rotation device is used to realize the Pα drive of the pitching body 8, and the pitching device is used to realize the P β drive. The robotic arm docking body 4 is used to dock with the robotic arm; the pitching body 8 docks an actuator or instrument through the holding end. In the present invention, the pitching body 8 and the holding end can be integrally provided.

[0038] In the present invention, the robotic arm docking body 4 docks with the three-degree-of-freedom robotic arm. By combining with the three-degree-of-freedom robotic arm, six-degree-of-freedom positioning of the pitching body 8 on the three-degree-of-freedom robotic arm end can be realized, and further six-degree-of-freedom positioning of the actuator or instrument docked on the pitching body 8 through the holding end can be realized.

[0039] In the present invention, the translation device includes a translation base 1 and a first driving assembly 3; the robotic arm docking body 4 is slidably mounted on the translation base 1 through the first driving assembly 3.

[0040] In the present invention, the rotation device includes a rotation base 2, a rotating body 6, and a second driving assembly 5; the rotating body 6 is rotatably mounted on the rotation base 2 through the second driving assembly 5.

[0041] In the present invention, the pitching device includes a pitching body 8 and a third driving assembly 7. The pitching body 8 is rotatably installed at the end of the rotating body 6, and the pitching axis of the pitching body 8 is vertically crossed with the rotating axis of the rotating body 6. The pitching body 8 is driven to pitch by the third driving assembly 7 installed on the rotating base 2 and passing through the center of the rotating body 6.

[0042] In the present invention, the rotating base 2 is fixed to the end of the translation base 1. Further, the translation base 1 and the rotating base 2 are vertically and cooperatively installed; however, the present invention is not limited thereto. According to the actual degree-of-freedom requirements, the installation angle between the translation base 1 and the rotating base 2 can be set as required. More specifically, the translation base 1 and the rotating base 2 are rigidly connected in an L shape by screws.

[0043] In the present invention, the first driving assembly 3 is as Figure 2 shown, installed on the translation base 1. The first driving assembly 3 includes a first driving motor 31 fixedly installed below the translation base 1, a lead screw 35 that is rotationally matched with the first driving motor 31 through a first transmission member, and a guide rail 36 disposed on the translation base 1 and parallel to the lead screw 35. The robotic arm docking body 4 is threadedly matched with the lead screw 35 and simultaneously slidably installed on the guide rail 36. Through this design, it can be ensured that the translational movement (Px) of the translation base 1 relative to the robotic arm docking body 4 is more stable.

[0044] Further, there are two guide rails, disposed on both sides of the lead screw 35 on the translation base 1, further ensuring the smoothness of the translational operation of the translation base 1.

[0045] In the present invention, the first transmission member can adopt gear meshing transmission, or can adopt the method as Figure 2 shown, that is, synchronous pulley transmission. That is, the first transmission member includes a first driving pulley 32 fixedly connected to the motor shaft of the first driving motor 31 and disposed below the translation base 1, a first driven pulley 33 installed above the translation base 1, and a first synchronous belt 34 wound between the two. Among them, the first driving pulley 32 and the first driven pulley 33 are respectively located on different sides of the translation base 1, which is beneficial to reducing the volume of the translation device and hiding the first driving motor 31 in the rotating base 2.

[0046] In the present invention, the first driving motor 31 can also be fixedly installed at the upper end of the translation base 1, and the output end is connected to the lead screw 35 through a coupling.

[0047] A limiting device is further installed at the end of the guide rail 36 on the translation base 1. The limiting device can specifically be a proximity sensing member 37, used to limit the translational position of the translation base 1 relative to the robotic arm docking body 4. Further, the proximity sensing member 37 adopts a proximity sensor or a proximity switch.

[0048] Further, a first encoder 38 is also cooperatively installed on the first driving wheel 32 or the first driven wheel 33 to obtain the rotation angle of the first driving wheel 32 or the first driven wheel 33, so as to obtain the movement position of the robotic arm docking body 4 on the lead screw 35, and further obtain the translation position of the translation base 1 relative to the robotic arm docking body 4; in the present invention, the first encoder 38 is fixedly installed on the side of the first driven wheel 33.

[0049] Referring to Figure 3 、 4 , the second driving assembly 5 includes a second driving motor 51 and a second transmission member. The second driving motor 51 is fixedly installed below the first driving motor 31 in the rotating base 2 and drives the rotating body 6 to rotate through the second transmission member to achieve a rotational movement (Pα).

[0050] In the present invention, the second transmission member can adopt a gear meshing transmission or can adopt the manner as shown in Figure 3 、 4 , that is, adopt a synchronous pulley. That is, the second transmission member includes a second driving wheel 52 fixedly connected to the motor shaft of the second driving motor 51, a second driven wheel 53 provided at the end in the rotating base 2, and a second synchronous belt 54 wound between the two to achieve the transmission between the two. The rotating body 6 is fixed to the side of the second driven wheel 53 and is driven by the second driven wheel 53 to rotate synchronously; further, the central axis of the rotating body 6 passes through the center of the second driven wheel 53.

[0051] In the present invention, a second encoder 56 is fixedly installed on the side of the second driven wheel 53 to obtain the rotation angle of the second driven wheel 53, so as to obtain the rotation position of the rotating body 6.

[0052] A rotation brake member 55 is also installed at the motor shaft of the second driving motor 51 for power-off self-locking to prevent uncontrollable phenomena of the medical execution instrument caused by system power-off. The rotation brake member 55 is preferably an electromagnetic power-off brake.

[0053] Referring to Figure 1 、 3 、4, 5, the third driving assembly 7 is installed in the rotating base 2 and includes a third driving motor 71 fixedly installed in the rotating base 2 between the second driving motor 51 and the second driven wheel 53, a rotating shaft 75 concentric with the second driven wheel 53 and passing through the second driven wheel 53, a third transmission member connecting the third driving motor 71 and the rotating shaft 75, a first bevel gear 76 fixed to the end of the rotating shaft 75, and a second bevel gear 77 fixed to the pitching body 8; the third driving motor 71 drives the rotating shaft 75 to rotate through the third transmission member, and the first bevel gear 76 is fixedly connected to the output end of the rotating shaft 75; the part of the rotating shaft 75 extending out of the second driven wheel 53 and the first bevel gear 76 are both located in the rotating body 6; the pitching body 8 is rotatably installed at the end of the rotating body 6 to achieve a pitching movement (Pβ ) Specifically, the pitching body 8 is rotatably mounted at the end of the rotating body 6 through rotating shafts 81 fixedly installed on both sides thereof.

[0054] In the present invention, the rotating body 6 can be one of a hollow cylinder or two centrally symmetric rigid plates; when it is a hollow cylinder, one end thereof is fixedly connected to the side surface of the second driven wheel 53, and the other end extends in its axial direction to form two centrally symmetric ears, and both sides of the docking end 8 are rotatably mounted to the two ears through the rotating shafts 81 respectively.

[0055] In the present invention, the structure of the pitching body 8 can also adopt a U-shaped structure, and both ends thereof are respectively rotatably connected to the end side of the rotating body 6.

[0056] A second bevel gear 77 meshing with the first bevel gear 76 is also fixedly installed on the rotating shaft 81. The rotating shaft 81 passes through the side wall of the rotating body 6. The second bevel gear 77 and the pitching body 8 are respectively located inside and outside the rotating body 6, and the second bevel gear 77 and the first bevel gear 76 are internally meshed inside the rotating body 6. In the present invention, the second bevel gear 77 can be arranged on only one side of either side of the pitching body 8, or the second bevel gear 77 can be arranged on both sides thereof. Arranging on both sides can improve the stability of the pitching drive of the pitching body 8.

[0057] In this embodiment, the third driving motor 71 drives the rotating shaft 75 to rotate, and then the rotational motion of the rotating shaft 75 is converted into the pitching motion of the pitching body 8 through the meshing cooperation between the first bevel gear 76 and the second bevel gear 77, so as to realize the pitching drive control of the pitching body 8. Since the driven driving part of the third driving assembly 7 and the driven driving part of the second driving assembly 5 are concentrically arranged, the installation space of the pitching device is greatly reduced, creating favorable conditions for the realization of the end of the micro three-degree-of-freedom robotic arm. There is no need to additionally arrange a pitching base, and only a small rotating base 2 can accommodate and install both the second driving assembly for realizing the rotational drive of the pitching body 8 and the third driving assembly for realizing the pitching drive of the pitching body 8.

[0058] In the present invention, the third transmission member includes a third driving wheel 72 fixedly installed on the motor shaft of the third driving motor 71, a third driven wheel 73 fixedly connected to the end of the rotating shaft 75, and a third synchronous belt 74 wound around the two. In the present invention, the third driven wheel 73 and the first bevel gear 76 are respectively fixedly installed at both ends of the rotating shaft 75.

[0059] In the present invention, a third encoder 79 for collecting the motion position of the second bevel gear 77 is further provided at one end of the second bevel gear 77, so that the pitching angle of the pitching body 8 can be collected and controlled.

[0060] In the present invention, a pitching brake member 78 is also fixedly installed inside the rotating base 2 on the side of the rotating shaft 75. The pitching brake member 78 is similar in function to the aforementioned rotating brake member 56.

[0061] In the present invention, as Figure 3 shown, the axes of the first driving motor 31, the second driving motor 51, and the third driving motor 71 are arranged in parallel on a plane and are all located inside the rotating base 2, which can improve the integration degree of the end of the three-degree-of-freedom robotic arm; the first driving assembly, the second driving assembly, and the third driving assembly are arranged side by side, and the second driving assembly and the third driving assembly are nested, which can minimize the volume required for the rotating base and can accommodate the first driving assembly partially and the second driving assembly and the third driving assembly entirely in the short and straight rotating base 2, which is beneficial to reducing the height and width of the rotating base 2 and thus effectively reducing the volume of the end of the three-degree-of-freedom robotic arm.

[0062] The working principle of the present invention is as follows:

[0063] The robotic arm docking body 4 at the end of the three-degree-of-freedom robotic arm of the present invention is docked with the three-degree-of-freedom robotic arm, and the pitching body 8 serves to hold the end or fixedly connect the actuator or instrument through holding the end.

[0064] For the translational drive of the pitching body 8, that is, the Px drive as Figure 1 shown:

[0065] When the controller receives the translational signal, by controlling the first driving motor 31, the first driving wheel 32 installed on the motor shaft of the first driving motor 31 drives the first driven wheel 33 to rotate through the first synchronous belt 34, and then drives the lead screw 35 to rotate, thereby driving the robotic arm docking body 4 installed in cooperation with it to slide on the guide rail 36, so that the translational base 1 makes a translational movement relative to the robotic arm docking body 4. Since the robotic arm docking body 4 is fixedly connected to the robotic arm and the translational base 1 is connected to the pitching body 8 through the rotating base 2, that is, the translational operation of the pitching body 8 relative to the robotic arm docking point is realized;

[0066] For the rotational drive of the pitching body 8, that is, the Pα drive as Figure 1 shown:

[0067] When the controller receives the rotational signal, by controlling the second driving motor 51, the second driving wheel 52 installed on the motor shaft of the second driving motor 51 drives the second driven wheel 53 to rotate through the second synchronous belt 54, and then drives the rotating body 6 fixedly connected to the second driven wheel 53 to rotate. Since the end of the rotating body 6 is connected to the pitching body 8, the rotational operation of the pitching body 8 is realized.

[0068] At this time, since the rotation of the rotating body 6 will drive the second bevel gear 77 to crawl on the first bevel gear 71 (i.e., the second bevel gear revolves around the central axis of the first bevel gear), and the action of the teeth of the first bevel gear forces the second bevel gear 77 to rotate (i.e., the second bevel gear rotates around its own central axis), so it will drive the pitching body 8 to have unnecessary pitching motion relative to the rotating body 6. To eliminate this unnecessary pitching motion, while the controller controls the rotating body 6 to drive the pitching body 8 to rotate, the controller controls the third driving motor 71 to rotate in the reverse direction, driving the rotating shaft 75 to rotate in the reverse direction, and then driving the first bevel gear 71 to rotate in the reverse direction, which can offset the self-rotation of the second bevel gear 77 caused by the crawling of the second bevel gear 77 on the first bevel gear 71, and then eliminate the unnecessary pitching that occurs when controlling the rotation of the pitching body 8, so that the pitching angular displacement is always zero during the process of rotating the pitching body 8.

[0069] The pitching drive of the pitching body 8, that is, as Figure 1 shown in P β Drive:

[0070] After the rotational motion is in place, the controller controls the rotation of the motor shaft of the third driving motor 71 according to the pitching motion signal. The third driving wheel 72 installed on the motor shaft of the third driving motor 71 drives the third driven wheel 73 to rotate through the third synchronous belt 74, and then drives the rotating shaft 75 fixedly connected to the third driven wheel 73 to rotate. Then, the first bevel gear 76 fixedly installed at the end of the rotating shaft 75 rotates, thereby driving the second bevel gear 77 meshing with the first bevel gear 76 to rotate, and then driving the pitching body 8 to pitch at the end of the rotating body 6, so as to realize the pitching operation of the pitching body 8.

[0071] The above translational drive, rotational drive, and pitching drive control of the pitching body 8 can realize the three-degree-of-freedom positioning of the pitching body 8 in x, α, and β. Since the pitching body 8 holds the end effector or instrument, that is, the three-degree-of-freedom positioning of the effector or instrument is realized.

[0072] Since the robotic arm docking body 4 at the end of the three-degree-of-freedom robotic arm of the present invention docks with the three-degree-of-freedom robotic arm, and the three-degree-of-freedom robotic arm docking at the end of the three-degree-of-freedom robotic arm of the present invention can perform the positioning of the remaining three degrees of freedom y, z, and γ, so the six-degree-of-freedom positioning of the actuator in x, y, z, α, β, and γ can be realized.

[0073] The present invention also provides an end of an N-degree-of-freedom robotic arm, where N is an integer and 0 < N ≤ 3. The end of the N-degree-of-freedom robotic arm of the present invention is not limited to three degrees of freedom, and at least one or more of the three degrees of freedom x (translation), α (rotation), and β (pitching) can be freely selected or combined through design.

[0074] In the present invention, further, the default translation device, that is, the end of the N-degree-of-freedom robotic arm only includes a rotation device, a pitching device, and a robotic arm docking body 4 to form the end of a two-degree-of-freedom robotic arm. The robotic arm docking body 4 is fixedly arranged at the top of the rotation base 2; it can drive and control the pitching body 8 for α (rotation) and β (pitching). The robotic arm docking body 4 is connected to a four-degree-of-freedom robotic arm, and can also achieve six-degree-of-freedom positioning of the x, y, z, α, β, and γ of the actuator or instrument.

[0075] In the present invention, further, the default translation device and pitching device are absent, that is, the end of the N-degree-of-freedom robotic arm only includes a rotation device and a robotic arm docking body 4 to form the end of a one-degree-of-freedom robotic arm. The robotic arm docking body 4 is fixed to the top of the rotation base 2, and the pitching body 8 is fixedly connected to the end of the rotating body 6. It can drive and control the pitching body 8 for α (rotation). The robotic arm docking body 4 is connected to a five-degree-of-freedom robotic arm, and can also achieve six-degree-of-freedom positioning of the x, y, z, α, β, and γ of the actuator.

[0076] In the present invention, further, the default pitching device is absent, that is, the end of the N-degree-of-freedom robotic arm only includes a translation device, a rotation device, and a robotic arm docking body 4 to form the end of a two-degree-of-freedom robotic arm. The pitching body 8 is fixedly connected to the end of the rotating body 6. It can drive and control the pitching body 8 for x (translation) and α (rotation). The robotic arm docking body 4 is connected to a four-degree-of-freedom robotic arm, and can also achieve six-degree-of-freedom positioning of the x, y, z, α, β, and γ of the actuator or instrument.

[0077] The present invention also provides a surgical robot, including the above-mentioned end of the N-degree-of-freedom robotic arm, a 6-N-degree-of-freedom robotic arm, and an actuator or instrument. The pitching body 8 at the end of the N-degree-of-freedom robotic arm holds the actuator or instrument through the holding end. The robotic arm docking body 4 on the N-degree-of-freedom robotic arm is docked with the 6-N-degree-of-freedom robotic arm; the actuator is a puncture actuator, such as a puncture pusher; the instrument can be a guiding sleeve, a puncture needle, etc.

[0078] When the surgical robot receives the target pose information of the actuator, it parses out the x', y', z', α', β', and γ' coordinates of the pitching body 8 through the controller, and controls the pitching body 8 to reach the x', y', z', α', β', and γ' coordinates by controlling the positioning of the robotic arm and the end of the N-degree-of-freedom robotic arm, so that the actuator or instrument can achieve the target pose, that is, the actuator or instrument reaches the target position and assumes the target pose.

[0079] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations (such as quantity, shape, position, etc.) can be made to the technical solutions of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. The end of a robotic arm, for a surgical robot, comprising: A holding end for holding an actuator or an instrument; a docking body for connecting to a robotic arm; characterized in that: the holding end and the docking body are connected by a translation device, a rotation device and a pitching device for driving the holding end to translate, rotate and pitch; The translation device includes a first base and a first driving assembly, and the first driving assembly is used to drive the first base to translate relative to the docking body; The rotation device includes a second base, a second driving assembly, and a rotating body; the second driving assembly is disposed inside the second base, and the rotating body is disposed at the output end of the second driving assembly; the second driving assembly includes a second driving motor and a second transmission member, and the second driving motor drives the rotating body to rotate through the second transmission member; The pitching device includes a third driving assembly and a pitching body, the pitching body is rotatably fixed to the end of the rotating body, the output end of the third driving assembly, the output end of the second driving assembly, and the rotating body are coaxial, the third driving assembly includes a third driving motor fixedly installed inside the second base, a rotating shaft concentric with the rotating body and passing through the rotating body, a first bevel gear fixed to the end of the rotating shaft, and a second bevel gear fixed to the pitching body, the third driving motor drives the rotating shaft to rotate through a third transmission member, and the first bevel gear meshes with the second bevel gear; The translation device, the rotation device, and the pitching device all include driving motors, and each of the driving motors is arranged side by side in the same plane inside the second base.

2. The end of the robotic arm according to claim 1, characterized in that: The first driving assembly includes a first driving motor fixed to the first base, a lead screw, and a guide rail parallel to the lead screw. The docking body is threadedly connected to the lead screw and simultaneously slidably installed on the guide rail, and the first driving motor drives the lead screw through a first transmission member.

3. The end of the robotic arm according to claim 2, characterized in that: A limiting device is further provided at the end of the guide rail on the first base.

4. The end of the robotic arm according to claim 3, characterized in that: The limiting device adopts a proximity switch or a proximity sensor.

5. The end of the robotic arm according to claim 1, characterized in that: The rotating body adopts one of a hollow cylinder, a U-shaped arc plate, or two rigid plates that are centrosymmetric.

6. The end of the robotic arm according to claim 1, characterized in that: The pitching body is rotatably installed at the end of the rotating body through a rotating shaft, and the second bevel gear is fixedly installed on the rotating shaft. The second bevel gear and the pitching body are respectively located inside and outside the rotating body.

7. The end of the robotic arm according to claim 6, wherein: The pitching body adopts a U-shaped structure, and the end of the rotating body includes two centrosymmetric ears. The two ends of the pitching body are rotatably connected to the ears through the rotating shaft.

8. The end of the robotic arm according to claim 1, characterized in that: An encoder is provided on the side of the first bevel gear or the second bevel gear.

9. The end of the robotic arm according to claim 1, characterized in that: Both the second transmission member and the third transmission member adopt gear meshing transmission or synchronous pulley transmission. The synchronous pulley includes a driving pulley, a driven pulley, and a synchronous belt.

10. The end of the robotic arm according to claim 9, characterized in that: An encoder is provided on the side of the driving pulley or the driven pulley.

11. The end of the robotic arm according to claim 9, characterized in that: A braking member is provided on the side of the driving pulley or the driven pulley.

12. A surgical robot, characterized in that: It includes a robotic arm, an actuator or an instrument, and the robotic arm end according to any one of claims 1 to 11. The robotic arm is connected to the docking body, and the actuator or the instrument is held on the holding end.

13. The surgical robot according to claim 12, characterized in that: The degree of freedom of the robotic arm end plus the degree of freedom of the robotic arm is greater than or equal to six.

14. The surgical robot according to claim 12, characterized in that: The actuator is a puncture actuator, and the instrument is a guiding sleeve or a puncture needle.

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