Main wrist, main operating equipment and surgical robot

Abstract

One embodiment of the present invention provides a master wrist, a main operating device, and a surgical robot. The master wrist includes: a handle; a first rod, rotatably connected to the handle around a first rotation axis via a first rotational joint; a second rod, rotatably connected to the first rod around a second rotation axis via a second rotational joint; and a third rod, rotatably connected to the second rod around a third rotation axis via a third rotational joint; wherein the third rotational joint is provided with a torque compensation mechanism around the third rotation axis to compensate for the torque generated by the handle, the first rod, and the second rod around the third rotation axis. The master wrist, main operating device, and surgical robot provided by the present invention achieve the effect of driving the rotational joint with a smaller driving force through torque compensation, effectively reducing the effect of terminal inertia and increasing force transparency.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a master hand wrist, a main operating device having the master hand wrist, and a surgical robot having the main operating device. Background Art

[0002] Minimally invasive surgery refers to a procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robotics have gradually matured and are widely used. Minimally invasive surgical robots typically include a master console and a slave operating device. The master console is used to send control commands to the slave operating device based on the doctor's operation to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master console and perform the corresponding surgical operation. The surgical instrument is connected to the drive device of the slave operating device and is used to perform the surgical operation. The end instrument of the surgical instrument includes an end effector for performing the surgical operation and a joint connected to the end effector that can move with multiple degrees of freedom.

[0004] During robotic surgery, doctors need to operate the Master Hand (MH) for a long time. The load on the traditional master hand's gimbal mechanism (Gimbal) increases toward the end, resulting in greater motor power required and low operating comfort for doctors. Summary of the Invention

[0005] Based on this, in order to solve the above technical problems, the present application provides a main hand wrist, a main operating device and a surgical robot.

[0006] A first aspect of an embodiment of the present application provides a main hand wrist, comprising a handle; a first rod, rotatably connected to the handle around a first rotation axis via a first rotation joint; a second rod, rotatably connected to the first rod around a second rotation axis via a second rotation joint; a third rod, rotatably connected to the second rod around a third rotation axis via a third rotation joint; wherein the third rotation joint is provided with a torque compensation mechanism around the third rotation axis to compensate for the torque generated by the handle, the first rod and the second rod around the third rotation axis.

[0007] In a specific embodiment, the third rotating joint includes a third rotating shaft arranged along the third rotating axis and a driving member installed on the third rotating shaft, one end of the third rotating shaft is fixedly connected to the second rod, and the other end of the third rotating shaft is rotatably connected to the third rod, and the driving member provides power to the third rotating shaft to rotate around the third rotating axis.

[0008] In a specific embodiment, the driving member includes a motor rotor and a motor stator. The motor rotor is fixed on the third rotating shaft, and the motor stator is coaxially arranged outside the motor rotor.

[0009] In a specific embodiment, the torque compensation mechanism includes a movable pulley, a first fixed pulley, a second fixed pulley, an elastic member and a rope. The movable pulley is eccentrically mounted on the third rotating shaft, the first fixed pulley is concentrically mounted on the third rotating shaft, and the second fixed pulley is concentrically mounted on a fixed shaft parallel to the third rotating shaft. One end of the rope is fixed relative to the third rod, and the other end is connected to one end of the elastic member after passing through the movable pulley, the first fixed pulley, and the second fixed pulley. The other end of the elastic member is fixed to the third rod.

[0010] In a specific embodiment, the fixed shaft is installed in the third rod and is located above the third rotating shaft, and the sliding parts of the movable pulley, the first fixed pulley, and the second fixed pulley have the same diameter.

[0011] In a specific embodiment, the torque compensation mechanism includes a guide member, which is fixed on the third rod and arranged between the rope from the second fixed pulley to the elastic member, and the rope is passed around the guide member so that the portion of the rope between the guide member and the elastic member is in the vertical direction.

[0012] In a specific embodiment, the elastic member is a tensile elastic member, and the initial length of the elastic member is determined by the torque balance achieved by the third rotating shaft at the initial position; the stiffness coefficient of the elastic member is determined according to the relationship between the rotation angle of the third rotating shaft relative to the third rod and the size of the compensation torque required to be provided.

[0013] In a specific embodiment, the first rotational joint includes a first rotational shaft arranged along the first rotational axis, a first driving member mounted on the first rotational shaft, one end of the first rotational shaft is fixedly connected to the handle, the other end of the first rotational shaft is rotationally connected to the first rod, and the first driving member provides power for the first rotational shaft to rotate around the first rotational axis; the second rotational joint includes a second rotational shaft arranged along the second rotational axis, a second driving member mounted on the second rotational shaft, one end of the second rotational shaft is fixedly connected to the first rod, the other end of the second rotational shaft is rotationally connected to the second rod, and the second driving member provides power for the second rotational shaft to rotate around the second rotational axis. In a specific embodiment, a torque compensation mechanism is provided in the first rotational joint and / or the second rotational joint.

[0014] The second aspect of an embodiment of the present application provides a main hand wrist, comprising: a handle; a first rod, rotatably connected to the handle through a first rotational joint around a first rotational axis; a second rod, rotatably connected to the first rod through a second rotational joint around a second rotational axis; a third rod, rotatably connected to the second rod through a third rotational joint around a third rotational axis; and at least one torque compensation mechanism to compensate for the torque generated by the handle, the first rod, the second rod and / or the third rod around the first rotational axis, the second rotational axis or the third rotational axis.

[0015] In a specific embodiment, the at least one torque compensation mechanism includes a torque compensation mechanism connected to the third rod, and configured to compensate for the torque generated by the handle, the first rod, and the second rod around the third rotation axis.

[0016] In a specific embodiment, the at least one torque compensation mechanism includes a plurality of torque compensation mechanisms.

[0017] The third aspect of the present application provides a main operating device, which includes a main control console, a master hand arm and the above-mentioned master hand wrist. The other end of the third rod is installed on the master hand arm through a fourth rotation joint. The main control console processes the input signals of the master hand arm and the master hand wrist.

[0018] A fourth aspect of the present application provides a surgical robot, which includes a slave operating device and the above-mentioned master operating device, and the slave operating device performs corresponding operations according to the instructions of the master control console.

[0019] The master hand wrist, main operating device and surgical robot of the present application have at least the following beneficial effects: the master hand wrist, main operating device and surgical robot provided by the present invention achieve the effect of rotating the joint with a smaller driving force in a torque compensation manner, effectively reducing the effect of terminal inertia and increasing force transparency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of a surgical robot according to an embodiment of the present application;

[0021] Figure 2 This is a schematic diagram of the three-dimensional structure of the wrist of a master hand according to an embodiment of the present application;

[0022] Figure 3 for Figure 2 Schematic diagram of the side view of the wrist of the main hand;

[0023] Figure 4 for Figure 2 Schematic diagram of the top view of the wrist of the main hand;

[0024] Figure 5For the Figure 4 Schematic diagram of the cross-sectional structure in the AA direction;

[0025] Figure 6 for Figure 2 Schematic diagram of the exploded structure of the main hand wrist from another angle;

[0026] Figure 7 for Figure 6 Schematic diagram of further decomposition of the main hand wrist;

[0027] Figure 8 for Figure 7 Schematic diagram of the enlarged assembly structure of the torque compensation mechanism;

[0028] Figure 9 for Figure 6 A schematic side view of the torque compensation mechanism in the first state after the second housing is removed from the wrist of the main hand;

[0029] Figure 10 for Figure 6 A schematic side view of the torque compensation mechanism in the second state after the second housing is removed from the wrist of the main hand;

[0030] Figure 11 for Figure 6 Schematic diagram of the side structure of the torque compensation mechanism in the third state after the second shell is removed from the main wrist.

[0031] The components in the figure are numbered as follows:

[0032] From the operating device 10 (including the robot arm 11, the instrument 12, and the instrument drive 13);

[0033] The main operating device 20 (including the main control console 21, the main hand arm 22, the main hand wrist 23; the first rod 231, the second rod 232, the third rod 233, the handle 234, the first rotation joint 235, the second rotation joint 236, the third rotation joint 237, the fourth rotation joint 238; the first rotation axis J1, the second rotation axis J2, the third rotation axis J3; the first shell 2331, the second shell 2332; the third rotation shaft 2371, the motor rotor 2372, the motor stator 2373, the movable pulley 2374, the first fixed pulley 2375, the second fixed pulley 2376, the guide member 2377, the elastic member 2378, and the rope 2379). DETAILED DESCRIPTION

[0034] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0035] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a central element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a central element at the same time. The so-called "engagement" herein refers to a connection in which two elements have power transmission. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the accompanying drawings. For example, if the device is flipped in the accompanying drawings, the elements or features described as being "below" or "beneath" other elements or features will be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0036] The terms "distal end" and "proximal end" as used herein are directional terms commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. "Coupled" as used herein can be broadly understood as any event in which two or more objects are connected in a manner that allows the absolutely coupled objects to operate together, such that there is no relative movement between the objects in at least one direction, such as a coupling of a protrusion and a groove, which can move relative to each other in the radial direction but not in the axial direction.

[0037] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument including an end effector, which may be a surgical tool for performing a surgical procedure, such as an electrocautery, a clamp, a stapler, a shears, an imaging device (such as an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the end effector so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, the end effector also includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system elements.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "and / or" and "and / or" as used herein include any and all combinations of one or more of the associated listed items.

[0039] The surgical robot of one embodiment of the present application is as follows Figure 1 As shown, the surgical robot includes a slave operating device 10 and a master operating device 20. The slave operating device 10 is located on the patient's side for performing surgical operations. The slave operating device 10 includes multiple robotic arms 11 and instruments 12 mounted on the robotic arms 11. The instruments 12 can be electric cauterizers, clamps, staplers, shears, etc. used to perform surgical operations, or cameras or other surgical instruments for acquiring images. The multiple instruments 12 are driven by corresponding instrument driving devices 13 and inserted into the patient's body through different incisions. The robotic arms 11 are configured to be supported by the support columns via multiple large arms. In other embodiments, the robotic arms 11 of the slave operating device 10 can also be mounted on a wall or ceiling.

[0040] The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system typically includes a device with a video image acquisition function (e.g., an instrument 12 with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument 12 with image acquisition function includes an optical device with one or more imaging sensors (e.g., a CCD or CMOS sensor) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument 12 with image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on a video display device.

[0041] The master operating device 20 is located on the operator's side. The master operating device 20 is used to send control commands to the slave operating device 10 and display images obtained from the slave operating device 10 according to the operator's operation. The operator can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the master-slave operating device 20. By observing the three-dimensional image inside the patient's body, the operator can control the slave operating device 10 to perform related operations (such as performing surgery or obtaining images inside the patient's body) by operating the master operating device 20 in an immersive feeling.

[0042] The master operating device 20 includes a main console 21, a master arm 22, and a master wrist 23. The main console 21 may include a display device, a control signal processing system, and an observation device. The display device is used to display the image captured by the imaging system, and the observation device is used to observe the image displayed by the display device. Depending on actual needs, the observation device can also be omitted, in which case direct observation can be performed. The operator controls the movement of the slave operating device 10 by operating the master arm 22 and master wrist 23. The control signal processing system of the main console 21 processes the input signals from the master arm 22 and master wrist 23 and then issues control commands to the slave operating device 10. The slave operating device 10 is used to respond to the control commands sent by the main console 21 and perform corresponding operations.

[0043] Specifically, a posture mapping control is established between the master arm 22 and the master wrist 23 and the robotic arm 11 and the instrument of the slave operating device 10 through the master operating device 20. This mapping can correspond to a position relationship, and the position relationship can be a relationship of proportional distance, corresponding distance trend, etc. Alternatively, this mapping can be a motion relationship correspondence, which can be a motion posture correspondence, a motion trend correspondence, etc. Thus, the operator can control the instrument 12 to perform corresponding actions (such as pitch, yaw, roll, clamping, etc.) when operating the master arm 22 and the master wrist 23. The master arm 22 and the master wrist 23 can be directly set on the main control console 21, or, in other embodiments, the master arm 22 and the master wrist 23 can also be set separately from the main control console 21.

[0044] Please refer to Figures 2 to 4 The master wrist 23 has multiple degrees of freedom, generally including at least three. The master wrist 23 includes a first rod 231, a second rod 232, a third rod 233, a handle 234, a first revolute joint 235, a second revolute joint 236, a third revolute joint 237, and a fourth revolute joint 238. The handle 234 is mounted to one end of the first rod 231 via the first revolute joint 235. The other end of the first rod 231 is mounted to one end of the second rod 232 via the second revolute joint 236. The other end of the second rod 232 is mounted to one end of the third rod 233 via the third revolute joint 237. The other end of the third rod 233 is mounted to the master arm 22 via the fourth revolute joint 238.

[0045] The handle 234 is rotationally connected to the first rod 231 via a first revolute joint 235, thereby enabling the handle 234 to rotate about the first rotation axis J1 of the first revolute joint 235. The first rod 231 is rotationally connected to the second rod 232 via a second revolute joint 236, thereby enabling the first rod 231 to rotate about the second rotation axis J2 of the second revolute joint 236. The second rod 232 is rotationally connected to the third rod 233 via a third revolute joint 237, thereby enabling the second rod 232 to rotate about the third rotation axis J3 of the third revolute joint 237. The third rod 233 is rotationally connected to the master arm 22 via a fourth revolute joint 238, thereby enabling the third rod 233 to rotate about the rotation axis of the fourth revolute joint 238.

[0046] In the illustrated embodiment, the rotation axes of the first, second, and third rotational joints 235, 236, and 237—the first, second, and third rotational axes J1, J2, and J3—intersect at a single point. The master wrist 23 employs a multi-axis intersecting-at-a-point design, which decouples the posture and position of the entire master hand, facilitating kinematic calculations.

[0047] In the illustrated embodiment, the first rod 231 , the second rod 232 , and the third rod 233 are L-shaped rods, each of which has two ends perpendicularly connected to each other, and both ends of each rod are connected to a rotation joint.

[0048] In the illustrated embodiment, the clamp (not marked) on the handle 234 can perform multiple degrees of freedom of movement through the handle 234, multiple rods (first rod 231, second rod 232, third rod 233) and multiple rotation joints (first rotation joint 235, second rotation joint 236, third rotation joint 237, fourth rotation joint 238); in other embodiments, the number of rods and rotation joints can be set according to the actual degrees of freedom of movement required by the clamp.

[0049] The master arm 22 has a mounting end and a connecting end. The mounting end can be fixedly connected to the support base of the main operating device 20. The master arm 22 has at least one degree of freedom of movement. The master wrist 23 is movably arranged at the connecting end of the master arm 22 through the fourth rotation joint 238. The master wrist 23 allows the operator to perform corresponding operations, such as rotation or clamping. After the opening and closing freedom movement of the clamp 210 relative to the handle 234 is mapped to the instrument 12, the opening and closing action of the end effector (such as clamping or shearing, etc.) can be controlled. After the rotational freedom movement of the clamp and / or handle 234 around the first rotation axis J1 of the first rotation joint 235 is mapped to the instrument 12, the rolling movement of the end effector of the instrument 12 can be controlled. In the above-mentioned main operating device 20, the master wrist 23 is installed on the master arm 22 to facilitate the operator to operate according to the actual working conditions.

[0050] Please refer to Figures 5 to 8 In one embodiment of the present invention, the third rotation joint 237 includes a third rotating shaft 2371, a motor rotor 2372, and a motor stator 2373. The third rotating shaft 2371 is arranged along the third rotation axis J3. One end of the third rotating shaft 2371 is fixedly connected to the second rod 232, and the other end of the third rotating shaft 2371 is rotatably mounted on the third rod 233 via a bearing or the like. The motor rotor 2372 is disposed on the third rotating shaft 2371, and the motor stator 2373 is in driving connection with the motor rotor 2372. The motor stator 2373 provides power to the motor rotor 2372, and the motor rotor 2372, driven by the power of the motor stator 2372, drives the third rotating shaft 2371 to rotate about the third rotation axis J3.

[0051] In the illustrated embodiment, the third rotating shaft 2371 is driven by a motor, with the motor's power transmitted to the third rotating shaft 2371 via the motor rotor 2372 and the motor stator 2373. It will be appreciated that in other embodiments, the third rotating shaft 2371 may utilize other power sources and transmission methods. Furthermore, the motor may be a coreless direct-drive motor to avoid issues such as backlash and transmission delay caused by a reducer.

[0052] At the same time, a torque compensation mechanism can be set at the rotating joints on the main hand arm 22 and / or the main hand wrist 23, or a torque compensation mechanism can be installed at the rotating joint (the fourth rotating joint 238) between the main hand arm 22 and the main hand wrist 23, which can effectively compensate / balance the joint gravity torque at the rotating joint due to the weight of the main hand arm 22 and / or the main hand wrist 23, thereby alleviating or avoiding the fatigue of the operator caused by long-term operation, and improving surgical efficiency and accuracy.

[0053] Optionally, the movement of the master arm 22 and / or the master wrist 23 can be translational, rotational, or other types of motion. Accordingly, the torque compensation mechanism also adapts to the type of movement of the master arm 22 and / or the master wrist 23. The following description uses the rotation of the internal joints of the master wrist 23 as an example. It is understood that when the master arm 22 and / or the master wrist 23 perform other types of motion, the torque compensation mechanism can be appropriately modified based on the form described in the following embodiments.

[0054] The torque compensation mechanism includes a movable pulley 2374, a first fixed pulley 2375, a second fixed pulley 2376, a guide member 2377, an elastic member 2378, and a rope 2379. The movable pulley 2374 is eccentrically mounted on the third rotating shaft 2371, the first fixed pulley 2375 is concentrically mounted on the third rotating shaft 2371, and the second fixed pulley 2376 is concentrically mounted on a fixed shaft (not shown) parallel to the third rotating shaft 2371. One end of the rope 2379 is fixed to the third rod 233, and the other end passes through the movable pulley 2374, the first fixed pulley 2375, and the second fixed pulley 2376, then passes through the guide member 2377 and connects to one end of the elastic member 2379. The other end of the elastic member 2379 is fixed to the third rod 233.

[0055] More specifically, the third rod 233 has a first housing 2331 and a second housing 2332. The third rotating shaft 2371, the motor rotor 2372, the motor stator 2373, and the torque balancing mechanism are all disposed within the space formed by the first housing 2331 and the second housing 2332, in a section near the third rotating joint 237. The fixed shaft on which the second fixed pulley 2376 is mounted is mounted within a section of the third rod 233 near the third rotating joint 237, and is located above the third rotating shaft 2371.

[0056] The distance between the axis of movable pulley 2374 and the axis of first fixed pulley 2375 is fixed, that is, the eccentricity of movable pulley 2374 relative to the third rotation axis J3 is fixed and determined by the length of the mounting arm of movable pulley 2374. The distance between the axis of second fixed pulley 2376 and the axis of first movable pulley 2375 is fixed, that is, the distance between the fixed axis and third rotating shaft 2371. The distance between the axis of movable pulley 2374 and the axis of second fixed pulley 2376 is variable and determined by the angle of movable pulley 2374 relative to the third rotation axis J3. As movable pulley 2374 rotates with third rotating shaft 2371, its angle relative to the third rotation axis J3 is the rotation angle of third rotating shaft 2371, which is also the rotation angle of second rod 232 relative to third rod 233. In the illustrated embodiment, the diameters of the rotating parts of the movable pulley 2374, the first fixed pulley 2375, and the second fixed pulley 2376 are equal, which facilitates the operation of the torque compensation mechanism and the setting of data parameters.

[0057] In the illustrated embodiment, one end of rope 2379 is fixed to a fixed shaft on which second fixed pulley 2376 is mounted. More specifically, one end of rope 2379 is fixed to a pulley on the fixed shaft, the diameter of which is equal to the diameter of rope 2379 wound around second fixed pulley 2376. To ensure operational reliability, rope 2379 can be made of a highly wear-resistant, constant-length rope, such as a steel wire rope.

[0058] The guide member 2377 is fixed in the third rod 233 and is arranged between the rope 2379 from the second fixed pulley 2376 to the elastic member 2378. The rope 2379 passes around the guide member 2377 so that the part of the rope between the guide member 2377 and the elastic member 2378 is in the vertical direction, so that the elastic member 2378 exerts a pulling force on the rope 2378 in the vertical direction.

[0059] Elastic member 2378 provides tension to one end of rope 2379. In the illustrated embodiment, elastic member 2378 is a tension spring, one end of which is connected and fixed to the bottom of third rod 233. Tension springs have the advantages of simple structure, long life, light weight, and stable elastic force. They can effectively balance the gravitational torque of second rod 232 without significantly increasing the structural complexity or overall weight of third rotational joint 237. It will be understood that the torque compensation mechanism balances the gravitational force exerted on third rotational joint 237 in the master wrist 23 through the elastic force of the elastic member. In other embodiments, rubber, elastic rope, or the like can replace the tension spring. In still other embodiments, elastic member 2378 can be replaced with a linear motor that pulls rope 2379 to dynamically adjust the torque balance.

[0060] Please refer to Figures 9 to 11 Since the load borne by the third rotating shaft 2371 is a fixed value, the initial stretching amount (initial length) of the elastic member 2378 can be set according to the size of the compensation torque required to be provided to the third rotating shaft 2371 at the initial position (zero position) to balance the gravity. The stretching length of the elastic member 2378 changes with the distance from the axis of the movable pulley 2374 to the axis of the second fixed pulley 2376, that is, with the angle of the movable pulley 2374 relative to the third rotation axis J3 (such as Figures 9 to 11 By selecting the stiffness coefficient K of the elastic member 2378, the compensation torque provided by the elastic member 2378 and the torque of the load acting on the third rotating shaft 2371 are balanced.

[0061] like Figure 9As shown in the figure, the movable pulley 2374 is located directly below the first movable pulley 2375, and the first movable pulley 2375, the movable pulley 2374 and the second fixed pulley 2376 form a straight line in the vertical direction, that is, the line connecting the axis of the movable pulley 2374 and the third rotation axis J3 is 0° (zero point position) relative to the line connecting the axes of the first fixed pulley 2375 and the second fixed pulley 2376.

[0062] like Figure 10 As shown in FIG, the movable pulley 2374 is relatively Figure 9 The zero point position shown in the figure is rotated 30° clockwise around the third rotation axis J3, and the movable pulley 2374 is located at the lower left of the first movable pulley 2375. That is, the line connecting the axis of the movable pulley 2374 and the third rotation axis J3 forms an angle of 30° (in the clockwise direction) with respect to the line connecting the axis of the first fixed pulley 2375 and the second fixed pulley 2376.

[0063] like Figure 11 As shown in FIG, the movable pulley 2374 is relatively Figure 9 The zero point position shown in the figure is rotated 30° counterclockwise around the third rotation axis J3, and the movable pulley 2374 is located at the lower right of the first movable pulley 2375. That is, the line connecting the axis of the movable pulley 2374 and the third rotation axis J3 forms an angle of 30° (counterclockwise) with respect to the line connecting the axis of the first fixed pulley 2375 and the second fixed pulley 2376.

[0064] In other embodiments, the torque compensation mechanism may employ a crank connecting rod to replace the movable pulley 2374, the first fixed pulley 2375, and the second fixed pulley 2376. Specifically, in the torque compensation mechanism, one end of the crank is mounted on the third rotating shaft 2371, and the other end of the crank is connected to the elastic member 2378 via a connecting rod. As the crank rotates along with the third rotating shaft 2371, the tension of the elastic member 2378 varies with the position of the crank, thereby providing torque compensation.

[0065] It is understandable that since the third rotational joint 237 in the master wrist 23 bears the greatest load, the third rotational joint 237 is used as an example for the description. In other embodiments, in addition to the corresponding first and second drive members, the second rotational joint 236 and / or the first rotational joint 235 may also be provided with a torque compensation mechanism. That is, the first rotational joint 235 includes a first rotating shaft arranged along the first rotation axis J1 and a first drive member mounted on the first rotating shaft. One end of the first rotating shaft is fixedly connected to the handle 234, and the other end of the first rotating shaft is rotationally connected to the first rod 231. The first drive member provides power for the first rotating shaft to rotate about the first rotation axis. The second rotational joint 236 includes a second rotating shaft arranged along the second rotation axis J2 and a second drive member mounted on the second rotating shaft. One end of the second rotating shaft is fixedly connected to the first rod 231, and the other end of the second rotating shaft is rotationally connected to the second rod 232. The second drive member provides power for the second rotating shaft to rotate about the second rotation axis. The structures of the torque compensation mechanisms used in the second rotational joint 236 and the first rotational joint 235 are similar to those in the third rotational joint 237 and are not described again here.

[0066] The main wrist, main operating device and corresponding surgical robot provided by the present invention can achieve the effect of rotating the joint with a driving part with less power by force (torque) compensation, effectively reduce the effect of terminal inertia, increase force transparency, and can be easily operated even when the driving part is powered off, thereby alleviating or even avoiding fatigue of the doctor during the operation and ensuring the surgical effect.

[0067] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0068] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A master wrist, characterized in that: The master wrist comprises: handle; a first rod, connected to the handle via a first rotation joint and rotatably connected around a first rotation axis; a second rod, connected to the first rod for rotation about a second rotation axis via a second rotation joint; a third rod, rotatably connected to the second rod about a third rotation axis via a third rotation joint; The third rotation joint is provided with a torque compensation mechanism around the third rotation axis to compensate for the torque generated by the handle, the first rod and the second rod around the third rotation axis; The third rotation joint includes a third rotating shaft arranged along the third rotation axis, and a driving member installed on the third rotating shaft, one end of the third rotating shaft is fixedly connected to the second rod, the other end of the third rotating shaft is rotatably connected to the third rod, and the driving member provides power for the third rotating shaft to rotate around the third rotation axis; The torque compensation mechanism includes a movable pulley, a first fixed pulley, a second fixed pulley, an elastic member and a rope. The movable pulley is eccentrically mounted on the third rotating shaft, the first fixed pulley is concentrically mounted on the third rotating shaft, and the second fixed pulley is concentrically mounted on a fixed shaft parallel to the third rotating shaft. One end of the rope is fixed relative to the third rod, and the other end is connected to one end of the elastic member after passing through the movable pulley, the first fixed pulley, and the second fixed pulley. The other end of the elastic member is fixed to the third rod.

2. The master wrist according to claim 1, wherein: The driving component includes a motor rotor and a motor stator. The motor rotor is fixed on the third rotating shaft, and the motor stator is coaxially arranged outside the motor rotor.

3. The master wrist according to claim 1, wherein: The fixed shaft is installed in the third rod and is located above the third rotating shaft. The sliding parts of the movable pulley, the first fixed pulley, and the second fixed pulley have the same diameter.

4. The master wrist according to claim 1, wherein: The torque compensation mechanism includes a guide member, which is fixed on the third rod and arranged between the rope from the second fixed pulley to the elastic member. The rope passes around the guide member so that the portion of the rope between the guide member and the elastic member is in the vertical direction.

5. The master wrist according to claim 1, wherein: The elastic member is a tensile elastic member, and the initial length of the elastic member is determined by the torque balance achieved by the third rotating shaft at the initial position; the stiffness coefficient of the elastic member is determined according to the relationship between the rotation angle of the third rotating shaft relative to the third rod and the size of the compensation torque required to be provided.

6. The master wrist according to claim 1, wherein: The first rotation joint includes a first rotating shaft arranged along the first rotation axis and a first driving member installed on the first rotating shaft, one end of the first rotating shaft is fixedly connected to the handle, and the other end of the first rotating shaft is rotatably connected to the first rod, and the first driving member provides power for the first rotating shaft to rotate around the first rotation axis; the second rotation joint includes a second rotating shaft arranged along the second rotation axis and a second driving member installed on the second rotating shaft, one end of the second rotating shaft is fixedly connected to the first rod, and the other end of the second rotating shaft is rotatably connected to the second rod, and the second driving member provides power for the second rotating shaft to rotate around the second rotation axis.

7. The master wrist according to claim 6, wherein: A torque compensation mechanism is provided in the first rotation joint and / or the second rotation joint.

8. A master wrist, characterized in that: The master wrist comprises: handle; a first rod, connected to the handle via a first rotation joint and rotatably connected around a first rotation axis; a second rod, connected to the first rod for rotation about a second rotation axis via a second rotation joint; a third rod, rotatably connected to the second rod about a third rotation axis via a third rotation joint; at least one torque compensation mechanism for compensating for torque generated by the handle, the first rod, the second rod, and / or the third rod about the first rotation axis, the second rotation axis, or the third rotation axis; The at least one torque compensation mechanism includes one or more torque compensation mechanisms, which are connected to the third rod and are used to compensate for the torque generated by the handle, the first rod and the second rod around the third rotation axis; the third rotation joint includes a third rotating shaft arranged along the third rotation axis and a driving member installed on the third rotating shaft, one end of the third rotating shaft is fixedly connected to the second rod, and the other end of the third rotating shaft is rotatably connected to the third rod, and the driving member provides power to the third rotating shaft to rotate around the third rotation axis; the torque compensation mechanism includes a movable pulley, a first fixed pulley, a second fixed pulley, an elastic member and a rope, the movable pulley is eccentrically mounted on the third rotating shaft, the first fixed pulley is concentrically mounted on the third rotating shaft, and the second fixed pulley is concentrically mounted on a fixed shaft parallel to the third rotating shaft, one end of the rope is fixed relative to the third rod, and the other end is connected to one end of the elastic member after passing through the movable pulley, the first fixed pulley and the second fixed pulley, and the other end of the elastic member is fixed to the third rod.

9. A main operating device, characterized in that: The main operating device includes a main control console, a master hand arm and a master hand wrist as described in any one of claims 1-8, the other end of the third rod is installed on the master hand arm through a fourth rotation joint, and the main control console processes the input signals of the master hand arm and the master hand wrist.

10. A surgical robot, characterized in that: The surgical robot includes a slave operating device and the master operating device according to claim 9, and the slave operating device performs corresponding operations according to instructions of the master console.

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