A transmission mechanism for a surgical robot manipulator

Abstract

The present invention relates to a transmission mechanism for a robotic arm of a surgical robot, which includes a robotic arm rod. Fixed pulleys and tension pulleys are respectively provided at both ends of the robotic arm rod. The fixed pulley and the tension pulley are connected by a steel belt and a steel wire rope to achieve synchronous rotation. One end of the steel belt is pressed between an upper pressing block and a lower pressing block and fixed on the fixed pulley. One end of the steel wire rope is wound around the lower pressing block and buried in the fixed pulley. The other end of the steel belt is pressed between an upper pre-tightening block and a lower pre-tightening block. The other end of the steel wire rope is wound around the lower pre-tightening block and is tensioned by adjusting the lower pre-tightening block. A trigger switch is installed at the middle part of the robotic arm rod. The roller of the trigger switch is located in the middle of the steel wire rope during the normal operation of the steel belt and is pressed by the steel belt. The trigger switch is electrically connected to a control board. The present invention can still move normally when the steel belt breaks down, and can automatically detect whether the steel belt breaks and feedback signals, avoiding the risk of accidental movement of the robotic arm during the surgical process.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and specifically to a transmission mechanism for a robotic arm of a surgical robot. Background Art

[0002] Currently, the types of surgical robots in the world are becoming increasingly rich and are more and more commonly used in hospitals. Surgical robots usually have various robotic arms to achieve different surgical operations, and there are also different transmission methods for the rotational movements at both ends of the robotic arm rod. Among them, using a steel belt to connect the pulleys at both ends for power transmission is a relatively common method.

[0003] The existing steel belt transmission mechanism usually welds fixing blocks at both ends of the steel belt and pre-tightens the steel belt by tightening at both ends. Since the weld mainly bears shear force, and the yield limit of shear force is much smaller than that under tensile force, this causes the problem that the steel belt installed in this way is prone to breakage. To improve the reliability and service life of the steel belt, a method of using multiple layers of steel belts stacked together is also adopted. At this time, it is necessary to ensure that the pre-tightening force of each layer of steel belt is consistent, and the welding process at both ends of the steel belt is also relatively complex.

[0004] In addition, the above structures and methods usually cannot avoid the problem that the movement of the robotic arm suddenly gets out of control when the steel belt breaks accidentally, bringing greater risks to the surgical process. Therefore, if there is a mechanism that can still move normally when the steel belt breaks accidentally and fails, and can automatically detect whether the steel belt breaks and feedback signals, it can effectively avoid the risk of accidental movement of the robotic arm during the surgical process and greatly improve the reliability and safety of robotic surgery. Summary of the Invention

[0005] The purpose of the present invention is to solve the above deficiencies and provide a transmission mechanism for a robotic arm of a surgical robot, which can still move normally when the steel belt breaks accidentally and fails, and can automatically detect whether the steel belt breaks and feedback signals, thereby effectively avoiding the risk of accidental movement of the robotic arm during the surgical process and greatly improving the reliability and safety of robotic surgery.

[0006] To achieve the above object, a transmission mechanism for a robotic arm of a surgical robot is designed, including a robotic arm rod 1. Fixed pulleys 2 and tension pulleys 3 are respectively arranged at the left and right ends of the robotic arm rod 1. A steel belt 4 and a steel wire rope 5 are connected between the fixed pulley 2 and the tension pulley 3 to achieve synchronous rotation. One end of the steel belt 4 is pressed between an upper pressing block 9 and a lower pressing block 10 by a first screw 11 and fixed on the fixed pulley 2. One end of the steel wire rope 5 is wound around the lower pressing block 10 and embedded on the fixed pulley 2. The steel wire rope 5 is located inside the steel belt 4 and is arranged in parallel with the steel belt 4. The other end of the steel belt 4 is pressed between an upper pre-tightening block 12 and a lower pre-tightening block 13 by a second screw 14. The other end of the steel wire rope 5 is wound around the lower pre-tightening block 13. The steel belt 4 and the steel wire rope 5 are tensioned or relaxed by adjusting the lower pre-tightening block 13. A switch bracket 7 is installed in the middle part of the robotic arm rod 1. A trigger switch 6 is installed on the switch bracket 7. A roller is installed on the trigger switch 6. The roller of the trigger switch 6 is located in the middle of the steel wire rope 5 and is pressed by the steel belt 4 during the normal operation of the steel belt 4. The trigger switch 6 is connected to a control board 8 through a circuit.

[0007] Further, a groove 16 is arranged on the side surface of the lower pressing block 10. The steel wire rope 5 is an annular closed steel wire rope. One end of the steel wire rope 5 is wound in the groove 16 on the side of the lower pressing block 10, so that the installation of the end of the steel wire rope 5 is very convenient and the connection is more reliable.

[0008] Further, the contact surface between the upper pressing block 9 and the lower pressing block 10 is wavy, and the wavy contact surface is used to increase the pressing force.

[0009] Further, a pressing block installation groove 17 is dug on the fixed pulley 2. The longitudinal section of the pressing block installation groove 17 is trapezoidal. A first screw hole 18 for cooperating with the first screw 11 is arranged on the bottom surface of the pressing block installation groove 17. The upper pressing block 9 and the lower pressing block 10 are both placed in the pressing block installation groove 17 and fixed on the fixed pulley 2 by the first screw 11.

[0010] Further, a pre-tightening block installation groove 19 is dug on the tension pulley 3. The lower pre-tightening block 13 is placed in the pre-tightening block installation groove 19. A tension screw 15 is arranged on one side of the lower pre-tightening block 13. The tension screw 15 passes through a through hole 20 on the tension pulley 3. When the tension screw 15 is tightened or relaxed, the lower pre-tightening block 13 is pulled and the steel belt 4 and the steel wire rope 5 are tensioned or relaxed at the same time.

[0011] Further, a first steel wire groove 201 is arranged on the fixed pulley 2 along the circumferential direction. A second steel wire groove 301 is arranged on the tension pulley 3 along the circumferential direction. One end of the steel wire rope 5 is embedded in the first steel wire groove 201 on the fixed pulley 2. The other end of the steel wire rope 5 is embedded in the second steel wire groove 301 on the tension pulley 3.

[0012] Further, a trigger switch 6 is installed on each of the upper and lower sides of the switch bracket 7. A roller is installed above the trigger switch 6 on the upper side, and a roller is installed below the trigger switch 6 on the lower side. The rollers are respectively pressed by the steel belts 4 on the upper and lower sides when the steel belts 4 are working properly.

[0013] Compared with the prior art, the present invention has the following advantages:

[0014] (1) By pressing and fixing both ends of the steel belt, the stress at the end of the steel belt is tensile stress, avoiding the problem that the welded end is easily broken due to shear stress, and improving the reliability of robotic surgery;

[0015] (2) A spare steel wire rope is buried inside the steel belt, thus avoiding the risk of accidental movement of the mechanism caused by the breakage of the steel belt, and greatly improving the safety of robotic surgery;

[0016] (3) By adding a trigger switch, it can be used to monitor in real time whether the steel belt breaks or other abnormal situations occur, further improving the safety and convenience of the robotic surgery system;

[0017] In summary, the present invention provides a transmission mechanism for the robotic arm of a surgical robot, which can still move normally when the steel belt breaks accidentally, and can automatically detect whether the steel belt breaks and feedback signals, thereby effectively avoiding the risk of accidental movement of the robotic arm during the operation, and greatly improving the reliability and safety of robotic surgery, and is worthy of popularization and application. [Description of the Drawings]

[0018] Figure 1 is a schematic structural diagram of the present invention;

[0019] Figure 2 is an exploded view of one side of the present invention;

[0020] Figure 3 is an exploded view of the other side of the present invention;

[0021] Figure 4 is a partial enlarged view of the middle part of the present invention;

[0022] In the figure: 1, robotic arm rod; 2, fixed pulley; 3, tension pulley; 4, steel belt; 5, steel wire rope; 6, trigger switch; 7, switch bracket; 8, control board; 9, upper pressing block; 10, lower pressing block; 11, screw one; 12, upper pre-tightening block; 13, lower pre-tightening block; 14, screw two; 15, tension screw; 16, groove; 17, pressing block installation groove; 18, screw hole one; 19, pre-tightening block installation groove; 20, through hole; 201, steel wire groove one; 301, steel wire groove two. [Detailed Embodiments]

[0023] As shown in the appended Figure 1 to the appended Figure 4 As shown, the present invention provides a transmission mechanism for a robotic arm of a surgical robot, including a robotic arm rod 1. Fixed pulleys 2 and tension pulleys 3 are respectively arranged at the left and right ends of the robotic arm rod 1. A steel belt 4 and a steel wire rope 5 are connected between the fixed pulley 2 and the tension pulley 3 to achieve synchronous rotation; one end of the steel belt 4 is pressed between an upper pressing block 9 and a lower pressing block 10 by a first screw 11 and fixed on the fixed pulley 2. One end of the steel wire rope 5 is wound around the lower pressing block 10 and buried on the fixed pulley 2. The steel wire rope 5 is located inside the steel belt 4 and is arranged parallel to the steel belt 4; the other end of the steel belt 4 is pressed between an upper pre-tightening block 12 and a lower pre-tightening block 13 by a second screw 14. The other end of the steel wire rope 5 is wound around the lower pre-tightening block 13. The steel belt 4 and the steel wire rope 5 are tensioned or relaxed by adjusting the lower pre-tightening block 13; a switch bracket 7 is installed in the middle part of the robotic arm rod 1. A trigger switch 6 is installed on the switch bracket 7. A roller is installed on the trigger switch 6. The roller of the trigger switch 6 is located in the middle of the steel wire rope 5 and is pressed by the steel belt 4 during the normal operation of the steel belt 4. The trigger switch 6 is connected to a control board 8 through a circuit.

[0024] Wherein, the contact surface between the upper pressing block 9 and the lower pressing block 10 is wavy. The wavy contact surface is used to increase the pressing force; a groove 16 is arranged on the side surface of the lower pressing block 10. The steel wire rope 5 is an annular closed steel wire rope. One end of the steel wire rope 5 is wound in the groove 16 on the side of the lower pressing block 10, so that the installation of the end of the steel wire rope 5 is very convenient and the connection is more reliable. A pressing block installation groove 17 is dug on the fixed pulley 2. The longitudinal section of the pressing block installation groove 17 is trapezoidal. A first screw hole 18 for cooperating with the first screw 11 is arranged on the bottom surface of the pressing block installation groove 17. The upper pressing block 9 and the lower pressing block 10 are both placed in the pressing block installation groove 17 and fixed on the fixed pulley 2 by the first screw 11. A pre-tightening block installation groove 19 is dug on the tension pulley 3. The lower pre-tightening block 13 is placed in the pre-tightening block installation groove 19. A tension screw 15 is arranged on one side of the lower pre-tightening block 13. The tension screw 15 passes through a through hole 20 on the tension pulley 3. When the tension screw 15 is tightened or relaxed, the lower pre-tightening block 13 is pulled and the steel belt 4 and the steel wire rope 5 are tensioned or relaxed at the same time.

[0025] A first steel wire groove 201 is arranged on the fixed pulley 2 along the circumferential direction. A second steel wire groove 301 is arranged on the tension pulley 3 along the circumferential direction. One end of the steel wire rope 5 is buried in the first steel wire groove 201 on the fixed pulley 2. The other end of the steel wire rope 5 is buried in the second steel wire groove 301 on the tension pulley 3. One trigger switch 6 is installed on each of the upper and lower sides of the switch bracket 7. A roller is installed above the trigger switch 6 on the upper side. A roller is installed below the trigger switch 6 on the lower side. And the rollers are respectively pressed by the upper and lower steel belts 4 during the normal operation of the steel belt 4.

[0026] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0027] The present invention provides a transmission mechanism for a robotic arm. At both ends of the robotic arm rod 1, there are a fixed pulley 2 and a tension pulley 3 respectively. Between the fixed pulley 2 and the tension pulley 3, two upper and lower steel belts 4 and a steel wire rope 5 are connected to achieve synchronous rotation. One end of the steel belt 4 is pressed between the upper pressing block 9 and the lower pressing block 10 by a screw 11 and fixed on the pulley 2. The contact surface between the upper pressing block 9 and the lower pressing block 10 is wavy to increase the pressing force. One end of the steel wire rope 5 is wound in the groove on the side of the lower pressing block 10 and buried in the first steel wire groove 201 on the pulley 2, that is, located inside the steel belt 4 and arranged parallel to the steel belt 4.

[0028] The other side of the steel belt 4 is pressed between the upper pre-tightening block 12 and the lower pre-tightening block 13 by a screw 14. The other end of the steel wire rope 5 is wound around the lower pre-tightening block 13. When the tensioning screw 15 is tightened, the lower pre-tightening block 13 can be pulled and at the same time the steel belt 4 and the steel wire rope 5 are tensioned; by adjusting the length of the steel wire rope 5, when the steel belt is tensioned to an appropriate tightness, the steel wire rope is in a slightly looser state than the steel belt. In this way, it can be ensured that during the normal operation of the transmission mechanism of the present invention, the steel belt 4 mainly transmits motion and bears the force, while the steel wire rope 5 is in a standby state and moves synchronously with the steel belt.

[0029] In the middle part of the robotic arm rod 1, a switch bracket 7 is installed. On the upper and lower sides of the switch bracket 7, a trigger switch 6 is installed respectively. When the steel belt 4 is in a normal working state, the roller on the trigger switch 6 is in the middle of the steel wire rope 5 and is pressed by the steel belt 4, so as to transmit the signal of the normal working of the steel belt and feedback it to the control board 8. When the steel belt on any upper or lower side breaks, the robotic arm can continue to perform the established action under the action of the steel wire rope 5 and will not have accidental movement. At the same time, the trigger switch 6 on the broken side will no longer be in the state of being pressed and triggered due to the break of the steel belt 4, and will transmit the signal to the control board 8, so as to inform the control system that the steel belt at this position has broken and failed and needs to be replaced in time.

[0030] In summary, the present invention makes the stress at the end of the steel belt be tensile stress by pressing and fixing both ends of the steel belt, avoiding the problem that the welded end is easily broken due to shear stress, and improving the reliability of robotic surgery. At the same time, a standby steel wire rope is buried inside the steel belt, avoiding the risk of accidental movement of the mechanism caused by the break of the steel belt, and greatly improving the safety of robotic surgery. In addition, by adding a trigger switch, it can be monitored in real time whether the steel belt breaks or other abnormal situations occur, further improving the safety and convenience of the robotic surgery system.

[0031] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art. Standard parts used can be purchased from the market. Special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. Machinery, parts, and equipment all adopt conventional models in the prior art. Circuit connections adopt conventional connection methods in the prior art and will not be elaborated here.

[0032] The present invention is not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A transmission mechanism for a robotic arm of a surgical robot, comprising a robotic arm rod (1), wherein a fixed pulley (2) and a tension pulley (3) are respectively arranged at the left and right ends of the robotic arm rod (1), and the feature is that: The fixed pulley (2) and the tension pulley (3) are connected by a steel belt (4) and a steel wire rope (5) to achieve synchronous rotation; one end of the steel belt (4) is pressed between the upper pressing block (9) and the lower pressing block (10) by a first screw (11) and fixed on the fixed pulley (2). One end of the steel wire rope (5) is wound around the lower pressing block (10) and buried on the fixed pulley (2). The steel wire rope (5) is located inside the steel belt (4) and is arranged in parallel with the steel belt (4); the other end of the steel belt (4) is pressed between the upper pre-tightening block (12) and the lower pre-tightening block (13) by a second screw (14). The other end of the steel wire rope (5) is wound around the lower pre-tightening block (13). The steel belt (4) and the steel wire rope (5) are tensioned or relaxed by adjusting the lower pre-tightening block (13); a switch bracket (7) is installed in the middle part of the robotic arm rod (1). A trigger switch (6) is installed on the switch bracket (7). A roller is installed on the trigger switch (6). The roller of the trigger switch (6) is located in the middle of the steel wire rope (5) during the normal operation of the steel belt (4) and is pressed by the steel belt (4). The trigger switch (6) is connected to the control board (8) through a circuit; a groove (16) is provided on the side surface of the lower pressing block (10). The steel wire rope (5) is an annular closed steel wire rope. One end of the steel wire rope (5) is wound in the groove (16) on the side of the lower pressing block (10); the contact surface between the upper pressing block (9) and the lower pressing block (10) is wavy. The wavy contact surface is used to increase the pressing force; a pressing block installation groove (17) is dug on the fixed pulley (2). The longitudinal section of the pressing block installation groove (17) is trapezoidal. A first screw hole (18) for mating connection with the first screw (11) is provided on the bottom surface of the pressing block installation groove (17). The upper pressing block (9) and the lower pressing block (10) are both placed in the pressing block installation groove (17) and fixed on the fixed pulley (2) by the first screw (11).

2. The transmission mechanism for the robotic arm of a surgical robot according to claim 1, characterized in that: A pre-tightening block installation groove (19) is dug on the tension pulley (3). The lower pre-tightening block (13) is placed in the pre-tightening block installation groove (19). A tension screw (15) is provided on one side of the lower pre-tightening block (13). The tension screw (15) passes through a through hole (20) on the tension pulley (3). When the tension screw (15) is tightened or loosened, it pulls the lower pre-tightening block (13) and simultaneously tensions or relaxes the steel belt (4) and the steel wire rope (5).

3. The transmission mechanism for the robotic arm of a surgical robot according to claim 1, characterized in that: A first steel wire groove (201) is provided on the fixed pulley (2) along the circumferential direction. A second steel wire groove (301) is provided on the tension pulley (3) along the circumferential direction. One end of the steel wire rope (5) is buried in the first steel wire groove (201) on the fixed pulley (2). The other end of the steel wire rope (5) is buried in the second steel wire groove (301) on the tension pulley (3).

4. The transmission mechanism for the robotic arm of a surgical robot according to claim 1, characterized in that: One trigger switch (6) is installed on each of the upper and lower sides of the switch bracket (7). A roller is installed above the trigger switch (6) on the upper side. A roller is installed below the trigger switch (6) on the lower side. And the rollers are pressed by the upper and lower steel belts (4) respectively during the normal operation of the steel belt (4).

Images