A surgical arm and surgical robot

Abstract

This invention relates to the field of surgical robot technology, and discloses a surgical operating arm and a surgical robot. The surgical operating arm includes a connecting seat, a first link, a second link, a third link, and an instrument seat. The connecting seat is rotatably mounted on a first rotating shaft; the first end of the first link is connected to the first rotating shaft; the first end of the second link is rotatably connected to the second end of the first link via a second rotating shaft; the first end of the third link is rotatably connected to the second end of the second link via a third rotating shaft, with the centers of mass of the second and third links located on opposite sides of the axis of the first rotating shaft; the instrument seat is rotatably connected to the second end of the third link via a fourth rotating shaft, and the axis of the first rotating shaft passes through the distal fixed point of the instrument seat, with the second link and the instrument seat both located on the same side of the third link. This invention reduces the weight difference between the two sides of the first rotating shaft axis, which helps to reduce the rotational inertia of the surgical operating arm around the first rotating shaft, reduce the rotation radius of the surgical operating arm, and improve surgical safety.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more particularly to a surgical operating arm and a surgical robot. Background Technology

[0002] Surgical robots are widely used in the medical field. A surgical robot includes a patient end, on which several surgical arms are mounted. At the end of each surgical arm is an instrument holder, on which surgical instruments can be mounted.

[0003] According to Chinese Patent CN109091237B, a minimally invasive surgical instrument assist system is disclosed. The instrument operating arm includes a slave-end base, a linkage seat, a slave-end link I, a slave-end link II, and an instrument lifting seat. The linkage seat is L-shaped, and its horizontal edge is rotatably connected to the slave-end base. The two ends of the slave-end link I are rotatably connected to the vertical edge of the linkage seat and the slave-end link II, respectively, and the linkage seat and the slave-end link II are located on opposite sides of the slave-end link I. The instrument lifting seat is rotatably connected to the slave-end link II, and is located on the side of the slave-end link II away from the slave-end link I. The rotation axis of the linkage seat relative to the slave base needs to pass through the telecentric fixed point of the instrument manipulator. Therefore, when the integrated structure formed by the linkage seat, slave link I, slave link II, and instrument lifting seat rotates around the rotation axis of the linkage seat, the rotation radius of the integrated structure is the sum of the thickness of the vertical side of the linkage seat, the thickness of slave link I, and the thickness of slave link II. The rotation dimension is large, which increases the possibility of interference between the instrument manipulator and other structures, affecting surgical safety. In addition, some linkage seats in the prior art are tilted around the rotation axis of the slave base. When the integrated structure rotates, this setting will also result in a large weight difference on both sides of the linkage seat around the rotation axis of the slave base, resulting in a large moment of inertia of the integrated structure around the rotation axis of the slave base. This affects the stability of the rotation of the integrated structure and also increases the possibility of the surgical robot tipping over, reducing surgical safety and the reliability of the instrument manipulator.

[0004] Therefore, there is an urgent need for a surgical arm and surgical robot to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide a surgical operating arm and a surgical robot that reduces the weight difference between the two sides of the first axis of rotation along the second direction, thereby reducing the moment of inertia of the surgical operating arm around the first axis of rotation, reducing the rotation radius of the surgical operating arm, and improving surgical safety and the reliability of the surgical operating arm.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A surgical operating arm, comprising:

[0008] The connecting seat is rotatably provided with a first rotating shaft, the axis of which extends along a first direction;

[0009] The first link has its first end connected to the first rotating shaft;

[0010] The first end of the second link is rotatably connected to the second end of the first link via a second pivot.

[0011] The first end of the third link is rotatably connected to the second end of the second link via a third rotating shaft. The center of mass of the second link and the center of mass of the third link are located on both sides of the axis of the first rotating shaft along the second direction, respectively.

[0012] The instrument seat is rotatably connected to the second end of the third link via a fourth rotating shaft, and the axis of the first rotating shaft passes through the distal fixed point of the surgical arm. The second link and the instrument seat are both located on the same side of the third link along the second direction.

[0013] The first direction is inclined to both the vertical and horizontal directions. The second, third, and fourth rotating shafts are arranged in parallel and all extend along the second direction. The first direction is perpendicular to the second direction.

[0014] As an optional technical solution for the surgical operating arm, the third link and the first link are both located on the same side of the second link along the second direction.

[0015] As an optional technical solution for the surgical operating arm, the second link and the third link are respectively located on both sides of the first link along the second direction.

[0016] As an optional technical solution for the surgical operating arm, the second link and the third link are respectively located on both sides of the first rotating shaft axis along the second direction. The first link includes an inclined section and a connecting section. The connecting section is placed between the first rotating shaft and the inclined section. One end of the inclined section is connected to the second rotating shaft, and the other end of the inclined section is connected to one side of the connecting section along the second direction. The first rotating shaft is connected to the other side of the connecting section along the second direction, and the inclined section and the second link are located on the same side of the first rotating shaft axis along the second direction.

[0017] As an optional technical solution for the surgical operating arm, the first link includes an inclined section and a connecting section. The connecting section is connected to the first rotating shaft. The connecting section includes a connecting portion and a protruding portion. The connecting portion is connected to the inclined section. The inclined section is inclined to the first direction, and the end of the inclined section away from the connecting portion is located on the same side of the connecting portion as the protruding portion, so that the protruding portion and the inclined section form an accommodating space. The second link can rotate around the second rotating shaft until the third rotating shaft is placed within the accommodating space.

[0018] As an optional technical solution for the surgical arm, the first link further includes a V-shaped structure, which includes the inclined section and the middle section. The middle section is connected between the inclined section and the connecting part, and the middle section and the inclined section are inclined to each other. The opening of the V-shaped structure and the protrusion are located on the same side of the first link, and the V-shaped structure and the inclined section form the accommodating space.

[0019] As an optional technical solution for the surgical operating arm, the connecting part and the protrusion are arranged along a third direction, and the first direction and the second direction are perpendicular to each other with the third direction. The surgical operating arm also includes a driving component, which can drive the second connecting rod to rotate around the second rotating shaft. The connecting section is hollow inside, and the driving component is placed inside the connecting section and located on one side of the connecting section along the second direction. The inclined section is connected to the other side of the connecting section along the second direction, and the first rotating shaft is connected to the middle of the connecting section along the second direction.

[0020] As an optional technical solution for the surgical operating arm, the third link and the second link are both located on the same side of the first link along the second direction.

[0021] As an optional technical solution for the surgical arm, the second link and the third link are respectively located on both sides of the axis of the first rotating shaft along the second direction; or, the axis of the first rotating shaft passes through the center of mass of the second link.

[0022] As an optional technical solution for the surgical arm, a first spring is provided on the first connecting rod. One end of the first spring is connected to the second rotating shaft and the other end is connected to the first connecting rod. The torque generated by the first spring on the second rotating shaft is at least sufficient to balance part of the gravitational torque generated by the overall structure formed by the second connecting rod, the third connecting rod, and the instrument seat on the second rotating shaft; and / or,

[0023] A second spring is provided on the second connecting rod. One end of the second spring is connected to the second rotating shaft, and the other end of the second spring is connected to the second connecting rod. The torque generated by the second spring on the second rotating shaft is at least able to balance part of the gravitational torque generated by the overall structure formed by the second connecting rod, the third connecting rod, and the instrument seat on the second rotating shaft.

[0024] As an optional technical solution for the surgical operating arm, a third spring is provided on the third link. One end of the third spring is connected to the fourth rotating shaft and the other end is connected to the third link. The torque generated by the third spring on the fourth rotating shaft can at least balance part of the gravitational torque generated by the instrument seat on the fourth rotating shaft.

[0025] As an optional technical solution for the surgical arm, the vertical line connecting the axis of the fourth rotating shaft and the axis of the third rotating shaft is the first connecting line, and the third spring is inclined to the first connecting line.

[0026] As an optional technical solution for the surgical operating arm, the axis of the fourth rotating shaft and the axis of the third rotating shaft are both located in the first plane. A connector is fixedly installed on the third connecting rod. One end of the third spring is connected to the fourth rotating shaft, and the other end of the third spring is connected to the connector. The connection between the fourth rotating shaft and the third spring and the connector are located on both sides of the first plane.

[0027] A surgical robot, including the surgical manipulator arm as described above.

[0028] The beneficial effects of this invention are:

[0029] The surgical arm provided by the present invention includes a connecting seat, a first link, a second link, a third link, and an instrument seat. By positioning the centers of mass of the second and third links on opposite sides of the first axis along the second direction, and with both the second link and the instrument base located on the same side of the third link along the second direction, the weight difference between the two sides of the surgical arm along the first axis is reduced. This decreases the moment of inertia of the surgical arm around the first axis, reducing the impact of uneven weight distribution on the smooth rotation of the first link around the first axis. It also reduces the likelihood of the surgical robot tipping over due to excessive weight on one side of the first axis, ensuring smooth surgical procedures, improving surgical safety and the reliability of the surgical arm. Furthermore, it reduces the possibility of damage to the first axis or connecting structure due to excessive weight on one side of the first axis, lowering maintenance costs. Additionally, positioning the second link and the instrument base on the same side of the third link along the second direction also reduces the size of the surgical arm along the second direction, decreasing its rotation radius, reducing the possibility of interference between the surgical arm and other structures, improving its flexibility, and further ensuring surgical safety.

[0030] The surgical robot provided by this invention includes the aforementioned surgical operating arm, which can reduce the weight difference between the two sides of the surgical operating arm along the second direction of the first rotating axis, reduce the rotational inertia of the surgical operating arm around the first rotating axis, ensure that the first link can rotate smoothly around the first rotating axis, reduce the possibility of the surgical robot tipping over, improve surgical safety and the reliability of the surgical operating arm, and reduce maintenance costs; in addition, it also reduces the rotation radius of the surgical operating arm, improves the flexibility of the surgical operating arm, and further ensures surgical safety. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the surgical operating arm provided in Embodiment 1 of the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of the surgical arm facing the projection plane according to Embodiment 1 of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of the surgical operating arm facing the reference plane according to Embodiment 1 of the present invention;

[0034] Figure 4 This is a schematic diagram of the folded state of the surgical arm provided in Embodiment 1 of the present invention;

[0035] Figure 5 yes Figure 4 A sectional view;

[0036] Figure 6This is a partial structural schematic diagram of the surgical operating arm provided in Embodiment 1 of the present invention;

[0037] Figure 7 This is a cross-sectional view of the first connecting rod along the first direction provided in Embodiment 1 of the present invention;

[0038] Figure 8 This is a cross-sectional view of the first connecting rod along the second direction provided in Embodiment 1 of the present invention;

[0039] Figure 9 This is a cross-sectional view of the third link provided in Embodiment 1 of the present invention;

[0040] Figure 10 This is a structural schematic diagram of the first connecting rod and connecting seat from a first perspective provided in Embodiment 2 of the present invention;

[0041] Figure 11 This is a structural schematic diagram of the first connecting rod and the connecting seat from a second perspective, provided in Embodiment 2 of the present invention;

[0042] Figure 12 This is a schematic diagram of the structure of the surgical operating arm provided in Embodiment 3 of the present invention;

[0043] Figure 13 This is a partial structural schematic diagram of the surgical operating arm provided in Embodiment 3 of the present invention;

[0044] Figure 14 This is a schematic diagram of the structure of the surgical operating arm provided in Embodiment 4 of the present invention;

[0045] Figure 15 This is a schematic diagram of the folded state of the surgical arm provided in Embodiment 4 of the present invention;

[0046] Figure 16 This is a partial structural schematic diagram of the surgical operating arm provided in Embodiment 4 of the present invention.

[0047] In the picture:

[0048] 200. Parallelogram structure; 100. Accommodation space;

[0049] 1. First connecting rod; 11. Inclined section; 12. Intermediate section; 13. Connecting section; 131. Connecting part; 132. Protrusion; 15. First steel belt; 151. First belt segment; 152. Second belt segment; 16. First guide wheel; 17. Second guide wheel; 18. Separator; 19. Straight section;

[0050] 2. Second connecting rod; 21. Second steel strip; 3. Third connecting rod; 31. Third steel strip;

[0051] 4. Instrument base; 41. Puncture instrument; 5. Connecting seat; 51. Reference plane;

[0052] 61. First shaft; 62. Second shaft; 621. Second pulley; 622. Third pulley; 63. Third shaft; 631. Fourth pulley; 632. Fifth pulley; 64. Fourth shaft; 641. Sixth pulley;

[0053] 7. Drive assembly; 71. Drive component; 72. Transmission gear; 73. First pulley;

[0054] 81. First spring; 83. Third spring; 9. Connecting component. Detailed Implementation

[0055] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0057] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0058] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0059] Example 1

[0060] This embodiment provides a surgical operating arm. Specifically, as shown... Figures 1-9As shown, the surgical arm includes a connecting seat 5, a first connecting rod 1, a second connecting rod 2, a third connecting rod 3, and an instrument seat 4. A first rotating shaft 61 is rotatably mounted on the connecting seat 5, and the axis of the first rotating shaft 61 extends along a first direction. The first end of the first connecting rod 1 is connected to the first rotating shaft 61. The first end of the second connecting rod 2 is rotatably connected to the second end of the first connecting rod 1 via a second rotating shaft 62. The first end of the third connecting rod 3 is rotatably connected to the second end of the second connecting rod 2 via a third rotating shaft 63. The center of mass of the second connecting rod 2 and the center of mass of the third connecting rod 3 are located on opposite sides of the axis of the first rotating shaft 61 along a second direction. The instrument seat 4 is rotatably connected to the second end of the third connecting rod 3 via a fourth rotating shaft 64. The axis of the first rotating shaft 61 passes through the distal fixed point of the surgical arm, and the second connecting rod 2 and the instrument seat 4 are both located on the same side of the third connecting rod 3 along the second direction. In this configuration, the first direction is inclined to both the vertical and horizontal directions; the second rotating shaft 62, the third rotating shaft 63, and the fourth rotating shaft 64 are arranged in parallel and all extend along the second direction; the first direction is perpendicular to the second direction. In this embodiment, as shown... Figure 2 As shown, the dashed line L is the axis of the first rotating shaft 61.

[0061] The surgical arm provided in this embodiment includes a connecting seat 5, a first connecting rod 1, a second connecting rod 2, a third connecting rod 3, and an instrument seat 4. By positioning the center of mass of the second link 2 and the center of mass of the third link 3 on opposite sides of the axis of the first rotating shaft 61 along the second direction, and with both the second link 2 and the instrument seat 4 located on the same side of the third link 3 along the second direction, the weight difference between the two sides of the surgical arm along the axis of the first rotating shaft 61 is reduced. This decreases the moment of inertia of the surgical arm around the first rotating shaft 61, reducing the impact of uneven weight distribution on the smooth rotation of the first link 1 around the first rotating shaft 61. It also reduces the possibility of the surgical robot tipping over due to excessive weight on one side of the first rotating shaft 61, ensuring the smooth execution of the surgery, improving surgical safety and the reliability of the surgical arm, and reducing the possibility of the first rotating shaft 61 or the connecting seat 5 being damaged by pulling due to excessive weight on one side of the first rotating shaft 61, thus reducing maintenance costs. Furthermore, positioning both the second link 2 and the instrument seat 4 on the same side of the third link 3 along the second direction also reduces the size of the surgical arm along the second direction, reducing the radius of rotation of the surgical arm, reducing the possibility of interference between the surgical arm and other structures, improving the flexibility of the surgical arm, and further ensuring surgical safety.

[0062] For ease of description, let's define a first direction, a second direction, and a third direction that are mutually perpendicular. For example... Figure 1As shown, the first direction is the X direction, the second direction is the Y direction, and the third direction is the Z direction. In this embodiment, a reference surface 51 is provided on the connecting seat 5, and the reference surface 51 is horizontally arranged. The first rotating shaft 61 is connected to the bottom end of the connecting seat 5, and the top end of the first connecting rod 1 is connected to the bottom end of the first rotating shaft 61.

[0063] In this embodiment, the two ends of the first connecting rod 1 along its length are designated as the first end and the second end, and the center of mass of the first connecting rod 1 is located on the first connecting rod 1. The two ends of the second connecting rod 2 along its length are designated as the first end and the second end, and the center of mass of the second connecting rod 2 is located on the second connecting rod 2. The two ends of the third connecting rod 3 along its length are designated as the first end and the second end, and the center of mass of the third connecting rod 3 is located on the third connecting rod 3. Furthermore, the second connecting rod 2 and the third connecting rod 3 are located on opposite sides of the axis of the first rotating shaft 61 along the second direction, which facilitates determining the installation positions of the second connecting rod 2 and the third connecting rod 3 and improves the assembly efficiency of the surgical arm.

[0064] Preferably, the third link 3 and the first link 1 are both located on the same side of the second link 2 along the second direction. Compared to the third link 3 and the first link 1 being located on opposite sides of the second link 2, the above arrangement facilitates further reduction of the size of the surgical arm along the second direction, reduces the rotation radius of the surgical arm, decreases the possibility of interference between the surgical arm and other structures, improves the flexibility of the surgical arm, and further ensures surgical safety.

[0065] Furthermore, the second link 2 and the third link 3 are located on both sides of the first link 1 along the second direction. When the surgical arm is folded, the above arrangement allows the first link 1 to be placed between the second link 2 and the third link 3, which reduces the volume of the surgical arm in the folded state, reduces the space occupied by the surgical arm, and facilitates storage and transportation.

[0066] Specifically, the first link 1 includes an inclined section 11 and a connecting section 13. The connecting section 13 is connected to the first rotating shaft 61 and includes a connecting portion 131 and a protrusion 132. The connecting portion 131 is connected to the inclined section 11. The inclined section 11 is inclined in the first direction, and the end of the inclined section 11 away from the connecting portion 131 and the protrusion 132 are located on the same side of the connecting portion 131, so that the protrusion 132 and the inclined section 11 form an accommodating space 100. The second link 2 can rotate around the second rotating shaft 62 until the third rotating shaft 63 is placed in the accommodating space 100. Since the second link 2 and the third link 3 are located on both sides of the first link 1 along the second direction, and the third rotating shaft 63 between the second link 2 and the third link 3 is relatively long, the above arrangement allows the third rotating shaft 63 to be placed in the accommodating space 100 during the folding process of the surgical operating arm, reducing the volume of the surgical operating arm in the folded state, reducing the space occupied by the surgical operating arm, and facilitating storage and transportation.

[0067] In this embodiment, the connecting portion 131 and the protrusion 132 are integrally formed. Specifically, the connecting portion 131 and the protrusion 132 are arranged along the second direction.

[0068] In this embodiment, the second link 2 and the instrument seat 4 can rotate synchronously. Therefore, the arrangement of the accommodating space 100 can avoid the third rotating shaft 63, thereby increasing the rotation angle range of the second link 2, which in turn increases the rotation angle range of the instrument on the instrument seat 4, thereby increasing the flexibility of the surgical arm and improving its practicality.

[0069] Furthermore, the first connecting rod 1 also includes a V-shaped structure, which includes a middle section 12 and the aforementioned inclined section 11. The middle section 12 connects the inclined section 11 and the connecting part 131, and the middle section 12 and the inclined section 11 are set at an angle. The opening and the protrusion 132 of the V-shaped structure are located on the same side of the first connecting rod 1 along a third direction. The V-shaped structure and the inclined section 11 form an accommodating space 100, which helps to increase the accommodating space 100, thereby facilitating the entry of the third rotating shaft 63 into the accommodating space 100. It can be understood that the end of the inclined section 11 away from the middle section 12 is the second end of the first connecting rod 1, and the end of the connecting section 13 away from the middle section 12 is the first end of the first connecting rod 1. The angle between the middle section 12 and the inclined section 11 can be adjusted adaptively and is not limited here.

[0070] In some embodiments, the first link 1 may not include the intermediate section 12, and the inclined section 11 may be directly connected to the connecting part 131, which is not limited here.

[0071] In this embodiment, both the second link 2 and the third link 3 are straight rods. In other embodiments, the second link 2 and the third link 3 may also be curved rods, which is not limited here.

[0072] As a preferred embodiment, the surgical arm also includes a drive assembly 7, which drives the second link 2 to rotate around the second pivot 62. The connecting section 13 is hollow inside, and the drive assembly 7 is placed inside the connecting section 13 and located on one side of the connecting section 13 along the second direction. The tilting section 11 is connected to the other side of the connecting section 13 along the second direction, and the first pivot 61 is connected to the middle of the connecting section 13 along the second direction. In other words, the drive assembly 7 and the tilting section 11 are located on opposite sides of the connecting section 13 along the second direction, further reducing the weight difference between the two sides of the first pivot 61 axis along the second direction, improving surgical safety and the reliability of the surgical arm, and reducing maintenance costs.

[0073] In this embodiment, the center of mass of the inclined segment 11 and the center of mass of the drive assembly 7 are located on both sides of the axis of the first rotating shaft 61 along the second direction. The axis of the first rotating shaft 61 passes through the inclined segment 11.

[0074] Specifically, the drive assembly 7 includes a drive element 71 and a first pulley 73. The drive element 71 is a drive motor, which drives the first pulley 73 to rotate. The interiors of the inclined section 11 and the intermediate section 12 are hollow, and the cavities of the inclined section 11, the intermediate section 12, and the connecting section 13 are interconnected, forming the inner cavity of the first connecting rod 1. One end of the second rotating shaft 62 extends into the second end of the first connecting rod 1 and is fixedly connected to the first connecting rod 1. A second pulley 621 is rotatably sleeved on the second rotating shaft 62. The second pulley 621 is placed inside the first connecting rod 1 and is fixedly connected to the second connecting rod 2. The first pulley 73 and the second pulley 621 are connected by a first steel belt 15, which is located in the inner cavity of the first connecting rod 1, so that the first pulley 73 and the second pulley 621 rotate synchronously, realizing that the drive element 71 drives the second pulley 621 to rotate, which in turn drives the second connecting rod 2 to rotate.

[0075] Furthermore, a first guide wheel 16 and a second guide wheel 17 are rotatably disposed inside the first connecting rod 1. The first guide wheel 16 and the second guide wheel 17 are coaxially connected, and their axes both extend along a second direction. The first guide wheel 16 and the second guide wheel 17 are both disposed at the connection between the intermediate section 12 and the inclined section 11. The first steel belt 15 includes a first belt segment 151 and a second belt segment 152. The first belt segment 151 is wound around the first guide wheel 16, and its two ends are fixedly connected to the first pulley 73 and the second pulley 621, respectively. The second belt segment 152 is wound around the second guide wheel 17, and its two ends are fixedly connected to the first pulley 73 and the second pulley 621, respectively. The first belt segment 151 and the second belt segment 152 are both located on the side opposite to the opening of the V-shaped structure of the first guide wheel 61 and the second guide wheel 17. The above arrangement allows the first steel belt 15 to be V-shaped to adapt to the V-shaped structure.

[0076] In other embodiments, the first steel belt 15 may also be in the form of a closed loop, tensioned on the first pulley 73 and the second pulley 621, which is not limited here.

[0077] Furthermore, the drive assembly 7 also includes a transmission gear 72, through which the drive member 71 can drive the first pulley 73 to rotate. Specifically, at least two transmission gears 72 are provided; one transmission gear 72 is coaxially connected to the first pulley 73, and the other drive gear 72 is coaxially connected to the output shaft of the drive member 71. The two transmission gears 72 can directly mesh, or they can be connected through other transmission gears 72 to enable the drive member 71 to drive the first pulley 73 to rotate; this is not limited here. In other embodiments, the output shaft of the drive member 71 can also be directly coaxially connected to the first pulley 73.

[0078] Preferably, a separator 18 is provided in the inner cavity of the first connecting rod 1, and the separator 18 and the inclined section 11 are located on the same side of the first connecting rod 1 along the second direction. The separator 18 divides the inner cavity of the first connecting rod 1 into two receiving cavities. One receiving cavity is provided with the first guide wheel 16, the second guide wheel 17, the drive assembly 7, the first steel belt 15, and the second pulley 621. The other receiving cavity is used to receive the wire, which can prevent the wire from getting tangled or even damaged with the first steel belt 15, the transmission gear 72, or other structures, reduce maintenance costs, and improve the reliability of the surgical arm.

[0079] Furthermore, both the second link 2 and the third link 3 are hollow inside. The end of the second rotating shaft 62 furthest from the first link 1 extends into the first end of the second link 2. A third pulley 622 is fixedly sleeved on the second rotating shaft 62, and the third pulley 622 is located inside the second link 2. One end of the third rotating shaft 63 extends into the second end of the second link 2 and is fixedly connected to it. A fourth pulley 631 is rotatably sleeved on the third rotating shaft 63, and the fourth pulley 631 is located inside the second link 2 and fixedly connected to the third link 3. The second steel belt 21 is tensioned on the fourth pulley 631 and the third pulley 622, allowing the third pulley 622 and the fourth pulley 631 to rotate synchronously. When the driving member 71 drives the second link 2 to rotate, the third pulley 622 and the fourth pulley 631 do not rotate relative to the first link 1. Therefore, the third link 3 does not rotate relative to the first link 1, and the third link 3 performs a pure translational motion relative to the first link 1.

[0080] Furthermore, the end of the third rotating shaft 63 furthest from the second connecting rod 2 extends into the first end of the third connecting rod 3. A fifth pulley 632 is fixedly sleeved on the third rotating shaft 63 and is located inside the third connecting rod 3. One end of the fourth rotating shaft 64 extends into the second end of the third connecting rod 3 and is fixedly connected to the third connecting rod 3. A sixth pulley 641 is rotatably sleeved on the fourth rotating shaft 64 and is fixedly connected to the instrument base 4. A third steel belt 31 is provided inside the third connecting rod 3, and the third steel belt 31 is tensioned on the fifth pulley 632 and the sixth pulley 641. When the driving member 71 drives the second connecting rod 2 to rotate, the second connecting rod 2 and the instrument base 4 can rotate synchronously relative to the third connecting rod 3, and the direction and angle of rotation are the same.

[0081] Define a projection plane perpendicular to the second direction, such as... Figure 2The diagram shows a schematic of the surgical arm facing the projection plane. In this embodiment, the projection of the axis of the second rotating shaft 62 onto the projection plane is point A, the projection of the axis of the third rotating shaft 63 onto the projection plane is point B, the projection of the axis of the fourth rotating shaft 64 onto the projection plane is point C, and the projection of the distal fixed point of the surgical arm onto the projection plane is point RCM. The line segment connecting point A and point B is the first line segment, the line segment connecting point B and point C is the second line segment, the line segment connecting point C and point RCM is the third line segment, and the line segment connecting point RCM and point A is the fourth line segment. Assuming the first and third line segments are of equal length and parallel, and the second and fourth line segments are of equal length and parallel, then the first, second, third, and fourth line segments form a parallelogram structure 200, with points A, B, C, and RCM being the four endpoints of the parallelogram structure 200. When the driving component 71 drives the first pulley 73 to rotate, it can drive the parallelogram structure 200 to move. In this embodiment, the dashed line L is collinear with the fourth line segment.

[0082] Preferably, a first spring 81 is provided on the first connecting rod 1, and the first spring 81 is preferably disposed in the inner cavity of the first connecting rod 1. In this embodiment, the first spring 81 is located in the inclined section 11 and the intermediate section 12. One end of the first spring 81 is connected to the second rotating shaft 62 and the other end is connected to the first connecting rod 1. The torque generated by the first spring 81 on the second rotating shaft 62 is at least able to balance part of the gravitational torque generated by the overall structure formed by the second connecting rod 2, the third connecting rod 3 and the instrument seat 4 on the second rotating shaft 62. In this embodiment, when the second connecting rod 2 rotates downward relative to the first connecting rod 1 around the second rotating shaft 62, the torque generated by the first spring 81 on the second rotating shaft 62 is at least able to balance part of the gravitational torque generated by the overall structure on the second rotating shaft 62. By providing the first spring 81, the gravitational torque generated by the overall structure can be balanced, reducing the influence of gravity on the downward rotation of the instrument seat 4, ensuring that the instrument seat 4 can rotate smoothly during the operation, and ensuring the safety of the operation.

[0083] In this embodiment, a connector 9 is fixedly installed in the inner cavity of the first connecting rod 1, one end of the first spring 81 is connected to the connector 9, and the other end is connected to the second rotating shaft 62 through a steel wire.

[0084] Furthermore, a second spring is provided on the second connecting rod 2. One end of the second spring is connected to the second rotating shaft 62, and the other end is connected to the second connecting rod 2. The torque generated by the second spring on the second rotating shaft 62 is sufficient to balance at least part of the gravitational torque generated by the overall structure formed by the second connecting rod 2, the third connecting rod 3, and the instrument seat 4 on the second rotating shaft 62. In this embodiment, when the second connecting rod 2 rotates downward relative to the first connecting rod 1 around the second rotating shaft 62, the torque generated by the second spring on the second rotating shaft 62 is sufficient to balance at least part of the gravitational torque generated by the overall structure on the second rotating shaft 62. By providing the second spring, the gravitational torque generated by the overall structure can be balanced, reducing the impact of gravity on the downward rotation of the instrument seat 4, ensuring that the instrument seat 4 can rotate smoothly during the operation, and ensuring surgical safety.

[0085] In this embodiment, a connector 9 is fixedly installed in the inner cavity of the second connecting rod 2, one end of the second spring is connected to the connector 9, and the other end is connected to the second rotating shaft 62 through a steel wire.

[0086] Preferably, a third spring 83 is provided in the inner cavity of the third link 3. One end of the third spring 83 is connected to the fourth rotating shaft 64 and the other end is connected to the third link 3. The torque generated by the third spring 83 on the fourth rotating shaft 64 is at least able to balance part of the gravitational torque generated by the instrument seat 4 on the fourth rotating shaft 64. In this embodiment, when the instrument seat 4 rotates downward relative to the third link 3 around the fourth rotating shaft 64, the torque generated by the third spring 83 on the fourth rotating shaft 64 is at least able to balance part of the gravitational torque generated by the overall structure on the fourth rotating shaft 64. By providing the third spring 83, the gravitational torque generated by the overall structure can be balanced, reducing the impact of gravity on the downward rotation of the instrument seat 4, ensuring that the instrument seat 4 can rotate smoothly during the operation, and ensuring surgical safety.

[0087] Furthermore, the vertical line connecting the axis of the fourth rotating shaft 64 and the axis of the third rotating shaft 63 is the first connecting line, and the third spring 83 is inclined to the first connecting line. With this arrangement, the third spring 83 can be moved away from the side wall of the third link 3, avoiding friction between the third spring 83 and the inner wall of the third link 3, ensuring the function of the third spring 83 in balancing gravity, and reducing the possibility of damage to the third link 3 due to friction, thereby reducing maintenance costs; at the same time, it also facilitates extending the length of the third spring 83, extending the extension range of the third spring 83, expanding the numerical range of the gravitational torque that the third spring 83 can balance, and ensuring the function of the third spring 83 in balancing gravitational torque.

[0088] In this embodiment, the axis of the fourth rotating shaft 64 and the axis of the third rotating shaft 63 are both located in the first plane, the first connecting line is located in the first plane, a connector 9 is fixedly provided on the third connecting rod 3, one end of the third spring 83 is connected to the fourth rotating shaft 64, and the other end of the third spring 83 is connected to the connector 9. The connection between the fourth rotating shaft 64 and the third spring 83 and the connector 9 are located on both sides of the first plane.

[0089] This embodiment also provides a surgical robot. Specifically, the surgical robot includes a patient surgical end and a doctor operating end. The patient surgical end includes a trolley and a surgical operating arm as described above.

[0090] The surgical robot provided in this embodiment reduces the weight difference between the two sides of the first rotating shaft 61 along the second direction, ensuring that the first link 1 can rotate smoothly around the first rotating shaft 61, reducing the possibility of the surgical robot tipping over, improving surgical safety and the reliability of the surgical arm, and reducing maintenance costs; in addition, it also reduces the rotation radius of the surgical arm, improves the flexibility of the surgical arm, and further ensures surgical safety.

[0091] The structure of the doctor's operating terminal and the trolley can refer to existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0092] Example 2

[0093] This embodiment provides a surgical operating arm and a surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, with only some structural differences. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0094] like Figure 10 and Figure 11 As shown, in this embodiment, the intermediate segment 12 is connected to the bottom of the connecting segment 13. The first rotating shaft 61 is connected to the middle of the connecting segment 13 along the second direction, and the inclined segment 11 is connected to the middle of the connecting segment 13 along the second direction, with the center of mass of the inclined segment 11 located on the axis of the first rotating shaft 61. A counterweight is provided within the connecting segment 13, positioned on the other side of the connecting segment 13 along the second direction, such that the center of mass of the counterweight and the center of mass of the drive assembly 7 are located on opposite sides of the axis of the first rotating shaft 61. This arrangement reduces the weight difference between the two sides of the surgical arm along the axis of the first rotating shaft 61 in the second direction, improving surgical safety and the reliability of the surgical arm, while also reducing maintenance costs.

[0095] Example 3

[0096] This embodiment provides a surgical operating arm and a surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, with only some structural differences. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0097] In this embodiment, as Figures 12-13 As shown, the second link 2 and the third link 3 are located on both sides of the axis of the first rotating shaft 61 along the second direction. The length of the third link 3 is greater than the length of the second link 2, and the second link 2 does not contain a second spring, making the second link 2 lighter and the third link 3 heavier.

[0098] Furthermore, the inclined section 11 and the second connecting rod 2 are located on the same side of the axis of the first rotating shaft 61 along the second direction, so that the center of mass of the inclined section 11 and the center of mass of the second connecting rod 2 are both located on the same side of the axis of the first rotating shaft 61 along the second direction. This further reduces the weight difference between the two sides of the axis of the first rotating shaft 61 along the second direction, improves the safety of the operation and the reliability of the surgical arm, and reduces maintenance costs.

[0099] Example 4

[0100] This embodiment provides a surgical operating arm and a surgical robot. The structure of this embodiment is basically the same as that of Embodiment 1, with only some structural differences. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0101] like Figures 14-16 As shown, the first link 1 does not include a V-shaped structure. The first link 1 includes a straight section 19. The connecting section 13 extends along a second direction, and the straight section 19 extends along a first direction and is perpendicularly connected to the connecting section 13. The end of the straight section 19 away from the connecting section 13 is connected to the second link 2.

[0102] The third link 3 and the second link 2 are both located on the same side of the first link 1 along the second direction, and the axis of the first rotating shaft 61 passes through the second link 2, with the center of mass of the second link 2 lying on the axis of the first rotating shaft 61. Compared to the instrument seat 4 and the second link 2 being respectively located on both sides of the third link 3, this arrangement can reduce the weight difference between the two sides of the axis of the first rotating shaft 61 along the second direction, reducing the impact of uneven weight distribution on the smooth rotation of the first link 1 around the first rotating shaft 61, improving surgical safety and the reliability of the surgical arm, and also reducing maintenance costs.

[0103] In other embodiments, the second link 2 and the third link 3 may also be located on both sides of the axis of the first rotating shaft 61 along the second direction, that is, the center of mass of the second link 2 and the center of mass of the third link are located on both sides of the axis of the first rotating shaft 61 along the second direction.

[0104] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A surgical operating arm, characterized in that, include: The connecting seat (5) is rotatably provided with a first rotating shaft (61), the axis of the first rotating shaft (61) extending along a first direction; The first link (1) has its first end connected to the first rotating shaft (61); The first end of the second link (2) is rotatably connected to the second end of the first link (1) via the second pivot (62); The first end of the third link (3) is rotatably connected to the second end of the second link (2) via the third rotating shaft (63). The center of mass of the second link (2) and the center of mass of the third link (3) are located on both sides of the axis of the first rotating shaft (61) along the second direction. The instrument seat (4) is rotatably connected to the second end of the third link (3) via the fourth pivot (64), and the axis of the first pivot (61) passes through the distal fixed point of the surgical arm. The second link (2) and the instrument seat (4) are both located on the same side of the third link (3) along the second direction. The first direction is inclined to the vertical and horizontal directions. The second rotating shaft (62), the third rotating shaft (63) and the fourth rotating shaft (64) are arranged in parallel and all extend along the second direction. The first direction is perpendicular to the second direction.

2. The surgical operating arm according to claim 1, characterized in that, The third link (3) and the first link (1) are both located on the same side of the second link (2) along the second direction.

3. The surgical operating arm according to claim 2, characterized in that, The second link (2) and the third link (3) are located on both sides of the first link (1) along the second direction.

4. The surgical operating arm according to claim 3, characterized in that, The second link (2) and the third link (3) are respectively located on both sides of the axis of the first rotating shaft (61) along the second direction. The first link (1) includes an inclined section (11) and a connecting section (13). The connecting section (13) is placed between the first rotating shaft (61) and the inclined section (11). One end of the inclined section (11) is connected to the second rotating shaft (62), and the other end of the inclined section (11) is connected to one side of the connecting section (13) along the second direction. The first rotating shaft (61) is connected to the other side of the connecting section (13) along the second direction, and the inclined section (11) and the second link (2) are located on the same side of the axis of the first rotating shaft (61) along the second direction.

5. The surgical operating arm according to claim 3, characterized in that, The first link (1) includes an inclined section (11) and a connecting section (13). The connecting section (13) is connected to the first rotating shaft (61). The connecting section (13) includes a connecting part (131) and a protruding part (132). The connecting part (131) is connected to the inclined section (11). The inclined section (11) is inclined to the first direction, and the end of the inclined section (11) away from the connecting part (131) and the protruding part (132) are located on the same side of the connecting part (131), so that the protruding part (132) and the inclined section (11) form an accommodating space (100). The second link (2) can rotate around the second rotating shaft (62) until the third rotating shaft (63) is placed in the accommodating space (100).

6. The surgical operating arm according to claim 5, characterized in that, The first connecting rod (1) further includes a V-shaped structure, which includes the inclined section (11) and the middle section (12). The middle section (12) is connected between the inclined section (11) and the connecting part (131), and the middle section (12) and the inclined section (11) are inclined to each other. The opening of the V-shaped structure and the protrusion (132) are located on the same side of the first connecting rod (1). The V-shaped structure and the inclined section (11) form the accommodating space (100).

7. The surgical operating arm according to claim 5, characterized in that, The connecting part (131) and the protrusion (132) are arranged along a third direction. The first direction and the second direction are perpendicular to the third direction. The surgical operating arm also includes a driving component (7). The driving component (7) can drive the second connecting rod (2) to rotate around the second rotating shaft (62). The connecting section (13) is hollow inside. The driving component (7) is placed inside the connecting section (13) and located on one side of the connecting section (13) along the second direction. The inclined segment (11) is connected to the other side of the connecting segment (13) along the second direction, and the first rotating shaft (61) is connected to the middle of the connecting segment (13) along the second direction.

8. The surgical operating arm according to claim 1, characterized in that, The third link (3) and the second link (2) are both located on the same side of the first link (1) along the second direction.

9. The surgical arm according to claim 8, characterized in that, The second link (2) and the third link (3) are respectively located on both sides of the axis of the first rotating shaft (61) along the second direction; or, The axis of the first rotating shaft (61) passes through the center of mass of the second connecting rod (2).

10. The surgical arm according to any one of claims 1-9, characterized in that, A first spring (81) is provided on the first connecting rod (1). One end of the first spring (81) is connected to the second rotating shaft (62), and the other end is connected to the first connecting rod (1). The torque generated by the first spring (81) on the second rotating shaft (62) is at least able to balance part of the gravitational torque generated by the overall structure formed by the second connecting rod (2), the third connecting rod (3), and the instrument seat (4) on the second rotating shaft (62); and / or, A second spring is provided on the second link (2). One end of the second spring is connected to the second rotating shaft (62), and the other end of the second spring is connected to the second link (2). The torque generated by the second spring on the second rotating shaft (62) is at least able to balance part of the gravitational torque generated by the overall structure formed by the second link (2), the third link (3), and the instrument seat (4) on the second rotating shaft (62).

11. The surgical arm according to any one of claims 1-9, characterized in that, A third spring (83) is provided on the third link (3). One end of the third spring (83) is connected to the fourth rotating shaft (64) and the other end is connected to the third link (3). The torque generated by the third spring (83) on the fourth rotating shaft (64) is at least able to balance part of the gravitational torque generated by the instrument seat (4) on the fourth rotating shaft (64).

12. The surgical arm according to claim 11, characterized in that, The vertical line connecting the axis of the fourth rotating shaft (64) and the axis of the third rotating shaft (63) is the first connecting line, and the third spring (83) is inclined to the first connecting line.

13. A surgical robot, characterized in that, Includes the surgical operating arm as described in any one of claims 1-12.

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