Transmission system for main control hand, main control hand and surgical robot

Abstract

The present application relates to a transmission system for a master control hand and the master control hand, comprising a plurality of transmission shafts connected in series; the plurality of transmission shafts comprising at least two first transmission shafts spaced in parallel in a first direction and at least two second transmission shafts spaced in parallel in a second direction; the first and second transmission shafts at the first stage being connected to the first and second transmission shafts at the last stage, respectively, via transmission belts; and the first transmission shaft at the last stage being connected to the second transmission shaft at the first stage via transmission wires. The present application adds a second transmission shaft at the first stage, thereby replacing the original solution of transmission via wires with a transmission belt for the majority of the transmission path. This significantly shortens the length of the transmission wire and effectively reduces the risk of slippage and length increase of the transmission wire due to long-term use. Furthermore, because the transmission belt has a better resistance to deformation than the transmission wire, the transmission rigidity and precision can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical surgical equipment, and in particular to a transmission system for a master control hand, a master control hand, and a surgical robot. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has become increasingly widely used due to its advantages such as minimal surgical trauma, short recovery time, and reduced patient pain. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations such as hand tremors during filtering operations, making them widely applicable to surgical areas such as the abdominal, pelvic, and thoracic cavities.

[0003] Currently, minimally invasive surgical robots consist of a master control arm and a slave manipulator arm. The master control arm collects the surgeon's operating signals, which are then processed by the control system to generate control signals for the slave manipulator arm, which then performs the surgical operation. Therefore, the master control arm's transmission accuracy and user experience significantly impact the accuracy of the surgical operation. To make the master control arm lighter, the drive motor is placed at the rear end, rather than inside the arm. This requires a transmission system to transmit the drive motor's power to the rotating joints within the master control arm. Currently, the most common transmission system for master control arms is a wire drive system.

[0004] For example, Chinese invention patent application CN113017840A discloses a master manipulator and surgical robot, which states that "the wrist assembly 200 further comprises a fourth rotational joint 210, wherein a fourth drive motor 211 in the fourth rotational joint 210 is fixed to the second connecting plate 126 and is transmitted to the fourth rotation axis A4 of the fourth rotational joint 210 via a steel wire rope, with the steel wire rope passing around a fourth winding wheel 212 and a fifth winding wheel 213, respectively." The invention uses a steel wire rope as a transmission element.

[0005] Chinese invention patent application CN114931438A discloses a transmission system and a main control hand for a surgical robot, wherein it is disclosed that "the transmission wire 310 has various structural forms, a preferred embodiment of which is as follows: Figure 2 as well as Figure 3 As shown, the transmission wire 310 includes two second traction wires 312, one second traction wire 312 corresponds to a guide wheel 221, one end of each second traction wire 312 is fixed to the small wire wheel 320, and is wound up and down along the axial direction of the small wire wheel 320 for a set number of turns, and then wound around the guide wheel 221 and the large wire wheel 330 in sequence, and the other end of the second traction wire 312 is fixed to the large wire wheel 330, and the protruding parts of the two second traction wires 312 are crossed. It uses tungsten wire rope as a transmission member.

[0006] However, the above scheme uses steel wire rope and tungsten wire rope as transmission parts. However, the long-term use of steel wire rope and tungsten wire rope may cause the steel wire rope and tungsten wire rope to slip and increase in length, resulting in poor transmission rigidity and reduced accuracy. In the case of severe slippage, the steel wire rope and tungsten wire rope may be scrapped, and the steel wire rope and tungsten wire rope need to be pre-tightened regularly, increasing maintenance costs. Summary of the Invention

[0007] The reason existing technologies use wire drives rather than the more rigid steel belt drive is that the driving shaft at the head end and the driven shaft at the tail end are spatially skewed and perpendicular. As is well known, steel belts can only transmit power between horizontal shafts and cannot transmit power between two perpendicular shafts. Therefore, there is a need for a master control hand transmission system, master control hand, and surgical robot that effectively reduces the potential for wire slippage and length increase due to long-term use, improves transmission rigidity and precision, and provides more sensitive and accurate control, effectively extending service life and reliability.

[0008] A transmission system for a master control hand, comprising:

[0009] A plurality of transmission shafts connected in series, the plurality of transmission shafts comprising at least two stages of first transmission shafts sequentially spaced apart in a first direction and at least two stages of second transmission shafts sequentially spaced apart in a second direction; the axial direction of the first transmission shaft at the first stage is not parallel to the axial direction of the second transmission shaft at the last stage;

[0010] The first transmission shaft at the first stage is connected to the first transmission shaft at the last stage via a transmission belt; the first transmission shaft at the last stage is connected to the second transmission shaft at the first stage via a transmission wire; the second transmission shaft at the first stage is connected to the second transmission shaft at the last stage via a transmission belt;

[0011] Wherein, the rigidity of the transmission belt is greater than the rigidity of the transmission wire.

[0012] In one embodiment, the first direction and the second direction are not parallel, and an angle formed between the first direction and the second direction is between 60° and 120°.

[0013] In one embodiment, the transmission belt is detachably connected to the first transmission shaft and / or the second transmission shaft via a mating component.

[0014] In one embodiment, the mating component includes a transmission block connected to the transmission belt and a transmission slot provided on the first transmission shaft and / or the second transmission shaft, and the transmission block is engaged with the transmission slot.

[0015] In one embodiment, the transmission block is slidably connected to the transmission slot, and the extension direction of the transmission slot is parallel to the axial direction of the first transmission shaft and / or the second transmission shaft;

[0016] And / or, the transmission card block and the transmission card slot are both T-shaped structures.

[0017] In one embodiment, a wire groove is provided on the first transmission shaft at the final stage and / or the second transmission shaft at the first stage, and the transmission wire is wound around the wire groove.

[0018] In one embodiment, the main control hand transmission system also includes a first tensioning member and a second tensioning member, the first tensioning member is used to adjust the tension of the transmission belt connected to the first transmission shaft; the second tensioning member is used to adjust the tension of the transmission belt connected to the second transmission shaft.

[0019] In one embodiment, the position of the first transmission shaft located at the first stage in the first direction is adjustable.

[0020] In one embodiment, the first transmission shaft located at the first stage is used to be adjustably connected to the first articulated arm via a mounting plate.

[0021] In one embodiment, the first transmission shaft at the final stage and the second transmission shaft at the first stage are provided with a corresponding transmission wire, and the transmission wire is provided in the middle of the second transmission shaft and in the middle or one end of the first transmission shaft;

[0022] Alternatively, the first transmission shaft at the final stage and the second transmission shaft at the first stage are arranged corresponding to the two transmission wires, and the two transmission wires are respectively arranged at both ends of the second transmission shaft and at one end of the first transmission shaft, or the two transmission wires are respectively arranged at both ends of the first transmission shaft.

[0023] In one embodiment, the first transmission shaft at the first stage and the first transmission shaft at the last stage are provided with two transmission belts corresponding to each other; and the two transmission belts are both provided in the middle of the two first transmission shafts, or the two transmission belts are both provided at the other ends of the two first transmission shafts, or the two transmission belts are respectively provided at both ends of the two first transmission shafts;

[0024] And / or, the second transmission shaft at the first stage and the second transmission shaft at the last stage are arranged corresponding to the two transmission belts; and the two transmission belts are both arranged in the middle of the two second transmission shafts or the two transmission belts are respectively arranged at both ends of the two second transmission shafts.

[0025] In one embodiment, the transmission belt is a steel belt, the transmission wire is a steel wire, and the length of the steel belt is greater than the length of the steel wire.

[0026] The present application also provides a master control hand, comprising an articulated arm, wherein the articulated arm comprises the transmission system for the master control hand as described above.

[0027] In one embodiment, the articulated arm includes a first articulated arm and a second articulated arm connected to the first articulated arm, the first articulated arm includes a plurality of first transmission shafts, the first transmission shaft located at the first stage and the first transmission shaft located at the last stage are connected via a transmission belt; the transmission wire is connected between the first articulated arm and the second articulated arm; the second articulated arm includes a plurality of second transmission shafts, the second transmission shaft located at the first stage and the second transmission shaft located at the last stage are connected via a transmission belt.

[0028] The present application also provides a surgical robot including a doctor's console and a patient surgical platform, wherein the doctor's console includes the main control hand as described above.

[0029] In the above scheme, a transmission belt that undertakes the main transmission role and a transmission wire that undertakes the transition role are set, and the first transmission shaft at the first stage is connected to the first transmission shaft at the last stage through a transmission belt; the first transmission shaft at the last stage is connected to the second transmission shaft at the first stage through a transmission wire; the second transmission shaft at the first stage is connected to the second transmission shaft at the last stage through a transmission belt; the original scheme that could only be transmitted by wire is changed to a scheme that adopts transmission belts for most of the transmission paths, which greatly shortens the length of the transmission wire and effectively reduces the possibility of slipping and length increase of the transmission wire due to long-term use of the transmission wire. Since the transmission belt has better resistance to deformation than the transmission wire, the transmission rigidity and precision can be improved, and the control is more sensitive and accurate, which effectively improves the service life and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Schematic diagram of the connection structure of the transmission system for the master control hand and the master control hand according to one embodiment of the present invention.

[0031] Figure 2 Schematic diagram of the structure of the transmission system for the master control hand shown in the first embodiment of the present invention.

[0032] Figure 3 This is a front structural diagram of the transmission system for the master control hand shown in the first embodiment of the present invention.

[0033] Figure 4 for Figure 2 Enlarged view of point A in the middle.

[0034] Figure 5 for Figure 2 Enlarged view of point B in the middle.

[0035] Figure 6 for Figure 2 Enlarged view of point C in the middle.

[0036] Figure 7 for Figure 2 Enlarged view of point D in the middle.

[0037] Figure 8 This is a schematic structural diagram of a first transmission shaft according to an embodiment of the present invention. A wire groove is provided on the first transmission shaft.

[0038] Figure 9 This is a structural schematic diagram of a first transmission shaft according to an embodiment of the present invention. A transmission slot is provided on the first transmission shaft.

[0039] Figure 10 The figure is a schematic diagram of the connection structure of the transmission belt and the transmission block shown in one embodiment of the present invention.

[0040] Figure 11 for Figure 5 Enlarged view of point A in the middle.

[0041] Figure 12 Schematic diagram of the connection structure of the driving mechanism, the mounting plate, the first transmission shaft and the transmission belt shown in a first viewing angle according to an embodiment of the present invention.

[0042] Figure 13 Schematic diagram of the connection structure of the driving mechanism, the mounting plate, the first transmission shaft and the transmission belt shown in a second viewing angle according to an embodiment of the present invention.

[0043] Figure 14 Schematic diagram of the connection structure of the driving mechanism, the mounting plate, the first transmission shaft and the transmission belt shown in a third perspective according to an embodiment of the present invention.

[0044] Figure 15 Schematic diagram of the structure of a mounting plate shown in one embodiment of the present invention.

[0045] Figure 16 Schematic diagram of the structure of a safety block shown in one embodiment of the present invention.

[0046] Figure 17 Schematic diagram of the structure of the transmission system for the master control hand shown in the second embodiment of the present invention.

[0047] Figure 18 Schematic diagram of the structure of the transmission system for the master control hand shown in the third embodiment of the present invention.

[0048] Figure 19 Schematic diagram of the structure of the transmission system for the master control hand shown in the fourth embodiment of the present invention.

[0049] Figure 20 FIG. 1 is a structural diagram of a master controller according to an embodiment of the present invention.

[0050] Description of Reference Numerals

[0051] 10. Transmission system for the main control hand; 100. Transmission module; 110. Transmission belt; 120. Transmission wire; 200. Rotating shaft module; 210. First transmission shaft; 211. Wire groove; 220. Second transmission shaft; 300. Matching assembly; 310. Transmission block; 311. Through hole; 320. Transmission slot; 321. Fixing threaded hole; 400. Second tensioning member; 500. Mounting plate; 510. Waist-shaped hole; 520. Shaft hole; 530. Shaft seat screw hole; 540. Mounting seat screw hole; 550. Stud seat; 600. Driving mechanism; 610. Driving motor; 620. Motor mounting seat; 630. Coupling; 640. Shaft seat; 650. Safety assembly; 651. Safety block; 652. Adjusting stud; 653. Stud threaded hole; 654. Avoidance groove;

[0052] 20. Main control hand; 700. Articulated arm; 710. First articulated arm; 720. Second articulated arm; 800. Manual controller; 810. Fifth rotation axis; 820. Sixth rotation axis; 830. Seventh rotation axis; 900. Mounting base; 910. Robot arm fixing base; 920. Rotating base; 930. First rotation axis; 940. Second rotation axis; 950. Third rotation axis; 960. Fourth rotation axis; 970. Auxiliary connecting rod; 980. Power connecting rod; 990. Eighth rotation axis; 1000. Ninth rotation axis. DETAILED DESCRIPTION

[0053] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0054] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0055] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0056] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0057] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0058] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0059] See also Figure 1 、 Figure 2 、 Figure 3 and Figure 20 In one embodiment of the present invention, a transmission system 10 for a master control hand is provided. It is applied to a master control hand 20 and is used to implement transmission control of the master control hand 20. The system comprises a transmission module 100 and a rotation shaft module 200. The transmission module 100 includes a transmission belt 110 and a transmission wire 120. The rotation shaft module 200 comprises multiple transmission shafts connected in series. The multiple transmission shafts include at least two stages of first transmission shafts 210 spaced sequentially along a first direction and at least two stages of second transmission shafts 220 spaced sequentially along a second direction. The axial direction of the first transmission shaft 210 at the beginning is not parallel to the axial direction of the second transmission shaft 220 at the end. In this embodiment, the two stages of first transmission shafts 210 and the two stages of second transmission shafts 220 are arranged in parallel. This ensures that the transmission belt 110 is not twisted, resulting in high transmission efficiency and long service life. It is understood that slight twisting of the two stages of first transmission shafts 210 and the two stages of second transmission shafts 220 is also feasible.

[0060] Specifically, the first transmission shaft 210 at the first stage is the driving shaft, and the remaining first transmission shafts 210 and second transmission shafts 220 are all driven shafts. It should be noted that the number of the first transmission shafts 210 and the second transmission shafts 220 is not limited in this application, and the number of the first transmission shafts 210 and the second transmission shafts 220 can be two, three, or more than three. Of course, those skilled in the art know that the more the number of transmission shafts, the more the number of transmission stages, and accordingly, the lower the transmission efficiency will be. The driving shaft can be a rotating shaft connected to the drive motor 610 for transmission, and the driving shaft can also be the output shaft of the drive motor 610. In this embodiment, the number of the first transmission shafts 210 and the second transmission shafts 220 is two. It should also be noted that the first stage refers to the stage close to the drive motor 610 in the transmission chain, and the last stage refers to the stage away from the drive motor 610 in the transmission chain.

[0061] In this embodiment, the axial directions of the plurality of first transmission shafts 210 are arranged parallel in a first direction. The axial directions of the plurality of second transmission shafts 220 are arranged parallel in a second direction. The axial directions of the first transmission shafts 210 intersect with the axial directions of the second transmission shafts 220. More specifically, at the zero point, the axial directions of the first transmission shafts 210 and the axial directions of the second transmission shafts 220 are skewed and perpendicular when projected onto a plane.

[0062] The first transmission shaft 210 at the first stage is connected to the first transmission shaft 210 at the last stage via a transmission belt 110. The first transmission shaft 210 at the last stage is connected to the second transmission shaft 220 at the first stage via a transmission wire 120. The second transmission shaft 220 at the first stage is connected to the second transmission shaft 220 at the last stage via a transmission belt 110. The rigidity of the transmission belt 110 is greater than that of the transmission wire 120. Specifically, the transmission belt 110 is a steel belt, and the transmission wire 120 is a steel wire. In addition, the length of the steel belt is greater than that of the steel wire, which can minimize the influence of the steel wire. It can be seen that in this embodiment, the steel belt assumes the main transmission role, while the steel wire serves as a transition part, playing the role of converting the transmission direction of the steel belt. In this way, most of the advantages of steel belt transmission are retained, and the problem that vertical cross shafts cannot use steel belt transmission is solved.

[0063] It should be understood that if there are multiple first transmission shafts 210, the first transmission shaft 210 at the first stage and its adjacent first transmission shaft 210, the first transmission shaft 210 at the last stage and its adjacent first transmission shaft 210, and two adjacent first transmission shafts 210 at the middle stage can be connected by a transmission belt 110. Correspondingly, if there are multiple second transmission shafts 220, the second transmission shaft 220 at the first stage and its adjacent second transmission shaft 220, the second transmission shaft 220 at the last stage and its adjacent second transmission shaft 220, and two adjacent second transmission shafts 220 at the middle stage can be connected by a transmission belt 110.

[0064] By setting a transmission belt 110 and a transmission wire 120, and the first transmission shaft 210 at the first stage is connected to the first transmission shaft 210 at the last stage through the transmission belt 110; the second transmission shaft 220 at the first stage is connected to the second transmission shaft 220 at the last stage through the transmission belt 110; the first transmission shaft 210 at the last stage is connected to the second transmission shaft 220 at the first stage through the transmission wire 120. The present application adds the second transmission shaft 220 at the first stage, so that the original solution that can only be transmitted by wire is changed to using the transmission belt 110 for most of the transmission path, which greatly shortens the length of the transmission wire 120 and effectively reduces the possibility of slipping and length increase of the transmission wire 120 due to long-term use of the transmission wire 120. Since the transmission belt 110 has better resistance to deformation than the transmission wire 120, the transmission rigidity and precision can be improved, and the control is more sensitive and accurate, effectively improving the service life and reliability.

[0065] The master control hand transmission system 10 of an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0066] See also Figure 1 、 Figure 2 and Figure 3 According to some embodiments of the present application, optionally, in one embodiment, the first direction and the second direction are not parallel, and the angle formed by the two is between 60° and 120°. This limits the range of motion of the master control hand 20, that is, the working space that the end can reach. In this embodiment, when the zero point position is set so that the first direction is perpendicular to the second direction, it can be rotated up and down by 30°, so that the angle between the two varies between 60° and 120°. It is understandable that different manufacturers can also set different ranges of motion according to their own needs, that is, the angle between the two is not limited to this.

[0067] See also Figure 1 、 Figure 4 and Figure 5 According to some embodiments of the present application, the transmission belt 110 is optionally detachably connected to the first transmission shaft 210 and the second transmission shaft 220 through the mating component 300, which can facilitate the rapid disassembly and assembly of the first transmission shaft 210 and the second transmission shaft 220 and the transmission belt 110.

[0068] Specifically, see Figure 4 、 Figure 5 、 Figure 9 、 Figure 10 and Figure 11Taking the first transmission shaft 210 as an example, the mating assembly 300 includes a transmission block 310 connected to the transmission belt 110 and a transmission slot 320 defined in the first transmission shaft 210. The transmission block 310 and the transmission slot 320 are matingly engaged. More specifically, the shapes of the transmission block 310 and the transmission slot 320 match. The transmission block 310 is slidably connected within the transmission slot 320, and the extension direction of the transmission slot 320 is parallel to the axial direction of the first transmission shaft 210. For example, both the transmission block 310 and the transmission slot 320 are T-shaped. The transmission belt 110 is wound along at least a portion of the surface of the first transmission shaft 210, while the transmission block 310 is installed along the axial direction of the first transmission shaft 210. This ensures that the transmission block 310 is securely connected after installation and does not disengage from the transmission slot 320. This fixing method reduces the installation space requirements outside the first transmission shaft 210, enabling steel belt fixing in narrow spaces, which helps reduce the overall structural size and weight of the main control handle. It is understood that a similar fixing method can also be used on the second transmission shaft 220. Of course, the second transmission shaft 220 can also use the existing steel belt fixing method, depending on whether it is convenient for assembly, and this application does not impose any restrictions.

[0069] The transmission belt 110 is fixedly connected to the transmission block 310. Specifically, the end of the transmission belt 110 is pre-welded to the transmission block 310. Furthermore, to enhance the reliable connection of the transmission block 310, the transmission block 310 is also fixedly connected to the transmission slot 320 via a fixing assembly. Specifically, the fixing assembly includes a through-hole 311 defined in the transmission block 310, a fixing threaded hole 321 defined in the transmission slot 320, and a fixing screw. The fixing screw is disposed through the through-hole 311 and is threadedly engaged with the second fixing threaded hole 321, thereby ensuring the connection strength between the transmission belt 110 and the first transmission shaft 210 and / or the second transmission shaft 220, and ensuring the stability and reliability of the transmission process.

[0070] There are two transmission belts 110 between the first transmission shaft 210 of the first stage and the first transmission shaft 210 of the last stage, and two transmission belts 110 between the second transmission shaft 220 of the first stage and the second transmission shaft 220 of the last stage. The two transmission belts 110 are symmetrically arranged on the first transmission shaft 210 and the second transmission shaft 220. Specifically, the two transmission slots 320 are symmetrically arranged on the first transmission shaft 210 and the second transmission shaft 220, which can ensure balanced force on the first transmission shaft 210 and the second transmission shaft 220, ensuring transmission stability.

[0071] See also Figure 5 、 Figure 6 and Figure 8According to some embodiments of the present application, optionally, a wire groove 211 is provided on the first transmission shaft 210 located at the last stage and the second transmission shaft 220 located at the first stage. The transmission wire 120 is wound around the wire groove 211 of the first transmission shaft 210 and the wire groove 211 of the second transmission shaft 220, which can avoid the transmission wire 120 from being disordered, thereby ensuring the smooth movement of the transmission wire 120 and ensuring the stability and reliability of the transmission process.

[0072] See also Figure 1 、 Figure 4 、 Figure 6 and Figure 7 According to some embodiments of the present application, the master control hand transmission system 10 may optionally further include a first tensioning member and a second tensioning member 400. The first tensioning member is used to adjust the tension of the transmission belt 110 connected to the first transmission shaft 210. The second tensioning member 400 is used to adjust the tension of the transmission belt 110 connected to the second transmission shaft 220.

[0073] It should be noted that the coupling between the transmission block 310 and the transmission slot 320 determines that the tension of the transmission belt 110 cannot be adjusted. Therefore, in this embodiment, the position of the first transmission shaft 210 at the first stage in the first direction is adjustable. By adjusting the position of the first transmission shaft 210 at the first stage in the first direction, the center distance between the first transmission shaft 210 at the first stage and the first transmission shaft 210 at the final stage can be adjusted, thereby adjusting the tension of the transmission belt 110.

[0074] Specifically, the first tensioning member is a mounting plate 500. The first transmission shaft 210 at the first stage is adjustably connected to the first articulated arm via the mounting plate 500. The mounting plate 500 is sleeved onto the first transmission shaft 210. By adjusting the position of the mounting plate 500 relative to the first articulated arm, the center distance between the first transmission shaft 210 at the first stage and the first transmission shaft 210 at the final stage can be adjusted, thereby adjusting the tension of the transmission belt 110.

[0075] More specifically, see Figure 1 、 Figure 4 and Figure 12 The mounting plate 500 has a waist-shaped hole 510, which is adjustably connected to the first articulated arm 710 through the waist-shaped hole 510. This allows the position of the first transmission shaft 210 to be adjusted, allowing the center distance between the first transmission shaft 210 at the first stage and the first transmission shaft 210 at the last stage to be adjusted, thereby adjusting the tension of the transmission belt 110. The mounting plate 500 has an axis hole 520, and the first transmission shaft 210 is inserted into the axis hole 520.

[0076] The second tensioning member 400 is a steel belt pretensioner, which is connected to the second transmission shaft 220 and acts on the transmission belt 110 connected to the second transmission shaft 220, thereby adjusting the tension of the transmission belt 110 connected to the second transmission shaft 220. It should be noted that the steel belt pretensioner can be a known structure.

[0077] See also Figure 12 、 Figure 13 、 Figure 14 and Figure 15 According to some embodiments of the present application, the first transmission shaft 210 at the first stage is optionally in transmission connection with the drive mechanism 600. The drive mechanism 600 includes a drive motor 610, a motor mounting base 620, and a coupling 630. The drive motor 610 is fixedly mounted on the motor mounting base 620 and is in transmission connection with the first transmission shaft 210 via the coupling 630. The mounting plate 500 is fixedly connected to the motor mounting base 620.

[0078] Furthermore, the mounting plate 500 is connected to a shaft seat 640, upon which the first transmission shaft 210, located at the front stage, is mounted. Specifically, the mounting plate 500 is provided with a shaft seat screw hole 530 for mounting the shaft seat 640. It should be understood that one end of the first transmission shaft 210 is connected to the coupling 630, while the other end of the first transmission shaft 210 is mounted on the shaft seat 640. This secures both ends of the first transmission shaft 210, effectively preventing the generation of an overturning moment.

[0079] It should be understood that the mounting plate 500 also has mounting screw holes 540 for mounting the motor mounting base 620. Because the force applied by the drive belt 110 to the mounting plate 500 is vertical, while the force applied by the screws to the mounting plate 500 connected to the motor mounting base 620 is horizontal, the fixation may not be secure. To address this issue, the present application proposes the following technical solution:

[0080] See also Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 and Figure 16By setting a safety assembly 650, the safety assembly 650 includes a safety block 651 and an adjustment stud 652, and a stud threaded hole 653 is provided on the safety block 651. The adjustment stud 652 is inserted into the stud threaded hole 653 and is threadedly connected to the stud threaded hole 653, and one end of the adjustment stud 652 can abut against the bottom of the mounting plate 500. After the mounting plate 500 is installed on the motor mounting seat 620, the height of the adjustment stud 652 can be adjusted to ensure that one end of the adjustment stud 652 always abuts against the mounting plate 500, further ensuring the reliability of the fixing of the mounting plate 500. Specifically, a stud seat 550 is also provided on the mounting plate 500 to abut against the adjustment stud 652. The safety block 651 is also provided with an avoidance groove 654 for avoiding the transmission belt 110.

[0081] See also Figure 2 、 Figure 17 、 Figure 18 and Figure 19 According to some embodiments of the present application, optionally, the first transmission shaft 210 at the first stage and the first transmission shaft 210 at the last stage are correspondingly provided with the two transmission belts 110. The second transmission shaft 220 at the first stage and the second transmission shaft 220 at the last stage are correspondingly provided with the two transmission belts 110.

[0082] In the first embodiment, a first transmission shaft 210 at the final stage and a second transmission shaft 220 at the first stage are provided corresponding to a transmission wire 120. The transmission wire 120 is provided in the middle of the second transmission shaft 220 and at one end of the first transmission shaft 210. Two transmission belts 110 are provided at the other ends of the two first transmission shafts 210. Two transmission belts 110 are provided at the two ends of the two second transmission shafts 220, respectively.

[0083] In the second embodiment, a first transmission shaft 210 at the final stage and a second transmission shaft 220 at the first stage are provided with corresponding transmission wires 120. The transmission wire 120 is provided in the middle of the second transmission shaft 220 and in the middle of the first transmission shaft 210. Two transmission belts 110 are provided at either end of the first transmission shafts 210. Two transmission belts 110 are provided at either end of the second transmission shafts 220. This arrangement ensures a more balanced force on the first-stage second transmission shafts 220, improving the stability of the transmission system.

[0084] In the third embodiment, a first transmission shaft 210 at the final stage and a second transmission shaft 220 at the first stage are arranged corresponding to two transmission wires 120. The two transmission wires 120 are respectively arranged at both ends of the second transmission shaft 220 and at one end of the first transmission shaft 210. Two transmission belts 110 are each arranged at the other end of the two first transmission shafts 210. Both transmission belts 110 are arranged in the middle of the two second transmission shafts 220. This arrangement increases the rigidity of the transmission belts 110, thereby increasing the rigidity of the transmission system and improving transmission accuracy.

[0085] In the fourth embodiment, the first transmission shaft 210 at the final stage and the second transmission shaft 220 at the first stage are arranged correspondingly to the two transmission wires 120. The two transmission wires 120 are respectively arranged at the two ends of the second transmission shaft 220, and the two transmission wires 120 are respectively arranged at the two ends of the first transmission shaft 210. The two transmission belts 110 are both arranged in the middle of the two first transmission shafts 210. The two transmission belts 110 are both arranged in the middle of the two second transmission shafts 220. This arrangement can make the force on the second transmission shaft 220 at the first stage more balanced, improve the stability of the transmission system, and increase the rigidity of the transmission belt 110, thereby increasing the rigidity of the transmission system and improving transmission accuracy.

[0086] See also Figure 1 and Figure 20 The present application also provides a master control hand 20, including an articulated arm 700, which includes the transmission system for the master control hand 20 as described above. The articulated arm 700 includes a first articulated arm 710 and a second articulated arm 720 connected to the first articulated arm 710. The first articulated arm 710 includes a plurality of first transmission shafts 210, and the first transmission shafts 210 at the first stage and the first transmission shafts 210 at the last stage are connected by a transmission belt 110. A transmission wire 120 is connected between the first articulated arm 710 and the second articulated arm 720. The second articulated arm 720 includes a plurality of second transmission shafts 220, and the second transmission shafts 220 at the first stage and the second transmission shafts 220 at the last stage are connected by a transmission belt 110.

[0087] Specifically, see Figure 20 The master controller 20 also includes a manual controller 800 at the end and a mounting base 900. The mounting base 900 includes a robotic arm mounting base 910 and a rotating base 920 connected to the robotic arm mounting base 910. One end of the articulated arm 700 is connected to the robotic arm mounting base 910, and the other end is connected to the manual controller 800. More specifically, the first articulated arm 710 is connected to the robotic arm mounting base 910, and the second articulated arm 720 is connected to the manual controller 800.

[0088] Among them, see Figure 1 and Figure 20The manual controller 800, the articulated arm 700, the robot arm mounting base 910, and the rotating base 920 connected to the robot arm mounting base 910 constitute the position joints of the master control hand 20. The master control hand 20 includes a first rotating axis 930, a second rotating axis 940, a third rotating axis 950, and a fourth rotating axis 960. The first rotating axis 930, the second rotating axis 940, the third rotating axis 950, and the fourth rotating axis 960 cooperate with each other to enable the manual controller 800 to be delivered to any spatial position within the range of the articulated arm 700. It should be understood that the second rotating axis 940 and the third rotating axis 950 are both the first transmission shaft 210 mentioned above, and the fourth rotating axis 960 is the second transmission shaft 220 mentioned above.

[0089] The manual controller 800 is the posture joint of the main control arm, which includes a fifth rotation axis 810, a sixth rotation axis 820, a seventh rotation axis 830 and an opening and closing axis for controlling the opening and closing of the device. The axes of the fifth rotation axis 810, the sixth rotation axis 820, and the seventh rotation axis 830 intersect at one point, and any wrist posture can be achieved at any position.

[0090] More specifically, the manual controller 800 is rotationally connected to the end of the second articulated arm 720 , and the power of the drive motor is transmitted to the fourth rotating shaft 960 through a combination of a transmission belt and a transmission belt, driving the manual controller 800 to rotate around the fourth rotating shaft 960 .

[0091] The other end of the second articulated arm 720 is rotationally connected to the end of the first articulated arm 710. The end of the auxiliary link 970 is rotationally connected to the second articulated arm 720 via the eighth rotation axis 990. The other end of the auxiliary link 970 is rotationally connected to the end of the power link 980 via the ninth rotation axis 1000. The power link 980 is fixedly connected to the drive motor. The drive motor is fixedly connected to the robot arm mounting base 910. The second rotation axis 940, the third rotation axis 950, the eighth rotation axis 990, and the ninth rotation axis 1000 form a parallelogram-shaped geometric relationship. The power of the drive motor is transmitted to the third rotation axis 950 through the parallelogram structure, thereby achieving rotational movement of the second articulated arm 720 about the third rotation axis 950.

[0092] The other end of the first articulated arm 710 is rotatably connected to the robot arm mounting base 910. The drive motor transmits power to the second rotation axis 940, driving the first articulated arm 710 to rotate about the second rotation axis 940. The robot arm mounting base 910 is rotatably mounted on the rotation base 920. The drive motor transmits power to the first rotation axis 930, driving the robot arm mounting base 910 to rotate.

[0093] See also Figure 1 and Figure 20According to some embodiments of the present application, optionally, the second transmission shaft located at the first stage is connected to the first articulated arm 710 through a bearing, so that the power of the second transmission shaft located at the first stage will not be transmitted to the first articulated arm 710.

[0094] The present application also provides a surgical robot including a doctor's console and a patient surgical platform, wherein the doctor's console includes the main control hand 20 as described above.

[0095] 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.

[0096] 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 patent application. It should be noted that a person of ordinary skill in the art may 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 transmission system for a master control hand, characterized in that: include: A plurality of transmission shafts connected in sequence, the plurality of transmission shafts comprising at least two first transmission shafts sequentially spaced apart in a first direction and at least two second transmission shafts sequentially spaced apart in a second direction; The axial direction of the first transmission shaft located at the first stage is not parallel to the axial direction of the second transmission shaft located at the last stage; The first transmission shaft at the first stage is connected to the first transmission shaft at the last stage via a transmission belt; the first transmission shaft at the last stage is connected to the second transmission shaft at the first stage via a transmission wire; the second transmission shaft at the first stage is connected to the second transmission shaft at the last stage via a transmission belt; Wherein, the rigidity of the transmission belt is greater than the rigidity of the transmission wire.

2. The master control hand transmission system according to claim 1, characterized in that: The first direction and the second direction are not parallel, and an angle formed by the two is between 60° and 120°.

3. The master control hand transmission system according to claim 1, characterized in that: The transmission belt is detachably connected to the first transmission shaft and / or the second transmission shaft via a matching component.

4. The master control hand transmission system according to claim 3, characterized in that: The mating component includes a transmission block connected to the transmission belt and a transmission slot provided on the first transmission shaft and / or the second transmission shaft, and the transmission block is engaged with the transmission slot.

5. The master control hand transmission system according to claim 4, characterized in that: The transmission card block is slidably connected in the transmission card slot, and the extension direction of the transmission card slot is parallel to the axial direction of the first transmission shaft and / or the second transmission shaft; And / or, the transmission card block and the transmission card slot are both T-shaped structures.

6. The master control hand transmission system according to claim 1, characterized in that: A wire groove is provided on the first transmission shaft at the final stage and / or the second transmission shaft at the first stage, and the transmission wire is wound around the wire groove.

7. The master control hand transmission system according to claim 1, characterized in that: It also includes a first tensioning member and a second tensioning member. The first tensioning member is used to adjust the tension of the transmission belt connected to the first transmission shaft; the second tensioning member is used to adjust the tension of the transmission belt connected to the second transmission shaft.

8. The master control hand transmission system according to claim 1, characterized in that: The position of the first transmission shaft located at the first stage in the first direction is adjustable.

9. The master control hand transmission system according to claim 7 or 8, characterized in that: The first transmission shaft located at the first stage is used to be connected to the first articulated arm in an adjustably positionable manner through a mounting plate.

10. The master control hand transmission system according to claim 1, characterized in that: The first transmission shaft at the final stage and the second transmission shaft at the first stage are provided with a transmission wire corresponding thereto, and the transmission wire is provided at the middle of the second transmission shaft and at the middle or one end of the first transmission shaft; Alternatively, the first transmission shaft at the final stage and the second transmission shaft at the first stage are arranged corresponding to the two transmission wires, and the two transmission wires are respectively arranged at both ends of the second transmission shaft and at one end of the first transmission shaft, or the two transmission wires are respectively arranged at both ends of the first transmission shaft.

11. The master control hand transmission system according to claim 1 or 10, characterized in that: The first transmission shaft at the first stage and the first transmission shaft at the last stage are correspondingly provided with the two transmission belts; and the two transmission belts are both provided in the middle of the two first transmission shafts, or the two transmission belts are both provided at the other ends of the two first transmission shafts, or the two transmission belts are respectively provided at the two ends of the two first transmission shafts; And / or, the second transmission shaft at the first stage and the second transmission shaft at the last stage are arranged corresponding to the two transmission belts; and the two transmission belts are both arranged in the middle of the two second transmission shafts or the two transmission belts are respectively arranged at both ends of the two second transmission shafts.

12. The master control hand transmission system according to claim 1, characterized in that: The transmission belt is a steel belt, the transmission wire is a steel wire, and the length of the steel belt is greater than the length of the steel wire.

13. A master control hand, characterized in that: It comprises an articulated arm, and the articulated arm comprises the transmission system for the master control hand according to any one of claims 1 to 12.

14. The master control hand according to claim 13, characterized in that: The articulated arm includes a first articulated arm and a second articulated arm connected to the first articulated arm, the first articulated arm includes multiple first transmission shafts, the first transmission shaft located at the first stage and the first transmission shaft located at the last stage are connected via a transmission belt; the transmission wire is connected between the first articulated arm and the second articulated arm; the second articulated arm includes multiple second transmission shafts, the second transmission shaft located at the first stage and the second transmission shaft located at the last stage are connected via a transmission belt.

15. A surgical robot comprising a doctor's console and a patient operating platform, characterized in that: The doctor console comprises the master control hand according to claim 13 or 14.

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