An arm mechanism, a master operating arm, a doctor's console, and a surgical robot

Abstract

This invention relates to the field of surgical robot technology, and discloses an arm mechanism, a main manipulator, a doctor's console, and a surgical robot. The arm mechanism includes: a first link, comprising a rod portion and a connecting shaft, the connecting shaft being vertically positioned, and the rod portion rotatably connected to the connecting shaft; a first shaft, vertically positioned and rotatably passing through the rod portion; a second link, comprising a first connecting portion, a second connecting portion, a third connecting portion, a second shaft, and a third shaft, the first connecting portion being rotatably connected to the first shaft, the second shaft being fixed to the first connecting portion, and the third shaft being fixed to the third connecting portion, with both ends of the second connecting portion rotatably connected to the second and third shafts respectively; a first flexible transmission member, tensioned on the second and third shafts; and a fourth shaft, extending vertically and rotatably connected to the third connecting portion. This invention, while ensuring the wrist mechanism's posture remains unchanged, enables translational motion of three degrees of freedom of the wrist mechanism through only two structural parts.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to an arm mechanism, a main operating arm, a doctor's console, and a surgical robot. Background Technology

[0002] Surgical robots are widely used in the medical field. A surgical robot typically consists of a surgeon's end and a patient's end. The surgeon's end includes a base, a main control arm, and a display. The main control arm includes a wrist mechanism, which is movably connected to the base via at least one link. During surgery, the surgeon controls the movement of surgical instruments on the patient's end by moving the wrist mechanism.

[0003] Chinese patent CN113081289A discloses a main operating arm for a surgical robot, comprising a first mechanism, a second mechanism, and a main hand (wrist mechanism). The first mechanism includes a first translational arm, a fourteenth rotating shaft, a fifteenth rotating shaft, a second translational arm, and a sixteenth rotating shaft. The fourteenth, fifteenth, first, and sixteenth rotating shafts are all vertically arranged and rotatably connected to a lifting seat via the fourteenth rotating shaft. The second translational arm is rotatably connected to the first translational arm via the fifteenth rotating shaft. The second mechanism is rotatably connected to the second translational arm via the sixteenth rotating shaft. The second mechanism has a parallelogram structure, and the main hand is located at the end of the second mechanism. Steel wire ropes drive the fourteenth and fifteenth rotating shafts, as well as the fifteenth and sixteenth rotating shafts, ensuring synchronous rotation of the fourteenth, fifteenth, and sixteenth rotating shafts. When the fourteenth, fifteenth, and sixteenth rotating axes rotate, or when the second mechanism deforms, the aforementioned structural design ensures that the posture of the main hand remains unchanged, thereby achieving translational motion of the main hand in three degrees of freedom and reducing the impact on the surgeon's operation. However, the main manipulator achieves translational motion of the main hand in three parts (first translational arm, second translational arm, and second mechanism), which occupies a large space, reduces the flexibility of the main manipulator, and increases the possibility of interference and collision between the various parts during movement, thus reducing surgical safety.

[0004] Therefore, there is an urgent need for an arm mechanism, a main operating arm, a doctor's console, and a surgical robot to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide an arm mechanism, a main operating arm, a doctor's console, and a surgical robot, so as to achieve translation of the three degrees of freedom of the wrist mechanism through two parts while ensuring that the posture of the wrist mechanism remains unchanged, thereby reducing the space occupied by the arm mechanism and ensuring surgical safety.

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

[0007] An arm mechanism, comprising:

[0008] The first link includes a rod portion and a connecting shaft, the connecting shaft extending in a vertical direction, one end of the rod portion being rotatably connected to the connecting shaft, and the connecting shaft being used to connect to the base;

[0009] A first rotating shaft extends vertically and rotatably passes through the other end of the rod. The first rotating shaft and the connecting rotating shaft can rotate synchronously.

[0010] The second connecting rod includes a first connecting part, a second connecting part, a third connecting part, a second rotating shaft, and a third rotating shaft. The first connecting part is rotatably connected to the first rotating shaft. The second rotating shaft and the third rotating shaft both extend horizontally and are parallel to each other. The second rotating shaft is fixed on the first connecting part, and the third rotating shaft is fixed on the third connecting part. The two ends of the second connecting part are respectively rotatably connected to the second rotating shaft and the third rotating shaft.

[0011] A first flexible transmission component is tensioned on the second rotating shaft and the third rotating shaft to make the second rotating shaft and the third rotating shaft rotate synchronously;

[0012] The fourth rotating shaft extends vertically and is rotatably connected to the third connecting part. The fourth rotating shaft is used to connect to the wrist mechanism. The first rotating shaft and the fourth rotating shaft can rotate synchronously.

[0013] As an optional technical solution for the arm mechanism, the arm mechanism also includes an elastic element. One end of the elastic element is connected to the second rotating shaft through a flexible connector, and the other end of the elastic element is connected to the second connecting part. The torque of the elastic element on the second rotating shaft can at least balance part of the gravitational torque of the overall structure formed by the first connecting part, the second connecting part, and the wrist mechanism on the second rotating shaft.

[0014] As an optional technical solution for the arm mechanism, the flexible connector is wound around the second rotating shaft, and the second rotating shaft and the third rotating shaft are respectively located on both sides of the second connecting part along the length direction;

[0015] The interior of the second connecting part is hollow, the elastic element is located in the inner cavity of the second connecting part, and a fixing element is fixedly installed inside the second connecting part. The fixing element is located between the second rotating shaft and the third rotating shaft, and one end of the elastic element facing the third rotating shaft is connected to the fixing element.

[0016] The vertical line connecting the axis of the second rotating shaft and the axis of the third rotating shaft is defined as the first connecting line, and the elastic element is inclined to the first connecting line.

[0017] As an optional technical solution for the arm mechanism, the second rotating shaft includes a first shaft segment, a second shaft segment, and a connecting segment. The first shaft segment and the second shaft segment are coaxial and spaced apart. The connecting segment is connected between the top of the first shaft segment and the top of the second shaft segment.

[0018] The arm mechanism also includes two guide wheels. The center of gravity of the overall structure is located on the side of the second rotating shaft facing the third rotating shaft. The flexible connector is located between the first shaft segment and the second shaft segment. One end of the flexible connector is connected to the connecting segment. The guide wheel is rotatably connected to the second connecting part and located between the second rotating shaft and the third rotating shaft. The axis of the guide wheel is parallel to the second rotating shaft. The perpendicular bisector of the vertical line connecting the axes of the two guide wheels intersects the axis of the second rotating shaft perpendicularly. The other end of the flexible connector passes through the gap between the two guide wheels and is connected to the elastic element.

[0019] As an optional technical solution for the arm mechanism, the flexible connector is a steel wire rope, which is wound around the connecting section, and the two ends of the flexible connector pass through the gap between the two guide wheels and are connected to each other to form a closed loop structure. The elastic element is connected to the closed loop structure.

[0020] As an optional technical solution for the arm mechanism, the two flexible connecting pieces located between the two guide wheels are arranged along the axis of the second rotating shaft.

[0021] As an optional technical solution for the arm mechanism, the arm mechanism further includes a rope end connector. The elastic element is connected to the rope end connector. The rope end connector has two through holes, which are spaced apart along the axial direction of the second rotating shaft. The two ends of the flexible connector pass through the two through holes respectively and are fixedly connected to the rope end connector.

[0022] As an optional technical solution for the arm mechanism, the arm mechanism further includes a second flexible transmission member, which is tensioned on the first rotating shaft and the fourth rotating shaft, and is wound around the second rotating shaft and the third rotating shaft.

[0023] As an optional technical solution for the arm mechanism, the second flexible transmission component is a steel wire rope;

[0024] Two first bearings are coaxially mounted on the second rotating shaft. First guide wheels are mounted on the outer rings of the first bearings. The two first bearings are arranged axially. The ropes of the second flexible transmission component located on both sides of the first rotating shaft are respectively wound around the two first guide wheels; and / or,

[0025] Two second bearings are coaxially mounted on the third rotating shaft. The outer ring of the second bearing is fitted with a second guide wheel. The two second bearings are arranged axially. The ropes of the second flexible transmission component located on both sides of the first rotating shaft are respectively wound around the two second guide wheels.

[0026] As an optional technical solution for the arm mechanism, the arm mechanism further includes a third flexible transmission component, which is tensioned on the first rotating shaft and the connecting rotating shaft.

[0027] A master control arm includes a wrist mechanism and an arm mechanism as described above.

[0028] A doctor's console, including the main control arm as described above.

[0029] A surgical robot, including the doctor's console as described above.

[0030] The beneficial effects of this invention are:

[0031] The arm mechanism provided in this embodiment includes a first connecting rod, a first rotating shaft, a second connecting rod, a first flexible transmission component, and a fourth rotating shaft. The first flexible transmission component is tensioned and mounted on the second and third rotating shafts, ensuring that the second and third rotating shafts, the first connecting part, and the third connecting part can rotate synchronously. This ensures that the third connecting part can drive the wrist mechanism to rotate synchronously with the first connecting part. The arm mechanism provided in this embodiment, while maintaining the wrist mechanism's posture, can achieve three degrees of freedom translation of the wrist mechanism using only the first and second connecting rods. This reduces the number of connecting rods, shrinks the space occupied by the arm mechanism, increases its flexibility, and reduces the possibility of interference and collision between different structures during arm mechanism movement, thereby ensuring surgical safety and reducing the possibility of secondary injury to the patient.

[0032] The main operating arm provided in this embodiment reduces the space occupied, increases flexibility, and reduces the possibility of interference and collision between various structures during movement, thereby ensuring the safety of the operation and reducing the possibility of secondary injury to the patient.

[0033] The doctor's console provided in this embodiment reduces the space occupied, increases flexibility, and reduces the possibility of interference and collision between various structures during movement, thereby ensuring the safety of the operation and reducing the possibility of secondary injury to the patient.

[0034] The surgical robot provided in this embodiment occupies less space, increases flexibility, and reduces the possibility of interference and collision between various structures during movement, thereby ensuring the safety of the surgery and reducing the possibility of secondary injury to the patient. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the doctor's control console provided in Embodiment 1 of the present invention;

[0036] Figure 2 This is a schematic diagram of the arm mechanism provided in Embodiment 1 of the present invention;

[0037] Figure 3 This is a cross-sectional view of the first connecting rod provided in Embodiment 1 of the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of the second connecting rod provided in Embodiment 1 of the present invention;

[0039] Figure 5 This is a schematic diagram of the structure of the first flexible transmission member and the second flexible transmission member provided in Embodiment 1 of the present invention;

[0040] Figure 6 This is a schematic diagram of the principle of the first flexible transmission component and the second flexible transmission component provided in Embodiment 1 of the present invention;

[0041] Figure 7 This is a cross-sectional view of the second connecting rod provided in Embodiment 1 of the present invention;

[0042] Figure 8 This is a schematic diagram of the structure of the elastic element, the second rotating shaft, and the flexible connector provided in Embodiment 2 of the present invention;

[0043] Figure 9 This is a schematic diagram of the elastic element in the first state according to Embodiment 2 of the present invention;

[0044] Figure 10 This is a schematic diagram of the elastic element in the second state provided in Embodiment 2 of the present invention.

[0045] In the picture:

[0046] 10. Arm mechanism; 20. Wrist mechanism; 30. Base; 40. Screen; 50. Lifting assembly; 60. U-shaped frame;

[0047] 1. First connecting rod; 11. Rod section; 12. Connecting seat; 13. Connecting shaft;

[0048] 2. Second connecting rod; 21. First connecting part; 22. Second connecting part; 23. Third connecting part; 24. Second pivot; 241. First shaft segment; 242. Second shaft segment; 243. Connecting segment; 25. Third pivot;

[0049] 3. First rotating shaft; 4. Fourth rotating shaft;

[0050] 51. First flexible transmission component; 52. Second flexible transmission component; 53. Third flexible transmission component;

[0051] 6. Elastic component; 61. Flexible connector; 62. Guide wheel; 63. Rope end connector; 631. Through hole;

[0052] 7. Fixing component; 91. First guide wheel; 92. Second guide wheel. Detailed Implementation

[0053] 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.

[0054] 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.

[0055] 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.

[0056] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0057] Example 1

[0058] This embodiment provides an arm mechanism. Specifically, as shown... Figures 1-7As shown, the arm mechanism 10 includes a first connecting rod 1, a first rotating shaft 3, a second connecting rod 2, a first flexible transmission component 51, and a fourth rotating shaft 4. The first connecting rod 1 includes a rod portion 11 and a connecting rotating shaft 13. The connecting rotating shaft 13 extends vertically, and one end of the rod portion 11 is rotatably connected to the connecting rotating shaft 13, which is used to connect to the base 30. The first rotating shaft 3 extends vertically and rotatably passes through the other end of the rod portion 11; the first rotating shaft 3 and the connecting rotating shaft 13 can rotate synchronously. The second connecting rod 2 includes a first connecting portion 21, a second connecting portion 22, a third connecting portion 23, a second rotating shaft 24, and a third rotating shaft 25. The first connecting portion 21 is rotatably connected to the first rotating shaft 3. The second rotating shaft 24 and the third rotating shaft 25 both extend horizontally and are parallel to each other. The second rotating shaft 24 is fixed on the first connecting part 21, and the third rotating shaft 25 is fixed on the third connecting part 23. One end of the second connecting part 22 is rotatably connected to the second rotating shaft 24, and the other end of the second connecting part 22 is rotatably connected to the third rotating shaft 25. The first flexible transmission member 51 is in the shape of a ring and is tensioned and sleeved on the second rotating shaft 24 and the third rotating shaft 25 so that the second rotating shaft 24 and the third rotating shaft 25 rotate synchronously. The fourth rotating shaft 4 extends vertically and is rotatably connected to the third connecting part 23. The fourth rotating shaft 4 is used to connect with the wrist mechanism 20, and the first rotating shaft 3 and the fourth rotating shaft 4 can rotate synchronously.

[0059] The arm mechanism 10 provided in this embodiment includes a first connecting rod 1, a first rotating shaft 3, a second connecting rod 2, a first flexible transmission member 51, and a fourth rotating shaft 4. The first flexible transmission member 51 is tensioned on the second rotating shaft 24 and the third rotating shaft 25, ensuring that the second rotating shaft 24, the third rotating shaft 25, the first connecting part 21, and the third connecting part 23 can rotate synchronously. This ensures that the third connecting part 23 can drive the wrist mechanism 20 to rotate synchronously with the first connecting part 21. The arm mechanism 10 provided in this embodiment, while maintaining the unchanged posture of the wrist mechanism 20, can achieve three degrees of freedom translation of the wrist mechanism 20 through only the first connecting rod 1 and the second connecting rod 2. This reduces the number of connecting rods, shrinks the space occupied by the arm mechanism 10, increases the flexibility of the arm mechanism 10, and reduces the possibility of interference and collision between the various structures during the movement of the arm mechanism 10, thereby ensuring the safety of the surgery and reducing the possibility of secondary injury to the patient.

[0060] In this embodiment, the first connecting rod 1 further includes a connecting seat 12, and a connecting shaft 13 is fixed on the connecting seat 12. The connecting seat 12 is used to connect with the base 30.

[0061] In this embodiment, the first flexible transmission component 51 is a steel wire rope, which has high durability. In other embodiments, the first flexible transmission component 51 may also be a flexible structure such as a synchronous belt, and this is not limited here.

[0062] Preferably, the arm mechanism 10 further includes a second flexible transmission member 52, which is tensioned on the first rotating shaft 3 and the fourth rotating shaft 4, and is wound around the second rotating shaft 24 and the third rotating shaft 25. This arrangement simplifies the structure of the arm mechanism 10, and ensures that the second flexible transmission member 52 remains tensioned on the first rotating shaft 3 and the fourth rotating shaft 4 even when the first connecting part 21, the second connecting part 22, and the third connecting part 23 rotate relative to each other. This ensures that the second flexible transmission member 52 can always transmit power, thereby ensuring that the first rotating shaft 3 and the fourth rotating shaft 4 can rotate synchronously. This further ensures that the posture of the wrist mechanism 20 remains unchanged, reduces the impact on the doctor's operation, improves the safety of the surgery, and reduces the possibility of secondary injury to the patient.

[0063] In this embodiment, the second flexible transmission component 52 is a steel wire rope, which has high durability. In other embodiments, the second flexible transmission component 52 may also be a flexible structure such as a synchronous belt, and is not limited here.

[0064] Preferably, two first bearings are coaxially mounted on the second rotating shaft 24, and a first guide wheel 91 is mounted on the outer ring of the first bearing. The two first bearings are arranged axially, and the ropes of the second flexible transmission component 52 located on both sides of the first rotating shaft 3 are respectively wound around the two first guide wheels 91. The above arrangement can reduce the friction between the first guide wheel 91 and the second rotating shaft 24, improve the transmission efficiency, ensure that the first rotating shaft 3 and the fourth rotating shaft 4 can rotate synchronously, further ensure that the posture of the wrist mechanism 20 remains unchanged, and reduce the impact on the doctor's operation. In addition, the above arrangement also reduces the possibility of the second flexible transmission component 52 moving relative to the first guide wheel 91, which reduces the possibility of wear on the second flexible transmission component 52, reduces the possibility of damage during use and maintenance costs, and also improves the reliability of the arm mechanism 10 during use, further reducing the impact on the doctor's operation, improving the safety of the operation, and reducing the possibility of secondary injury to the patient.

[0065] Furthermore, two second bearings are coaxially mounted on the third rotating shaft 25, and second guide wheels 92 are mounted on the outer rings of the second bearings. The two second bearings are arranged axially, and the ropes of the second flexible transmission component 52 located on both sides of the first rotating shaft 3 are respectively wound around the two second guide wheels 92. The above arrangement can reduce the friction between the second guide wheels 92 and the third rotating shaft 25, improve the transmission efficiency, ensure that the first rotating shaft 3 and the fourth rotating shaft 4 can rotate synchronously, further ensure that the posture of the wrist mechanism 20 remains unchanged, and reduce the impact on the doctor's operation. In addition, the above arrangement also reduces the possibility of the second flexible transmission component 52 moving relative to the second guide wheels 92, which reduces the possibility of wear on the second flexible transmission component 52, reduces the possibility of damage during use and maintenance costs, and also improves the reliability of the arm mechanism 10 during use, further reducing the impact on the doctor's operation, improving the safety of the surgery, and reducing the possibility of secondary injury to the patient.

[0066] In this embodiment, a first guide wheel 91 is provided on the second rotating shaft 24, and a second guide wheel 92 is provided on the third rotating shaft 25. In other embodiments, the first guide wheel 91 may be provided only on the second rotating shaft 24, or the second guide wheel 92 may be provided on the third rotating shaft 25; this is not limited here.

[0067] Specifically, the arm mechanism 10 also includes a third flexible transmission component 53, which is tensioned on the first rotating shaft 3 and the connecting rotating shaft 13. The structure is relatively simple, which further helps to reduce the space occupied by the arm mechanism 10.

[0068] In this embodiment, the third flexible transmission component 53 is a steel wire rope, which has high durability. In other embodiments, the third flexible transmission component 53 may also be a flexible structure such as a synchronous belt, and this is not limited here.

[0069] As a preferred embodiment, the arm mechanism 10 further includes an elastic element 6. One end of the elastic element 6 is connected to the second rotating shaft 24 via a flexible connector 61, and the other end of the elastic element 6 is connected to the second connecting part 22. The center of gravity of the overall structure formed by the first connecting part 21, the second connecting part 22, and the wrist mechanism 20, and the connection point between the flexible connector 61 and the second rotating shaft 24 are located on opposite sides of the axis of the second rotating shaft 24. The torque of the elastic element 6 on the second rotating shaft 24 is at least sufficient to balance part of the gravitational torque of the overall structure on the second rotating shaft 24. By providing the elastic element 6, the gravitational torque of the overall structure can be balanced. When the doctor controls the movement of surgical instruments by moving the wrist mechanism 20, the impact of the movement of the center of gravity of the overall structure on the doctor's operation is reduced, thereby improving the accuracy of the surgical operation, alleviating the doctor's fatigue, and improving the safety of the surgery.

[0070] In this embodiment, the elastic element 6 is a spring, and the flexible connector 61 is a steel wire rope. The end of the flexible connector 61 is connected to the second rotating shaft 24.

[0071] Specifically, the flexible connector 61 is wound around the second rotating shaft 24, and the second connecting part 22 is fixedly connected to the fixing member 7. The fixing member 7 is located between the second rotating shaft 24 and the third rotating shaft 25. The end of the elastic member 6 facing the third rotating shaft 25 is connected to the fixing member 7. The structure is relatively simple and helps to reduce the space occupied by the arm mechanism 10. The second rotating shaft 24 and the third rotating shaft 25 are respectively located on both sides of the second connecting part 22 along the length direction.

[0072] Specifically, such as Figure 7 As shown, point M is the center of gravity of the overall structure, F represents the elastic force applied by the elastic element 6 to the second connecting part 22, G represents the gravity of the overall structure, and the dashed line H is the perpendicular line connecting point M and the axis of the second rotating shaft 24.

[0073] In this embodiment, the second connecting portion 22 is hollow, and both the elastic member 6 and the fixing member 7 are located within the inner cavity of the second connecting portion 22. The second connecting portion 22 protects the elastic member 6 and the fixing member 7, ensuring the durability of the arm mechanism 10, improving the reliability of the arm mechanism 10 during use, and enhancing surgical safety. The flexible connecting member 61 is at least partially located within the inner cavity of the second connecting portion 22. The first flexible transmission member 51 and part of the second flexible transmission member 52 are both located within the second connecting portion 22.

[0074] Preferably, the vertical line connecting the axis of the second rotating shaft 24 and the axis of the third rotating shaft 25 is designated as the first connecting line, and the elastic member 6 is inclined to the first connecting line. This arrangement, compared to the elastic member 6 being parallel to the first connecting line, increases the distance between the elastic member 6 and the inner wall of the second connecting portion 22, reducing the possibility of wear between the elastic member 6 and the second connecting portion 22, lowering the possibility of damage during use and maintenance costs, and improving the reliability of the arm mechanism 10 during use. It also avoids the need for a larger second connecting portion 22 to accommodate the elastic member 6, thus reducing the volume of the second connecting portion 22 and further reducing the space occupied by the arm mechanism 10. In this embodiment, the connection between the elastic member 6 and the flexible connector 61, and the fixing member 7, are located on both sides of the first connecting line along the width direction of the second connecting portion 22.

[0075] This embodiment also provides a main operating arm. Specifically, the main operating arm includes a wrist mechanism 20 and an arm mechanism 10 as described above. The wrist mechanism 20 is connected to the fourth rotating shaft 4.

[0076] The main operating arm provided in this embodiment reduces the space occupied, increases flexibility, and reduces the possibility of interference and collision between various structures during movement, thereby ensuring the safety of the operation and reducing the possibility of secondary injury to the patient.

[0077] The specific structure of the wrist mechanism 20 and other structures of the main operating arm can be referred to in the prior art, and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0078] This embodiment also provides a doctor's console (i.e., doctor's operating terminal). Specifically, the doctor's console includes the main operating arm as described above.

[0079] The doctor's console provided in this embodiment reduces the space occupied, increases flexibility, and reduces the possibility of interference and collision between various structures during movement, thereby ensuring the safety of the operation and reducing the possibility of secondary injury to the patient.

[0080] The doctor's console also includes a base 30 and a lifting assembly 50. The lifting assembly 50 includes a first lifting member (not shown), which is fixedly mounted on the base 30 and connected to the main operating arm. The first lifting member is used to drive the main operating arm to rise or fall. The first lifting member can be a cylinder, a linear motor, or other driving component. Specifically, the first lifting member is connected to a connecting seat 12.

[0081] The doctor's control console includes two main operating arms. In this embodiment, one end of each of the two arm mechanisms 10 is connected to a wrist mechanism 20, and the other end of each arm mechanism 10 is connected to both ends of a U-shaped frame 60. The U-shaped frame 60 is connected to the first lifting component, enabling the simultaneous raising and lowering of the two main operating arms.

[0082] In other embodiments, the lifting assembly 50 may include two first lifting members, which are respectively connected to two main operating arms.

[0083] Furthermore, the doctor's console also includes a screen 40, and the lifting assembly 50 includes a second lifting member (not shown in the figure). The second lifting member is fixedly mounted on the base 30 and connected to the screen 40. The second lifting member is used to drive the screen 40 to rise or fall. The second lifting member can be a cylinder, a linear motor, or other driving component.

[0084] This embodiment also provides a surgical robot. Specifically, the surgical robot includes a doctor's console as described above.

[0085] The surgical robot provided in this embodiment occupies less space, increases flexibility, and reduces the possibility of interference and collision between various structures during movement, thereby ensuring the safety of the surgery and reducing the possibility of secondary injury to the patient.

[0086] Example 2

[0087] This embodiment provides an arm mechanism, a main operating arm, a doctor's console, 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 elaborate on other structures that are the same as those in Embodiment 1.

[0088] As a preferred solution, preferably, such as Figures 8-10 As shown, the second rotating shaft 24 includes a first shaft segment 241, a second shaft segment 242, and a connecting segment 243. The first shaft segment 241 and the second shaft segment 242 are coaxial and spaced apart. The connecting segment 243 connects the first shaft segment 241 and the second shaft segment 242. The center of gravity of the overall structure formed by the first connecting part 21, the second connecting part 22, and the wrist mechanism 20 is located on the side of the second rotating shaft 24 facing the third rotating shaft 25. The flexible connector 61 is located between the first shaft segment 241 and the second shaft segment 242, and one end of the flexible connector 61 is connected to the connecting segment 243. This arrangement ensures that the flexible connector 61 only swings with the rotation of the second rotating shaft 24, avoiding the flexible connector 61 from winding around the second rotating shaft 24. This reduces the possibility of the elastic element 6 connected to the flexible connector 61 winding around the second rotating shaft 24, and reduces the impact of the elastic element 6's gravity compensation effect due to winding around the second rotating shaft 24, thus helping to reduce the doctor's fatigue.

[0089] The arm mechanism 10 also includes two guide wheels 62, which are rotatably connected to the second connecting part 22 and located between the second rotating shaft 24 and the third rotating shaft 25. The axis of the guide wheel 62 is parallel to the second rotating shaft 24, and the perpendicular bisector of the vertical line connecting the axes of the two guide wheels 62 intersects the axis of the second rotating shaft 24 perpendicularly. The other end of the flexible connector 61 passes through the gap between the two guide wheels 62 and is connected to the other end of the elastic member 6. With this configuration, during the rotation of the second connecting part 22 relative to the second rotating shaft 24, the two guide wheels 62 can also limit the movement of the flexible connector 61 and change the direction of the elastic force applied by the elastic member 6 to the connecting section 243. This restricts the range of movement of the elastic member 6 and the flexible connector 61 located between the guide wheels 62 and the elastic member 6, reducing the possibility of interference between the flexible connector 61 and the elastic member 6 and other structures, reducing the possibility of structural damage, ensuring the reliability of the arm mechanism 10 during use, reducing maintenance costs, and also helping to reduce the space occupied by the arm mechanism 10 and improve its flexibility.

[0090] Specifically, such as Figure 9 and Figure 10As shown, dashed line segment P is the perpendicular line connecting the axes of the two guide wheels 62, dashed line L is the perpendicular bisector of dashed line segment P, point M is the center of gravity of the above-mentioned overall structure, F represents the elastic force applied by the elastic element 6 to the second connecting part 22, G represents the gravity of the overall structure, and dashed line H is the perpendicular line connecting point M and the axis of the second rotating shaft 24. Figure 9 The image shows the elastic element 6 in the first state, with the dashed line H set horizontally. Figure 10 The image shows the elastic element 6 in the second state. Compared to the first state, the overall structure has rotated a certain angle around the second pivot 24, and the dashed line H is inclined to the horizontal direction.

[0091] In this embodiment, the connecting segment 243 is cylindrical, and the connecting segment 243 is welded to the first shaft segment 241 and the second shaft segment 242.

[0092] Furthermore, the flexible connector 61 is made of steel wire rope, which improves durability. The flexible connector 61 is wound around the connecting section 243, and both ends of the flexible connector 61 pass through the gap between the two guide wheels 62 and are connected to each other to form a closed-loop structure. The elastic element 6 is connected to the closed-loop structure. Compared to the connection between the connecting section 243 and the elastic element 6 using a single strand of steel wire rope, the above arrangement can improve the structural strength of the flexible connector 61, which is beneficial to improving the durability of the arm mechanism 10.

[0093] In this embodiment, a roller is rotatably mounted on the connecting segment 243, and the flexible connector 61 is connected to the roller. This helps to reduce the friction between the flexible connector 61 and the connecting segment 243, reduce the possibility of wear on the flexible connector 61, and improve the durability and reliability of the arm mechanism 10 during use.

[0094] It is understandable that during the rotation of the second rotating shaft 24, the flexible connector 61 swings between the two guide wheels 62. If the two flexible connector segments 61 located between the two guide wheels 62 are arranged along the dotted line P, the two flexible connector segments 61 will squeeze and rub against each other, increasing the possibility of wear on the flexible connector segments 61. Preferably, the two flexible connector segments 61 located between the two guide wheels 62 are arranged along the axis of the second rotating shaft 24. Through the above arrangement, the possibility of damage to the flexible connector 61 can also be reduced, ensuring the durability of the arm mechanism 10, reducing maintenance costs, and also reducing the distance between the two guide wheels 62, thereby reducing the space occupied by the arm mechanism 10 and improving the flexibility of the arm mechanism 10. Moreover, since the elastic member 6 is located in the inner cavity of the second connecting part 22, the above arrangement can also reduce the volume of the second connecting part 22, further reducing the volume of the arm mechanism 10, and also facilitating the arrangement of other structures inside the second connecting part 22, reducing design difficulty, and saving manufacturing costs.

[0095] Furthermore, the arm mechanism 10 also includes a rope end connector 63. An elastic member 6 is connected to the rope end connector 63. The rope end connector 63 has two through holes 631 spaced apart along the axis of the second rotating shaft 24. The two ends of the flexible connector 61 pass through the two through holes 631 respectively and are fixedly connected to the rope end connector 63. The arrangement of the rope end connector 63 and the through holes 631 facilitates the arrangement of the two flexible connector sections 61 located between the two guide wheels 62 along the axis of the second rotating shaft 24. This further reduces the possibility of mutual friction between the two flexible connector sections 61 during the use of the arm mechanism 10, thereby improving the durability of the flexible connector section 61, reducing maintenance costs, and ensuring the reliability of the arm mechanism 10 during use.

[0096] In other embodiments, the rope end connector 63 may be omitted, and the two ends of the flexible connector 61 may be connected to each other to form a closed loop structure, with the elastic element 6 directly connected to the closed loop structure.

[0097] In this embodiment, the elastic element 6 is located on the side of the rope end connector 63 facing the third rotating shaft 25.

[0098] 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. An arm mechanism, characterized in that, include: The first connecting rod (1) includes a rod portion (11) and a connecting shaft (13), the connecting shaft (13) extending in a vertical direction, one end of the rod portion (11) being rotatably connected to the connecting shaft (13), and the connecting shaft (13) being used to connect to the base (30); The first rotating shaft (3) extends vertically and is rotatably inserted through the other end of the rod (11). The first rotating shaft (3) and the connecting rotating shaft (13) can rotate synchronously. The second connecting rod (2) includes a first connecting part (21), a second connecting part (22), a third connecting part (23), a second rotating shaft (24), and a third rotating shaft (25). The first connecting part (21) is rotatably connected to the first rotating shaft (3). The second rotating shaft (24) and the third rotating shaft (25) both extend horizontally and are parallel to each other. The second rotating shaft (24) is fixed on the first connecting part (21), and the third rotating shaft (25) is fixed on the third connecting part (23). The two ends of the second connecting part (22) are rotatably connected to the second rotating shaft (24) and the third rotating shaft (25) respectively. The first flexible transmission component (51) is tensioned on the second rotating shaft (24) and the third rotating shaft (25) to make the second rotating shaft (24) and the third rotating shaft (25) rotate synchronously; The fourth rotating shaft (4) extends vertically and is rotatably connected to the third connecting part (23). The fourth rotating shaft (4) is used to connect to the wrist mechanism (20). The first rotating shaft (3) and the fourth rotating shaft (4) can rotate synchronously.

2. The arm mechanism according to claim 1, characterized in that, The arm mechanism also includes an elastic element (6), one end of which is connected to the second rotating shaft (24) via a flexible connector (61), and the other end of which is connected to the second connecting part (22). The torque of the elastic element (6) on the second rotating shaft (24) is at least able to balance part of the gravitational torque of the overall structure formed by the first connecting part (21), the second connecting part (22), and the wrist mechanism (20) on the second rotating shaft (24).

3. The arm mechanism according to claim 2, characterized in that, The flexible connector (61) is wound around the second rotating shaft (24), and the second rotating shaft (24) and the third rotating shaft (25) are respectively located on both sides of the second connecting part (22) along the length direction; The interior of the second connecting part (22) is hollow, the elastic member (6) is located in the inner cavity of the second connecting part (22), and a fixing member (7) is fixedly installed inside the second connecting part (22). The fixing member (7) is located between the second rotating shaft (24) and the third rotating shaft (25). One end of the elastic member (6) facing the third rotating shaft (25) is connected to the fixing member (7). The vertical line connecting the axis of the second rotating shaft (24) and the axis of the third rotating shaft (25) is set as the first line, and the elastic element (6) is inclined to the first line.

4. The arm mechanism according to claim 2, characterized in that, The second rotating shaft (24) includes a first shaft segment (241), a second shaft segment (242), and a connecting segment (243). The first shaft segment (241) and the second shaft segment (242) are coaxial and spaced apart. The connecting segment (243) is connected between the top of the first shaft segment (241) and the top of the second shaft segment (242). The arm mechanism also includes two guide wheels (62). The center of gravity of the overall structure is located on the side of the second rotating shaft (24) facing the third rotating shaft (25). The flexible connector (61) is located between the first shaft segment (241) and the second shaft segment (242). One end of the flexible connector (61) is connected to the connecting segment (243). The guide wheel (62) is rotatably connected to the second connecting part (22) and located between the second rotating shaft (24) and the third rotating shaft (25). The axis of the guide wheel (62) is parallel to the second rotating shaft (24). The perpendicular bisector of the vertical line connecting the axes of the two guide wheels (62) intersects the axis of the second rotating shaft (24) perpendicularly. The other end of the flexible connector (61) passes through the gap between the two guide wheels (62) and is connected to the elastic member (6).

5. The arm mechanism according to claim 4, characterized in that, The flexible connector (61) is a steel wire rope. The flexible connector (61) is wound around the connecting section (243), and the two ends of the flexible connector (61) pass through the gap between the two guide wheels (62) and are connected to each other to form a closed loop structure. The elastic element (6) is connected to the closed loop structure.

6. The arm mechanism according to claim 5, characterized in that, The two flexible connectors (61) located between the two guide wheels (62) are arranged along the axis of the second rotating shaft (24).

7. The arm mechanism according to claim 6, characterized in that, The arm mechanism also includes a rope end connector (63), the elastic element (6) is connected to the rope end connector (63), the rope end connector (63) has two through holes (631), the two through holes (631) are spaced apart along the axial direction of the second rotating shaft (24), and the two ends of the flexible connector (61) pass through the two through holes (631) respectively and are fixedly connected to the rope end connector (63).

8. The arm mechanism according to any one of claims 1-7, characterized in that, The arm mechanism further includes a second flexible transmission member (52), which is tensioned on the first rotating shaft (3) and the fourth rotating shaft (4), and is wound around the second rotating shaft (24) and the third rotating shaft (25).

9. The arm mechanism according to claim 8, characterized in that, The second flexible transmission component (52) is a steel wire rope; Two first bearings are coaxially mounted on the second rotating shaft (24), and first guide wheels (91) are mounted on the outer rings of the first bearings. The two first bearings are arranged axially, and the ropes of the second flexible transmission component (52) located on both sides of the first rotating shaft (3) are respectively wound around the two first guide wheels (91); and / or, Two second bearings are coaxially mounted on the third rotating shaft (25). The outer ring of the second bearing is fitted with a second guide wheel (92). The two second bearings are arranged axially. The ropes of the second flexible transmission component (52) located on both sides of the first rotating shaft (3) are respectively wound around the two second guide wheels (92).

10. The arm mechanism according to any one of claims 1-7, characterized in that, The arm mechanism also includes a third flexible transmission element (53), which is tensioned on the first rotating shaft (3) and the connecting rotating shaft (13).

11. A main operating arm, characterized in that, Includes a wrist mechanism (20) and an arm mechanism as described in any one of claims 1-10.

12. A doctor's control console, characterized in that, Includes the main operating arm as described in claim 11.

13. A surgical robot, characterized in that, Including the doctor console as described in claim 12.

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