A wrist mechanism, master manipulator, master console and surgical robot

Abstract

The present application relates to the technical field of surgical robots, and discloses a wrist mechanism, a master manipulator, a master console and a surgical robot. The wrist mechanism comprises a rotating assembly, a first wrist connecting rod, a rotating shaft and a compensation assembly. The rotating assembly is connected to a first end of the rotating shaft, the rotating shaft is horizontally arranged and rotatably arranged in the first wrist connecting rod, and the compensation assembly comprises a flexible member, an elastic member, a winding member and two guide wheels. One end of the elastic member is connected to the first wrist connecting rod, the winding member is connected to a second end of the rotating shaft, the gravity center of the winding member and the rotating assembly is respectively located on the two sides of the rotating shaft axis, the guide wheels are rotatably connected to the first wrist connecting rod, the guide wheels are located below the rotating shaft, one end of the flexible member is connected to the winding member, the flexible member passes through the gap between the two guide wheels and is connected to the elastic member. The present application can balance the gravity of the rotating assembly, is beneficial to relieving the fatigue of the operator, improves the safety of the operation, simultaneously reduces the possibility of structural damage, reduces the maintenance cost and the production cost.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more particularly to a wrist mechanism, a master hand, a master control panel, 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 unit and a patient's end unit. The surgeon's end unit includes a base, a main operating hand, and a display. The main operating hand comprises an arm mechanism and a wrist mechanism.

[0003] The wrist mechanism typically includes a first wrist link, a second wrist link, a third wrist link, and a handle. The first wrist link is rotatably connected to the arm mechanism about a vertical axis. The second wrist link is L-shaped, and one end of the second wrist link is rotatably connected to the first wrist link about a horizontal axis. The third wrist link is rotatably connected to the second wrist link, and the axis of rotation of the third wrist link is perpendicular to the horizontal direction. The handle is rotatably mounted on the third wrist link, and the axis of rotation of the handle is perpendicular to the horizontal direction. Since the rotation axes of the first wrist link extend vertically, and the handle and third wrist link are typically lightweight with low mass, the change in the center of gravity of the wrist mechanism in the vertical direction during the operator's operation of the first wrist link, handle, and third wrist link is negligible. However, when the operator operates the second wrist link, the center of gravity of the overall structure consisting of the second wrist link, third wrist link, and handle will rotate around the rotation axis, changing the vertical height of the aforementioned center of gravity. This affects the operator's operation, reduces the precision of the surgical procedure, increases operator fatigue, and reduces the safety of the surgery.

[0004] Therefore, there is an urgent need for a wrist mechanism, a main operating hand, a main operating table, and a surgical robot to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide a wrist mechanism, a main operating hand, a main operating table, and a surgical robot to balance the gravity of the rotating components, thereby relieving operator fatigue, improving surgical safety, reducing the possibility of structural damage, and lowering maintenance and production costs.

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

[0007] A wrist mechanism includes a rotating assembly, a first wrist link, and a rotating shaft. The first wrist link is rotatably connected to an arm mechanism. The rotation axis of the first wrist link extends vertically. The rotating assembly is connected to a first end of the rotating shaft. The rotating shaft is horizontally arranged and rotatably passes through the first wrist link.

[0008] It also includes a compensation component, which comprises a flexible element, an elastic element, a rope winding element, and two guide wheels. One end of the elastic element is connected to the first wrist link, and the rope winding element is connected to the second end of the rotating shaft. The center of gravity of the rope winding element and the rotating component are located on opposite sides of the axis of the rotating shaft. The guide wheels are rotatably connected to the first wrist link, and the axis of the guide wheels is parallel to the rotating shaft. The guide wheels are located below the rotating shaft, and the perpendicular bisector of the vertical line connecting the axes of the two guide wheels is vertical and intersects the axis of the rotating shaft. One end of the flexible element is connected to the rope winding element, and the other end of the flexible element passes through the gap between the two guide wheels and is connected to the other end of the elastic element.

[0009] As an optional technical solution for the wrist mechanism, the flexible component is a steel wire rope, which is wound around the winding component, and the two ends of the steel wire rope pass through the gap between the two guide wheels and are connected to each other to form a closed loop structure. The elastic component is connected to the closed loop structure.

[0010] As an optional technical solution for the wrist mechanism, the two flexible components located between the two guide wheels are arranged along the axis of the rotating shaft.

[0011] As an optional technical solution for the wrist mechanism, the wrist mechanism further includes a connector, the elastic member is connected to the connector, the connector has two through holes, the through holes pass through the connector in the vertical direction, the two through holes are spaced apart in the axial direction of the rotating shaft, and the two ends of the flexible member pass through the two through holes respectively and are fixedly connected to the connector.

[0012] As an optional technical solution for the wrist mechanism, the elastic element is located below the connector, and the end of the elastic element has a hook portion, which is hung on the connector and is disposed between the two through holes.

[0013] As an optional technical solution for the wrist mechanism, a threading channel is coaxially opened on the rotating shaft, and an extension is fixedly connected to the second end of the rotating shaft. The end of the extension away from the rotating shaft is connected to the rope winding component.

[0014] As an optional technical solution for the wrist mechanism, the wrist mechanism also includes a mounting bracket located below the rotating shaft. The mounting bracket is connected between the guide wheel and the first wrist linkage. The mounting bracket has a through hole in the vertical direction, and the through hole is directly opposite to the second end of the rotating shaft.

[0015] As an optional technical solution for the wrist mechanism, a positioning ring groove is formed circumferentially on the side wall of the guide wheel, and the positioning ring grooves of the two guide wheels are arranged opposite each other, with the flexible element located within the positioning ring groove; and / or,

[0016] The rope winding component is a roller, and the rope winding component is rotatably connected to the rotating shaft. The rotation axis of the rope winding component is arranged parallel to the rotating shaft.

[0017] A master operator includes an arm mechanism and a wrist mechanism as described above.

[0018] A main control console includes the main operator arm as described above.

[0019] A surgical robot, including a main control panel as described above.

[0020] The beneficial effects of this invention are:

[0021] The wrist mechanism provided by this invention includes a rotating component, a first wrist linkage, a rotating shaft, and a compensation component. The elastic element of the compensation component applies an elastic force to the winding rope component via a flexible element. When the operator rotates the rotating component around the rotating shaft, the center of gravity of the rotating component shifts, and the torque generated by the elastic force on the rotating shaft compensates for the torque generated by the weight of the rotating component on the rotating shaft, thereby balancing the weight of the rotating component and reducing the impact of the shift in the center of gravity of the rotating component on the operator's operation. This improves the accuracy of the surgical operation, reduces operator fatigue, and enhances surgical safety. Simultaneously, during the rotation of the rotating shaft, the two guide wheels also limit the flexible element and change the direction of the elastic force applied by the elastic element to the winding rope component, restricting the elastic force. The movement range of the flexible component and the flexible component located between the guide wheel and the elastic component is reduced, which reduces the possibility of interference between the flexible component and the elastic component and other structures, reduces the possibility of structural damage, ensures the reliability of the wrist mechanism during use, reduces maintenance costs, and also helps to reduce the space occupied by the wrist mechanism and improve the flexibility of the wrist mechanism. In addition, placing the rope winding component at the end of the rotating shaft and the guide wheel below the rope winding component can prevent the flexible component from winding on the rotating shaft, reduce the structure in contact with the flexible component, reduce the loss of elastic force, ensure the transmission efficiency of elastic force, and help to reduce the elastic coefficient of the elastic component, thereby helping to reduce the cost of the elastic component.

[0022] The main operating hand provided by the present invention includes the aforementioned wrist mechanism and arm mechanism. The compensation component can balance the gravity of the rotating component, improve the accuracy of surgical operation, alleviate operator fatigue, improve surgical safety, reduce the possibility of structural damage, reduce the space occupied, and reduce maintenance and production costs.

[0023] The main operating table provided by the present invention includes the aforementioned main operating hand, which can alleviate operator fatigue, improve surgical safety, reduce the possibility of structural damage, and help reduce the space occupied, maintenance costs, and production costs.

[0024] The surgical robot provided by this invention includes the aforementioned main operating table, which can alleviate operator fatigue, improve surgical safety, reduce the possibility of structural damage, and help reduce the space occupied, maintenance costs, and production costs. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the main control panel provided in an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the wrist mechanism provided in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the first wrist link and rotating assembly provided in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of a portion of the wrist mechanism provided in an embodiment of the present invention;

[0029] Figure 5 This is a cross-sectional view of the first wrist link provided in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the compensation component provided in the embodiment of the present invention when it is in the first state;

[0031] Figure 7 This is a schematic diagram of the structure of the compensation component provided in the embodiment of the present invention when it is in the second state.

[0032] In the picture:

[0033] 10. Wrist mechanism; 20. Arm mechanism; 30. Base; 40. Screen; 50. Lifting assembly; 60. U-shaped frame;

[0034] 1. First wrist link; 11. Vertical bar section; 12. Horizontal bar section;

[0035] 2. Second wrist link; 21. First connecting part; 22. Second connecting part;

[0036] 3. Third wrist linkage; 4. Handle; 41. Grip; 42. Opening / closing arm;

[0037] 5. Compensation component; 51. Flexible component; 52. Elastic component; 521. Hook part; 53. Rope winding component; 54. Guide wheel; 541. Positioning ring groove;

[0038] 6. Mounting bracket; 61. Cable threading hole; 7. Connector; 71. Through hole;

[0039] 8. Shaft; 81. Threading channel; 82. Extension piece; 9. Adapter piece. Detailed Implementation

[0040] 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.

[0041] 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.

[0042] 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.

[0043] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0044] This embodiment provides a wrist mechanism. Specifically, as shown... Figures 1-7 As shown, the wrist mechanism 10 includes a rotating component, a first wrist link 1 and a rotating shaft 8. The first wrist link 1 is rotatably connected to the arm mechanism 20. The rotation axis of the first wrist link 1 extends in the vertical direction. The rotating component is connected to the first end of the rotating shaft 8. The rotating shaft 8 is horizontally arranged and rotatably passes through the first wrist link 1.

[0045] In this embodiment, the first wrist link 1 is L-shaped and includes a vertically connected vertical rod 11 and a horizontal rod 12. The vertical rod 11 is vertically arranged, and the horizontal rod 12 is horizontally arranged. A pivot 8 passes through the top end of the vertical rod 11, and one end of the horizontal rod 12 is connected to the bottom end of the vertical rod 11. The other end of the horizontal rod 12 is used for rotatable connection with the arm mechanism 20. Specifically, the pivot 8 is arranged parallel to the horizontal rod 12. In other embodiments, the first wrist link 1 may also be arc-shaped or other shapes, which are not limited here.

[0046] Specifically, in Figure 2 In the middle, the axis of rotation of the first wrist link 1 relative to the arm mechanism 20 is R1.

[0047] Furthermore, the rotating assembly includes a second wrist link 2 and a third wrist link 3. The second wrist link 2 is L-shaped and includes a first connecting portion 21 and a second connecting portion 22. One end of the second connecting portion 22 is perpendicularly connected to the bottom end of the first connecting portion 21, and the other end of the second connecting portion 22 is rotatably connected to the third wrist link 3. The top end of the first connecting portion 21 is perpendicularly connected to the first end of the rotating shaft 8.

[0048] Specifically, in Figure 2 In the middle, the axis of rotation of the second wrist link 2 relative to the first wrist link 1 is R2, that is, the axis of the rotating shaft 8 is R2, and R2 is set horizontally.

[0049] The third wrist link 3 is also L-shaped, and includes a horizontal part and a vertical part. One end of the horizontal part is perpendicularly connected to the bottom end of the vertical part, and the other end of the horizontal part is rotatably connected to the second connecting part 22, with the rotation axis of the horizontal part perpendicular to the horizontal direction. Specifically, in Figure 2 In the middle, the axis of rotation of the third wrist link 3 relative to the second wrist link 2 is R3.

[0050] The handle 4 includes a grip portion 41, which is generally cylindrical. The axis of the grip portion 41 is perpendicular to the horizontal direction and is connected to the top of the vertical part. The grip portion 41 can rotate relative to the third wrist link 3 around its own axis. That is, the handle 4 can be connected to the rotating shaft 8 through the second wrist link 2 and the third wrist link 3. Specifically, in Figure 2 In the middle, the axis of rotation of the handle 4 relative to the third wrist link 3 is R4.

[0051] Furthermore, the handle 4 also includes an opening and closing arm 42, one end of which is rotatably connected to the grip portion 41, and the other end can be close to or away from the grip portion 41.

[0052] The structures of the first wrist link 1 and the rotating assembly can be referenced from existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0053] Preferably, the wrist mechanism 10 further includes a compensation component 5, which includes a flexible element 51, an elastic element 52, a rope winding element 53, and two guide wheels 54. One end of the elastic element 52 is connected to the first wrist link 1, and the rope winding element 53 is connected to the second end of the rotating shaft 8 away from the first end. The center of gravity of the rope winding element 53 and the rotating component are located on both sides of the axis of the rotating shaft 8, respectively. The guide wheels 54 are rotatably connected to the first wrist link 1, and the axis of the guide wheels 54 is parallel to the rotating shaft 8. The guide wheels 54 are located below the rotating shaft 8, and the perpendicular bisector of the vertical line connecting the axes of the two guide wheels 54 is vertically arranged and intersects the axis of the rotating shaft 8. One end of the flexible element 51 is connected to the rope winding element 53, and the other end of the flexible element 51 passes through the gap between the two guide wheels 54 and is connected to the other end of the elastic element 52.

[0054] Specifically, such as Figure 6 and Figure 7 As shown, dashed line segment P is the perpendicular line connecting the axes of the two guide wheels 54, dashed line L is the perpendicular bisector of dashed line segment P, point M is the center of gravity of the rotating assembly, F represents the elastic force exerted by the elastic element 52 on the rope winding element 53, G represents the gravity of the rotating assembly, and dashed line H is the perpendicular line connecting point M and the axis of the rotating shaft 8. It can be understood that dashed line segment P is horizontally positioned and perpendicular to the rotating shaft 8, while dashed line L is vertically positioned. Figure 6 The image shows compensation component 5 in its first state, with the dashed line H set vertically. Figure 7 The image shows that the compensation component 5 is in the second state. Compared with the first state, the rotating component rotates around the rotating axis 8 by a certain angle, and the dotted line H is set to be inclined to the vertical direction.

[0055] In this embodiment, when the compensation component 5 is in the first state, the center of gravity M is located below the axis of the rotating shaft 8, and the rope winding component 53 is located above the axis of the rotating shaft 8. In other embodiments, when the compensation component 5 is in the first state, the center of gravity M may also be located above the axis of the rotating shaft 8, and the rope winding component 53 may be located below the axis of the rotating shaft 8.

[0056] The wrist mechanism 10 provided in this embodiment includes a rotating assembly, a first wrist link 1, a rotating shaft 8, and a compensation assembly 5. The elastic element 52 of the compensation assembly 5 applies an elastic force to the rope-winding element 53 through the flexible element 51. When the operator rotates the rotating assembly around the rotating shaft 8, the center of gravity of the rotating assembly shifts, and the torque generated by the elastic force on the rotating shaft 8 compensates for the torque generated by the weight of the rotating assembly on the rotating shaft 8, thereby balancing the weight of the rotating assembly and reducing the impact of the shift in the center of gravity of the rotating assembly on the operator's operation process. This improves the accuracy of the surgical operation, alleviates operator fatigue, and enhances the safety of the surgery. Simultaneously, during the rotation of the rotating shaft 8, the two guide wheels 54 also limit the movement of the flexible element 51 and change the direction of the elastic force applied by the elastic element 52 to the rope-winding element 53, restricting the range of movement of the elastic element 52 and the flexible element 51 located between the guide wheels 54 and the elastic element 52, thus reducing the range of movement of the flexible element 51. The possibility of interference between the elastic element 52 and other structures is reduced, the possibility of structural damage is decreased, the reliability of the wrist mechanism 10 during use is ensured, maintenance costs are reduced, the space occupied by the wrist mechanism 10 is reduced, and the flexibility of the wrist mechanism 10 is improved. In addition, by setting the rope winding element 53 at the end of the rotating shaft 8 and placing the guide wheel 54 below the rope winding element 53, the rope winding element 53 and the guide wheel 54 are in the same vertical plane, and the rotating shaft 8 is located on one side of the above vertical plane. This ensures that the plane in which the rope winding element 53 and the guide wheel 54 are located can avoid the rotating shaft 8, which can prevent the flexible element 51 from winding around the rotating shaft 8, reduce the structure in contact with the flexible element 51, reduce the loss of elastic force, ensure the transmission efficiency of elastic force, and help reduce the elastic coefficient of the elastic element 52, thereby helping to reduce the cost of the elastic element 52.

[0057] Specifically, the interior of the vertical rod portion 11 is hollow, the second end of the rotating shaft 8 extends into the inner cavity of the vertical rod portion 11, and the compensation component 5 is disposed inside the vertical rod portion 11.

[0058] Preferably, the winding member 53 is a roller, and the winding member 53 is rotatably connected to the rotating shaft 8, with the rotation axis of the winding member 53 parallel to the rotating shaft 8. With this configuration, as the rotating shaft 8 rotates, the position of the flexible member 51 changes, and the winding member 53 can rotate adaptively, reducing the friction between the flexible member 51 and the winding member 53. This reduces the possibility of damage to the flexible member 51, ensures the durability of the wrist mechanism 10, and lowers maintenance costs.

[0059] As a preferred embodiment, the flexible component 51 is a steel wire rope, which is more durable. The steel wire rope is wound around the winding component 53, and its two ends pass through the gap between the two guide wheels 54 and are connected to each other to form a closed loop structure. The elastic component 52 is connected to the closed loop structure. Compared to connecting the winding component 53 and the elastic component 52 with a single strand of steel wire rope, the above arrangement can improve the structural strength of the flexible component 51, which is beneficial to improving the durability of the wrist mechanism 10.

[0060] Specifically, a positioning ring groove 541 is provided on the side wall of the guide wheel 54 along the circumferential direction. The positioning ring grooves 541 of the two guide wheels 54 are arranged opposite each other. The flexible member 51 is located in the positioning ring groove 541, which can restrict the position of the flexible member 51, reduce the possibility of the flexible member 51 detaching from the guide wheel 54, ensure the reliability of the wrist mechanism 10 during use, and reduce maintenance costs.

[0061] Preferably, the two flexible members 51 located between the two guide wheels 54 are arranged along the axis of the rotating shaft 8. It is understood that during the rotation of the rotating shaft 8, the flexible members 51 oscillate between the two guide wheels 54. If the two flexible members 51 located between the two guide wheels 54 are arranged along the dotted line P, the two flexible members 51 will squeeze and rub against each other, increasing the possibility of wear. The above arrangement also reduces the possibility of damage to the flexible members 51, ensuring the durability of the wrist mechanism 10 and reducing maintenance costs. The above arrangement also reduces the distance between the two guide wheels 54, thereby reducing the space occupied by the wrist mechanism 10 and improving its flexibility. Furthermore, since the compensation component 5 is located inside the vertical rod portion 11, the above arrangement also reduces the volume of the vertical rod portion 11, further reducing the volume of the wrist mechanism 10. This also facilitates the arrangement of other structures inside the vertical rod portion 11, reducing design difficulty and saving manufacturing costs.

[0062] Furthermore, the wrist mechanism also includes a connector 7, to which the elastic element 52 is connected. The connector 7 has two through holes 71, which extend vertically through the connector 7. These two through holes 71 are spaced apart along the axis of the rotating shaft 8. The two ends of the flexible element 51 pass through the two through holes 71 respectively and are fixedly connected to the connector 7. The connector 7 and the through holes 71 facilitate the arrangement of the two flexible elements 51 located between the two guide wheels 54 along the axis of the rotating shaft 8, further reducing the possibility of friction between the two flexible elements 51 during use of the wrist mechanism 10. This improves the durability of the flexible elements 51, reduces maintenance costs, and ensures the reliability of the wrist mechanism 10 during use.

[0063] In other embodiments, the connector 7 may be omitted, and the two ends of the flexible member 51 may be connected to each other to form a closed loop structure, with the elastic member 52 directly connected to the closed loop structure.

[0064] Specifically, the elastic element 52 is located below the connector 7, and its end has a hook portion 521. The hook portion 521 is attached to the connector 7 and is positioned between the two through holes 71, i.e., between the two flexible elements 51. This arrangement reduces the possibility of the hook portion 521 detaching from the connector 7, ensuring the structural stability of the wrist mechanism 10 during use, guaranteeing its reliability, reducing maintenance costs, minimizing the possibility of secondary injury to the patient, and improving the safety of the surgery.

[0065] In this embodiment, the elastic element 52 is a spring, and the flexible element 51 located between the guide wheel 54 and the elastic element 52 is arranged in a generally vertical direction.

[0066] As a preferred embodiment, a wire-passing channel 81 is coaxially provided on the rotating shaft 8. The motor wires and other cables are directly connected to the rotating component through the wire-passing channel 81, which improves the space utilization of the wrist mechanism 10, reduces the volume of the vertical rod 11, and further reduces the volume of the wrist mechanism 10, which helps to save manufacturing costs. It also reduces the number of holes on the vertical rod 11, ensuring the structural strength of the first wrist link 1. In addition, the wire-passing channel 81 also constrains the cables, reducing the possibility of interference between the cables and other structures inside the vertical rod 11, and ensuring the durability of the wrist mechanism 10.

[0067] Furthermore, an extension member 82 is fixedly connected to the second end of the rotating shaft 8. The end of the extension member 82 away from the rotating shaft 8 is connected to the rope winding member 53, which allows the rope winding member 53 to be spaced apart from the second end of the rotating shaft 8. This facilitates the spacing between the flexible member 51 and the cable. During the movement of the flexible member 51, the possibility of interference between the cable and the flexible member 51 is further reduced, ensuring the gravity compensation effect of the compensation component 5. At the same time, it further helps to reduce the structure in contact with the flexible member 51, reduce the loss of elastic force, ensure the transmission efficiency of elastic force, and reduce the elastic coefficient of the elastic member 52, thereby reducing the cost of the elastic member 52.

[0068] In this embodiment, the rotating shaft 8 and the extension 82 are integrally formed.

[0069] Preferably, the wrist mechanism further includes a mounting bracket 6, which is located below the rotating shaft 8. The mounting bracket 6 is connected between the guide wheel 54 and the first wrist link 1. The mounting bracket 6 has a through hole 61 extending vertically, and the through hole 61 is directly opposite the second end of the rotating shaft 8. With the above arrangement, after the cable passes through the through channel 81, it can pass through the through hole 61, which further constrains the position of the cable, reduces the possibility of interference between the cable and the flexible component 51, ensures the gravity compensation function of the compensation component 5, and further ensures the transmission efficiency of elastic force, which helps to reduce the cost of the elastic component 52; it also improves the space utilization of the wrist mechanism 10, reduces the volume of the vertical rod 11 and the wrist mechanism 10, which helps to save manufacturing costs, and further reduces the number of holes on the vertical rod 11, ensuring the structural strength of the first wrist link 1; in addition, the through channel 81 also constrains the cable, reduces the possibility of interference between the cable and other structures inside the vertical rod 11, and ensures the durability of the wrist mechanism 10.

[0070] This embodiment also provides a master operator. The master operator includes an arm mechanism 20 and a wrist mechanism 10 as described above.

[0071] The main operating hand provided in this embodiment includes the wrist mechanism 10 and the arm mechanism 20. The compensation component 5 can balance the gravity of the rotating component, improve the accuracy of the surgical operation, alleviate operator fatigue, improve the safety of the operation, reduce the possibility of structural damage, reduce the space occupied, and reduce maintenance and production costs.

[0072] The structure of the arm mechanism 20 can refer to existing technology and is not the focus of protection in this embodiment, so it will not be described in detail here.

[0073] This embodiment also provides a main control panel (i.e., the doctor's control terminal). The main control panel includes the main operator as described above.

[0074] The main operating console provided in this embodiment includes the aforementioned main operating hand, which can alleviate operator fatigue, improve surgical safety, reduce the possibility of structural damage, and help reduce the space occupied, maintenance costs, and production costs.

[0075] The main control panel also includes a base 30 and a lifting assembly 50. The lifting assembly 50 includes a first lifting member (not shown in the figure), which is fixedly mounted on the base 30 and connected to the main operator. The first lifting member is used to drive the main operator to rise or fall. The first lifting member can be a cylinder, a linear motor, or other driving component.

[0076] The main control panel includes two main operating hands. In this embodiment, one end of each of the two arm mechanisms 20 is connected to a wrist mechanism 10, and the other ends of each of the two arm mechanisms 20 are respectively connected to the two ends of a U-shaped frame 60. The U-shaped frame 60 is connected to the first lifting component, enabling the simultaneous lifting and lowering of the two main operating hands.

[0077] In other embodiments, the lifting assembly 50 may include two first lifting members, which are connected to two main operators respectively.

[0078] Furthermore, the main control panel 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.

[0079] This embodiment also provides a surgical robot. The surgical robot includes a main operating table as described above.

[0080] The surgical robot provided in this embodiment includes the aforementioned main operating table, which can alleviate operator fatigue, improve surgical safety, reduce the possibility of structural damage, and help reduce the space occupied, maintenance costs, and production costs.

[0081] The surgical robot also includes a patient operating end. The other structures of the surgical robot, except for the main operating table, can refer to existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0082] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A wrist mechanism, comprising a rotating assembly, a first wrist link (1) and a rotating shaft (8), wherein the first wrist link (1) is rotatably connected to an arm mechanism (20), the rotation axis of the first wrist link (1) extends in a vertical direction, the rotating assembly comprises a handle (4), the handle (4) is connected to a first end of the rotating shaft (8), and the rotating shaft (8) is horizontally arranged and rotatably passes through the first wrist link (1). Its features are, It also includes a compensation component (5), which includes a flexible element (51), an elastic element (52), a rope winding element (53), and two guide wheels (54). One end of the elastic element (52) is connected to the first wrist link (1), and the rope winding element (53) is connected to the second end of the rotating shaft (8). The center of gravity of the rope winding element (53) and the rotating component are located on both sides of the axis of the rotating shaft (8). The guide wheel (54) is rotatably connected to the first wrist link (1). The axis of the guide wheel (54) is parallel to the rotating shaft (8). The guide wheel (54) is located below the rotating shaft (8). The perpendicular bisector of the vertical line connecting the axes of the two guide wheels (54) is vertical and intersects the axis of the rotating shaft (8). One end of the flexible element (51) is connected to the rope winding element (53), and the other end of the flexible element (51) passes through the gap between the two guide wheels (54) and is connected to the other end of the elastic element (52). The flexible element (51) is a steel wire rope, which is wound around the winding element (53). The two ends of the steel wire rope pass through the gap between the two guide wheels (54) and are connected to each other to form a closed loop structure. The elastic element (52) is connected to the closed loop structure. The flexible element (51) located between the guide wheel (54) and the elastic element (52) is arranged in a roughly vertical direction. The end of the elastic element (52) has a hook (521), which is hooked onto the closed loop structure.

2. The wrist mechanism according to claim 1, characterized in that, The two flexible members (51) located between the two guide wheels (54) are arranged along the axis of the rotating shaft (8).

3. The wrist mechanism according to claim 2, characterized in that, The wrist mechanism also includes a connector (7), the elastic element (52) is connected to the connector (7), the connector (7) has two through holes (71), the through holes (71) pass through the connector (7) in the vertical direction, the two through holes (71) are spaced apart along the axis of the rotating shaft (8), and the two ends of the flexible element (51) pass through the two through holes (71) respectively and are fixedly connected to the connector (7).

4. The wrist mechanism according to claim 3, characterized in that, The elastic element (52) is located below the connector (7), the hook (521) is hung on the connector (7), and the hook (521) is disposed between the two through holes (71).

5. The wrist mechanism according to claim 1, characterized in that, A threading channel (81) is coaxially opened on the rotating shaft (8), and an extension member (82) is fixedly connected to the second end of the rotating shaft (8). The end of the extension member (82) away from the rotating shaft (8) is connected to the rope winding member (53).

6. The wrist mechanism according to claim 5, characterized in that, The wrist mechanism also includes a mounting bracket (6), which is located below the rotating shaft (8). The mounting bracket (6) is connected between the guide wheel (54) and the first wrist link (1). The mounting bracket (6) has a through hole (61) in the vertical direction, and the through hole (61) is directly opposite to the second end of the rotating shaft (8).

7. The wrist mechanism according to any one of claims 1-6, characterized in that, The guide wheel (54) has a circumferentially oriented positioning ring groove (541) on its side wall. The positioning ring grooves (541) of the two guide wheels (54) are arranged opposite each other, and the flexible member (51) is located within the positioning ring groove (541); and / or, The rope winding component (53) is a roller, and the rope winding component (53) is rotatably connected to the rotating shaft (8). The rotation axis of the rope winding component (53) is set parallel to the rotating shaft (8).

8. A master operator, characterized in that, It includes an arm mechanism (20) and a wrist mechanism as described in any one of claims 1-7.

9. A main control panel, characterized in that, Includes the master operator as described in claim 8.

10. A surgical robot, characterized in that, Includes the main control panel as described in claim 9.

Images