Hooke's joint, movement mechanism, surgical robot arm and surgical robot

Abstract

The present application relates to surgical robot technical field, disclose a kind of hooke joint, moving mechanism, surgical robotic arm and surgical robot.Hooke joint includes U-shaped frame, center block and connecting piece.The opening of two U-shaped frames is oppositely arranged, and through hole is opened through the side arm of U-shaped frame;Center block is placed in the opening of U-shaped frame, and rotating protruding part is arranged at both ends along the first direction and both ends along the second direction of center block;Connecting piece is placed in the through hole;U-shaped frame is provided with abutment arm, and when abutment arm is configured to be in the avoiding position, connecting piece can move along the axial direction of through hole, to abut corresponding rotating protruding part, when abutment arm is configured to be in the abutting position, abutment arm abuts the side of connecting piece along the radial direction of through hole, to make the other side of connecting piece and the hole wall of through hole abut tightly.The present application realizes that connecting piece is always reliably abutting rotating protruding part, guarantees that two telescopic rods are always parallel and synchronous movement, improves transmission accuracy and the stability of transmission.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to a hook joint, a moving mechanism, a surgical robot arm and a surgical robot. BACKGROUND

[0002] Surgical robots are widely used in the medical field. The surgical robot includes a patient surgery end, and a trolley on the patient surgery end is provided with a plurality of surgical robot arms. The surgical robot arm includes a driving arm and a passive arm, the passive arm is connected between the driving arm and the trolley, and one end of the driving arm away from the passive arm is used for installing a surgical instrument.

[0003] According to the motion platform and surgical robot disclosed in Chinese patent CN115179267A, the motion platform (i.e. the passive arm) includes a moving base, a static base and a plurality of groups of driving assemblies arranged in parallel between the moving base and the static base. The driving assembly includes two parallel and equal-length driving branches, and the driving branches are telescopic to enable the moving base to move relative to the static base. The two ends of the driving branch are respectively movably connected with the moving base or the static base through a hook joint. The hook joint includes an upper fork-shaped hinge seat, a lower fork-shaped hinge seat, a top block and four top pins, two pairs of opposite outer surfaces of the top block are respectively provided with tapered top pin holes, and the small diameter ends of each two tapered top pin holes are opposite and the center lines thereof are coincident; the four top pins are respectively threadedly connected with the side walls of the fork-shaped bodies of the upper and lower fork-shaped hinge seats, and the tapered heads of the top pins are respectively arranged in the tapered top pin holes of the top block, so that the top pins can always tightly press the top block. However, in the telescoping process of the driving branch, the fork-shaped hinge seat connected with the driving branch rotates relative to the top block. Since the top pin is threadedly connected with the fork-shaped hinge seat, the top pin may rotate relative to the fork-shaped hinge seat, so that the top pin cannot reliably tightly press the top block, thereby causing a gap between the top pin and the top block, so that the hook joint may have other degrees of freedom, cannot guarantee that the two driving branches always move in parallel and synchronously, reduces the transmission accuracy, increases the possibility that the driving branch interferes with other structures or generates a singular configuration and causes the passive arm to be stuck, and reduces the stability of the transmission.

[0004] Therefore, there is an urgent need for a hook joint, a moving mechanism, a surgical robot arm and a surgical robot to solve the above-mentioned problems. SUMMARY

[0005] The purpose of the present application is to provide a hook joint, a moving mechanism, a surgical robot arm and a surgical robot to realize that the connecting piece always reliably tightly presses the rotating protruding part, guarantee that the two telescopic rods always move in parallel and synchronously, and improve the transmission accuracy and the stability of the transmission.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] The hook joint comprises:

[0008] The U-shaped frame is provided with two U-shaped frames, and the openings of the two U-shaped frames are oppositely arranged. Through holes are formed through the side arms of the U-shaped frame.

[0009] The center block is arranged in the opening of the U-shaped frame. The two ends of the center block along the first direction and the two ends of the center block along the second direction are provided with rotating protruding parts. Each of the through holes is arranged opposite to one of the rotating protruding parts. The first direction is arranged perpendicular to the second direction.

[0010] The connecting piece is arranged in the through hole.

[0011] The U-shaped frame is provided with an abutting arm. The abutting arm has a avoiding position and a abutting position. When the abutting arm is in the avoiding position, the connecting piece can move along the axial direction of the through hole to abut against the corresponding rotating protruding part. When the abutting arm is in the abutting position, the abutting arm abuts against one side of the connecting piece along the radial direction of the through hole, so that the other side of the connecting piece abuts against the hole wall of the through hole.

[0012] As an optional technical solution of the Hooke joint, a shaped channel is formed in the side arm. The shaped channel penetrates the side arm along the axial direction of the through hole. One end of the shaped channel penetrates the hole wall of the through hole. The side wall of the shaped channel and the hole wall of the through hole form the abutting arm.

[0013] As an optional technical solution of the Hooke joint, the Hooke joint further comprises a locking pin. The locking pin can be inserted into the shaped channel, so that the abutting arm moves from the avoiding position to the abutting position.

[0014] As an optional technical solution of the Hooke joint, the diameter of the locking pin increases in the direction close to the outside of the side arm.

[0015] As an optional technical solution of the Hooke joint, a first groove is formed in the side of the abutting arm opposite to the through hole. A second groove is formed in the side wall of the shaped channel. The opening of the first groove is arranged opposite to the opening of the second groove. The first groove and the second groove enclose an insertion space. The locking pin can be inserted into the insertion space. When the abutting arm is in the avoiding position, the width of the insertion space is smaller than the maximum diameter of the locking pin.

[0016] As an optional technical solution of the Hooke joint, a hole wall groove is formed in the hole wall of the through hole. The abutting arm is arranged in the hole wall groove and is rotationally connected with the side arm, so that the abutting arm switches between the avoiding position and the abutting position.

[0017] As an alternative to the Hooke joint, the Hooke joint further comprises a locking pin, a through hole is formed on the groove side wall of the hole wall groove towards the outside of the side arm, a first inclined surface is arranged on the abutting arm, a second inclined surface is arranged on the end of the locking pin, the end of the locking pin can extend into the hole wall groove through the through hole, so that the first inclined surface and the second inclined surface are in contact, and the abutting arm is moved from the avoiding position to the abutting position.

[0018] As an alternative to the Hooke joint, an operating hole is formed on the end of the connecting piece opposite to the rotating protruding part; and / or,

[0019] An operating plane is arranged on the side wall of the end of the connecting piece opposite to the rotating protruding part.

[0020] The moving mechanism comprises:

[0021] A static platform is arranged for connecting with the trolley;

[0022] A dynamic platform is arranged in parallel with the static platform and is arranged for connecting with the arm mechanism;

[0023] A branch assembly comprises two telescopic rods arranged in parallel, the telescopic rods are arranged between the static platform and the dynamic platform, and the telescopic rods can be telescoped along the length direction;

[0024] and the Hooke joint as described above, one of the U-shaped frames in the same Hooke joint is connected to one end of the telescopic rod along the length direction, and the other U-shaped frame in the same Hooke joint is connected to the static platform or the dynamic platform, and the first direction is arranged in parallel with the static platform.

[0025] As an alternative to the moving mechanism, the moving mechanism further comprises a rotation stopping assembly, the rotation stopping assembly comprises a rotation stopping sleeve and a rotation stopping rod, a guide groove is formed on the inner side wall of the rotation stopping sleeve and extends along the axial direction of the rotation stopping sleeve, a rotation stopping part is protruded on the side wall of the rotation stopping rod, one end of the rotation stopping sleeve is movably connected to one of the static platform and the dynamic platform, one end of the rotation stopping rod is arranged to extend into the other end of the rotation stopping sleeve, the rotation stopping part is arranged in the guide groove, and the other end of the rotation stopping rod is movably connected to the other of the static platform and the dynamic platform.

[0026] As an alternative to the moving mechanism, the moving mechanism further comprises a driving assembly, the driving assembly comprises a driving piece, and the driving piece can drive the two telescopic rods in the same branch assembly to be telescoped synchronously.

[0027] As an alternative technical solution of the moving mechanism, the driving assembly is connected to the static platform and located on the side of the static platform opposite to the dynamic platform, the driving assembly comprises a first gear, a shroud and two second gears, two adapter rods are rotatably arranged on the static platform, one end of each of the two adapter rods is connected to two telescopic rods in the same branch assembly through the hook joint, and the two second gears are coaxially and fixedly arranged on the two adapter rods respectively, the driving member can drive the first gear to rotate, and the first gear is engaged with the two second gears respectively.

[0028] The shroud is connected to the static platform, the second gears are arranged between the shroud and the static platform, one side of the shroud is provided with an engaging opening, the second gears can be exposed through the engaging opening and engaged with the first gear, and one end of the adapter rod away from the hook joint is rotatably connected to the shroud.

[0029] As an alternative technical solution of the moving mechanism, the branch assembly is provided in multiple groups, and the driving assembly is provided in multiple groups, and each group of the driving assembly is connected to one group of the branch assembly.

[0030] As an alternative technical solution of the moving mechanism, a spiral elastic sheath is arranged, two ends of the elastic sheath are connected to the static platform and the dynamic platform respectively, the elastic sheath is in a spiral shape, a threading groove is arranged on the elastic sheath, the threading groove extends along the extension direction of the elastic sheath, and the cable of the arm mechanism is arranged in the threading groove.

[0031] As an alternative technical solution of the moving mechanism, the threading groove penetrates through one side of the elastic sheath along the width direction to form an opening for the cable to enter or separate from the threading groove.

[0032] As an alternative technical solution of the moving mechanism, a stop portion is arranged on the groove side wall of the threading groove close to the opening.

[0033] As an alternative technical solution of the moving mechanism, a threading opening is arranged on the side wall of the elastic sheath, and the threading opening communicates with the threading groove; or,

[0034] The threading groove penetrates through the elastic sheath along the extension direction of the elastic sheath.

[0035] The surgical mechanical arm comprises an arm mechanism and the moving mechanism as described above, and the arm mechanism is connected to the dynamic platform.

[0036] As an optional technical scheme of the surgical mechanical arm, the moving mechanism further comprises a driving assembly, the driving assembly comprises driving members, the driving assembly is provided with multiple groups, the branched chain assembly is provided with multiple groups, the driving members are one-to-one connected to the branched chain assemblies, and the driving members can drive two telescopic rods in the corresponding branched chain assemblies to synchronously extend and retract.

[0037] The arm mechanism is provided with a bending moment sensor, and the bending moment sensor is respectively signal-connected with the driving members.

[0038] As an optional technical scheme of the surgical mechanical arm, the arm mechanism comprises an instrument seat, the instrument seat is located at an end of the arm mechanism away from the moving platform, the bending moment sensor is arranged on the instrument seat, and a holding shell is sleeved on the instrument seat in a spaced manner, and the holding shell is connected with a detection end of the bending moment sensor.

[0039] As an optional technical scheme of the surgical mechanical arm, the instrument seat is provided with the detection end on opposite sides in the thickness direction.

[0040] The surgical robot comprises a trolley and the surgical mechanical arm as described above, and the static platform is connected to the trolley.

[0041] The surgical robot comprises a trolley and the surgical mechanical arm as described above, and the static platform is connected to the trolley.

[0042] The hook joint provided by the application comprises a U-shaped frame, a center block and a connecting piece. The structure is simple, easy to process and assemble, and beneficial to the cost of production and assembly. When the abutting arm is in the abutting position, the connecting piece is abutted against the hole wall of the through hole and the abutting arm on the two sides along the radial direction of the through hole, reducing the possibility of axial movement of the connecting piece along the through hole, so that the connecting piece can abut against the rotating protruding part on the center block, avoiding the gap between the connecting piece and the rotating protruding part, ensuring that one U-shaped frame of the hook joint can rotate around the first direction and the second direction relative to the other U-shaped frame, reducing the possibility of other degrees of freedom of the hook joint, ensuring that two telescopic rods provided in parallel and simultaneously installed with the hook joint can move in parallel and synchronously, improving the transmission accuracy, reducing the possibility of interference or singular configuration of the telescopic rod with other structures during movement, improving the stability of transmission, and ensuring that the moving platform with the hook joint can always be parallel to the static platform during movement.

[0043] The mobile mechanism provided by the application comprises the above-mentioned hook joint, simplifies the structure, and through the setting of the abutting arm, ensures that the telescopic rods can only rotate relative to the static platform or the dynamic platform in the first direction and the second direction, reduces the possibility that the telescopic rods have other degrees of freedom relative to the dynamic platform or the static platform, ensures that the two telescopic rods in the same branch chain assembly can move in parallel and synchronously, improves the transmission accuracy, reduces the possibility that the mobile mechanism is stuck during movement, improves the stability of transmission, improves the safety of surgery, ensures that the dynamic platform can always be parallel to the static platform during movement, reduces the control difficulty of the mobile mechanism.

[0044] The surgical mechanical arm provided by the application comprises the above-mentioned mobile mechanism, simplifies the structure, and through the setting of the abutting arm, ensures that the two telescopic rods in the same branch chain assembly can move in parallel and synchronously, improves the transmission accuracy, reduces the possibility that the surgical mechanical arm is stuck during movement, ensures the smooth progress of surgery, improves the stability of transmission, improves the safety of surgery, ensures that the dynamic platform can always be parallel to the static platform during movement, reduces the possibility that the patient is caused secondary injury due to the non-parallelism of the dynamic platform and the static platform, improves the stability of transmission, improves the safety of surgery, and reduces the control difficulty of the surgical mechanical arm.

[0045] The surgical robot provided by the application comprises the above-mentioned surgical mechanical arm, simplifies the structure, reduces the possibility that the surgical mechanical arm is stuck during movement, ensures the smooth progress of surgery, improves the stability of transmission, improves the safety of surgery, and reduces the control difficulty of the surgical robot. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 is a trolley structure schematic diagram provided by the embodiment one of the application;

[0047] Figure 2 is a structure schematic diagram of the mobile mechanism in the first view provided by the embodiment one of the application;

[0048] Figure 3 is a structure schematic diagram of the mobile mechanism in the second view provided by the embodiment one of the application;

[0049] Figure 4 is a partial structure schematic diagram of the mobile mechanism provided by the embodiment one of the application;

[0050] Figure 5 is a structure schematic diagram of the hook joint provided by the embodiment one of the application;

[0051] Figure 6 is an exploded view of the hook joint provided by the embodiment one of the application;

[0052] Figure 7 is a sectional view of the hook joint provided by the embodiment one of the application;

[0053] Figure 8 is a structural schematic view of the U-shaped frame provided by the embodiment one of the present application;

[0054] Figure 9 is a sectional view of the moving mechanism provided by the embodiment one of the present application;

[0055] Figure 10 is a sectional view of the rotation-stopping assembly provided by the embodiment one of the present application;

[0056] Figure 11 is a structural schematic view of the instrument seat provided by the embodiment one of the present application;

[0057] Figure 12 is a sectional view of the instrument seat provided by the embodiment one of the present application;

[0058] Figure 13 is a sectional view of the U-shaped frame provided by the embodiment two of the present application;

[0059] Figure 14 is a sectional view of the hook joint provided by the embodiment two of the present application.

[0060] Figure 15 is a structural schematic view of the connecting piece provided by the embodiment three of the present application;

[0061] Figure 16 is a structural schematic view of the moving mechanism from the first perspective provided by the embodiment four of the present application;

[0062] Figure 17 is a structural schematic view of the moving mechanism from the second perspective provided by the embodiment four of the present application;

[0063] Figure 18 is a sectional view of the moving mechanism provided by the embodiment four of the present application;

[0064] Figure 19 is a structural schematic view of the elastic sheath and the rotation-stopping assembly provided by the embodiment four of the present application;

[0065] Figure 20 is a structural schematic view of the protective sleeve and the mounting piece provided by the embodiment four of the present application;

[0066] Figure 21 is a sectional view of the elastic sheath of the first structure provided by the embodiment four of the present application;

[0067] Figure 22 is a sectional view of the elastic sheath of the second structure provided by the embodiment four of the present application.

[0068] In the drawings:

[0069] 10, moving mechanism; 20, arm mechanism; 201, instrument seat; 202, link assembly; 203, bending moment sensor; 2031, detection end; 20311, convex ring; 204, holding shell; 205, puncture device mounting assembly; 206, puncture device; 30, trolley; 40, mounting seat; 50, connecting seat;

[0070] 1, static platform; 11, adapter rod;

[0071] 2, dynamic platform; 3, branch assembly; 31, telescopic rod;

[0072] 4, hook joint; 41, center block; 411, rotating protrusion; 42, connecting piece; 421, operation hole; 422, operation plane; 423, spherical pit; 43, U-shaped frame; 431, side arm; 4311, perforation; 4312, abutting arm; 43121, first inclined surface; 4313, shaped channel; 43131, first shaped section; 43132, second shaped section; 4314, first groove; 4315, second groove; 4316, hole wall groove; 4317, through hole; 4318, weakened hole; 4319, rotating shaft; 44, locking pin; 441, second inclined surface;

[0073] 5, rotation stopping assembly; 51, rotation stopping sleeve; 511, guide groove; 52, rotation stopping rod; 521, rotation stopping part;

[0074] 6, elastic sheath; 61, threading groove; 61a, first groove part; 61b, second groove part; 61c, third groove part; 611, stop part; 63, mounting piece; 631, first clamp; 632, second clamp; 633, arc-shaped hole; 634, fixing part;

[0075] 7, driving assembly; 71, driving piece; 72, first gear; 73, second gear; 74, shroud; 75, first bevel gear; 76, second bevel gear; 77, L-shaped frame; 78, support cover;

[0076] 8, round hole; 9, protection sleeve; 91, first arc-shaped part; 92, second arc-shaped part. DETAILED DESCRIPTION

[0077] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0078] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0079] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0080] The technical solutions of the present application will be further illustrated below in conjunction with the drawings and through specific embodiments.

[0081] Embodiment one

[0082] The present embodiment provides a surgical robot. Specifically, as shown in the figure, the surgical robot comprises a trolley 30 and a surgical robot arm. Further, the surgical robot arm comprises an arm mechanism 20 and a moving mechanism 10. The arm mechanism 20 is used to install a surgical instrument. Figure 1 As shown in the figure, the moving mechanism 10 comprises a static platform 1, a dynamic platform 2, a branch chain assembly 3 and a hooke joint 4. The static platform 1 is connected with the trolley 30; the dynamic platform 2 is arranged in parallel with the static platform 1, and the dynamic platform 2 is connected with the arm mechanism 20; the branch chain assembly 3 comprises two parallel arranged telescopic rods 31, the telescopic rods 31 are arranged between the static platform 1 and the dynamic platform 2, the telescopic rods 31 can be telescopic along the length direction, and the two ends of the telescopic rods 31 along the length direction are movably connected with the dynamic platform 2 or the static platform 1 through the hooke joint 4. Among them, the dynamic platform 2 and the static platform 1 are disc-shaped, and the diameter of the dynamic platform 2 is smaller than that of the static platform 1.

[0083] Figures 2-4 As shown in the figure, the moving mechanism 10 comprises a static platform 1, a dynamic platform 2, a branch chain assembly 3 and a hooke joint 4. The static platform 1 is connected with the trolley 30; the dynamic platform 2 is arranged in parallel with the static platform 1, and the dynamic platform 2 is connected with the arm mechanism 20; the branch chain assembly 3 comprises two parallel arranged telescopic rods 31, the telescopic rods 31 are arranged between the static platform 1 and the dynamic platform 2, the telescopic rods 31 can be telescopic along the length direction, and the two ends of the telescopic rods 31 along the length direction are movably connected with the dynamic platform 2 or the static platform 1 through the hooke joint 4. Among them, the dynamic platform 2 and the static platform 1 are disc-shaped, and the diameter of the dynamic platform 2 is smaller than that of the static platform 1.

[0084] In the present embodiment, the branch chain assembly 3 is provided with three groups, and the three groups of branch chain assemblies 3 are arranged in parallel and uniformly distributed along the circumference of the moving mechanism 10.

[0085] Preferably, as shown in the figure, Figures 5-8 ​As shown, the hook joint 4 comprises a U-shaped frame 43, a center block 41 and a connecting piece 42. The U-shaped frame 43 is provided with two openings, the openings of the two U-shaped frames 43 are oppositely arranged, and through holes 4311 are formed through the side arms 431 of the U-shaped frames 43; the center block 41 is arranged in the opening of the U-shaped frame 43, the center block 41 is provided with rotating protrusions 411 at both ends along a first direction and both ends along a second direction, each through hole 4311 is arranged opposite to one rotating protrusion 411, and the first direction is arranged perpendicular to the second direction; the connecting piece 42 is arranged in the through hole 4311; the U-shaped frame 43 is provided with an abutting arm 4312, the abutting arm 4312 has a avoiding position and a abutting position, when the abutting arm 4312 is configured to be in the avoiding position, the connecting piece 42 can move along the axial direction of the through hole 4311 to abut against the corresponding rotating protrusion 411, and when the abutting arm 4312 is configured to be in the abutting position, the abutting arm 4312 abuts against one side of the connecting piece 42 along the radial direction of the through hole 4311, so that the other side of the connecting piece 42 abuts against the hole wall of the through hole 4311.

[0086] In the embodiment, one U-shaped frame 43 in the same hook joint 4 is connected to one end of the telescopic rod 31 along the length direction, and the other U-shaped frame 43 in the same hook joint 4 is connected to the static platform 1 or the dynamic platform 2, and the first direction is arranged parallel to the static platform 1.

[0087] The hook joint 4 provided by the embodiment comprises a U-shaped frame 43, a center block 41 and a connecting piece 42. The structure is simple, easy to process and assemble, and beneficial to the cost of production and assembly. Moreover, when the abutting arm 4312 is in the abutting position, the two sides of the connecting piece 42 along the radial direction of the through hole 4311 abut against the abutting arm 4312 and the hole wall of the through hole 4311 respectively, which reduces the possibility of axial movement of the connecting piece 42 along the through hole 4311, so that the connecting piece 42 can abut against the rotating protrusion 411 on the center block 41, avoids the gap between the connecting piece 42 and the rotating protrusion 411, ensures that one U-shaped frame 43 of the hook joint 4 can only rotate around the first direction and the second direction relative to the other U-shaped frame 43, reduces the possibility of the hook joint 4 having other degrees of freedom, ensures that the two telescopic rods 31 provided with the hook joint 4 and arranged in parallel can move in parallel and synchronously, improves the transmission accuracy, reduces the possibility of interference or singular configuration between the telescopic rod 31 and other structures during movement and causes jamming, improves the smoothness of transmission, and ensures that the dynamic platform 2 provided with the hook joint 4 can always move parallel to the static platform 1 during movement.

[0088] The mobile mechanism 10 provided in the embodiment comprises the above-mentioned hook joint 4, and the structure is simplified. In addition, the abutting arm 4312 is arranged, so that the telescopic rod 31 can only rotate relative to the static platform 1 or the dynamic platform 2 in the first direction and the second direction, the possibility of the telescopic rod 31 having other degrees of freedom relative to the dynamic platform 2 or the static platform 1 is reduced, the two telescopic rods 31 in the same branch chain assembly 3 can move in parallel and synchronously, the transmission accuracy is improved, the possibility of the mobile mechanism 10 being stuck during movement is reduced, the stability of transmission is improved, the safety of surgery is improved, and it is ensured that the dynamic platform 2 can always be parallel to the static platform 1 during movement, so that the control difficulty of the mobile mechanism 10 is reduced.

[0089] The surgical mechanical arm provided in the embodiment comprises the above-mentioned mobile mechanism 10, and the structure is simplified. In addition, the abutting arm 4312 is arranged, so that the two telescopic rods 31 in the same branch chain assembly 3 can move in parallel and synchronously, the transmission accuracy is improved, the possibility of the surgical mechanical arm being stuck during movement is reduced, the smoothness of surgery is ensured, the dynamic platform 2 can always be parallel to the static platform 1 during movement, the possibility of secondary injury to the patient caused by the dynamic platform 2 being not parallel to the static platform 1 is reduced, the stability of transmission is improved, the safety of surgery is improved, and the control difficulty of the surgical mechanical arm is reduced.

[0090] The surgical robot provided in the embodiment comprises the above-mentioned surgical mechanical arm, and the structure is simplified. In addition, the possibility of the surgical mechanical arm being stuck during movement is reduced, the smoothness of surgery is ensured, the stability of transmission is improved, the safety of surgery is improved, and the control difficulty of the surgical robot is reduced.

[0091] In the embodiment, the structure of the hook joint 4 and the corresponding effects are described in the application scenario of the surgical robot. In other embodiments, the application scenario of the hook joint 4 is not limited to the surgical robot, and the hook joint 4 can be applied to other structures in which the hook joint 4 needs to be arranged, which is not limited herein.

[0092] In the embodiment, the U-shaped frame 43 comprises two side arms 431 and a connecting arm connected between the two side arms 431, and the side arms 431 are connected to both ends of the connecting arm in the length direction. The axial direction of the through hole 4311 is the length direction of the connecting arm.

[0093] Specifically, the through hole 4311 is a threaded hole, the connecting piece 42 is in a cylindrical shape, an outer thread is arranged on the side wall of the connecting piece 42, the connecting piece 42 is threadedly connected with the through hole 4311, the connecting piece 42 is moved in the axial direction of the through hole 4311 by screwing the connecting piece 42, so that the rotating protruding part 411 is tightly abutted or loosened, and the operation is facilitated. In other embodiments, the through hole 4311 can also be a light hole, which is not limited herein.

[0094] Preferably, the connecting piece 42 is provided with an operation hole 421 opposite to one end of the rotating protrusion 411, and the connecting piece 42 can be screwed during the process of pressing the rotating protrusion 411, which simplifies the operation process and improves the operation convenience.

[0095] In the embodiment, five operation holes 421 are provided on the end surface of the connecting piece 42 in a circumferential direction. In other embodiments, the operation holes 421 can be provided on the side wall of the connecting piece 42, and the number of the operation holes 421 can be adjusted adaptively, which is not limited herein. The cross section of the operation hole 421 is circular, and the axial direction of the operation hole 421 is parallel to the axial direction of the connecting piece 42. It can be understood that, before the connecting piece 42 needs to be screwed, at least two operation rods can be inserted into the operation holes 421 respectively, and the connecting piece 42 can be screwed through the operation rods.

[0096] In other embodiments, the cross section of the operation hole 421 is hexagonal, and only one operation hole 421 needs to be provided on the connecting piece 42. An internal hexagonal wrench can be inserted into the operation hole 421 to screw the connecting piece 42.

[0097] Further, the rotating protrusion 411 is spherical, and the connecting piece 42 is provided with a spherical pit 423 at one end facing the rotating protrusion 411, and the rotating protrusion 411 can be placed in the spherical pit 423. In other embodiments, the rotating protrusion 411 can also be cylindrical or conical, and the end surface of the connecting piece 42 facing the rotating protrusion 411 is adaptively provided with a recess of different shapes, which is not limited herein.

[0098] In the embodiment, the rotating protrusion 411 and the center block 41 can be separately provided and connected by welding. In other embodiments, the rotating protrusion 411 and the center block 41 can also be integrally formed, which is not limited herein.

[0099] Preferably, the abutting arm 4312 is integrally formed with the side arm 431, which is beneficial to reduce the number of parts of the hook hinge 4 and facilitate assembly. Specifically, the side arm 431 is provided with a forming channel 4313, the forming channel 4313 penetrates the side arm 431 along the axial direction of the through hole 4311, one end of the forming channel 4313 penetrates the hole wall of the through hole 4311, and the side wall of the forming channel 4313 and the hole wall of the through hole 4311 form the abutting arm 4312. The above-mentioned structure forms the abutting arm 4312 by providing the forming channel 4313 on the side arm 431, avoids separately providing other parts to form the abutting arm 4312, further simplifies the structure and facilitates assembly, and also simplifies the connection structure between the abutting arm 4312 and the side arm 431. In the embodiment, the forming channel 4313 can be formed by wire cutting process or the like.

[0100] The forming channel 4313 is in a V-shaped structure, and the opening of the V-shaped structure faces the through hole 4311. The forming channel 4313 comprises a first forming section 43131 and a second forming section 43132, the first forming section 43131 and the second forming section 43132 are angularly connected, the first forming section 43131 is spaced apart from the hole wall of the through hole 4311, one end of the second forming section 43132 communicates with one end of the first forming section 43131, and the other end of the second forming section 43132 communicates with the hole wall of the through hole 4311. The side arm 431 is made of metal material, so that the abutting arm 4312 has a certain elasticity.

[0101] In the embodiment, the included angle between the first forming section 43131 and the second forming section 43132 is 60°-120°, the above-mentioned included angle is large, the structural strength of the sharp corner structure formed at the connection of the first forming section 43131 and the second forming section 43132 is improved, the durability of the abutting arm 4312 is ensured, and the maintenance cost is reduced.

[0102] Further, the side arm 431 is provided with a weakening hole 4318, one end of the first forming section 43131 away from the second forming section 43132 communicates with the weakening hole 4318, and the weakening hole 4318 is provided to facilitate the elastic deformation of the abutting arm 4312.

[0103] Preferably, the Hooke's joint 4 further comprises a locking pin 44, which can be inserted into the forming channel 4313, so that the abutting arm 4312 moves from the avoiding position to the abutting position. The above-mentioned arrangement makes the structure of the abutting arm 4312 moving from the avoiding position to the abutting position relatively simple, further simplifies the structure, and facilitates assembly. When the locking pin 44 is not inserted, the abutting arm 4312 is in the avoiding position. It can be understood that the locking pin 44 can be inserted into the first forming section 43131.

[0104] Further, the locking pin 44 is in a frustum shape, and the axis of the locking pin 44 is parallel to the axis of the through hole 4311. The diameter of the locking pin 44 increases along the direction close to the outside of the side arm 431, and in the process of gradually inserting the locking pin 44 into the forming channel 4313, the width of the forming channel 4313 gradually expands, specifically the width of the first forming section 43131 gradually expands, so that the abutting arm 4312 abuts against the connecting piece 42. At the same time, the locking pin 44 is arranged to have a gradually changing diameter, which can make the abutting arm 4312 gradually move towards the center of the through hole 4311, so as to abut against connecting pieces 42 of different diameters, expand the application range of the U-shaped frame 43, reduce the size precision requirement of the connecting piece 42, and reduce the processing difficulty and manufacturing cost.

[0105] Preferably, the abutment arm 4312 is provided with a first groove 4314 on the side opposite to the through hole 4311, and a second groove 4315 is provided on the side wall of the shaped channel 4313, the opening of the first groove 4314 and the second groove 4315 are arranged opposite to each other, the first groove 4314 and the second groove 4315 form an insertion space, the locking pin 44 can be inserted into the insertion space, and when the abutment arm 4312 is in the avoiding position, the width of the insertion space is smaller than the maximum diameter of the locking pin 44. The above arrangement facilitates the determination of the insertion position of the locking pin 44, improves the assembly efficiency, and at the same time, the width of the shaped channel 4313 is designed without considering the diameter of the locking pin 44, avoiding the reduction of the structural strength of the U-shaped frame 43 due to the excessive width of the shaped channel 4313, and ensuring the durability of the hook hinge 4. Among them, the first groove 4314 and the second groove 4315 are both C-shaped. It can be understood that the insertion space surrounded by the first groove 4314 and the second groove 4315 is a hole, and the hole diameter of the insertion space increases in the direction close to the outside of the side arm 431.

[0106] In the embodiment, the first shaped section 43131 is provided with a first groove 4314 and a second groove 4315 on the groove side walls of the opposite sides.

[0107] As a preferred solution, as shown in Figure 2 、 Figure 4 and Figure 9 , the moving mechanism 10 further comprises a driving assembly 7, and the driving assembly 7 comprises a driving piece 71, which can drive the two telescopic rods 31 in the same branch chain assembly 3 to extend and retract synchronously, thereby improving the automation degree of the moving mechanism 10 and improving the operation convenience of the moving mechanism 10.

[0108] Specifically, in the case that the initial state of the two telescopic rods 31 in the same group of branch chain assemblies 3 is that the lengths are the same and parallel, the driving of the two telescopic rods 31 to extend and retract synchronously by the driving piece 71 can make the motion states of the two telescopic rods 31 the same, so that the lengths of the two telescopic rods 31 always remain consistent and always remain parallel. Further, since the lengths of the two telescopic rods 31 always remain consistent and parallel, the line connecting the endpoints of the two telescopic rods 31 can form a parallelogram structure, and the two telescopic rods 31 and the static platform 1 and the dynamic platform 2 connected at both ends form the other two sides of the parallelogram structure, so that in the case that the dynamic platform 2 moves relative to the static platform 1, the static platform 1 and the dynamic platform 2 can always remain in a parallel state. In other words, the rotation of the dynamic platform 2 relative to the static platform 1 about an axis parallel to the static platform 1 can be limited.

[0109] As a preferred solution, as shown in Figure 2 、 Figure 3 and Figure 10As shown, the moving mechanism 10 further comprises a rotation-stopping assembly 5, which comprises a rotation-stopping sleeve 51 and a rotation-stopping rod 52. The inner side wall of the rotation-stopping sleeve 51 is provided with a guide groove 511 extending along the axial direction of the rotation-stopping sleeve 51. The side wall of the rotation-stopping rod 52 is provided with a rotation-stopping portion 521 protruding therefrom. One end of the rotation-stopping sleeve 51 is movably connected to one of the static platform 1 and the dynamic platform 2, and the other end of the rotation-stopping sleeve 51 is movably connected to the other of the static platform 1 and the dynamic platform 2. One end of the rotation-stopping rod 52 extends into the other end of the rotation-stopping sleeve 51, and the rotation-stopping portion 521 is arranged in the guide groove 511. The rotation-stopping rod 52 is movably connected to the other of the static platform 1 and the dynamic platform 2. The rotation-stopping assembly 5, the driving assembly 7 and the branch chain assembly 3 jointly ensure that the dynamic platform 2 can only move in three degrees of freedom relative to the static platform 1, thereby avoiding the dynamic platform 2 from rotating relative to the static platform 1, and avoiding the surgical instrument from being misused to touch the patient or other structures, thereby ensuring the safety of the surgery and reducing the possibility of damage to the surgical instrument.

[0110] In other embodiments, the rotation-stopping portion 521 can be protruded from the inner side wall of the rotation-stopping sleeve 51, and the side wall of the rotation-stopping rod 52 is provided with the guide groove 511.

[0111] The branch chain assembly 3 is provided with a plurality of groups, and the driving assembly 7 is provided with a plurality of groups. Each group of the driving assembly 7 is connected to one group of the branch chain assembly 3. Different groups of the driving assembly 7 drive different groups of the branch chain assembly 3, which can simplify the structure of the driving assembly 7 and facilitate assembly. In this embodiment, the branch chain assembly 3 is provided with three groups, and the driving assembly 7 is also provided with three groups.

[0112] In this embodiment, the three groups of the branch chain assembly 3 are connected to the edges of the dynamic platform 2 and the static platform 1. The two ends of the rotation-stopping sleeve 51 are connected to the centers of the dynamic platform 2 and the static platform 1.

[0113] Further, as shown in FIG. 1, Figure 2 , Figure 4 and Figure 9As shown, the driving assembly 7 is connected to the static platform 1 and located on the side of the static platform 1 opposite to the dynamic platform 2, the driving assembly 7 comprises a first gear 72 and two second gears 73, two adapter rods 11 are rotatably arranged on the static platform 1, one end of each of the two adapter rods 11 is connected to two telescopic rods 31 in the same branch chain assembly 3 through a hooke joint 4, the two second gears 73 are coaxially and fixedly sleeved on the two adapter rods 11 respectively, the driving member 71 can drive the first gear 72 to rotate, and the first gear 72 is engaged with the two second gears 73 respectively. Compared with the mode of realizing the synchronous extension and contraction of the two telescopic rods 31 in the same branch chain assembly 3 by using belt transmission, the above-mentioned arrangement realizes the synchronous extension and contraction of the two telescopic rods 31 in the same branch chain assembly 3 by using the first gear 72 and the second gear 73, which has higher structural strength and better durability. In the embodiment, the adapter rod 11 is arranged perpendicularly to the static platform 1.

[0114] It can be understood that the axes of the first gear 72 and the second gear 73 are arranged in parallel. Specifically, a vertical shaft is arranged perpendicularly and rotatably on the static platform 1, and the first gear 72 is coaxially and fixedly sleeved on the vertical shaft. The first gear 72 is arranged on one side of the second gear 73 and engaged with the second gear 73, so that the first gear 72 will generate a radial force on the adapter rod 11 when rotating, causing the adapter rod 11 to be easily bent, increasing the possibility of disengagement of the first gear 72 and the second gear 73, thereby adversely affecting the realization of the synchronous extension and contraction of the two telescopic rods 31 in the same branch chain assembly 3, and increasing the possibility of jamming of the moving mechanism 10 during movement, reducing the smoothness of transmission and the safety of surgery, and cannot guarantee that the dynamic platform 2 can always be parallel to the static platform 1 during movement.

[0115] As a preferred solution, the driving assembly 7 further comprises a protective cover 74. The protective cover 74 is connected to the static platform 1, the second gear 73 is arranged between the protective cover 74 and the static platform 1, the protective cover 74 is provided with an engagement opening on one side, the second gear 73 can be exposed through the engagement opening to engage with the first gear 72, and the end of the adapter rod 11 away from the hooke joint 4 is rotatably connected to the protective cover 74. The above-mentioned arrangement enables the protective cover 74 to support the end of the adapter rod 11 away from the hooke joint 4, avoiding the bending of the adapter rod 11, ensuring that the first gear 72 and the second gear 73 can always reliably engage, thereby facilitating the realization of the synchronous extension and contraction of the two telescopic rods 31 in the same branch chain assembly 3, reducing the possibility of jamming of the moving mechanism 10 during movement, improving the smoothness of transmission and the safety of surgery, and guaranteeing that the dynamic platform 2 can always be parallel to the static platform 1 during movement. It can be understood that the adapter rod 11 is rotatably connected to the protective cover 74 through a bearing.

[0116] Further, the driving assembly 7 further comprises a first bevel gear 75 and a second bevel gear 76. The driving member 71 is a driving motor, and a driving rotating shaft of the driving member 71 is arranged in parallel with the static platform 1. The first bevel gear 75 is coaxially arranged on the vertical shaft, and the second bevel gear 76 is coaxially arranged on the driving rotating shaft. The first bevel gear 75 is engaged with the second bevel gear 76. The above arrangement reduces the size of the moving mechanism 10 in the direction perpendicular to the static platform 1, reduces the occupied space, reduces the risk of collision between the surgical mechanical arms, improves the safety of the surgery, and ensures the smooth implementation of the surgery.

[0117] Specifically, the first gear 72 is located between the first bevel gear 75 and the static platform 1. The driving assembly 7 further comprises a support cover 78 connected to the static platform 1, and the vertical shaft is rotatably connected to the support cover 78. The first gear 72 is arranged between the support cover 78 and the static platform 1, and the first bevel gear 75 is located on the side of the support cover 78 opposite to the static platform 1. The support cover 78 is provided with an engagement opening on one side, and the first gear 72 can be exposed through the engagement opening. The above arrangement can also reduce the possibility of bending of the vertical shaft, further ensure that the first gear 72 and the second gear 73 can always reliably engage, thereby facilitating the synchronous extension and contraction of the two telescopic rods 31 in the same branch assembly 3, reducing the possibility of jamming of the moving mechanism 10 during movement, improving the stability of transmission and the safety of the surgery, and ensuring that the moving platform 2 can always be parallel to the static platform 1 during movement.

[0118] In the embodiment, the driving assembly 7 further comprises an L-shaped bracket 77 comprising a horizontal side and a vertical side connected perpendicularly. The horizontal side is connected to the support cover 78, and the vertical shaft is rotatably connected to the horizontal side. The first bevel gear 75 is located on the side of the horizontal side opposite to the support cover 78. The driving member 71 is connected to the vertical side.

[0119] In the embodiment, since the driving rotating shaft of the driving member 71 is arranged in parallel with the static platform 1, the shield 74 is provided with only one, i.e., only the outer side of the second gear 73 is provided with the shield 74, avoiding interference between the shield 74 and the driving member 71. In other embodiments, the driving rotating shaft can also be arranged perpendicularly to the static platform 1, and at this time, the shield 74 can be provided with two.

[0120] As a preferred solution, as Figure 1 , Figure 11 and Figure 12As shown, the arm mechanism 20 is provided with a bending moment sensor 203, and the bending moment sensor 203 is signal connected with the plurality of driving members 71. In the use process of the surgical robot arm, the operator can control the start of the driving members 71 by exerting different bending moments on the detection end 2031 of the bending moment sensor 203, so as to realize the movement of the moving platform 2 relative to the static platform 1 in different directions, thereby realizing the movement of the arm mechanism 20 driven by the moving platform 2, realizing the manual control of the moving mechanism 10, and improving the use convenience.

[0121] Specifically, the surgical robot arm further comprises a controller, the controller is electrically connected with the bending moment sensor 203, and the controller is electrically connected with the three driving members 71 respectively. The controller can control the opening and closing of the driving members 71 according to the bending moment received by the bending moment sensor 203.

[0122] Further, the three driving members 71 are respectively a first motor, a second motor and a third motor. If the operator needs to move the arm mechanism 20 relative to the static platform 1 along a preset direction, the first motor needs to be in a first state, the second motor needs to be in a second state, and the third motor needs to be in a third state. The first state is a closed state or a first start state with a first rotating speed, the second state is a closed state or a second start state with a second rotating speed, and the third state is a closed state or a third start state with a third rotating speed. The operator holds the arm mechanism 20 and contacts the detection end 2031 of the bending moment sensor 203. At this time, the operator exerts a force along the actual direction to the arm mechanism 20. The detection end 2031 of the bending moment sensor 203 controls the first motor to be in the first state, the second motor to be in the second state, and the third motor to be in the third state according to the detected bending moment. The structure of the bending moment sensor 203, the structure of the controller, the connection principle between the controller and the bending moment sensor 203, and the principle of the controller controlling the driving members 71 can be referred to the prior art, which is not the focus of the protection of the present embodiment, and will not be described here.

[0123] Specifically, the arm mechanism 20 comprises an instrument seat 201, the instrument seat 201 is located at one end of the arm mechanism 20 away from the moving platform 2, and the bending moment sensor 203 is arranged on the instrument seat 201. The instrument seat 201 is used for installing surgical instruments. The instrument seat 201 is spaced apart and sleeved with a holding shell 204, and the holding shell 204 is connected with the detection end 2031 of the bending moment sensor 203. The holding shell 204 is arranged at intervals with the instrument seat 201, which avoids the contact between the holding shell 204 and the instrument seat 201 during the movement of the instrument seat 201, thereby avoiding affecting the bending moment detected by the detection end 2031, ensuring the smooth movement of the moving platform 2 and the arm mechanism 20, and increasing the holding area of the holding shell 204, facilitating the triggering of the bending moment sensor 203, and protecting the detection end 2031, thereby ensuring the durability of the arm mechanism 20. Specifically, the instrument seat 201 is provided with detection ends 2031 on opposite sides in the thickness direction.

[0124] One end of the detection end 2031 penetrates out of the holding shell 204, and a convex ring 20311 is arranged on the side wall of the detection end 2031 in a convex manner, and the end face of the convex ring 20311 is attached to the outer side wall of the holding shell 204. When the operator holds the holding shell 204 at any position, it is ensured that the detection end 2031 can detect the force or bending moment applied by the operator to the holding shell 204, thereby simplifying the operation process.

[0125] In the embodiment, the instrument seat 201 is connected with a puncture device mounting assembly 205 at the end close to the patient, and the puncture device 206 is mounted on the puncture device mounting assembly 205. The holding shell 204 is sleeved on the end of the instrument seat 201 close to the patient.

[0126] In some embodiments, a switching switch can also be arranged on the holding shell 204, and the switching switch is used to switch between the automatic mode and the manual mode. The switching switch is electrically connected with the controller. In the automatic mode, the driving member 71 can only be controlled to be turned on or turned off by the controller, and in the manual mode, the driving member 71 can be controlled to be turned on or turned off by the bending moment sensor 203. The switching switch can be a button or a lever, which is not limited here.

[0127] Further, the arm mechanism 20 further comprises a connecting rod assembly 202, one end of the connecting rod assembly 202 is connected to the moving platform 2, and the other end of the connecting rod assembly 202 is connected to the instrument seat 201. The structure of the connecting rod assembly 202 and the instrument seat 201 can refer to the prior art, which is not limited here.

[0128] In the embodiment, as shown in Figure 1 The connecting rod assembly 202 is connected with the moving mechanism 10 through a connecting seat 50, the connecting seat 50 is connected to the moving platform 2 of the moving mechanism 10, one end of the connecting rod assembly 202 away from the instrument seat 201 is rotationally connected with the connecting seat 50, and the connecting rod assembly 202 can rotate relative to the connecting seat 50 about a vertical axis.

[0129] Embodiment two

[0130] The embodiment provides a hook joint, a moving mechanism, a surgical mechanical arm and a surgical robot, and the structure of the embodiment is basically the same as that of the first embodiment, only part of the structure is different, and the embodiment will not be repeated here.

[0131] Specifically, as shown in Figure 13 and Figure 14As shown, a hole wall groove 4316 is formed on the hole wall of the through hole 4311, the abutting arm 4312 is arranged in the hole wall groove 4316 and rotationally connected with the side arm 431, so as to switch the abutting arm 4312 between the avoiding position and the abutting position. The above arrangement makes the structure of the abutting arm 4312 switching between the avoiding position and the abutting position relatively simple, simplifies the structure, facilitates production and assembly, and compared with the elastic deformation of the abutting arm 4312 to switch between the avoiding position and the abutting position, the above arrangement can also avoid the breakage of the abutting arm 4312 due to elastic deformation in the use process, and ensures the durability of the hook joint 4.

[0132] In the embodiment, a rotating shaft 4319 is fixedly arranged in the hole wall groove 4316, and the abutting arm 4312 is rotationally connected with the rotating shaft 4319. The through hole 4311 is a threaded hole, and the outer side wall of the connecting piece 42 is provided with an external thread, and the connecting piece 42 is threadedly connected with the through hole 4311. The axis of the rotating shaft 4319 is arranged in parallel with the axis of the through hole 4311.

[0133] Further, the hook joint 4 comprises a locking pin 44, a through hole 4317 is formed on the groove side wall of the hole wall groove 4316 towards the outside of the side arm 431, a first inclined surface 43121 is arranged on the abutting arm 4312, an end portion of the locking pin 44 is provided with a second inclined surface 441, and the end portion of the locking pin 44 can extend into the hole wall groove 4316 through the through hole 4317, so that the first inclined surface 43121 is in contact with the second inclined surface 441, and the abutting arm 4312 is moved from the avoiding position to the abutting position. The arrangement of the first inclined surface 43121 and the second inclined surface 441 facilitates the insertion of the locking pin 44 into the through hole 4317, and during the insertion of the locking pin 44, the abutting arm 4312 can be gradually moved towards the center of the through hole 4311, so as to abut against connecting pieces 42 of different diameters, expand the application range of the U-shaped frame 43, reduce the size precision requirement of the connecting piece 42, and reduce the processing difficulty and manufacturing cost.

[0134] It can be understood that the abutting arm 4312 is located between the second inclined surface 441 of the locking pin 44 and the connecting piece 42.

[0135] Embodiment three

[0136] The embodiment provides a hook joint, a moving mechanism, a surgical mechanical arm and a surgical robot, and the structure of the embodiment is basically same as that of the embodiment one, only part of the structure is different, and the embodiment will not be described hereinafter.

[0137] As Figure 15As shown, the connecting piece 42 is provided with an operation plane 422 on the side wall opposite to one end of the rotating protruding part 411. The connecting piece 42 is convenient to be clamped by a clamp or other tools and be screwed, and the operation convenience is further improved.

[0138] In the embodiment, two operation planes 422 are provided, and the two operation planes 422 are provided in parallel. In other embodiments, the number of the operation planes 422 can be adjusted adaptively, which is not limited herein.

[0139] Embodiment Four

[0140] The embodiment provides a hook joint, a moving mechanism, a surgical mechanical arm and a surgical robot, and the structure of the embodiment is basically same as that of the first embodiment, only part of the structure is different, and the embodiment will not be repeated here.

[0141] In the embodiment, as shown in Figures 1-12 The trolley 30 is provided with a controller, and the motors and the band brakes at each joint of the arm mechanism 20 are electrically connected with the controller through cables. Each cable of the arm mechanism 20 is stretched out from one end of the linkage assembly 202 away from the instrument base 201.

[0142] Preferably, a circular hole 8 is provided through the static platform 1 and the dynamic platform 2. It can be understood that, in order to avoid the cables exposed, each cable of the arm mechanism 20 is stretched into the moving mechanism 10 through the circular hole 8 of the dynamic platform 2, and is stretched out of the moving mechanism 10 through the circular hole 8 of the static platform 1, and is stretched into the trolley 30. In the embodiment, a plurality of circular holes 8 are provided through the static platform 1 and the dynamic platform 2, and the number of the circular holes 8 can be adjusted adaptively according to requirements.

[0143] According to the description above, it can be known that, due to the arrangement of the driving assembly 7 and the branch chain assembly 3, the dynamic platform 2 can be close to or away from the static platform 1. In the process of the movement of the telescopic rod 31, the cable of the arm mechanism 20 may be wound with the telescopic rod 31 or other structures, and in the process of the dynamic platform 2 away from the static platform 1, the cable may be pulled, which leads to the breakage of the cable and increases the maintenance cost.

[0144] Preferably, as shown in Figures 16-22As shown, the moving mechanism 10 further comprises an elastic sheath 6 connected between the static platform 1 and the dynamic platform 2, the elastic sheath 6 extends spirally in the direction from the static platform 1 to the dynamic platform 2, that is, the elastic sheath 6 is in a spiral structure, the elastic sheath 6 is provided with a threading groove 61 extending in the extending direction of the elastic sheath 6, and the cable of the arm mechanism 20 is arranged in the threading groove 61. By arranging the spiral elastic sheath 6, the cable can be protected, the arrangement position of the cable is determined, the cable is prevented from being entangled with other structures in the moving mechanism 10, the smooth movement of the moving mechanism 10 is ensured, the smooth implementation of the surgery is ensured, meanwhile, a certain length of the cable can be buffered between the dynamic platform 2 and the static platform 1, in the process of extending and retracting the telescopic rod 31 to move the dynamic platform 2 away from the static platform 1, the spiral structure formed by the elastic sheath 6 can be elongated, the cable is prevented from being pulled, the reliable electrical connection between each joint of the arm mechanism 20 and the controller is ensured, the reliability of the surgical robot in use is ensured, the smooth implementation of the surgery is ensured, and the maintenance cost is reduced.

[0145] In the embodiment, the elastic sheath 6 is made of rubber material, has elasticity, is low in cost, and is good in durability.

[0146] Specifically, the moving mechanism 10 further comprises two mounting pieces 63, the two mounting pieces 63 are respectively connected with the dynamic platform 2 and the static platform 1, the elastic sheath 6 is arranged between the two mounting pieces 63, and the two ends of the elastic sheath 6 are respectively connected with the two mounting pieces 63, so that the elastic sheath 6 is conveniently mounted.

[0147] As a preferred solution, one mounting piece 63 is connected with the rotation-stopping sleeve 51, and the other mounting piece 63 is connected with the rotation-stopping rod 52. Specifically, one mounting piece 63 is connected with the rotation-stopping sleeve 51 and located on the side of the corresponding hooke joint 4 away from the static platform 1, and the other mounting piece 63 is connected with the rotation-stopping rod 52 and located on the side of the corresponding hooke joint 4 away from the dynamic platform 2. The above arrangement facilitates the determination of the mounting position of the elastic sheath 6 and facilitates assembly. In addition, since one U-shaped frame 43 in the same hooke joint 4 rotates relative to the other U-shaped frame 43 in the first direction and the second direction, the above arrangement enables the elastic sheath 6 to only extend and retract in the axial direction of the rotation-stopping sleeve 51, avoids the collision between the U-shaped frame 43 and the mounting piece 63 or the elastic sheath 6 in the process of movement, reduces the possibility of structural damage, improves the durability of each structure, and reduces the maintenance cost.

[0148] In the embodiment, the mounting piece 63 comprises a first hoop 631 and a second hoop 632, and the first hoop 631 and the second hoop 632 are both arc-shaped. The first hoop 631 and the second hoop 632 are connected end to end, so that the first hoop 631 and the second hoop 632 are buckled to form a ring structure, and the ring structure is arranged outside the rotation-stopping sleeve 51 or the rotation-stopping rod 52, thereby facilitating mounting.

[0149] Further, the outer side wall of the end of the first hoop 631 and the outer side wall of the end of the second hoop 632 are both provided with a fixing portion 634 protruding therefrom, the four fixing portions 634 are divided into two groups, and each group of fixing portions 634 is located on the first hoop 631 and the second hoop 632, respectively. A bolt passes through the two fixing portions 634 of the same group and is screwed with a nut to realize the connection of the first hoop 631 and the second hoop 632.

[0150] In other embodiments, the first hoop 631 and the second hoop 632 can be connected by other structures, and the mounting member 63 can also be provided in other structures, which are not limited here.

[0151] As a preferred solution, the mounting member 63 is provided with a fixing hole 633, which is used to fix the elastic sheath 6, so as to facilitate the determination of the fixed position of the elastic sheath 6 and facilitate assembly. Specifically, the elastic sheath 6 is bundled on the mounting member 63 by a strap passing through the fixing hole 633.

[0152] In the present embodiment, the fixing hole 633 is arc-shaped, and the axis of the arc-shaped fixing hole 633 is arranged in line with the axis of the rotation-stopping sleeve 51. Compared with the case where the fixing hole 633 is a round hole, the arc-shaped fixing hole 633 can increase the length of the fixing hole 633, and the strap can be bundled at each position of the fixing hole 633, further facilitating assembly.

[0153] Further, the first hoop 631 and the second hoop 632 are respectively provided with a fixing hole 633.

[0154] In order to facilitate description, the mounting member 63 connected to the rotation-stopping rod 52 is set as a first mounting member. The movement mechanism 10 further comprises a protection sleeve 9, the protection sleeve 9 movably sleeving the outer side of the rotation-stopping sleeve 51, one end of the protection sleeve 9 extending towards the moving platform 2 and being connected to the rotation-stopping rod 52, the end of the rotation-stopping sleeve 51 away from the static platform 1 being arranged in the protection sleeve 9, the first mounting member being connected to the outer side wall of the protection sleeve 9, and the elastic sheath 6 being spirally wound outside the rotation-stopping sleeve 51 and the protection sleeve 9. By arranging the protection sleeve 9, the end of the rotation-stopping sleeve 51 away from the static platform 1 can be avoided from being exposed, the elastic sheath 6 can be prevented from entering the gap between the rotation-stopping rod 52 and the rotation-stopping sleeve 51, the rotation-stopping assembly 5 can be ensured to be smoothly extended and retracted, the risk of damage of the elastic sheath 6 is reduced, and the maintenance cost is reduced.

[0155] In the present embodiment, the protection sleeve 9 is in a cylindrical shape, and the protection sleeve 9 comprises a first arc-shaped portion 91 and a second arc-shaped portion 92, the first arc-shaped portion 91 and the second arc-shaped portion 92 being buckled to form a cylindrical structure, facilitating installation. The first arc-shaped portion 91 and the second arc-shaped portion 92 are detachably connected by buckling or a bolt, which is not limited here.

[0156] Preferably, the inner diameter of the protection sleeve 9 is larger than the outer diameter of the rotation-stopping sleeve 51, facilitating the relative movement of the protection sleeve 9 and the rotation-stopping sleeve 51, and reducing the mutual friction between the rotation-stopping sleeve 51 and the protection sleeve 9, thereby ensuring the durability.

[0157] The first hoop 631 of the first mounting member is fixed on the first arc-shaped portion 91, and the second hoop 632 of the first mounting member is fixed on the second arc-shaped portion 92.

[0158] As a preferred solution, the threading groove 61 penetrates through one side of the elastic sheath 6 in the width direction to form an opening for the cable to enter or exit the threading groove 61, facilitating the installation or removal of the cable in the elastic sheath 6 and improving the convenience of disassembling the cable.

[0159] In the present embodiment, the opening of the threading groove 61 is arranged on the outside of the spiral structure formed by the elastic sheath 6. In other embodiments, the opening of the threading groove 61 can also be arranged on the inside of the spiral structure formed by the elastic sheath 6, which is not limited herein.

[0160] Two structures of the elastic sheath 6 are provided in the present embodiment.

[0161] As shown in FIG. 1, the elastic sheath 6 is provided with a threading groove 61. Figure 21 As shown in FIG. 1, the elastic sheath 6 is provided with a threading groove 61. Figure 21 As shown in FIG. 1, the elastic sheath 6 is provided with a threading groove 61.

[0162] As shown in FIG. 1, the elastic sheath 6 is provided with a threading groove 61. Figure 22 As shown in FIG. 1, the elastic sheath 6 is provided with a threading groove 61.

[0163] In the embodiment, the threading grooves 61 are through the elastic sheath 6 at both ends of the elastic sheath 6 in the extension direction of the elastic sheath 6, the cable can directly pass out of the elastic sheath 6 through the end of the elastic sheath 6, the cable is avoided to be bent when passing out of the elastic sheath 6, the possibility of the cable breaking is reduced, other hole structures are avoided to be opened, the structure of the elastic sheath 6 is simplified, the production and processing of the elastic sheath 6 are facilitated, and the production cost is reduced.

[0164] In other embodiments, the threading grooves 61 are spaced apart from the end faces of the elastic sheath 6 at both ends of the elastic sheath 6 in the extension direction of the elastic sheath 6, threading openings are formed in the side wall of the elastic sheath 6, the threading openings are communicated with the threading grooves 61, and the cable can pass out of the elastic sheath 6 through the threading openings, which is not limited herein.

[0165] Obviously, the above embodiments of the present application are merely exemplary for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the implementation modes are not required or can not be exhausted. Any modification, equivalent replacement and improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A Hooke hinge, characterized in that, Hooke hinge (4) includes: There are two U-shaped frames (43), with the openings of the two U-shaped frames (43) facing each other, and through holes (4311) are provided on the side arms (431) of the U-shaped frames (43); A center block (41) is placed inside the opening of the U-shaped frame (43). The center block (41) is provided with rotating protrusions (411) at both ends along the first direction and at both ends along the second direction. Each through hole (4311) is directly opposite to one of the rotating protrusions (411). The first direction is perpendicular to the second direction. The connector (42) is placed inside the through hole (4311); The U-shaped frame (43) is provided with an abutment arm (4312), which has a clearance position and a pressing position. When the abutment arm (4312) is configured in the clearance position, the connector (42) can move along the axial direction of the through hole (4311) to press against the corresponding rotating protrusion (411). When the abutment arm (4312) is configured in the pressing position, the abutment arm (4312) abuts against one side of the connector (42) along the radial direction of the through hole (4311) so that the other side of the connector (42) presses against the hole wall of the through hole (4311).

2. The Hooke hinge according to claim 1, characterized in that, A forming channel (4313) is provided on the side arm (431). The forming channel (4313) passes through the side arm (431) along the axial direction of the perforation (4311). One end of the forming channel (4313) passes through the wall of the perforation (4311). The abutment arm (4312) is formed between the side wall of the forming channel (4313) and the wall of the perforation (4311).

3. The Hooke hinge according to claim 2, characterized in that, The Hooke hinge (4) also includes a locking pin (44) that can be inserted into the forming channel (4313) to move the abutting arm (4312) from the avoidance position to the abutting position.

4. The Hooke hinge according to claim 3, characterized in that, The diameter of the locking pin (44) increases in the direction of approaching the outside of the side arm (431).

5. The Hooke hinge according to claim 3 or 4, characterized in that, The abutment arm (4312) has a first groove (4314) on the side opposite to the through hole (4311), and a second groove (4315) is provided on the side wall of the forming channel (4313). The openings of the first groove (4314) and the second groove (4315) are directly opposite each other. The first groove (4314) and the second groove (4315) form an insertion space. The locking pin (44) can be inserted into the insertion space. When the abutment arm (4312) is configured in the avoidance position, the width of the insertion space is smaller than the maximum diameter of the locking pin (44).

6. The Hooke hinge according to claim 1, characterized in that, The perforation (4311) has a wall groove (4316) on its wall. The abutment arm (4312) is placed in the wall groove (4316) and is rotatably connected to the side arm (431) so that the abutment arm (4312) can switch between the avoidance position and the abutment position.

7. The Hooke hinge according to claim 6, characterized in that, The Hooke hinge (4) also includes a locking pin (44). The groove (4316) has a through hole (4317) on the groove sidewall facing the outside of the side arm (431). The abutting arm (4312) has a first inclined surface (43121). The end of the locking pin (44) has a second inclined surface (441). The end of the locking pin (44) can extend into the groove (4316) through the through hole (4317) so that the first inclined surface (43121) fits against the second inclined surface (441), thereby moving the abutting arm (4312) from the avoidance position to the abutting position.

8. The Hooke hinge according to any one of claims 1-4 and 6-7, characterized in that, The connector (42) has an operating hole (421) at one end opposite to the rotating protrusion (411); and / or, The connector (42) has an operating plane (422) on the side wall of the end opposite to the rotating protrusion (411).

9. A moving mechanism, characterized in that, include: A static platform (1) is used to connect to the trolley (30); The moving platform (2) is arranged parallel to the static platform (1) and is used to connect to the arm mechanism (20); The branch assembly (3) includes two parallel telescopic rods (31), which are placed between the static platform (1) and the moving platform (2), and the telescopic rods (31) are capable of extending and retracting along the length direction; And the Hooke hinge (4) as described in any one of claims 1-8, wherein one of the U-shaped brackets (43) in the same Hooke hinge (4) is connected to one end of the telescopic rod (31) along the length direction, and the other U-shaped bracket (43) in the same Hooke hinge (4) is connected to the static platform (1) or the moving platform (2), wherein the first direction is arranged parallel to the static platform (1).

10. The moving mechanism according to claim 9, characterized in that, The moving mechanism also includes an anti-rotation component (5), which includes an anti-rotation sleeve (51) and an anti-rotation rod (52). The inner sidewall of the anti-rotation sleeve (51) is provided with a guide groove (511), which extends along the axial direction of the anti-rotation sleeve (51). The sidewall of the anti-rotation rod (52) is provided with an anti-rotation part (521). One end of the anti-rotation sleeve (51) is movably connected to one of the stationary platform (1) and the moving platform (2). One end of the anti-rotation rod (52) extends into the other end of the anti-rotation sleeve (51). The anti-rotation part (521) is placed in the guide groove (511). The other end of the anti-rotation rod (52) is movably connected to the other of the stationary platform (1) and the moving platform (2).

11. The moving mechanism according to claim 9, characterized in that, The moving mechanism further includes a drive assembly (7), which includes a drive member (71) capable of driving the two telescopic rods (31) within the same branch assembly (3) to extend and retract synchronously.

12. The moving mechanism according to claim 11, characterized in that, The drive assembly (7) is connected to the stationary platform (1) and located on the side of the stationary platform (1) opposite to the moving platform (2). The drive assembly (7) includes a first gear (72), a protective cover (74) and two second gears (73). Two adapter rods (11) are rotatably mounted on the stationary platform (1). One end of the two adapter rods (11) is connected to two telescopic rods (31) in the same branch assembly (3) through the Hooke hinge (4). The two second gears (73) are coaxially fixedly sleeved on the two adapter rods (11). The drive member (71) can drive the first gear (72) to rotate. The first gear (72) meshes with the two second gears (73) respectively. The protective cover (74) is connected to the stationary platform (1), the second gear (73) is placed between the protective cover (74) and the stationary platform (1), a meshing port is provided on one side of the protective cover (74), the second gear (73) can be exposed through the meshing port and mesh with the first gear (72), and the end of the adapter rod (11) away from the Hooke hinge (4) is rotatably connected to the protective cover (74).

13. The moving mechanism according to claim 11, characterized in that, Multiple sets of branch components (3) are provided, and multiple sets of driving components (7) are provided, with each set of driving components (7) being connected to a branch component (3) in a one-to-one correspondence.

14. The moving mechanism according to claim 9, characterized in that, The moving mechanism also includes a spirally extending elastic sleeve (6), the two ends of which are connected to the static platform (1) and the moving platform (2) respectively. A wire groove (61) is provided on the elastic sleeve (6), the wire groove (61) extends along the extension direction of the elastic sleeve (6), and the cable of the arm mechanism (20) is placed in the wire groove (61).

15. The moving mechanism according to claim 14, characterized in that, The cable pass-through groove (61) extends through one side of the elastic sheath (6) in the width direction to form an opening for the cable to enter or exit the cable pass-through groove (61).

16. The moving mechanism according to claim 15, characterized in that, A stop (611) is provided on the side wall of the threading groove (61) near the opening.

17. The moving mechanism according to claim 14, characterized in that, The elastic sheath (6) has a threading opening on its side wall, and the threading opening communicates with the threading groove (61); or, The threading groove (61) extends through both ends of the elastic sheath (6) along the extension direction of the elastic sheath (6).

18. A surgical robotic arm, characterized in that, It includes an arm mechanism (20) and a moving mechanism as described in any one of claims 9-17, wherein the arm mechanism (20) is connected to the moving platform (2).

19. The surgical robotic arm according to claim 18, characterized in that, The moving mechanism further includes a drive assembly (7), the drive assembly (7) includes a drive element (71), the drive assembly (7) is provided in multiple sets, the branch assembly (3) is provided in multiple sets, the multiple drive elements (71) are connected one-to-one to the branch assembly (3), and the drive element (71) can drive the two telescopic rods (31) in the corresponding branch assembly (3) to extend and retract synchronously. A moment sensor (203) is provided on the arm mechanism (20), and the moment sensor (203) is connected to a plurality of the driving components (71) respectively.

20. The surgical robotic arm according to claim 19, characterized in that, The arm mechanism (20) includes an instrument base (201), which is located at one end of the arm mechanism (20) away from the moving platform (2). The bending moment sensor (203) is disposed on the instrument base (201), and a grip shell (204) is spaced on the instrument base (201). The grip shell (204) is connected to the detection end (2031) of the bending moment sensor (203).

21. The surgical robotic arm according to claim 20, characterized in that, The instrument base (201) is provided with detection ends (2031) on both opposite sides along the thickness direction.

22. A surgical robot, characterized in that, Includes a trolley (30) and a surgical robotic arm as described in any one of claims 18-21, wherein the static platform (1) is connected to the trolley (30).

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