Rotary joint and robotic arm mechanism

Abstract

The application provides a rotary joint and a mechanical arm mechanism. The rotary joint comprises a first part, a second part and a wiring mechanism. The second part is rotatable relative to the first part about a first rotation axis. The wiring mechanism comprises a fixed part, a rotating part, a volute spring and an electrical connection assembly. The rotating part is rotatably connected to the fixed part about a second rotation axis. The volute spring is connected to the fixed part and the rotating part respectively. The electrical connection assembly comprises a fixed part and a movable part. The fixed part is fixedly arranged relative to the fixed part. The movable part is connected to the rotating part and electrically connected to the fixed part. The movable part comprises at least a flexible cable. The flexible cable is wound on the rotating part and has a pulling end. The fixed part is connected to one of the first part and the second part. The pulling end is fixedly arranged relative to the other one of the first part and the second part. The application can ensure that the flexible cable will not be loose or broken when the first part and the second part rotate relative to each other, thereby protecting the flexible cable.

Description

Technical Field

[0001] The present application generally relates to the technical field of medical devices, and more particularly to a rotary joint and a robotic arm mechanism. Background Art

[0002] Robotic surgical systems integrate multiple scientific and technological approaches, including mechanics, electronics, and software, and are used in clinical surgery. Single-port robotic surgery is a type of minimally invasive surgical robot. Using only a single incision in the patient's soft tissue, a single-port robotic surgery system allows for the full insertion of multiple surgical instruments during the procedure.

[0003] The end of a single-port surgical robot usually has three or four linear motion modules, which are usually equipped with endoscopes and surgical instrument drive modules. At the same time, in order to facilitate the different angle requirements of the endoscope and cooperating instruments during surgery, a rotary joint is usually added to the end to realize the rotation of the three or four linear motion modules. Because each linear motion module and endoscope or surgical instrument drive module requires power supply and signal communication, three strands of wire are used between the external fixed part and the internal rotating part of the rotary joint in motion. How to place these wires to ensure both functionality and appearance integrity as much as possible is a relatively difficult problem to solve. Summary of the Invention

[0004] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, the present application provides a rotary joint in a first aspect, comprising:

[0006] a first portion and a second portion rotatable relative to each other about a first rotation axis, one of the first portion and the second portion being adapted to be connected to a manipulator arm and the other of the first portion and the second portion being adapted to be connected to a robotic arm; and

[0007] A wiring mechanism, comprising:

[0008] fixings;

[0009] a rotating member rotatably connected to the fixed member about a second rotation axis;

[0010] a spiral spring connected to the fixed member and the rotating member, respectively; and

[0011] An electrical connection assembly, the electrical connection assembly comprising a fixed portion and a movable portion, the fixed portion being fixedly disposed relative to the fixed member, the movable portion being connected to the rotating member and electrically connected to the fixed portion, the movable portion comprising at least a portion of a flexible cable, the flexible cable being wound around the rotating member and having a pulling end,

[0012] wherein the fixing member is connected to the first portion, and the pulling end is fixed relative to the second portion; or

[0013] The fixing member is connected to the second part, and the pulling end is fixed relative to the first part.

[0014] The wiring mechanism is constructed such that:

[0015] When the first part and the second part generate relative rotational motion, the length of the portion of the flexible cable extending from the pulling end to the rotating member is adaptively extended or shortened, and the portion of the flexible cable extending from the pulling end to the rotating member is always in a tensioned state.

[0016] According to the rotary joint of the first aspect of the present application, the second part has a relative motion relationship with the first part, and the spiral spring can ensure that the flexible cable will not become loose or broken when the two rotate relative to each other. By setting up a routing mechanism, during the rotation of the second part relative to the first part, the second end of the flexible cable moves with the second part, and the rotating member is connected to the rotating member through the spiral spring to apply an elastic winding force to the rotating member, so that the flexible cable remains in a tensioned state, avoiding the flexible cables from being loosened and causing backlog, mutual interference, and mutual entanglement during movement. Because the flexible cable is wound around the rotating member, it can drive the rotating member to rotate when the pulling end of the flexible cable is moved by the pulling force; when the pulling force applied to the pulling end is removed, the rotating member rotates and winds up the flexible cable under the action of the elastic winding force of the spiral spring. This helps to reduce the routing space required for the flexible cable, while also reducing damage to the flexible cable and extending the service life of the flexible cable.

[0017] Optionally, when the pulling force applied to the pulling end is greater than the elastic winding force of the scroll spring, the rotating member rotates in one rotation direction around the second rotation axis and releases the flexible cable; when the pulling force applied to the pulling end is withdrawn, the rotating member rotates in another rotation direction around the second rotation axis under the action of the elastic winding force of the scroll spring and winds up the flexible cable, and the one rotation direction is opposite to the other rotation direction.

[0018] Optionally, the first portion is used to connect to the operating arm, and the second portion is used to connect to the robotic arm.

[0019] The second part includes a accommodating cavity and a wire passing hole. The accommodating cavity extends in a direction parallel to the first rotation axis. The accommodating cavity is used to at least partially accommodate the routing mechanism. The wire passing hole penetrates the second part in a direction intersecting with the first rotation axis. The wire passing hole is used to pass the flexible cable.

[0020] Optionally, the rotary joint also includes a guide wheel, which is located between the first part and the second part and is arranged corresponding to the wire hole. The guide wheel is rotatably connected to the second part around a third rotation axis parallel to the first rotation axis. The guide wheel is used to contact the flexible cable and guide the direction of the flexible cable.

[0021] Optionally, the rotary joint includes two guide wheels, which are respectively arranged on both sides of the wire hole.

[0022] When the second part rotates relative to the first part in a first rotation direction around the first rotation axis, one of the two guide wheels contacts the flexible cable; when the second part rotates relative to the first part in a second rotation direction around the first rotation axis, the other of the two guide wheels contacts the flexible cable, wherein the first rotation direction is opposite to the second rotation direction.

[0023] Optionally, the rotary joint further includes a guide wheel, which is rotatably arranged around a third rotation axis parallel to the first rotation axis, and the guide wheel is used to contact the flexible cable and guide the direction of the flexible cable.

[0024] Optionally, the rotary joint further includes a guide wheel, which is rotatably connected between the first part and the second part around a third rotation axis parallel to the first rotation axis, and the guide wheel is used to contact the flexible cable and guide the direction of the flexible cable.

[0025] Optionally, the electrical connection assembly further includes:

[0026] a first adapter plate, the first adapter plate being fixedly disposed relative to the fixing member, the first adapter plate being configured to be electrically connected to an actuator mounted on the robotic arm; and

[0027] a first output cable, one end of the first output cable being electrically connected to the moving part, and the other end of the first output cable being electrically connected to the first adapter plate, and / or

[0028] The electrical connection assembly further comprises:

[0029] a second adapter plate, the second adapter plate being fixedly disposed relative to the moving portion and electrically connected to the flexible cable, the pulling end being configured to be an end away from the second adapter plate; and

[0030] A second output cable, one end of the second output cable is electrically connected to the moving part, and the other end of the second output cable is electrically connected to the second adapter board.

[0031] Optionally, the second part rotates relative to the first part around the first rotation axis in either a first rotation direction or a second rotation direction by an angle of not less than 180°, wherein the first rotation direction is opposite to the second rotation direction.

[0032] Optionally, the rotary joint further comprises a signal processing unit, the signal processing unit being electrically connected to the pulling end of the flexible cable, and the signal processing unit being configured to communicate at least with an actuator mounted on the robotic arm.

[0033] Optionally, the second rotation axis is parallel to the first rotation axis.

[0034] A second aspect of the present application provides a robotic arm mechanism for use in a para-patient robotic arm system of a surgical robot, the robotic arm mechanism comprising:

[0035] operating arm;

[0036] Armed arm;

[0037] The above-mentioned rotary joint, wherein the first part is connected to the operating arm, and the second part is connected to the holding arm; and

[0038] An actuator is movably connected to the robotic arm along the length direction of the robotic arm and is electrically connected to the wiring mechanism.

[0039] According to the second aspect of the present application, the robotic arm mechanism can better adapt to the routing requirements of the robotic arm and the rotary joint by applying the above-mentioned rotary joint, which helps to improve the structural compactness of the robotic arm mechanism.

[0040] Optionally, the robotic arm mechanism includes at least two robotic arms, and the at least two robotic arms are spaced apart around the first rotation axis.

[0041] Optionally, the first rotation axis is parallel to the length direction of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0043] Figure 1 is a partial schematic diagram of a single-port surgical robot according to a preferred embodiment of the present application;

[0044] Figure 2 Schematic diagram of the connection structure between the rotary joint and the robotic arm according to a preferred embodiment of the present application;

[0045] Figure 3 for Figure 2 A perspective cutaway view of the revolute joint shown;

[0046] Figure 4 for Figure 2 A cross-sectional view of the revolute joint shown;

[0047] Figure 5 for Figure 2 Another cross-sectional view of the revolute joint shown;

[0048] Figure 6 for Figure 3 A three-dimensional view of the wiring mechanism shown;

[0049] Figure 7 for Figure 2 An exploded perspective view of the revolute joint is shown;

[0050] Figure 8 for Figure 6 and Figure 7 A cross-sectional view of the wiring mechanism shown;

[0051] Figure 9 for Figure 6 and Figure 7 Another cross-sectional view of the wiring mechanism shown;

[0052] Figure 10 for Figure 2 Another exploded perspective view of the revolute joint shown;

[0053] Figure 11 Schematic diagram of the structure of a wiring mechanism according to another preferred embodiment of the present application;

[0054] Figure 12 for Figure 11 An exploded view of the cable routing mechanism is shown;

[0055] Figure 13 for Figure 11 Another exploded view of the wire routing mechanism shown;

[0056] Figure 14 for Figure 11 A cross-sectional view of the wiring mechanism shown;

[0057] Figure 15 for Figure 11 Another cross-sectional view of the cable routing mechanism shown; and

[0058] Figure 16 for Figure 11 Another cross-sectional view of the wiring mechanism shown.

[0059] Description of reference numerals:

[0060] 100: Rotary Joint 110: Part 1

[0061] 120: Second part 121: Accommodation cavity

[0062] 122: Cable hole 130: Cable routing mechanism

[0063] 131: Fixing part 131a: Arm connection part

[0064] 132: Rotating member 133: Scroll spring

[0065] 135: Electrical connection component 135a: Fixed part

[0066] 135a1: Communication connection part 135b: Motion part

[0067] 135c: Flexible cable 135c1: Pulling end

[0068] 135d: First adapter board 135e: First output cable

[0069] 135f: Second adapter plate 135f1: Cable connection portion

[0070] 135g: Second output cable 150: Guide wheel

[0071] 160: Bearing 170: Communication line

[0072] 215: Housing 216: First housing portion

[0073] 216a: first notch 216b: first connecting member

[0074] 216c: third pressing portion 217: second housing portion

[0075] 217a: Second notch 217b: Second connecting member

[0076] 222: Winding drum 222a: Coil spring mounting portion

[0077] 222b: First winding portion 222b1: First wire pressing portion

[0078] 222c: Second winding part 222c1: Second wire pressing part

[0079] 222d: First isolation disk 222e: Second isolation disk

[0080] 222f: Wire hole 222g: Shaft hole

[0081] 230: Coil spring 260: Flexible cable

[0082] 260a: first section of flexible cable 260b: second section of flexible cable

[0083] 260c: Part III Flexible Cable

[0084] 300: Operating arm 500: Holding arm

[0085] R1: First rotation direction R2: Second rotation direction

[0086] AX1: First rotation axis AX2: Second rotation axis

[0087] AX3: Third rotation axis D1: Length direction DETAILED DESCRIPTION

[0088] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, some technical features well known in the art are not described to avoid confusion with the present application embodiments.

[0089] In order to fully understand the embodiments of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art.

[0090] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present application. The singular forms "a", "an" and "said / the" are also intended to include the plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof. The terms "upper", "lower", "front", "back", "left", "right" and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0091] Ordinal numbers such as “first” and “second” cited in this application are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term “first component” itself does not imply the existence of a “second component”, and the term “second component” itself does not imply the existence of a “first component”.

[0092] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings illustrate representative embodiments of the present application and do not limit the present application.

[0093] See Figure 1 、 Figure 2 、 Figure 4 as well as Figure 5 The single-port surgical robot provided in an embodiment of the present application may include a robotic arm mechanism. The robotic arm mechanism provided in an embodiment of the present application may include an operating arm 300, a holding arm 500, a rotary joint 100, and an actuator (not shown). The holding arm 500 is pivotally connected to the operating arm 300 via the rotary joint 100. The actuator or endoscope actuator is movably connected to the holding arm 500 along the length direction D1 of the holding arm 500. The holding arm 500 may also be equipped with an endoscope (not shown).

[0094] The following will refer to Figures 1 to 10 The illustrated example illustrates the rotary joint 100 according to the present application in detail.

[0095] The rotary joint 100 according to the present application may include a first part 110, a second part 120, and a wiring mechanism 130. The second part 120 is rotatably arranged relative to the first part 110 around a first rotation axis AX1. One of the first part 110 and the second part 120 is used to connect to the operating arm 300. The other of the first part 110 and the second part 120 is used to connect to the robotic arm 500. The wiring mechanism 130 may include a fixed part 131, a rotating part 132, a spiral spring 133, and an electrical connection assembly 135. The rotating part 132 is rotatably connected to the fixed part 131 around the second rotation axis AX2. The spiral spring 133 is respectively connected to the fixed part 131 and the rotating part 132. The electrical connection assembly 135 may include a fixed portion 135a and a movable portion 135b. The fixed portion 135a is fixedly arranged relative to the fixed part 131. The movable portion 135b is connected to the rotating part 132 and is electrically connected to the fixed portion 135a. The movable portion 135b may include at least a portion of a flexible cable 260. The flexible cable 260 is wound around the rotating member 132 and has a pulling end 135c1. The fixing member 131 may be connected to one of the first portion 110 and the second portion 120. The pulling end 135c1 is fixed relative to the other of the first portion 110 and the second portion 120. The routing mechanism 130 is configured such that, when the first portion 110 and the second portion 120 generate relative rotational motion, the length of the portion of the flexible cable 260 extending from the pulling end 135c1 to the rotating member 132 adaptively extends or shortens, and the portion of the flexible cable 260 extending from the pulling end 135c1 to the rotating member 132 is always in a tensioned state.

[0096] According to the rotary joint 100 of the present application, the second portion 120 is in relative motion with respect to the first portion 110, and the spiral spring 133 ensures that the flexible cable 260 does not become loose or break during the relative rotation of the two portions. By providing the routing mechanism 130, the second end of the flexible cable 260 moves with the second portion 120 during rotation of the second portion 120 relative to the first portion 110. The spiral spring 133 is connected to the rotating member 132 to apply an elastic retraction force to the rotating member 132, keeping the flexible cable 260 in a taut state and preventing the flexible cables 260 from becoming loose and causing a backlog, interference, and entanglement during movement. Because the flexible cable 260 is wound around the rotating member 132, the rotating member 132 can be driven to rotate when the pulling end 135c1 of the flexible cable 260 is pulled by the pulling force. When the pulling force applied to the pulling end 135c1 is removed, the rotating member 132 rotates and retracts the flexible cable 260 under the elastic retraction force of the spiral spring 133. This helps to reduce the wiring space required for the flexible cable 260 , while also reducing damage to the flexible cable 260 and extending the service life of the flexible cable 260 .

[0097] Further, when the pulling force applied on the pulling end 135c1 is greater than the elastic winding force of the volute spring 133, the rotating member 132 rotates around the second rotation axis AX2 in one rotation direction and releases the flexible cable 260. When the pulling force applied on the pulling end 135c1 is removed, the rotating member 132 rotates around the second rotation axis AX2 in another rotation direction under the action of the elastic winding force of the volute spring 133 and winds the flexible cable 260. Wherein, the one rotation direction is opposite to the another rotation direction. It can be understood that the rotation direction of the rotating member 132 when releasing the flexible cable 260 is opposite to the rotation direction of the rotating member 132 when winding the flexible cable 260. The rotation of the rotating member 132 around the second rotation axis AX2 is a rotation of revolution, and the rotation of the rotating member 132 around the first rotation axis AX1 is a rotation of revolution.

[0098] Referring to Figures 1 to 5 , Figure 7 , and Figure 10 , for example, the first part 110 is used to be connected to the operating arm 300. The second part 120 is used to be connected to the holding arm 500. The second part 120 here can rotate around the first rotation axis AX1 relative to the first part 110 with the holding arm 500 to change the position of the holding arm 500 relative to the circumferential direction of the first rotation axis AX1. The second part 120 can include a receiving cavity 121 and a wire passing hole 222f. The receiving cavity 121 is arranged to extend along a direction parallel to the first rotation axis AX1. The first rotation axis AX1 passes through the receiving cavity 121. The receiving cavity 121 is used to at least partially accommodate the wire routing mechanism 130, and can also accommodate at least part of the holding arm 500. The wire passing hole 222f penetrates the second part 120 along a direction intersecting the first rotation axis AX1. The wire passing hole 222f is used to pass the flexible cable 260. That is, one end of the flexible cable 260 is fixed to the first part 110, and the second end of the flexible cable 260 passes through the second part 120 and is fixedly arranged relative to the second part 120 to be connected to the holding arm 500.

[0099] Referring to Figure 4 , Figure 5 , Figure 7 , and Figure 10 In addition, the rotary joint 100 can further include a guide wheel 150. The guide wheel 150 is located between the first part 110 and the second part 120 and is arranged correspondingly to the wire passing hole 222f. The guide wheel 150 is rotatably connected to the second part 120 around a third rotation axis AX3 parallel to the first rotation axis AX1. The guide wheel 150 is used to contact and guide the flexible cable 260. By arranging the guide wheel 150, the friction suffered by the flexible cable 260 can be reduced, thereby prolonging the service life of the flexible cable 260.

[0100] Continuing to refer toFigure 4 、 Figure 5 、 Figure 7 and Figure 10 For example, the rotary joint 100 can include two guide wheels 150. The two guide wheels 150 are respectively arranged on two sides of the wire passing hole 222f. When the second part 120 rotates relative to the first part 110 about the first rotation axis AX1 in the first rotation direction R1, one of the two guide wheels 150 contacts the flexible cable 260. When the second part 120 rotates relative to the first part 110 about the first rotation axis AX1 in the second rotation direction R2, the other of the two guide wheels 150 contacts the flexible cable 260. The first rotation direction R1 is opposite to the second rotation direction R2. By arranging the two guide wheels 150, the flexible cable 260 can be contacted when the rotating member 132 rotates in different directions, further protecting the flexible cable 260.

[0101] Referring to Figure 3 and Figure 7 In addition, the electrical connection assembly 135 can further include a first adapter plate 135d and a first output cable 135e. The first adapter plate 135d is fixedly arranged relative to the fixed member 131. Here, the first adapter plate 135d can be directly or indirectly connected to the fixed member 131, so that the first adapter plate 135d and the fixed member 131 have the same movement relationship. The first adapter plate 135d is used to be electrically connected to an actuator mounted on the tool holding arm 500. One end of the first output cable 135e is electrically connected to the movable part 135b. The other end of the first output cable 135e is electrically connected to the first adapter plate 135d.

[0102] For example, the first output cable 135e can be fixed to the first adapter plate 135d and electrically connected to the first adapter plate 135d by means of gluing or welding, etc.

[0103] Referring to Figures 6 to 10 In addition, the electrical connection assembly 135 can further include a second adapter plate 135f and a second output cable 135g. The second adapter plate 135f is fixedly arranged relative to the movable part 135b. Here, the second adapter plate 135f can be directly or indirectly fixed to the movable part 135b, so that the second adapter plate 135f and the movable part 135b have the same movement state. And the second adapter plate 135f is electrically connected to the flexible cable 260. The pulling end 135c1 is configured as one end of the flexible cable 260 away from the second adapter plate 135f. One end of the second output cable 135g is electrically connected to the movable part 135b. The other end of the second output cable 135g is electrically connected to the second adapter plate 135f.

[0104] Optionally, the second output cable 135g can be fixed to the second adapter plate 135f by means of gluing or welding, etc.

[0105] For example, the second part 120 rotates relative to the first part 110 around the first rotation axis AX1 by an angle not less than 180° in either of the first rotation direction R1 and the second rotation direction R2. That is, the maximum rotation angle of the rotation of the second part 120 relative to the first part 110 around the first rotation axis AX1 is not less than 360°, and the rotation range is large. The first rotation direction R1 and the second rotation direction R2 are opposite.

[0106] In addition, the rotary joint 100 can further include a signal processing unit (not shown). The signal processing unit is electrically connected to the pulling end 135c1 of the flexible cable 260. The signal processing unit is configured to communicate with at least the actuator mounted on the tool holding arm 500.

[0107] Optionally, the second rotation axis AX2 is parallel to the first rotation axis AX1.

[0108] In the illustrated example, the fixed part 131 is fixed to the second part 120. The fixed part 131 is provided with a communication connection part 135a1. The communication connection part 135a1 is connected to the corresponding tool holding arm 500 through the communication line 170. There is also a cable connection part 135f1 fixedly arranged relative to the rotating part 132. The cable connection part 135f1 is connected to one end of the flexible cable 135c away from the pulling end 135c1 and a second adapter plate 135f, so that the flexible cable 135c is electrically connected to the second output cable 135g through the second adapter plate 135f. The first part 110 is sleeved on the outside of the second part 120, and the two are connected through bearings 160. The two bearings 160 are arranged in a direction parallel to the first rotation axis AX1, to support the first part 110 and the second part 120.

[0109] In an example not shown in the present application, the fixed part 131 can also be fixed to the first part 110.

[0110] The forms of the flexible cable 260, the first output cable 135e, and the second output cable 135g according to the present application are not limited, and the purpose is to realize signal communication between different modules, so various communication wires can realize this function, such as ordinary power lines, ethercat communication lines, can lines, flexible circuit boards, flexible flat cables, etc.

[0111] According to the connection structure between the fixed part 131 and the rotating part 132 of the present application, it can be an electrical rotary joint 100. The electrical rotary joint 100 here can be understood as an electrical connection device for realizing electrical connection between two components or between a cable and a component. For example, it can be a conductive slip ring. The conductive slip ring includes at least one annular conductive ring and a conductive contact pin, and the conductive contact pin can move on the conductive ring to form a circuit path on both sides of the conductive contact pin and the conductive ring.

[0112] See Figure 4 and Figure 5 The working process of the rotary joint 100 according to an example of the present application is described as follows:

[0113] The initial position is Figure 4 As shown, the second part 120 can rotate at least 180° clockwise and counterclockwise relative to the first part 110. When the second part 120 starts to rotate relative to the first part 110, since one end of the flexible cable 260 is fixed to the first part 110, it will pull the rotating part 132 of the routing mechanism 130 to rotate relative to the fixed part 131. While the second part 120 rotates relative to the first part 110, the rotating part 132 will drive the spiral spring 133 to contract. When the second part 120 rotates more than 180° in a certain direction and reaches the limit position (such as Figure 5 As shown in the figure, the second portion 120 begins to move back. At this time, the volute spring 133 begins to provide a torque force that causes the rotating member 132 to move in the opposite direction. Under the action of this force, the rotating member 132 begins to move in the opposite direction to reset, while simultaneously rewinding the released flexible cable 260 in circles until it returns to its initial position. When the second portion 120 moves in the other direction, similarly, it pulls the flexible cable 260 to stretch and drive the rotating member 132 to rotate, while also driving the volute spring 133 to contract. After reaching the limit position in that direction, it begins to move toward its initial position.

[0114] See below Figures 11 to 16 Another wiring mechanism according to the present application is described in detail.

[0115] In another example of the present application, the flexible cable 260 may include a first flexible cable portion 260a, a second flexible cable portion 260b, and a third flexible cable portion 260c connected in sequence. The first flexible cable portion 260a is fixedly connected to the first portion. The second flexible cable portion 260b and the third flexible cable portion 260c are wound around the second portion. The second flexible cable portion 260b and the third flexible cable portion 260c have different winding areas. The pulling end may be located at the third flexible cable portion 260c.

[0116] Furthermore, the first flexible cable section 260a, the second flexible cable section 260b and the third flexible cable section 260c can be constructed as a complete flexible cable 260. That is, the same flexible cable 260 is wound around different areas in the second section along a direction parallel to the first rotation axis AX1.

[0117] When the spiral spring is in its initial state with minimal elastic deformation, the number of turns of the second flexible cable 260b around the second section is no less than half the number of turns of the third flexible cable 260c around the second section. Ideally, regardless of the thickness of the flexible cable 260, the number of turns of the second flexible cable 260b is exactly half the number of turns of the third flexible cable 260c, thus satisfying the requirement for the second flexible cable 260b to be wound forward and reverse during the rotation of the second section. The terms "forward" and "reverse" here refer to the second flexible cable 260b being wound in opposite directions around the second section. However, in reality, the flexible cable 260 has thickness, and its radius gradually increases during winding. Therefore, to ensure that the length of the second flexible cable 260b is sufficient to ensure that the third flexible cable 260c can complete its entire travel, the number of turns of the second flexible cable 260b is greater than half the number of turns of the third flexible cable 260c.

[0118] When the volute spring is in its initial state, where its elastic deformation is minimal, the direction in which the second flexible cable 260b is wound in the second portion is the same as the direction in which the third flexible cable 260c is wound in the second portion. When the volute spring is in its final state, where its elastic deformation is maximal, the direction in which the second flexible cable 260b is wound in the second portion is opposite to the direction in which the third flexible cable 260c is wound in the second portion. That is, during the release of the third flexible cable 260c, the second flexible cable 260b is first released and then reeled in. During the release of the second flexible cable 260b, the second flexible cable 260b gradually loosens. After the release of the second flexible cable 260b is complete, the second portion rotates, causing the loosened second flexible cable 260b to be reeled in. At this point, the winding direction of the second flexible cable 260b is different from the initial winding direction.

[0119] exist Figures 11 to 16 In the illustrated example, the principle of the routing mechanism winding the flexible cable 260 can be as follows: when the scroll spring is in an initial state with a minimum elastic deformation, the coil spring 230 is unwound, and the winding direction of the second flexible cable 260b is the same as the winding direction of the third flexible cable 260c. When the scroll spring is in a terminal state with a maximum elastic deformation, the coil spring 230 is tightened, and the winding direction of the second flexible cable 260b is opposite to the winding direction of the third flexible cable 260c. When the scroll spring is in a state between the maximum elastic deformation and the minimum elastic deformation, the coil spring 230 is in a semi-tightened state, and the winding direction of the second flexible cable 260b changes from one direction to the opposite direction.

[0120] See Figure 12 andFigure 13 Optionally, the radius of the second portion of the flexible cable 260b wound in the second portion is smaller than the radius of the third portion of the flexible cable 260c wound in the second portion. This allows more space to be reserved for the second portion of the flexible cable 260b in the radial direction during the release process.

[0121] See Figures 11 to 16 In another example of the present application, the first portion may include a shaft 214. The second portion may include a winding drum 222. The winding drum 222 is sleeved on the shaft 214. The winding drum 222 may include a coil spring mounting portion 222a, a first winding portion 222b, and a second winding portion 222c, arranged in sequence parallel to the rotation axis AX. The coil spring 230 is located on the coil spring mounting portion 222a. The innermost end of the coil spring 230 is fixedly connected to the shaft 214. The outermost end of the coil spring 230 is fixedly connected to the coil spring mounting portion 222a. The third flexible cable 260c is wound around the outside of the first winding portion 222b. The second flexible cable 260b is wound around the outside of the second winding portion 222c. In this example, the second and third flexible cables 260b and 260c are arranged in sections along the axial direction of the shaft 214. The axial direction of the shaft 214 may be parallel to the first rotation axis AX1.

[0122] See Figures 12 to 16 Furthermore, a first isolation disk 222d is provided between the coil spring mounting portion 222a and the first winding portion 222b. A second isolation disk 222e is provided between the first winding portion 222b and the second winding portion 222c. The first isolation disk 222d and the second isolation disk 222e limit the position of the third flexible cable 260c located in the first winding portion 222b. The second isolation disk 222e also separates the second and third flexible cables 260b, 260c to prevent interference.

[0123] See Figure 15 and Figure 16Optionally, the second isolation disk 222e has a wire hole 222f. The connection between the second flexible cable 260b and the third flexible cable 260c is provided through the wire hole 222f. In the case where the first flexible cable 260a, the second flexible cable 260b, and the third flexible cable 260c are different parts of a whole flexible cable 260, by providing the wire hole 222f in the second isolation disk 222e, it is possible to facilitate the installation of the flexible cable 260 and prevent the connection between the second flexible cable 260b and the third flexible cable 260c from interfering with external structures. Of course, in the case where the first flexible cable 260a, the second flexible cable 260b, and the third flexible cable 260c are a split structure, that is, when a whole cable is divided into three parts, any one of the second flexible cable 260b and the third flexible cable 260c can pass through the wire hole 222f and be connected together through an electrical connector.

[0124] The robotic arm mechanism according to the present application can be used in the para-patient robotic arm system of a surgical robot. When the rotary joint 100 according to the present application is used, the first portion 110 is connected to the operating arm 300, and the second portion 120 is connected to the robotic arm 500. The actuator is movably connected to the robotic arm 500 along the length direction D1 of the robotic arm 500 and is electrically connected to the wiring mechanism 130. By using the above-mentioned rotary joint 100, it is possible to better meet the wiring requirements of the robotic arm 500 and the rotary joint 100, which helps to improve the structural compactness of the robotic arm mechanism.

[0125] For example, the robot arm mechanism according to the present application may include at least two, for example, three robot arms 500. The at least two robot arms 500 are spaced apart around the first rotation axis AX1.

[0126] Optionally, the first rotation axis AX1 is parallel to the length direction D1 of the robotic arm 500 .

[0127] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this document can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate component. Features described in this document in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0128] The present application has been described through the above embodiments, but it should be understood that the above embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. It will be understood by those skilled in the art that many more variations and modifications may be made based on the teachings of the present application, and such variations and modifications are all within the scope of protection claimed in the present application.

Claims

1. A rotary joint, characterized in that: The rotary joint comprises: a first portion and a second portion rotatable relative to each other about a first rotation axis, one of the first portion and the second portion being adapted to be connected to a manipulator arm and the other of the first portion and the second portion being adapted to be connected to a robotic arm; and A wiring mechanism, the wiring mechanism comprising: fixings; a rotating member rotatably connected to the fixed member about a second rotation axis; a spiral spring connected to the fixed member and the rotating member, respectively; and An electrical connection assembly, the electrical connection assembly comprising a fixed portion and a movable portion, the fixed portion being fixedly disposed relative to the fixed member, the movable portion being connected to the rotating member and electrically connected to the fixed portion, the movable portion comprising at least a portion of a flexible cable, the flexible cable being wound around the rotating member and having a pulling end, wherein the fixing member is connected to the first portion, and the pulling end is fixed relative to the second portion; or The fixing member is connected to the second part, and the pulling end is fixed relative to the first part. The wiring mechanism is constructed such that: When the first part and the second part generate relative rotational motion, the length of the portion of the flexible cable extending from the pulling end to the rotating member is adaptively extended or shortened, and the portion of the flexible cable extending from the pulling end to the rotating member is always in a tensioned state.

2. The rotary joint according to claim 1, characterized in that: When the pulling force applied to the pulling end is greater than the elastic winding force of the scroll spring, the rotating member rotates around the second rotation axis in one rotation direction and releases the flexible cable; when the pulling force applied to the pulling end is withdrawn, the rotating member rotates around the second rotation axis in another rotation direction under the action of the elastic winding force of the scroll spring and winds up the flexible cable, and the one rotation direction is opposite to the other rotation direction.

3. The rotary joint according to claim 1 or 2, characterized in that: The first part is used to connect to the operating arm, and the second part is used to connect to the holding arm. The second part includes a accommodating cavity and a wire passing hole. The accommodating cavity extends in a direction parallel to the first rotation axis. The accommodating cavity is used to at least partially accommodate the routing mechanism. The wire passing hole penetrates the second part in a direction intersecting with the first rotation axis. The wire passing hole is used to pass the flexible cable.

4. The rotary joint according to claim 3, characterized in that: The rotary joint also includes a guide wheel, which is located between the first part and the second part and is arranged corresponding to the wire hole. The guide wheel is rotatably connected to the second part around a third rotation axis parallel to the first rotation axis. The guide wheel is used to contact the flexible cable and guide the direction of the flexible cable.

5. The rotary joint according to claim 4, characterized in that: The rotary joint includes two guide wheels, which are respectively arranged on both sides of the wire hole. When the second part rotates relative to the first part in a first rotation direction around the first rotation axis, one of the two guide wheels contacts the flexible cable; when the second part rotates relative to the first part in a second rotation direction around the first rotation axis, the other of the two guide wheels contacts the flexible cable, wherein the first rotation direction is opposite to the second rotation direction.

6. The rotary joint according to claim 1 or 2, characterized in that: The rotary joint further includes a guide wheel, which is rotatably arranged around a third rotation axis parallel to the first rotation axis, and the guide wheel is used to contact the flexible cable and guide the direction of the flexible cable.

7. The rotary joint according to claim 1 or 2, characterized in that: The rotary joint further includes a guide wheel rotatably connected between the first part and the second part around a third rotation axis parallel to the first rotation axis, and the guide wheel is used to contact the flexible cable and guide the direction of the flexible cable.

8. The rotary joint according to claim 1 or 2, characterized in that: The electrical connection assembly further includes: a first adapter plate, the first adapter plate being fixedly disposed relative to the fixing member, the first adapter plate being configured to be electrically connected to an actuator mounted on the robotic arm; and a first output cable, one end of the first output cable being electrically connected to the moving part, and the other end of the first output cable being electrically connected to the first adapter plate, and / or The electrical connection assembly further includes: a second adapter plate, the second adapter plate being fixedly disposed relative to the moving portion and electrically connected to the flexible cable, the pulling end being configured to be an end away from the second adapter plate; and A second output cable, one end of the second output cable is electrically connected to the moving part, and the other end of the second output cable is electrically connected to the second adapter board.

9. The rotary joint according to claim 1 or 2, characterized in that: The second part rotates relative to the first part around the first rotation axis in either a first rotation direction or a second rotation direction by an angle of not less than 180°, wherein the first rotation direction is opposite to the second rotation direction.

10. The rotary joint according to claim 1 or 2, characterized in that: The rotary joint further includes a signal processing unit electrically connected to the pulling end of the flexible cable, and the signal processing unit is configured to communicate with at least an actuator mounted on the robotic arm.

11. The rotary joint according to claim 1 or 2, characterized in that: The second rotation axis is parallel to the first rotation axis.

12. A robotic arm mechanism, used for a para-patient robotic arm system of a surgical robot, characterized in that: The robotic arm mechanism comprises: operating arm; Armed arm; The rotary joint according to any one of claims 1 to 11, wherein the first part is connected to the operating arm, and the second part is connected to the robotic arm; and An actuator is movably connected to the robotic arm along the length direction of the robotic arm and is electrically connected to the wiring mechanism.

13. The robotic arm mechanism according to claim 12, wherein: The robotic arm mechanism includes at least two robotic arms, and the at least two robotic arms are spaced apart around the first rotation axis.

14. The robotic arm mechanism according to claim 12, wherein: The first rotation axis is parallel to the length direction of the robotic arm.

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