Protective mechanisms for the robotic arm, robotic arm mechanism, and flexible cables.

Abstract

This application provides a robotic arm, a robotic arm mechanism, and a protective mechanism for a flexible cable. The robotic arm includes a body and a cable retrieval mechanism. The body may have a first end and a second end opposite to each other along its length. The body is used to mount an actuator capable of moving along its length, allowing the actuator to move between a first position near the first end and a second position near the second end. The cable retrieval mechanism may include a fixed part, a moving part, a coil spring, and electrical components. The fixed part is fixed relative to the body, and the moving part is rotatably connected to the fixed part about a rotation axis. The coil spring is connected to the fixed part and the moving part. The electrical components include a fixed part and a movable part. The fixed part is connected to the fixed part, and the movable part includes at least a portion of a flexible cable wound around the moving part and having a movable end connected to the actuator. This application can adapt to the need for wiring within a narrow space of the body.

Description

Technical Field

[0001] This application generally relates to the technical field of medical devices, and more specifically to a robotic arm, a robotic arm mechanism, and a protective mechanism for flexible cables. Background Technology

[0002] A surgical robot is a robot that can be remotely controlled to perform surgery. It consists of three components: a doctor's console, a patient-side robotic arm system, and an imaging system.

[0003] The patient-side robotic arm system includes several robotic arms, each with several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end of the robotic arm to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the instrument). The last segment of the robotic arm is the holding arm, on which an instrument actuator is mounted. Surgical instruments or endoscopes are detachably mounted on the instrument actuator.

[0004] Existing robotic arms typically use cable carriers for auxiliary wiring. However, due to the large size of the cable carriers and the long and narrow structure of the robotic arm, this method cannot meet the needs of wiring within the narrow space of the robotic arm.

[0005] Therefore, there is a need to provide a protective mechanism for the holding arm, the robotic arm mechanism, and the flexible cable, in order to at least partially solve the above problems. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] To at least partially address the aforementioned problems, a first aspect of this application provides a robotic arm for use in a patient-side robotic arm system. The robotic arm is used to mount an actuator, which is movable on the robotic arm. The robotic arm includes:

[0008] A body having a first end and a second end opposite to each other along its own length; the body being used to mount an actuator movable along the length direction to allow the actuator to move between a first position near the first end and a second position near the second end; and

[0009] A cable recycling mechanism is disposed at one end of the main body, and the cable recycling mechanism includes:

[0010] A fixed part is fixedly disposed relative to the main body;

[0011] A moving part, which is rotatably connected to the fixed part about a rotation axis;

[0012] A coil spring, the coil spring being connected to the fixed portion and the moving portion; and

[0013] An electrical component includes a fixed portion and a movable portion. The fixed portion is connected to the fixed portion. The movable portion includes at least a portion of a flexible cable wound around the movable portion and having a movable end, the movable end being connected to the actuator.

[0014] During the movement of the actuator from the first position to the second position, the moving part releases the flexible cable while the coil spring gradually stores energy; during the movement of the actuator from the second position to the first position, the moving part winds up the flexible cable under the action of the coil spring.

[0015] According to the robotic arm of the first aspect of this application, on the one hand, the flexible cable is wound, stored, and released through a cable retrieval mechanism. During the actuator's movement, this effectively reduces the space occupied, contributing to the compact structure and miniaturization of the robotic arm, thereby improving its operational accuracy and flexibility. On the other hand, when the actuator is in the first position, the coil spring is in a relaxed state. During the actuator's movement to the second position, the coil spring tightens and stores energy, continuously applying tension to the flexible cable to keep it taut. Similarly, as the actuator returns to the first position, the coil spring gradually relaxes and releases its elastic potential energy until it finally reaches a relaxed state, achieving adaptive winding of the flexible cable and improving the reliability of the cable routing.

[0016] Optionally, the electrical component includes:

[0017] An electrically rotating joint includes a stator and a rotor, the stator being fixedly disposed relative to the fixed part, the rotor being rotatably electrically connected to the stator about the rotation axis, and one end of the flexible cable away from the movable end being electrically connected to the rotor;

[0018] The rotor is fixedly connected to the moving part so that the rotor can rotate together with the moving part.

[0019] Optionally, the cable recycling mechanism further includes a rotating side circuit board, which is electrically connected to the end of the flexible cable away from the movable end. The rotor is electrically connected to the rotating side circuit board, which is fixedly connected to the moving part. The rotating side circuit board and the moving part rotate together.

[0020] Optionally, the fixed part includes a support having a mounting hole extending in a direction parallel to the axis of rotation.

[0021] The stator passes through the mounting hole and is fixed to the support; the stator is sleeved on the outside of the rotor.

[0022] The moving part includes a winding roller, which is partially located in the mounting hole. The winding roller is sleeved on the outside of the stator and connected to the support via a bearing.

[0023] Optionally, the coil spring is sleeved on the winding roller and located between the winding roller and the support, with the outermost end of the coil spring fixedly connected to the support and the innermost end of the coil spring fixedly connected to the winding roller.

[0024] Optionally, the winding roller includes an installation section, a winding section, and a limiting section arranged sequentially along a direction parallel to the rotation axis.

[0025] The outer diameter of the mounting section is smaller than the outer diameter of the winding section, and the outer diameter of the winding section is smaller than the outer diameter of the limiting section and the radial outer dimension of the support.

[0026] The mounting section is connected to the mounting hole via the bearing, and the winding section and the limiting section are located outside the support. The winding section is used to wind the flexible cable.

[0027] Optionally, the coil spring is located in the mounting hole, the coil spring is sleeved on the outside of the mounting section, the innermost end of the coil spring is fixedly connected to the mounting section, and the outermost end of the coil spring is fixedly connected to the support.

[0028] Optionally, the electrical component includes a flexible cable, which includes a first flexible cable, a second flexible cable, and a third flexible cable connected in sequence. The first flexible cable is fixedly connected to the fixed part, the second flexible cable is wound around the movable part, and the third flexible cable is wound around the movable part. The winding areas of the second flexible cable and the third flexible cable are different, and the movable end is located on the third flexible cable.

[0029] Optionally, the first portion of the flexible cable, the second portion of the flexible cable, and the third portion of the flexible cable are constructed as a complete flexible cable.

[0030] Optionally, when the actuator is in the first position, the number of turns of the second flexible cable wound around the moving part is not less than 1 / 2 of the number of turns of the third flexible cable wound around the moving part; or

[0031] When the actuator is in the first position, the number of turns of the second flexible cable around the moving part is less than 1 / 2 of the number of turns of the third flexible cable around the moving part.

[0032] Optionally, when the actuator is in the first position, the direction in which the second portion of the flexible cable is wound around the moving part is the same as the direction in which the third portion of the flexible cable is wound around the moving part.

[0033] Optionally, the radius of the second flexible cable wound around the moving part is smaller than the radius of the third flexible cable wound around the moving part.

[0034] Optionally, the fixed part includes a shaft, the moving part includes a coiled spring winding disc, the coiled spring winding disc is sleeved on the shaft, the innermost end of the coiled spring is fixedly connected to the shaft, and the outermost end of the coiled spring is fixedly connected to the coiled spring winding disc.

[0035] Optionally, the fixed part includes a shaft, the moving part includes a winding reel, the winding reel is sleeved on the shaft, and the winding reel includes a coil spring mounting part, a first winding part and a second winding part arranged sequentially along a direction parallel to the rotation axis. The coil spring is located in the coil spring mounting part, the innermost end of the coil spring is fixedly connected to the shaft, the outermost end of the coil spring is fixedly connected to the coil spring mounting part, the second part of the flexible cable is wound around the outside of the second winding part, and the third part of the flexible cable is wound around the outside of the first winding part.

[0036] Optionally, a first isolation disc is provided between the coil spring mounting part and the first winding part, and a second isolation disc is provided between the first winding part and the second winding part.

[0037] Optionally, the second isolation plate has a cable passage hole, through which the connection between the second portion of the flexible cable and the third portion of the flexible cable passes.

[0038] Optionally, the fixing part further includes a housing, the interior of which forms an accommodating space, the shaft being located in the accommodating space and fixed to the housing, the coiled spring reel, the second portion of the flexible cable, and at least a portion of the third portion of the flexible cable being located in the accommodating space, and the first portion of the flexible cable being located outside the housing.

[0039] The housing has a first notch and a second notch communicating with the accommodating space. The first notch is corresponding to the first winding portion to allow the end of the third flexible cable away from the second flexible cable to extend to the outside of the housing. The second notch is corresponding to the second winding portion to allow the connection between the first flexible cable and the second flexible cable to pass through the housing.

[0040] Optionally, the first notch and the second notch are at least partially offset along a circumferential direction relative to the axis of rotation.

[0041] Optionally, the first winding portion is configured as a spiral limiting portion formed around the rotation axis, the spiral limiting portion defining a spiral channel for passing through the third flexible cable, and the outermost end of the spiral limiting portion is configured as a first pressing portion for pressing the third flexible cable.

[0042] Optionally, the housing includes a third clamping portion for clamping one end of the second portion of the flexible cable, and the second winding portion includes a second clamping portion for clamping the other end of the second portion of the flexible cable. The third clamping portion is further away from the rotation axis than the second clamping portion in a direction perpendicular to the rotation axis.

[0043] Optionally, the flexible cable is constructed as a flexible flat cable, and the axis of rotation is parallel to the width direction of the flexible flat cable.

[0044] Optionally, the axis of rotation is perpendicular to the length direction of the body.

[0045] Optionally, the cable recycling mechanism further includes a protective belt, one end of which is connected to the moving part and the other end of which is connected to the actuator. The protective belt includes a base belt and a cover belt, both of which have length and width. The length direction of the cover belt is parallel to the length direction of the base belt. The two side edges of the cover belt along its own width direction are fixed to the base belt. The middle portion of the cover belt along its own width direction has a gap with the base belt, and the flexible cable is located in the gap.

[0046] Optionally, the two sides of the covering strip along its width direction are bonded and fixed to the base strip.

[0047] Optionally, the overlay covers one side of the baseband.

[0048] Optionally, the covering strip completely covers one side of the base strip, and at least part of the covering strip covers the other side of the base strip, and both sides of the covering strip along its width direction are fixed to the other side of the base strip.

[0049] Optionally, the covering strips are arranged at intervals along their own length on the base strip.

[0050] Optionally, the covering strip continuously covers the base strip along its own length.

[0051] Optionally, the portion where the covering strip connects to the baseband is configured to be intermittently or continuously arranged along the length direction of the baseband.

[0052] Optionally, the baseband is constructed of steel strip.

[0053] Optionally, the body includes a cable routing groove extending along the length direction of the body, the cable routing groove being used to accommodate the flexible cable released from the moving part.

[0054] A second aspect of this application provides a robotic arm mechanism for a patient-side robotic arm system of a surgical robot, the robotic arm mechanism comprising:

[0055] Based on the aforementioned robotic arm; and

[0056] An actuator is movably connected to the holding arm along the length direction of the body and electrically connected to the flexible cable.

[0057] According to the robotic arm mechanism of the second aspect of this application, by applying the above-mentioned robotic arm, end-effector wiring can be achieved with a smaller space occupancy rate, thereby helping to achieve a compact structure and miniaturized size of the robotic arm, and further helping to improve the accuracy and flexibility of the robotic arm operation.

[0058] A third aspect of this application provides a protective mechanism for flexible cables, characterized in that it includes a base strip and a cover strip, both of which have a length and a width. The length direction of the cover strip is parallel to the length direction of the base strip. The two side edges of the cover strip along its width direction are fixed to the base strip. A gap exists between the middle portion of the cover strip along its width direction and the base strip, and the flexible cable is located in the gap.

[0059] According to the protective mechanism for flexible cables in the third aspect of this application, the flexible cable is accommodated through the gap between the baseband and the coverband. During the release and rewinding of the flexible cable, the protective mechanism reduces the stress on the flexible cable as the flexible cable is released and rewinded, thereby preventing damage to the flexible cable during repeated extension and rewinding, and thus achieving the purpose of protecting the flexible cable and extending its service life.

[0060] Optionally, the two side edges of the covering strip along its width direction are bonded and fixed to the base strip. Optionally, the covering strip covers one side of the base strip.

[0061] Optionally, the covering strip completely covers one side of the baseband, and at least partially covers the other side of the baseband, with both edges of the covering strip along its width direction fixed to the other side of the baseband.

[0062] Optionally, the covering strips are arranged at intervals along their own length on the base strip.

[0063] Optionally, the covering strip continuously covers the base strip along its own length.

[0064] Optionally, the portion where the covering strip connects to the baseband is configured to be intermittently or continuously arranged along the length direction of the baseband.

[0065] Optionally, the baseband is constructed of steel strip. Attached Figure Description

[0066] The following drawings, which illustrate embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings depict embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0067] Figure 1 This is a perspective view of a robotic arm according to a preferred embodiment of the present application, wherein the movable element is located in a first position;

[0068] Figure 2 for Figure 1 Another perspective view of the robotic arm shown, with the moving part in the second position;

[0069] Figure 3 This is a schematic diagram of a cable recycling mechanism according to a preferred embodiment of this application;

[0070] Figure 4 for Figure 3 An exploded view of the cable recycling mechanism shown;

[0071] Figure 5 for Figure 3 A cross-sectional view of the cable recycling mechanism shown;

[0072] Figure 6 This is a schematic diagram of a cable recycling mechanism according to another preferred embodiment of this application;

[0073] Figure 7 for Figure 6 An exploded view of the cable recycling mechanism shown;

[0074] Figure 8 for Figure 6 Another exploded view of the cable recycling mechanism shown;

[0075] Figure 9 for Figure 6 A cross-sectional view of the cable recycling mechanism shown;

[0076] Figure 10 for Figure 6Another cross-sectional view of the cable recycling mechanism shown;

[0077] Figure 11 for Figure 6 Another cross-sectional view of the cable recycling mechanism shown;

[0078] Figure 12 This is a cross-sectional view of the connection structure between the protective strip and the flexible cable according to a preferred embodiment of this application;

[0079] Figure 13 This is a cross-sectional view of the connection structure between the protective strip and the flexible cable according to another preferred embodiment of this application.

[0080] Figure 14 This is a schematic diagram of the connection between the protective strip and the flexible cable according to a preferred embodiment of this application;

[0081] Figure 15 This is a schematic diagram showing the connection between the protective strip and the flexible cable according to another preferred embodiment of this application;

[0082] Figure 16 An exploded view of a protective strip and flexible cable according to a preferred embodiment of this application;

[0083] Figure 17 for Figure 1 The diagram shows the structure of the robotic arm without the cable retrieval mechanism installed, where the solid line indicates the moving part is in the first position and the dashed line indicates the moving part is in the second position.

[0084] Figure 18 A partial schematic diagram of a patient-side robotic arm system with a robotic arm mechanism; and

[0085] Figure 19 This is a schematic diagram of a robotic arm system with a robotic arm mechanism.

[0086] Explanation of reference numerals in the attached figures:

[0087] 100: Body 100a: First end

[0088] 100b: Second end; 100c: Cable tray

[0089] 101: Moving part; 102: Linear guide rail

[0090] 110: Actuator 200: Cable Recycling Mechanism

[0091] 210: Fixed part 211: Support

[0092] 211a: Mounting hole; 212: First support

[0093] 213: Second support; 214: Shaft

[0094] 215: Shell 216: First shell section

[0095] 216a: First notch; 216b: First connecting member

[0096] 216c: Third pressure line part; 217: Second housing part

[0097] 217a: Second notch; 217b: Second connecting member

[0098] 220: Moving part; 221: Winding roller

[0099] 221a: Installation section; 221b: Winding section

[0100] 221c: Limiting segment; 222: Winding reel

[0101] 222a: Spring mounting section (spring winding reel) 222b: First winding section

[0102] 222b1: First pressing section; 222c: Second winding section

[0103] 222c1: Second pressure line section; 222d: First isolation plate.

[0104] 222e: Second isolation plate; 222f: Cable guide hole

[0105] 222g: Shaft hole 230: Coil spring

[0106] 240: Electrical components 241: Fixed components

[0107] 242: Movable part; 243: Electrically rotating joint

[0108] 244: Stator 245: Rotor

[0109] 250: Rotating side circuit board; 260: Flexible cable

[0110] 260a: First part of the flexible cable; 260b: Second part of the flexible cable

[0111] 260c: Part 3 Flexible Cable 260c1: Movable End

[0112] 270: Fixed side cable; 280: Rotating side cable

[0113] 290: Protective belt; 291: Base belt

[0114] 292: Covering strip 293: Gap

[0115] 294: Adhesive part; 300: Actuator

[0116] 400: Robotic arm mechanism; AX: Rotation axis.

[0117] D1: Length direction; D2: Axial direction Detailed Implementation

[0118] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0119] To fully understand the embodiments of this application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art.

[0120] It should be understood that the terminology used herein is intended only to describe particular embodiments and is not intended to limit the scope of this application. The singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof. The terms “upper,” “lower,” “front,” “rear,” “left,” “right,” and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0121] Ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0122] The specific embodiments of this application will be described in more detail below with reference to the accompanying drawings, which illustrate representative embodiments of this application and are not intended to limit this application.

[0123] This application provides a robotic arm for use in a robotic arm mechanism 400 of a patient-side robotic arm system. The robotic arm is used to mount an actuator 300, which is movable on the robotic arm. Figures 1 to 17 As shown, the robotic arm according to this application may include a body 100 and a cable retrieval mechanism 200.

[0124] The body 100 may have a first end 100a and a second end 100b opposite in its own length direction D1. The body 100 is used to mount an actuator 300 capable of moving along the length direction D1, allowing the actuator 300 to move between a first position near the first end 100a and a second position near the second end 100b. A cable retraction mechanism 200 may be disposed at one of the first end 100a and the second end 100b of the body 100. The cable retraction mechanism 200 may include a fixed portion 210, a movable portion 220, a coil spring 230, and an electrical assembly 240. The fixed portion 210 is fixed relative to the body 100. The movable portion 220 is rotatably connected to the fixed portion 210 about a rotation axis AX. The coil spring 230 is connected to the fixed portion 210 and the movable portion 220. The electrical assembly 240 includes a fixed portion 241 and a movable portion 242. The fixed portion 241 is connected to the fixed portion 210. The movable part 242 includes at least a portion of a flexible cable 260. The flexible cable 260 is wound around the movable part 220 and has a movable end 260c1. The movable end 260c1 is connected to the actuator 300.

[0125] As the actuator 300 moves from the first position to the second position, the moving part 220 releases the flexible cable 260, while the coil spring 230 gradually stores energy, meaning the coil spring 230 gradually tightens, or transitions to a tightened state. As the actuator 300 moves from the second position to the first position, the tension applied to the flexible cable 260 by the actuator 300 is removed, and the coil spring 230 gradually unwinds under its own elastic restoring force, or transitions to an unwinded state. At this time, the moving part 220, under the action of the coil spring 230, winds up the flexible cable 260.

[0126] According to the robotic arm of this application, on the one hand, the flexible cable 260 is wound, stored, and released through the cable retrieval mechanism 200. During the movement of the actuator 300, this effectively reduces the space occupied, contributing to the compact structure and miniaturization of the robotic arm, thereby improving its operational accuracy and flexibility. When the robotic arm body 100 has a long and narrow structure, it can adapt to the need for wiring within the narrow space of the body 100. On the other hand, when the actuator 300 is in the first position, the coil spring 230 is in a relaxed state. During the movement of the actuator 300 to the second position, the coil spring 230 tightens and stores energy, continuously applying tension to the flexible cable 260, ensuring the flexible cable 260 remains taut. Similarly, during the return of the actuator 300 to the first position, the coil spring 230 gradually relaxes and releases its elastic potential energy until it finally reaches a relaxed state, achieving adaptive winding of the flexible cable 260 and improving the reliability of the cable routing.

[0127] See Figure 1 , Figure 2 as well as Figure 17 Specifically, the body 100 may include a movable member 101 and a linear guide rail 102. The linear guide rail 102 extends parallel to the length direction D1 of the body 100. The movable member 101 is slidably connected to the linear guide rail 102 along the length direction D1. The movable member 101 is used to mount the actuator 300 described above.

[0128] Continue reading Figure 1 , Figure 2 as well as Figure 17 For example, the movable element 101 may include a slider for sliding engagement with the linear guide 102 and a carrier mounted on the slider. The carrier is used to mount the actuator 300.

[0129] See Figures 3 to 5 For example, electrical component 240 may include an electrical rotary joint 243. Electrical rotary joint 243 may include a stator 244 and a rotor 245. The stator 244 is fixed relative to the stationary portion 210. The rotor 245 is rotatably electrically connected to the stator 244 about a rotation axis AX. One end of the flexible cable 260 away from the movable end 260c1 is electrically connected to the rotor 245. The rotor 245 is fixedly connected to the moving portion 220 so that the rotor 245 can rotate with the moving portion 220. The electrical rotary joint 243 can be understood as an electrical connection device for realizing an electrical connection between components located in the stationary portion 210 and components located in the moving portion 220. For example, it may be a conductive slip ring. The conductive slip ring includes at least one annular conductive ring and a conductive pin, the conductive pin being movable on the conductive ring to form a circuit on both sides of the conductive pin and the conductive ring. The component located in the moving portion 220 may be the end of the aforementioned flexible cable 260 away from the movable end 260c1. By incorporating the electrical rotary joint 243, damage to the flexible cable 260 is prevented when the moving part 220 rotates relative to the fixed part 210, thereby protecting the flexible cable 260 between the moving part 220 and the fixed part 210. In other words, this example uses the electrical rotary joint 243 to connect the flexible cable 260 located in the fixed part 210 and the flexible cable 260 located in the moving part 220, avoiding tangling of the flexible cable 260 after multiple rotations and improving the reliability of the wiring.

[0130] Continue reading Figures 3 to 5 In addition, electrical assembly 240 may also include a fixed-side cable 270 and a rotating-side cable 280. The fixed-side cable 270 is used for electrical connection to the stator 210 and the stator 244, respectively. The rotating-side cable 280 is used for electrical connection to the rotor 245 and the end of the flexible cable 260 away from the movable end 260c1, respectively.

[0131] See also Figures 3 to 5In addition, the cable recycling mechanism 200 may also include a rotating side circuit board 250. The rotating side circuit board 250 is electrically connected to the end of the flexible cable 260 away from the movable end 260c1. The rotor 245 is electrically connected to the rotating side circuit board 250. The rotating side circuit board 250 is fixedly connected to the moving part 220. The rotating side circuit board 250 and the moving part 220 rotate together.

[0132] In one example of this application, the rotating side circuit board 250 may have a ribbon cable socket. The flexible cable 260 may be configured as a ribbon cable, and the flexible cable 260 can be connected to the rotating side circuit board 250 via an electrical connection between the ribbon cable plug and the ribbon cable socket. This facilitates the assembly and disassembly of the flexible cable 260 and the rotor 245.

[0133] See also Figures 3 to 5 For example, the stator 210 may include a support 211. The support 211 may have a mounting hole 211a extending in a direction parallel to the rotation axis AX. The stator 244 passes through the mounting hole 211a and is fixed to the support 211. The stator 244 may be sleeved on the outside of the rotor 245. The moving part 220 may include a winding roller 221. The winding roller 221 is partially located in the mounting hole 211a. The winding roller 221 is sleeved on the outside of the stator 244 and is connected to the support 211 via a shaft 214.

[0134] Furthermore, the coil spring 230 can be sleeved on the winding roller 221 and located between the winding roller 221 and the support 211. The outermost end of the coil spring 230 211 is fixedly connected to the support. The innermost end of the coil spring 230 is fixedly connected to the winding roller 221.

[0135] exist Figures 3 to 5 In the example shown, the winding roller 221 may include a mounting section 221a, a winding section 221b, and a limiting section 221c arranged sequentially along a direction parallel to the rotation axis AX. The outer diameter of the mounting section 221a is smaller than the outer diameter of the winding section 221b. The outer diameter of the winding section 221b is smaller than the outer diameter of the limiting section 221c and the radial outer dimension of the support 211. The mounting section 221a is connected to the mounting hole 211a via a shaft 214. The winding section 221b and the limiting section 221c are located outside the support 211. The winding section 221b is used to wind the flexible cable 260. In this example, the flexible cable 260 wound on the winding section 221b can be limited by the limiting section 221c and the support 211.

[0136] See Figure 5For example, the coil spring 230 can be located in the mounting hole 211a. The coil spring 230 is sleeved on the outside of the mounting section 221a. The innermost end of the coil spring 230 is fixedly connected to the mounting section 221a. The outermost end of the coil spring 230 is fixedly connected to the support 211. When the winding roller 221 rotates in the direction of releasing the flexible cable 260, the mounting section 221a rotates relative to the support 211, thereby causing the coil spring 230 to gradually tighten, so that the coil spring 230 stores energy; when the tension applied to the movable end 260c1 of the flexible cable 260 is removed, the winding roller 221 will rotate in the direction of winding the flexible cable 260 under the action of the elastic restoring force of the coil spring 230.

[0137] Reference Figures 3 to 5 In the illustrated embodiment, support 211 may include a first support 212 and a second support 213. A bearing is installed at the connection between the first support 212 and the second support 213. Another bearing is installed at the end of the second support 213 away from the first support 212. The inner rings of both bearings are connected to the mounting section 221a of the winding roller 221. Meanwhile, the bearing located on the left side of the figure is axially limited by a retaining clip and the second support 213. The bearing located on the right side of the figure is axially limited by the second support 213 and the winding section 221b. The first support 212 and the second support 213 may be detachably connected by fasteners such as bolts, thereby facilitating the installation and removal of the bearing and retaining clip located on the left side.

[0138] See Figures 6 to 11 In another example of this application, electrical component 240 may include flexible cable 260. Flexible cable 260 may include a first portion of flexible cable 260a, a second portion of flexible cable 260b, and a third portion of flexible cable 260c connected sequentially. The first portion of flexible cable 260a is fixedly connected to the fixed portion 210. The second portion of flexible cable 260b is wound around the movable portion 220. The third portion of flexible cable 260c is wound around the movable portion 220. The winding areas of the second portion of flexible cable 260b and the third portion of flexible cable 260c are different. For example, the winding areas of the second portion of flexible cable 260b and the third portion of flexible cable 260c are different along a direction parallel to the rotation axis AX. The movable end 260c1 may be located on the third portion of flexible cable 260c.

[0139] Furthermore, the first flexible cable 260a, the second flexible cable 260b, and the third flexible cable 260c can be constructed as a single flexible cable 260. That is, the same flexible cable 260 is wound around different areas of the moving part 220.

[0140] When the actuator 300 is in the first position, the number of turns of the second flexible cable 260b around the moving part 220 is not less than half the number of turns of the third flexible cable 260c around the moving part 220. Ideally, neglecting 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, which satisfies the requirement for the second flexible cable 260b to wind in both forward and reverse directions during the rotation of the moving part 220. Forward and reverse winding can be understood as the second flexible cable 260b winding in two opposite directions on the moving part 220. However, in reality, the flexible cable 260 has thickness, and the radius gradually increases during winding. Therefore, in order to ensure that the length of the second flexible cable 260b is sufficient to allow the third flexible cable 260c to complete its entire stroke, the number of turns of the second flexible cable 260b is greater than half the number of turns of the third flexible cable 260c.

[0141] When the actuator 300 is in the first position, the winding direction of the second flexible cable 260b in the moving part 220 is the same as the winding direction of the third flexible cable 260c in the moving part 220. When the actuator 300 is in the second position, the winding direction of the second flexible cable 260b in the moving part 220 is opposite to the winding direction of the third flexible cable 260c in the moving part 220. That is, during the release of the third flexible cable 260c, the second flexible cable 260b is released first and then wound up. During the release of the second flexible cable 260b, the second flexible cable 260b gradually loosens. After the second flexible cable 260b is completely released, as the moving part 220 rotates, it will wind up the loosened second flexible cable 260b. At this time, the winding direction of the second flexible cable 260b is different from the initial winding direction.

[0142] exist Figures 6 to 11 In the example shown, the principle by which the cable retraction mechanism 200 winds up the flexible cable 260 can be described as follows: When the actuator 300 is in the first position, the coil spring 230 is unwound, and the winding direction of the second portion of the flexible cable 260b is the same as that of the third portion of the flexible cable 260c. When the actuator 300 is in the second position, the coil spring 230 is tightened, and the winding direction of the second portion of the flexible cable 260b is opposite to that of the third portion of the flexible cable 260c. When the actuator 300 is in a position between the first and second positions, such as the middle position between the first and second positions, or any position between the middle position and the second position, the coil spring 230 is in a semi-tightened state, and the winding direction of the second portion of the flexible cable 260b changes from one direction to the opposite direction.

[0143] See Figure 7 and Figure 8 Optionally, the radius of the second flexible cable 260b wound around the moving part 220 is smaller than the radius of the third flexible cable 260c wound around the moving part 220. This allows for more space to be reserved for the second flexible cable 260b in the radial direction during its release.

[0144] In other embodiments of this application, when the actuator 300 is in the first position, the number of turns of the second flexible cable 260b around the moving part 220 can be less than 1 / 2 of the number of turns of the third flexible cable 260c around the moving part 220.

[0145] See Figure 6 In one example of this application, the fixed part 210 may include a shaft 214. The movable part 220 may include a spring winding reel 222a. The spring winding reel 222a is sleeved on the shaft 214. The innermost end of the spring 230 is fixedly connected to the shaft 214. The outermost end of the spring 230 is fixedly connected to the spring winding reel 222a. In this example, the second part of the flexible cable 260b and the third part of the flexible cable 260c can be completely wound on the spring winding reel 222a, and can be wound in sections along the axial direction D2 of the shaft 214.

[0146] See Figures 6 to 11 In another example of this application, the fixed part 210 may include a shaft 214. The movable part 220 may include a winding reel 222. The winding reel 222 is sleeved on the shaft 214. The winding reel 222 may include a coil spring mounting part 222a, a first winding part 222b, and a second winding part 222c arranged sequentially along a direction parallel to the rotation axis AX. A coil spring 230 is located in the coil spring mounting part 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 part 222a. A third flexible cable 260c is wound around the outside of the first winding part 222b. A second flexible cable 260b is wound around the outside of the second winding part 222c. In this example, the second flexible cable 260b and the third flexible cable 260c are arranged in sections along the axial direction D2 of the shaft 214.

[0147] See Figures 7 to 11 Furthermore, a first isolation disk 222d is provided between the 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 can limit the third part of the flexible cable 260c located in the first winding portion 222b, and at the same time, the second isolation disk 222e separates the second part of the flexible cable 260b and the third part of the flexible cable 260c to prevent mutual interference.

[0148] See Figure 10 and Figure 11 Optionally, the second isolation plate 222e has a cable passage hole 222f. The connection between the second flexible cable 260b and the third flexible cable 260c passes through the cable passage hole 222f. When the first flexible cable 260a, the second flexible cable 260b, and the third flexible cable 260c are different parts of a single flexible cable 260, providing the cable passage hole 222f in the second isolation plate 222e facilitates the insertion of the flexible cable 260 and prevents interference between the connection between the second and third flexible cables 260b and the external structure. Of course, when the first flexible cable 260a, the second flexible cable 260b, and the third flexible cable 260c are separate structures, that is, when a single cable is divided into three parts, either the second flexible cable 260b or the third flexible cable 260c can pass through the cable passage hole 222f and be connected together via an electrical connector.

[0149] See Figure 1 and Figure 2 In some embodiments of this application, the rotation axis AX can be perpendicular to the length direction D1 of the body 100. In other embodiments of this application, the rotation axis AX can intersect the length direction D1 of the body 100 but not be perpendicular to it. By setting it this way, the need for the flexible cable 260 to run along the length direction D1 of the body 100 can be accommodated, and the external space occupied by the flexible cable 260 along the direction intersecting the length direction D1 of the body 100 can be effectively reduced or even avoided.

[0150] See Figures 1 to 5 Optionally, the flexible cable 260 can be constructed as a flexible flat cable. The axis of rotation AX is parallel to the width direction of the flexible flat cable.

[0151] See Figures 12 to 16In addition, the cable recycling mechanism 200 may also include a protective belt 290. One end of the protective belt 290 is connected to the winding roller 221, and the other end is used to connect to the actuator 300. The protective belt 290 may include a base belt 291 and a cover belt 292. Both the base belt 291 and the cover belt 292 have length and width. The length direction of the cover belt 292 is parallel to the length direction of the base belt 291. The two side edges of the cover belt 292 along its own width direction are fixed to the base belt 291. A gap 293 is formed between the middle portion of the cover belt 292 along its own width direction and the base belt 291. The flexible cable 260 is located in the gap 293 and is wound around the winding roller 221 in parallel with the protective belt 290 about the axis of rotation AX. By providing the protective belt 290, the flexible cable 260 is threaded through the gap 293 inside the protective belt 290, which helps to prevent the flexible cable 260 from having a reduced lifespan due to repeated stretching. To prevent the lifespan of the flexible cable 260 from being reduced due to repeated stretching, the flexible cable 260 is threaded through the gap 293 of the protective strip 290 and moves in parallel with the protective strip 290.

[0152] The flexible cable 260 can be attached to the protective strip 290. Both the protective strip 290 and the flexible cable 260 have a certain thickness. When the number of turns on the winding roller 221 shaft 214 is large, the difference in winding radius between the flexible cable 260 and the protective strip 290 can cause misalignment between the two during repeated use, such as cable folding, bulging, wrinkling, or being stretched. To avoid this, the protective strip 290 and the flexible cable 260 are not fixedly connected. Therefore, the flexible cable 260 can move back and forth relative to the protective strip 290 inside the protective strip 290, thereby avoiding poor winding performance caused by different winding radii.

[0153] In other words, if the flexible cable 260 is fixedly connected to at least one of the base strip 291 and the cover strip 292 in the protective strip 290, misalignment may occur between the flexible cable 260 and the protective strip 290 due to the difference in their winding radii. To avoid this, the protective strip 290 and the flexible cable 260 are not fixedly connected; instead, the cover strip 292 can be bonded to the base strip 291 using a gap 293 such as adhesive tape. The flexible cable 260 is positioned within the gap 293, allowing it to move back and forth within the protective strip 290. This avoids poor winding performance caused by different winding radii, thereby extending the service life of the flexible cable 260 to some extent.

[0154] See Figure 12 For example, the two sides of the cover strip 292 along its width direction are bonded and fixed to the base strip 291. This creates a gap 293 between the cover strip 292 and the base strip 291, thereby allowing the flexible cable 260 to be threaded through and accommodated.

[0155] exist Figure 12 In one example shown, the cover strip 292 covers one side of the base strip 291.

[0156] exist Figure 13 In another example shown, the covering tape 292 completely covers one side of the base tape 291. At least partially, the covering tape 292 covers the other side of the base tape 291. Both edges of the covering tape 292 along its width direction are fixed to the other side of the base tape 291. That is, the covering tape 292 covers and is fixedly connected to the other side of the base tape 291 along its width direction.

[0157] See Figure 14 In some examples of this application, the cover strip 292 is arranged at intervals along its own length direction D1 on the base strip 291. This reduces the material used for the cover strip 292 and also helps to reduce the weight of the cable recycling mechanism 200.

[0158] See Figure 15 and Figure 16 In other examples of this application, the covering strip 292 continuously covers the base strip 291 along its own length direction D1. This provides more comprehensive protection for the flexible cable 260, preventing interference between the flexible cable 260 and external structures during winding and unwinding.

[0159] Optionally, the portion where the cover strip 292 connects to the base strip 291 is configured to be intermittently arranged along the length direction of the base strip 291 (e.g., Figure 15 (as shown) or set continuously (such as) Figure 16 (As shown). Taking the example of the cover strip 292 and the base strip 291 being fixedly connected by adhesive, the part where the cover strip 292 and the base strip 291 are connected can be understood as the part where the cover strip 292 and the base strip 291 are bonded, and can also be called the adhesive part 294. If the adhesive part 294 is constructed to be intermittently arranged along the length direction of the base strip 291, it can be understood that the bonding area between the cover strip 292 and the base strip 291 is spaced apart along the length direction of the base strip 291. If the adhesive part 294 is constructed to be continuously arranged along the length direction of the base strip 291, it can be understood that the bonding area between the cover strip 292 and the base strip 291 is continuous.

[0160] In any of the embodiments described above in this application, the baseband 291 can be constructed as a steel strip. If the baseband 291 and the cover strip 292 are connected by adhesive bonding, the material of the cover strip 292 is not limited. For example, a gap tape can be used as the cover strip 292. This gap tape includes a substrate portion and an adhesive portion. The adhesive portion is located at both ends of the substrate portion along the width direction of the baseband 291, and is used to bond the substrate portion to the baseband 291. A gap is formed between the gap tape and the baseband 291 for threading the flexible cable 260. If the baseband 291 and the cover strip 292 are connected by welding or other methods, a metal strip such as a steel strip can be selected as the material of the cover strip 292.

[0161] See Figure 1 , Figure 2 as well as Figure 17 For example, the body 100 may include a cable tray 100c extending along the length direction D1 of the body 100. The cable tray 100c is used to accommodate the flexible cable 260 released from the winding roller 221. During the movement of the moving member 101 along the length direction D1 of the body 100, the released flexible cable 260 is located within the cable tray 100c.

[0162] See Figures 6 to 11 Furthermore, the fixing part 210 may also include a housing 215. An accommodating space is formed inside the housing 215. The shaft 214 is located in the accommodating space and fixed to the housing 215. The coiled spring reel 222, the second portion of the flexible cable 260b, and at least a portion of the third portion of the flexible cable 260c are located in the accommodating space. The first portion of the flexible cable 260a is located outside the housing 215. The housing 215 has a first notch 216a and a second notch 217a communicating with the accommodating space. The first notch 216a corresponds to the first winding portion 222b to allow the end of the third portion of the flexible cable 260c away from the second portion of the flexible cable 260b to extend outside the housing 215. The second notch 217a corresponds to the second winding portion 222c to allow the connection between the first portion of the flexible cable 260a and the second portion of the flexible cable 260b to pass through the housing 215. The coiled spring reel 222 includes a shaft hole 222g for the shaft 214 to pass through.

[0163] See Figure 6 In a preferred embodiment of this application, the first notch 216a and the second notch 217a are at least partially offset along a circumferential direction relative to the rotation axis AX. This prevents the third flexible cable portion 260c from interfering with the second flexible cable portion 260b.

[0164] More preferably, the first notch 216a and the second notch 217a are completely offset along the circumferential direction relative to the axis of rotation AX.

[0165] See Figures 6 to 11 The housing 215 may include a first housing portion 216 and a second housing portion 217. A first notch 216a is located in the first housing portion 216. A second notch 217a is located in the second housing portion 217. The first housing portion 216 may have a first connecting member 216b, and correspondingly, the second housing portion 217 has a second connecting member 217b for connecting to the first connecting member 216b. The connection between the first connecting member 216b and the second connecting member 217b may be detachable or fixed. The provision of the first connecting member 216b and the second connecting member 217b also facilitates the positioning of the first housing portion 216 and the second housing portion 217.

[0166] exist Figure 10 In the illustrated embodiment, the first winding portion 222b can be configured as a helical limiting portion formed around the rotation axis AX. The helical limiting portion defines a helical channel for threading the third flexible cable 260c. The outermost end of the helical limiting portion is configured as a first clamping portion 222b1 for clamping the third flexible cable 260c. The gap 293 between the first clamping portion 222b1 and the adjacent inner helical limiting portion can be less than the thickness of the flexible cable 260, thereby clamping the flexible cable 260 and preventing the third flexible cable 260c from being further pulled out from the first winding portion 222b after it has been released. The first clamping portion 222b1 can be implemented with reference to existing clamping structures, or the first clamping portion 222b1 and the helical limiting portion can be constructed as a single unit.

[0167] For example Figure 11 As shown, the housing 215 may include a third clamping portion 216c for clamping one end of the second flexible cable 260b. The second winding portion 222c may include a second clamping portion 222c1 for clamping the other end of the second flexible cable 260b. The third clamping portion 216c is further away from the rotation axis AX than the second clamping portion 222c1 in a direction perpendicular to the rotation axis AX. By clamping both ends of the second flexible cable 260b with the third clamping portion 216c and the second clamping portion 222c1, the length of the second flexible cable 260b can be limited, and it helps to prevent the second flexible cable 260b from shifting back and forth between the first winding portion 222b and the second winding portion 222c. The third clamping portion 216c and the second clamping portion 222c1 can be implemented with reference to existing clamping structures, as long as they can clamp the second flexible cable 260b and limit its displacement.

[0168] The flexible cable is secured by the first clamping part 222b1 and the second clamping part 222c1, thereby preventing the flexible cable from moving back and forth between the second winding part 222c and the first winding part 222b. By providing a third clamping part 216c in the housing 215, the third clamping part 216c and the second clamping part 222c1 limit the length of the second part of the flexible cable 260b, preventing changes in the length of the second part of the flexible cable 260b and preventing the end connection of the second part of the flexible cable 260b from becoming loose.

[0169] Due to the difficulty in assembling the coiled spring winding disc 222 and the flexible cable, the connection structure between the first winding part 222b and the second winding part 222c can be made into a detachable split structure.

[0170] See Figure 18 and Figure 19 and combined Figure 1 , Figure 2 as well as Figure 17 This application also provides a robotic arm mechanism 400 for a patient-side robotic arm system of a surgical robot. The robotic arm mechanism 400 according to this application may include an actuator 300 and the aforementioned holding arm. The actuator 300 is movably connected to the holding arm along the length direction D1 of the body 100 and electrically connected to a flexible cable 260.

[0171] According to the robotic arm mechanism 400 of this application, by applying the above-mentioned robotic arm, end-effector wiring can be achieved with a smaller space occupancy rate, thereby helping to achieve a compact structure and small size of the robotic arm, and further helping to improve the accuracy and flexibility of the robotic arm operation.

[0172] See Figures 12 to 16 This application also provides a protection mechanism for a flexible cable 260, used to protect the flexible cable 260. The protection mechanism for the flexible cable 260 according to this application may include a base strip 291 and a cover strip 292. Both the base strip 291 and the cover strip 292 have a length and a width. The length direction of the cover strip 292 is parallel to the length direction of the base strip 291. The two side edges of the cover strip 292 along its width direction are fixed to the base strip 291. A gap 293 is formed between the middle portion of the cover strip 292 along its width direction and the base strip 291. The flexible cable 260 is located in the gap 293.

[0173] According to the protective mechanism of the flexible cable 260 of this application, the flexible cable 260 is accommodated through the gap 293 between the base tape 291 and the cover tape 292. During the release and rewinding of the flexible cable 260, the protective mechanism can reduce the stress on the flexible cable 260 as the flexible cable 260 is released and rewinding, thereby preventing the flexible cable 260 from being damaged during repeated extension and rewinding, and thus achieving the purpose of protecting the flexible cable 260 and extending the service life of the flexible cable 260.

[0174] See Figure 12 Furthermore, the two side edges of the covering strip 292 along its width direction can be bonded and fixed to the base strip 291. Bonding is one connection method between the covering strip 292 and the base strip 291 in this application. In other embodiments of this application, the covering strip 292 and the base strip 291 can also be connected by connection methods other than bonding, such as hot pressing or plastic welding.

[0175] exist Figure 12 In one example shown, the cover strip 292 covers one side of the base strip 291.

[0176] exist Figure 13 In another example shown, the covering tape 292 completely covers one side of the base tape 291. At least partially, the covering tape 292 covers the other side of the base tape 291. Both edges of the covering tape 292 along its width direction are fixed to the other side of the base tape 291. That is, the covering tape 292 covers and is fixedly connected to the other side of the base tape 291 along its width direction.

[0177] See Figure 14 In some examples of this application, the covering strip 292 is arranged at intervals along its own length direction D1 on the base strip 291.

[0178] See Figure 15 and Figure 16 In other examples of this application, the covering strip 292 continuously covers the base strip 291 along its own length direction D1. This provides more comprehensive protection for the flexible cable 260, preventing interference between the flexible cable 260 and external structures during winding and unwinding.

[0179] Optionally, the portion where the cover strip 292 connects to the base strip 291 is configured to be intermittently arranged along the length direction of the base strip 291 (e.g., Figure 15 (as shown) or set continuously (such as) Figure 16(As shown). Taking the adhesive bonding method used to fix the cover strip 292 and the base strip 291 as an example, the part where the cover strip 292 and the base strip 291 are connected can be understood as the part where the cover strip 292 and the base strip 291 are bonded. If the part where the cover strip 292 and the base strip 291 are connected is discontinuously arranged along the length of the base strip 291, it can be understood that the adhesive application between the cover strip 292 and the base strip 291 is intermittent. If the part where the cover strip 292 and the base strip 291 are connected is discontinuously arranged along the length of the base strip 291, it can be understood that the adhesive application between the cover strip 292 and the base strip 291 is continuous.

[0180] In any of the above embodiments of this application, the base strip 291 can be constructed as a steel strip. The cover strip can be a deformable and strong film, sheet, mesh, or other structure made of materials such as polyolefin or its derivatives, polyester or its derivatives, polyether or its derivatives, or fibers.

[0181] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0182] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A robotic arm for use in a robotic arm system near the affected area, the robotic arm being used to mount an actuator movable on the robotic arm, characterized in that, The robotic arm includes: A body having a first end and a second end opposite to each other along its own length; the body being for mounting an actuator movable along the length direction to allow the actuator to move between a first position near the first end and a second position near the second end; and A cable recycling mechanism is disposed at one end of the main body, and the cable recycling mechanism includes: A fixed part is fixedly disposed relative to the main body; A moving part, which is rotatably connected to the fixed part about a rotation axis; A coil spring, the coil spring being connected to the fixed portion and the moving portion; and An electrical component includes a fixed portion and a movable portion. The fixed portion is connected to the fixed portion, and the movable portion includes at least a portion of a flexible cable wound around the movable portion and having a movable end connected to the actuator. During the movement of the actuator from the first position to the second position, the moving part releases the flexible cable, while the coil spring gradually stores energy; during the movement of the actuator from the second position to the first position, the moving part retracts the flexible cable under the action of the coil spring; the electrical component includes: An electrically rotating joint includes a stator and a rotor, the stator being fixedly disposed relative to the fixed part, the rotor being rotatably electrically connected to the stator about the rotation axis, and one end of the flexible cable away from the movable end being electrically connected to the rotor; The rotor is fixedly connected to the moving part so that the rotor can rotate together with the moving part.

2. The robotic arm according to claim 1, characterized in that, The cable recycling mechanism also includes a rotating side circuit board, which is electrically connected to the end of the flexible cable away from the movable end. The rotor is electrically connected to the rotating side circuit board, and the rotating side circuit board is fixedly connected to the moving part. The rotating side circuit board and the moving part rotate together.

3. The robotic arm according to claim 1, characterized in that, The fixed part includes a support having a mounting hole extending in a direction parallel to the axis of rotation. The stator passes through the mounting hole and is fixed to the support; the stator is sleeved on the outside of the rotor. The moving part includes a winding roller, which is partially located in the mounting hole. The winding roller is sleeved on the outside of the stator and connected to the support via a bearing.

4. The robotic arm according to claim 3, characterized in that, The coil spring is sleeved on the winding roller and located between the winding roller and the support. The outermost end of the coil spring is fixedly connected to the support, and the innermost end of the coil spring is fixedly connected to the winding roller.

5. The robotic arm according to claim 3, characterized in that, The winding roller includes an installation section, a winding section, and a limiting section arranged sequentially along a direction parallel to the rotation axis. The outer diameter of the mounting section is smaller than the outer diameter of the winding section, and the outer diameter of the winding section is smaller than the outer diameter of the limiting section and the radial outer dimension of the support. The mounting section is connected to the mounting hole via the bearing, and the winding section and the limiting section are located outside the support. The winding section is used to wind the flexible cable.

6. The robotic arm according to claim 5, characterized in that, The coil spring is located in the mounting hole, the coil spring is sleeved on the outside of the mounting section, the innermost end of the coil spring is fixedly connected to the mounting section, and the outermost end of the coil spring is fixedly connected to the support.

7. The robotic arm according to claim 1, characterized in that, The electrical component includes a flexible cable, which comprises a first flexible cable, a second flexible cable, and a third flexible cable connected in sequence. The first flexible cable is fixedly connected to the fixed part, the second flexible cable is wound around the moving part, and the third flexible cable is wound around the moving part. The winding areas of the second flexible cable and the third flexible cable are different, and the movable end is located on the third flexible cable.

8. The robotic arm according to claim 7, characterized in that, The first part of the flexible cable, the second part of the flexible cable, and the third part of the flexible cable are constructed to form a complete flexible cable.

9. The robotic arm according to claim 7, characterized in that, When the actuator is in the first position, the number of turns of the second flexible cable around the moving part is not less than 1 / 2 of the number of turns of the third flexible cable around the moving part; or When the actuator is in the first position, the number of turns of the second flexible cable around the moving part is less than 1 / 2 of the number of turns of the third flexible cable around the moving part.

10. The robotic arm according to claim 9, characterized in that, When the actuator is in the first position, the second part of the flexible cable is wound in the same direction as the third part of the flexible cable is wound in the same direction.

11. The robotic arm according to claim 7, characterized in that, The radius of the second flexible cable wound around the moving part is smaller than the radius of the third flexible cable wound around the moving part.

12. The robotic arm according to any one of claims 7 to 11, characterized in that, The fixed part includes a shaft, and the moving part includes a coiled spring winding disc. The coiled spring winding disc is sleeved on the shaft. The innermost end of the coiled spring is fixedly connected to the shaft, and the outermost end of the coiled spring is fixedly connected to the coiled spring winding disc.

13. The robotic arm according to any one of claims 7 to 11, characterized in that, The fixed part includes a shaft, and the moving part includes a winding reel. The winding reel is sleeved on the shaft. The winding reel includes a coil spring mounting part, a first winding part, and a second winding part arranged sequentially along a direction parallel to the rotation axis. The coil spring is located in the coil spring mounting part. The innermost end of the coil spring is fixedly connected to the shaft, and the outermost end of the coil spring is fixedly connected to the coil spring mounting part. The second part of the flexible cable is wound around the outside of the second winding part, and the third part of the flexible cable is wound around the outside of the first winding part.

14. The robotic arm according to claim 13, characterized in that, A first isolation disc is provided between the coil spring mounting part and the first winding part, and a second isolation disc is provided between the first winding part and the second winding part.

15. The robotic arm according to claim 14, characterized in that, The second isolation plate has a cable passage hole, through which the connection between the second part of the flexible cable and the third part of the flexible cable passes.

16. The robotic arm according to claim 13, characterized in that, The fixed part includes a housing, the interior of which forms an accommodating space. The shaft is located in the accommodating space and fixed to the housing. The coiled spring reel, the second portion of the flexible cable, and at least a portion of the third portion of the flexible cable are located in the accommodating space. The first portion of the flexible cable is located outside the housing. The housing has a first notch and a second notch communicating with the accommodating space. The first notch is corresponding to the first winding portion to allow the end of the third flexible cable away from the second flexible cable to extend to the outside of the housing. The second notch is corresponding to the second winding portion to allow the connection between the first flexible cable and the second flexible cable to pass through the housing.

17. The robotic arm according to claim 16, characterized in that, The first notch and the second notch are at least partially offset along a circumferential direction relative to the axis of rotation.

18. The robotic arm according to claim 16, characterized in that, The first winding portion is constructed as a spiral limiting portion formed around the rotation axis, the spiral limiting portion defining a spiral channel for passing through the third flexible cable, and the outermost end of the spiral limiting portion is constructed as a first pressing portion for pressing the third flexible cable.

19. The robotic arm according to claim 16, characterized in that, The housing includes a third clamping portion for clamping one end of the second flexible cable portion, and the second winding portion includes a second clamping portion for clamping the other end of the second flexible cable portion. The third clamping portion is further away from the rotation axis than the second clamping portion in a direction perpendicular to the rotation axis.

20. The robotic arm according to claim 1, characterized in that, The flexible cable is constructed as a flexible flat cable, and the rotation axis is parallel to the width direction of the flexible flat cable.

21. The robotic arm according to claim 1, characterized in that, The axis of rotation is perpendicular to the length direction of the body.

22. The robotic arm according to claim 1, characterized in that, The cable recycling mechanism further includes a protective belt, one end of which is connected to the moving part, and the other end is used to connect to the actuator. The protective belt includes a base belt and a cover belt, both of which have length and width. The length direction of the cover belt is parallel to the length direction of the base belt. The two side edges of the cover belt along its own width direction are fixed to the base belt. The middle part of the cover belt along its own width direction has a gap with the base belt, and the flexible cable is located within the gap.

23. The robotic arm according to claim 22, characterized in that, The two edges of the covering strip along its width direction are bonded and fixed to the base strip.

24. The robotic arm according to claim 22, characterized in that, The cover strip covers one side of the baseband.

25. The robotic arm according to claim 22, characterized in that, The covering strip completely covers one side of the baseband, and at least partially covers the other side of the baseband, with both edges of the covering strip along its width direction fixed to the other side of the baseband.

26. The robotic arm according to claim 22, characterized in that, The covering strips are arranged at intervals along their own length on the base strip.

27. The robotic arm according to claim 22, characterized in that, The covering strip continuously covers the base strip along its own length.

28. The robotic arm according to claim 22, characterized in that, The portion where the cover strip connects to the base strip is configured to be either intermittently or continuously arranged along the length direction of the base strip.

29. The robotic arm according to claim 22, characterized in that, The baseband is constructed of steel strip.

30. The robotic arm according to claim 1, characterized in that, The body includes a cable routing groove extending along the length direction of the body, the cable routing groove being used to accommodate the flexible cable released from the moving part.

31. A robotic arm for use in a robotic arm system near the affected area, the robotic arm being used to mount an actuator movable on the robotic arm, characterized in that, The robotic arm includes: A body having a first end and a second end opposite to each other along its own length; the body being for mounting an actuator movable along the length direction to allow the actuator to move between a first position near the first end and a second position near the second end; and A cable recycling mechanism is disposed at one end of the main body, and the cable recycling mechanism includes: A fixed part is fixedly disposed relative to the main body; A moving part, which is rotatably connected to the fixed part about a rotation axis; A coil spring, the coil spring being connected to the fixed portion and the moving portion; and An electrical component includes a fixed portion and a movable portion. The fixed portion is connected to the fixed portion, and the movable portion includes at least a portion of a flexible cable wound around the movable portion and having a movable end connected to the actuator. During the process of the actuator moving from the first position to the second position, the moving part releases the flexible cable, while the coil spring gradually stores energy; during the process of the actuator moving from the second position to the first position, the moving part winds up the flexible cable under the action of the coil spring. The flexible cable includes a first part of flexible cable, a second part of flexible cable and a third part of flexible cable connected in sequence. The first part of flexible cable is fixedly connected to the fixed part. The second part of flexible cable is wound around the movable part. The third part of flexible cable is wound around the movable part. The winding areas of the second part of flexible cable and the third part of flexible cable are different. The movable end is located in the third part of flexible cable. The fixed part includes a shaft, and the moving part includes a winding reel. The winding reel is sleeved on the shaft. The winding reel includes a coil spring mounting part, a first winding part, and a second winding part arranged sequentially along a direction parallel to the rotation axis. The coil spring is located in the coil spring mounting part. The innermost end of the coil spring is fixedly connected to the shaft, and the outermost end of the coil spring is fixedly connected to the coil spring mounting part. The second part of the flexible cable is wound around the outside of the second winding part, and the third part of the flexible cable is wound around the outside of the first winding part.

32. The robotic arm according to claim 31, characterized in that, The first part of the flexible cable, the second part of the flexible cable, and the third part of the flexible cable are constructed to form a complete flexible cable.

33. The robotic arm according to claim 31, characterized in that, When the actuator is in the first position, the number of turns of the second flexible cable around the moving part is not less than 1 / 2 of the number of turns of the third flexible cable around the moving part; or When the actuator is in the first position, the number of turns of the second flexible cable around the moving part is less than 1 / 2 of the number of turns of the third flexible cable around the moving part.

34. The robotic arm according to claim 33, characterized in that, When the actuator is in the first position, the second part of the flexible cable is wound in the same direction as the third part of the flexible cable is wound in the same direction.

35. The robotic arm according to claim 31, characterized in that, The radius of the second flexible cable wound around the moving part is smaller than the radius of the third flexible cable wound around the moving part.

36. The robotic arm according to any one of claims 31 to 35, characterized in that, The fixed part includes a shaft, and the moving part includes a coiled spring winding disc. The coiled spring winding disc is sleeved on the shaft. The innermost end of the coiled spring is fixedly connected to the shaft, and the outermost end of the coiled spring is fixedly connected to the coiled spring winding disc.

37. The robotic arm according to any one of claims 31 to 35, characterized in that, A first isolation disc is provided between the coil spring mounting part and the first winding part, and a second isolation disc is provided between the first winding part and the second winding part.

38. The robotic arm according to claim 37, characterized in that, The second isolation plate has a cable passage hole, through which the connection between the second part of the flexible cable and the third part of the flexible cable passes.

39. The robotic arm according to any one of claims 31 to 35, characterized in that, The fixed part includes a housing, the interior of which forms an accommodating space. The shaft is located in the accommodating space and fixed to the housing. The coiled spring reel, the second portion of the flexible cable, and at least a portion of the third portion of the flexible cable are located in the accommodating space. The first portion of the flexible cable is located outside the housing. The housing has a first notch and a second notch communicating with the accommodating space. The first notch is corresponding to the first winding portion to allow the end of the third flexible cable away from the second flexible cable to extend to the outside of the housing. The second notch is corresponding to the second winding portion to allow the connection between the first flexible cable and the second flexible cable to pass through the housing.

40. The robotic arm according to claim 39, characterized in that, The first notch and the second notch are at least partially offset along a circumferential direction relative to the axis of rotation.

41. The robotic arm according to claim 39, characterized in that, The first winding portion is constructed as a spiral limiting portion formed around the rotation axis, the spiral limiting portion defining a spiral channel for passing through the third flexible cable, and the outermost end of the spiral limiting portion is constructed as a first pressing portion for pressing the third flexible cable.

42. The robotic arm according to claim 39, characterized in that, The housing includes a third clamping portion for clamping one end of the second flexible cable portion, and the second winding portion includes a second clamping portion for clamping the other end of the second flexible cable portion. The third clamping portion is further away from the rotation axis than the second clamping portion in a direction perpendicular to the rotation axis.

43. The robotic arm according to claim 31, characterized in that, The flexible cable is constructed as a flexible flat cable, and the rotation axis is parallel to the width direction of the flexible flat cable.

44. The robotic arm according to claim 31, characterized in that, The axis of rotation is perpendicular to the length direction of the body.

45. The robotic arm according to claim 31, characterized in that, The cable recycling mechanism further includes a protective belt, one end of which is connected to the moving part, and the other end is used to connect to the actuator. The protective belt includes a base belt and a cover belt, both of which have length and width. The length direction of the cover belt is parallel to the length direction of the base belt. The two side edges of the cover belt along its own width direction are fixed to the base belt. The middle part of the cover belt along its own width direction has a gap with the base belt, and the flexible cable is located within the gap.

46. ​​The robotic arm according to claim 45, characterized in that, The two edges of the covering strip along its width direction are bonded and fixed to the base strip.

47. The robotic arm according to claim 45, characterized in that, The cover strip covers one side of the baseband.

48. The robotic arm according to claim 45, characterized in that, The covering strip completely covers one side of the baseband, and at least partially covers the other side of the baseband, with both edges of the covering strip along its width direction fixed to the other side of the baseband.

49. The robotic arm according to claim 45, characterized in that, The covering strips are arranged at intervals along their own length on the base strip.

50. The robotic arm according to claim 45, characterized in that, The covering strip continuously covers the base strip along its own length.

51. The robotic arm according to claim 45, characterized in that, The portion where the cover strip connects to the base strip is configured to be either intermittently or continuously arranged along the length direction of the base strip.

52. The robotic arm according to claim 45, characterized in that, The baseband is constructed of steel strip.

53. The robotic arm according to claim 31, characterized in that, The body includes a cable routing groove extending along the length direction of the body, the cable routing groove being used to accommodate the flexible cable released from the moving part.

54. A robotic arm for use in a robotic arm system near the affected area, the robotic arm being used to mount an actuator movable on the robotic arm, characterized in that, The robotic arm includes: A body having a first end and a second end opposite to each other along its own length; the body being for mounting an actuator movable along the length direction to allow the actuator to move between a first position near the first end and a second position near the second end; and A cable recycling mechanism is disposed at one end of the main body, and the cable recycling mechanism includes: A fixed part is fixedly disposed relative to the main body; A moving part, which is rotatably connected to the fixed part about a rotation axis; A coil spring, the coil spring being connected to the fixed portion and the moving portion; and An electrical component includes a fixed portion and a movable portion. The fixed portion is connected to the fixed portion, and the movable portion includes at least a portion of a flexible cable wound around the movable portion and having a movable end connected to the actuator. During the process of the actuator moving from the first position to the second position, the moving part releases the flexible cable, while the coil spring gradually stores energy; during the process of the actuator moving from the second position to the first position, the moving part winds up the flexible cable under the action of the coil spring. The flexible cable includes a first part of flexible cable, a second part of flexible cable and a third part of flexible cable connected in sequence. The first part of flexible cable is fixedly connected to the fixed part. The second part of flexible cable is wound around the movable part. The third part of flexible cable is wound around the movable part. The winding areas of the second part of flexible cable and the third part of flexible cable are different. The movable end is located in the third part of flexible cable. When the actuator is in the first position, the second part of the flexible cable is wound in the same direction as the third part of the flexible cable is wound in the same direction.

55. The robotic arm according to claim 54, characterized in that, The first part of the flexible cable, the second part of the flexible cable, and the third part of the flexible cable are constructed to form a complete flexible cable.

56. The robotic arm according to claim 54, characterized in that, When the actuator is in the first position, the number of turns of the second flexible cable around the moving part is not less than 1 / 2 of the number of turns of the third flexible cable around the moving part; or When the actuator is in the first position, the number of turns of the second flexible cable around the moving part is less than 1 / 2 of the number of turns of the third flexible cable around the moving part.

57. The robotic arm according to claim 54, characterized in that, The radius of the second flexible cable wound around the moving part is smaller than the radius of the third flexible cable wound around the moving part.

58. The robotic arm according to any one of claims 54 to 57, characterized in that, The fixed part includes a shaft, and the moving part includes a coiled spring winding disc. The coiled spring winding disc is sleeved on the shaft. The innermost end of the coiled spring is fixedly connected to the shaft, and the outermost end of the coiled spring is fixedly connected to the coiled spring winding disc.

59. The robotic arm according to any one of claims 54, 55, and 57, characterized in that, The fixed part includes a shaft, and the moving part includes a winding reel. The winding reel is sleeved on the shaft. The winding reel includes a coil spring mounting part, a first winding part, and a second winding part arranged sequentially along a direction parallel to the rotation axis. The coil spring is located in the coil spring mounting part. The innermost end of the coil spring is fixedly connected to the shaft, and the outermost end of the coil spring is fixedly connected to the coil spring mounting part. The second part of the flexible cable is wound around the outside of the second winding part, and the third part of the flexible cable is wound around the outside of the first winding part.

60. The robotic arm according to claim 59, characterized in that, A first isolation disc is provided between the coil spring mounting part and the first winding part, and a second isolation disc is provided between the first winding part and the second winding part.

61. The robotic arm according to claim 60, characterized in that, The second isolation plate has a cable passage hole, through which the connection between the second part of the flexible cable and the third part of the flexible cable passes.

62. The robotic arm according to claim 59, characterized in that, The fixed part includes a housing, the interior of which forms an accommodating space. The shaft is located in the accommodating space and fixed to the housing. The coiled spring reel, the second portion of the flexible cable, and at least a portion of the third portion of the flexible cable are located in the accommodating space. The first portion of the flexible cable is located outside the housing. The housing has a first notch and a second notch communicating with the accommodating space. The first notch is corresponding to the first winding portion to allow the end of the third flexible cable away from the second flexible cable to extend to the outside of the housing. The second notch is corresponding to the second winding portion to allow the connection between the first flexible cable and the second flexible cable to pass through the housing.

63. The robotic arm according to claim 62, characterized in that, The first notch and the second notch are at least partially offset along a circumferential direction relative to the axis of rotation.

64. The robotic arm according to claim 62, characterized in that, The first winding portion is constructed as a spiral limiting portion formed around the rotation axis, the spiral limiting portion defining a spiral channel for passing through the third flexible cable, and the outermost end of the spiral limiting portion is constructed as a first pressing portion for pressing the third flexible cable.

65. The robotic arm according to claim 62, characterized in that, The housing includes a third clamping portion for clamping one end of the second flexible cable portion, and the second winding portion includes a second clamping portion for clamping the other end of the second flexible cable portion. The third clamping portion is further away from the rotation axis than the second clamping portion in a direction perpendicular to the rotation axis.

66. The robotic arm according to claim 54, characterized in that, The flexible cable is constructed as a flexible flat cable, and the rotation axis is parallel to the width direction of the flexible flat cable.

67. The robotic arm according to claim 54, characterized in that, The axis of rotation is perpendicular to the length direction of the body.

68. The robotic arm according to claim 54, characterized in that, The cable recycling mechanism further includes a protective belt, one end of which is connected to the moving part, and the other end is used to connect to the actuator. The protective belt includes a base belt and a cover belt, both of which have length and width. The length direction of the cover belt is parallel to the length direction of the base belt. The two side edges of the cover belt along its own width direction are fixed to the base belt. The middle part of the cover belt along its own width direction has a gap with the base belt, and the flexible cable is located within the gap.

69. The robotic arm according to claim 68, characterized in that, The two edges of the covering strip along its width direction are bonded and fixed to the base strip.

70. The robotic arm according to claim 68, characterized in that, The cover strip covers one side of the baseband.

71. The robotic arm according to claim 68, characterized in that, The covering strip completely covers one side of the baseband, and at least partially covers the other side of the baseband, with both edges of the covering strip along its width direction fixed to the other side of the baseband.

72. The robotic arm according to claim 68, characterized in that, The covering strips are arranged at intervals along their own length on the base strip.

73. The robotic arm according to claim 68, characterized in that, The covering strip continuously covers the base strip along its own length.

74. The robotic arm according to claim 68, characterized in that, The portion where the cover strip connects to the base strip is configured to be either intermittently or continuously arranged along the length direction of the base strip.

75. The robotic arm according to claim 68, characterized in that, The baseband is constructed of steel strip.

76. The robotic arm according to claim 54, characterized in that, The body includes a cable routing groove extending along the length direction of the body, the cable routing groove being used to accommodate the flexible cable released from the moving part.

77. A robotic arm mechanism for a patient-side robotic arm system of a surgical robot, the robotic arm mechanism comprising: The arm holding the weapon according to any one of claims 1 to 76; and An actuator is movably connected to the holding arm along the length direction of the body and electrically connected to the flexible cable.

Images