surgical robots

Abstract

The present invention provides a surgical robot comprising an instrument clamping assembly, a pitch assembly, and a yaw assembly; the pitch assembly comprises a drive member and a transmission assembly, the transmission assembly comprising at least three sets of sequentially connected transmission arms, the transmission arms comprising a transmission rod and a rotating member, the transmission rod and the rotating member being rotatably connected to form a parallelogram transmission mechanism; the instrument clamping assembly is connected to the rotating member at a first end of the transmission assembly, and the drive member is connected to the rotating member at a second end of the transmission assembly to drive the rotating member to rotate, thereby sequentially driving the transmission arm and the instrument clamping assembly to move. By providing at least three sets of parallelogram transmission mechanisms and positioning the drive member rearward, that is, away from the instrument clamping assembly, the present invention optimizes the center of gravity of the transmission arm, reduces the effect of the cantilever, and effectively reduces the load torque caused by weight. This results in superior stiffness, precision, and reliability of the surgical robot to those of wire bundle or steel belt transmission methods, while also achieving lightweight and miniaturization of the device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a surgical robot. Background Art

[0002] When performing minimally invasive surgery, surgical robots must ensure that the end of the surgical instrument in contact with the patient's wound is a fixed point to prevent tearing and straining the minimally invasive wound during operation. The development of a robotic arm with a fixed point is a key research direction in surgical robotics.

[0003] At present, surgical robots mainly have the following structures to achieve fixed points:

[0004] (1) Wire bundle or steel belt type transmission mechanism. For example, the Chinese patent with publication number CN111565664A discloses a surgical robot arm and its pulley assembly, and the US patent with publication number US9797484B2 discloses a robot arm method with a belt transmission chain. Both of the above patents use wire bundles or steel belts for power transmission. One end of the wire bundle or steel belt is fixed to the driving wheel, and the other end is fixed to the passive wheel. The wire bundle and steel belt can be in the form of multiple wire bundles and multiple steel belts to ultimately achieve the movement of the fixed point. However, surgical robots that use wire bundles or steel belt mechanisms for transmission have the following problems: the wire bundles and steel belts themselves have high elasticity and low rigidity. In order to meet the existing surgical robot arm design size and load requirements, multiple wire bundles or multiple layers of steel belts are often required, which makes the processing technology of the wire bundle or steel belt mechanism difficult. In addition, the life and reliability of the wire bundles and steel belts are low, and long-term operation will bring high surgical risks.

[0005] (2) Double parallelogram transmission mechanism. For example, the Chinese patent publication number CN 217066571U discloses a double parallelogram mechanism to achieve the swinging motion of the instrument around a fixed point. The double parallelogram mechanism uses a rigid connecting rod to achieve power transmission. Although the connecting rod itself has high rigidity, the surgical robot arm itself lacks a frame. In addition to bearing the load required for movement, the connecting rod also needs to bear the overall weight of the surgical robot arm. Therefore, under the same size conditions, the connecting rod rigidity is weaker. In addition, it is difficult to achieve lightweight and miniaturization of the double parallelogram structure.

[0006] Therefore, it is necessary to provide a new type of surgical robot to solve the above problems existing in the prior art. Summary of the Invention

[0007] The object of the present invention is to provide a surgical robot, which optimizes the center of gravity position of the transmission arm and reduces the influence of the cantilever by setting at least three sets of parallelogram transmission mechanisms and placing the driving part at the rear, that is, away from the instrument clamping assembly, so as to effectively reduce the load torque caused by weight, so that the rigidity, precision and reliability of the surgical robot are better than those of the wire bundle or steel belt transmission method, and realize the lightweight and miniaturization of the device.

[0008] To achieve the above objectives, the surgical robot of the present invention comprises:

[0009] Instrument clamping assembly, used to mount and drive surgical instruments;

[0010] A pitch assembly comprising a drive member and a transmission assembly, wherein the transmission assembly comprises at least three sets of sequentially connected transmission arms, wherein the transmission arms comprise a transmission rod and a rotating member, wherein the transmission rod is rotatably connected to the rotating member to form a parallelogram transmission mechanism, wherein the instrument clamping assembly is connected to the rotating member at a first end of the transmission assembly, and the drive member is connected to the rotating member at a second end of the transmission assembly to drive the rotating member to rotate, thereby sequentially driving the transmission arm and the instrument clamping assembly to move;

[0011] A deflection assembly is connected to the pitch assembly, and the deflection assembly is used to drive the pitch assembly and the instrument clamping assembly to perform deflection movement.

[0012] The beneficial effects of the surgical robot of the present invention are as follows: the transmission assembly includes at least three groups of transmission arms connected in sequence, the transmission arms include a transmission rod and a rotating member, the transmission rod is rotatably connected to the rotating member and forms a parallelogram transmission mechanism, so that a telecentric fixed point is formed in a plane through the parallelogram transmission mechanism; and the instrument clamping assembly is connected to the rotating member at the first end of the transmission assembly, and the driving member is connected to the rotating member at the second end of the transmission assembly to drive the rotating member to rotate and sequentially drive the transmission arm and the instrument clamping assembly to move, so that the instrument clamping assembly clamps the surgical instrument to achieve a pitching motion with respect to the telecentric fixed point; and the deflection assembly is connected to the pitch assembly The deflection assembly is connected, and the deflection assembly is used to drive the pitch assembly and the instrument clamping assembly to perform deflection movement, so that the instrument clamping assembly clamps the surgical instrument to achieve deflection movement of the telecentric fixed point, that is, the surgical instrument, driven by the pitch assembly and the deflection assembly, always moves around the telecentric fixed point to perform surgical operations; and the present invention optimizes the center of gravity position of the transmission arm and reduces the influence of the cantilever by setting at least 3 groups of parallelogram transmission mechanisms, and the driving member is rearwardly arranged, that is, away from the instrument clamping assembly, which can effectively reduce the load torque caused by weight, so that the rigidity, precision and reliability of the surgical robot are better than those of the wire bundle or steel belt transmission method, and the transmission arm is composed of a transmission rod and a rotating member, which realizes the lightweight and miniaturization of the device.

[0013] Preferably, the surgical robot further comprises a connecting member, which is arranged in the middle of the transmission rod and is rotatably connected to at least two of the transmission rods constituting the parallelogram transmission mechanism, and the connecting member moves along with the movement of the transmission rod. Its beneficial effect is that: arranging the connecting member in the middle of the transmission rod is equivalent to adding a support structure in the middle of the long side of the parallelogram transmission mechanism, thereby shortening the length of the long side of the parallelogram transmission mechanism, so that the stability of the transmission rod when under pressure can be improved; and the connecting member can transmit the force between the connected transmission rods, thereby improving the rigidity of the transmission rod itself. At the same time, when one of the transmission rods runs to the dead point position, the force can also be transmitted through the connecting member to share the force of the transmission rod.

[0014] Preferably, the transmission arm includes at least three transmission rods, which are arranged in parallel and, together with the rotating members at both ends of the transmission rods, form a plurality of parallelogram transmission mechanisms. The ends of the transmission rods rotate about the center of the rotating member as the rotating member rotates. This advantageously improves the rigidity of the transmission arm and the load capacity of the surgical robot.

[0015] Preferably, the rotation angle of the rotating member is -80° to 80°. This has the beneficial effect of enabling the instrument clamping assembly to clamp the surgical instrument to achieve a rotational motion of -80° to 80° along the pitch direction, while avoiding interference between the transmission rods.

[0016] Further preferably, the rotation angle of the rotating member is -75° to 75°. The rotation angle of the rotating member is specifically related to the number of transmission rods and the spacing between the transmission rods, and can be adjusted according to actual needs.

[0017] Preferably, the transmission rod comprises at least two transmission support rods, at least one connecting end of which is provided with a plurality of equally spaced fixing portions, and adjacent transmission support rods are detachably connected via the fixing portions. This advantageously allows adjacent transmission support rods to be connected and fixed via the fixing portions at different positions, thereby adjusting the length of the transmission rods and preventing the parallelogram transmission mechanism from becoming stuck due to machining errors.

[0018] Preferably, there are a plurality of connecting members, and the connecting members are arranged at equal intervals along the length of the transmission rod. This has the beneficial effect of improving the stress state of the transmission rod, making the stress on the transmission rod more uniform, thereby increasing the overall rigidity of the transmission arm in the surgical robot.

[0019] Preferably, the connecting member is at least one of a connecting rod structure and a rotating disk structure, and the connecting member is rotatably connected to the transmission rod via a connecting rod rotating shaft. The beneficial effect is that the structure is simple and the structure of the connecting member can be selected according to actual needs.

[0020] Preferably, the angle between the first line connecting the end of any transmission rod and the center of the rotating member and the center line of the rotating member is 30° to 150°. This has the beneficial effect of preventing interference between adjacent transmission rods.

[0021] Preferably, the connecting member is a connecting rod structure, and the plurality of transmission rods are rotatably connected to the connecting rod structure in sequence along the length of the connecting rod structure. This advantageously provides a simple connecting rod structure, occupies a small space, and can be provided with multiple connecting rod structures according to the force applied to the transmission rods, thereby improving the overall rigidity of the transmission arm in the surgical robot.

[0022] Preferably, the connecting member is a rotating disk structure, and the plurality of transmission rods are rotationally connected to the rotating disk structure in sequence along the circumference of the rotating disk structure, and the rotating disk structure is rotationally connected to the housing of the transmission arm. This advantageously improves the rigidity of the transmission rods, improves the stress state of the transmission rods, and enhances the overall rigidity of the transmission arm in the surgical robot.

[0023] Preferably, the fixing part includes a first fixing part and a second fixing part cooperating with the first fixing part, and the structure of the first fixing part is the same as or different from the structure of the second fixing part, the first fixing part is provided at one end of the transmission support rod, and / or the second fixing part is provided at the other end of the transmission support rod.

[0024] Preferably, the structure of the rotating member is the same as that of the connecting member and both are rotating disk structures, the rotating disk structure includes a fixed rotating portion and a connecting portion, the connecting portion includes a first connecting portion and / or a second connecting portion; the first connecting portion is an annular structure and is sleeved inside the rotating portion, and at least two transmission rods are circumferentially arranged on the annular structure; the second connecting portion includes an annular connecting portion and at least two extended protrusions arranged on the edge of the annular connecting portion, the annular connecting portion is sleeved inside the rotating portion, the extended protrusions are arranged parallel to the surface of the rotating portion, and the transmission rod is rotatably arranged on the extended protrusions. Its beneficial effects are: the structure of the first connecting portion is suitable for rotating portions with larger inner circumferences, and the structure is simple and easy to install; the structure of the second connecting portion is suitable for rotating portions with smaller inner circumferences, and the second connecting portion can be sleeved inside the first connecting portion, which can make the entire rotating member structure more compact, thereby helping to reduce the overall volume of the transmission arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the structure of a surgical robot according to an embodiment of the present invention;

[0026] Figure 2 for Figure 1 Schematic diagram of the telecentric fixed point of the surgical robot shown;

[0027] Figure 3 for Figure 1 The schematic diagram of the assembly of the transmission rod and the rotating part in the surgical robot shown;

[0028] Figure 4 for Figure 1 The schematic diagram of the assembly of the transmission arm and other components of the surgical robot shown;

[0029] Figure 5 for Figure 1Schematic diagram of the angle between adjacent transmission rods and the center line of the rotating part in the surgical robot shown Figure 1 ;

[0030] Figure 6 Schematic diagram of a connecting rod structure and a transmission rod in a surgical robot according to an embodiment of the present invention in a first motion state;

[0031] Figure 7 for Figure 6 A schematic diagram of the connecting rod structure and the transmission rod shown in the second motion state;

[0032] Figure 8 Schematic diagram of a rotating disk structure and a transmission rod in a surgical robot according to an embodiment of the present invention in a first motion state;

[0033] Figure 9 for Figure 8 A schematic diagram of the rotating disk structure and the transmission rod shown in the second motion state;

[0034] Figure 10 for Figure 1 Schematic diagram of the angle between adjacent transmission rods and the center line of the rotating part in the surgical robot shown Figure 2 ;

[0035] Figure 11 for Figure 1 Schematic diagram of the angle between adjacent transmission rods and the center line of the rotating part in the surgical robot shown Figure 3 . DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meanings understood by people with ordinary skills in the field to which the invention belongs. The words "including" and similar words used in this article mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0037] In order to overcome the problems existing in the prior art, an embodiment of the present invention provides a surgical robot. By setting at least three sets of parallelogram transmission mechanisms and placing the driving part rearward, that is, away from the instrument clamping assembly, the center of gravity position of the transmission arm is optimized, the influence of the cantilever is reduced, and the load torque caused by weight can be effectively reduced, so that the stiffness, precision and reliability of the surgical robot are better than those of wire bundle or steel belt transmission methods, and the device is lightweight and miniaturized.

[0038] Figure 1 Schematic diagram of the structure of a surgical robot according to an embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the telecentric fixed point of the surgical robot shown; Figure 3 for Figure 1 The schematic diagram of the assembly of the transmission rod and rotating parts in the surgical robot is shown.

[0039] In some embodiments of the present invention, reference Figures 1 to 3 The surgical robot includes an instrument clamping assembly 1, a pitch assembly 2 and a deflection assembly 3; the instrument clamping assembly 1 is used to install and drive a surgical instrument (not shown in the figure); the pitch assembly 2 includes a driving member 21 and a transmission assembly 22, the transmission assembly 22 includes at least three groups of transmission arms (not shown in the figure) connected in sequence, and the transmission arm (not shown in the figure) includes a transmission rod 221 and a rotating member 222, the transmission rod 221 is rotatably connected to the rotating member 222 and forms a parallelogram transmission mechanism, the instrument clamping assembly 1 is connected to the rotating member 222 at the first end of the transmission assembly 22, and the driving member 21 is connected to the rotating member 222 at the second end of the transmission assembly 22 to drive the rotating member 222 to rotate and sequentially drive the transmission arm (not shown in the figure) and the instrument clamping assembly 1 to move; the deflection assembly 3 is connected to the pitch assembly 2, and the deflection assembly 3 is used to drive the pitch assembly 2 and the instrument clamping assembly 1 to perform deflection movement.

[0040] Specifically, refer to Figures 1 to 3The transmission assembly 22 includes at least three sets of sequentially connected transmission arms (not shown), each of which includes a transmission rod 221 and a rotating member 222. The transmission rod 221 and the rotating member 222 are rotatably connected and form a parallelogram transmission mechanism. This at least three sets of parallelogram transmission mechanisms form a telecentric fixed point 4 within a plane. The instrument axis 41 of the instrument clamping assembly 1, the pitch axis 42 of the pitch assembly 2, and the yaw axis 43 of the deflection assembly 3 all intersect at the telecentric fixed point 4. The telecentric fixed point 4 is fixed relative to the housing of the transmission arm connected to the drive member 21. During surgery, the telecentric fixed point 4 serves as a minimally invasive puncture point on the patient's skin. The fixation of the telecentric fixed point 4 reduces skin strain and ensures surgical safety.

[0041] refer to Figures 1 to 3 The instrument clamping assembly 1 is connected to the rotating member 222 at the first end of the transmission assembly 22, and the driving member 21 is connected to the rotating member 222 at the second end of the transmission assembly 22 to drive the rotating member 222 to rotate and sequentially drive the transmission arm (not shown) and the instrument clamping assembly 1 to move, so that the instrument clamping assembly 1 clamps the surgical instrument to achieve pitch movement with the telecentric fixed point 4, and is connected to the pitch assembly 2 through the deflection assembly 3, and the deflection assembly 3 is used to drive the pitch assembly The instrument holding assembly 2 and the instrument holding assembly 1 perform a deflection motion, and the yaw axis 43 of the deflection assembly 3 passes through the telecentric fixed point 4. When the deflection assembly 3 rotates, it can drive the preceding components, namely the pitch assembly 2, the instrument holding assembly 1, and the surgical instrument (not shown in the figure), to perform a yaw rotation around the telecentric fixed point 4 as a whole, so that the instrument holding assembly 1 clamps the surgical instrument to achieve a deflection motion around the telecentric fixed point 4, that is, the surgical instrument, driven by the pitch assembly 2 and the deflection assembly 3, always moves around the telecentric fixed point 4 to perform a surgical operation.

[0042] refer to Figures 1 to 3 The present invention provides at least three sets of parallelogram transmission mechanisms and places the driving member 21 rearward, that is, away from the instrument clamping assembly 1, thereby optimizing the center of gravity position of the transmission arm (not shown in the figure), reducing the influence of the cantilever, and effectively reducing the load torque caused by weight, so that the rigidity, precision and reliability of the surgical robot are better than those of the wire bundle or steel belt transmission method, and the transmission arm (not shown in the figure) is composed of a transmission rod 221 and a rotating member 222, thereby achieving lightweight and miniaturization of the device.

[0043] In some embodiments of the present invention, the transmission arm includes at least three transmission rods, and the at least three transmission rods are arranged in parallel and form a plurality of parallelogram transmission mechanisms with the rotating parts at both ends of the transmission rods, and the ends of the transmission rods rotate around the center of the rotating part as the rotating part rotates, which is beneficial to improving the stiffness of the transmission arm and the load capacity of the surgical robot.

[0044] In some embodiments of the present invention, the rotation angle of the rotating member is between -80° and 80°, so that the instrument clamping assembly can achieve a rotational motion of -80° to 80° in the pitch direction of the surgical instrument while avoiding interference between the transmission rods. The 80° angle is the maximum clockwise rotation angle of the rotating member, and the -80° angle is the maximum counterclockwise rotation angle of the rotating member.

[0045] In some embodiments of the present invention, the rotation angle of the rotating member is between -75° and 75°. The rotation angle of the rotating member is specifically related to the number of transmission rods provided and the spacing between the transmission rods, and can be adjusted according to actual needs. Specifically, 75° is the maximum angle of the rotating member in a clockwise direction, and -75° is the maximum angle of the rotating member in a counterclockwise direction.

[0046] In some embodiments of the present invention, reference Figure 1 and Figure 2 The instrument clamping assembly 1 includes a sliding member 11 and an instrument driving member 12. The sliding member 11 is provided with a guide rail 111 along its length. The instrument driving member 12 includes a sliding housing 121, a driving unit (not shown), and a clamping portion 122. One side of the sliding housing 121 slides with the guide rail 111, and the other side of the sliding housing 121 is provided with the clamping portion 122. The driving unit (not shown) is disposed within the sliding housing 121 to drive the sliding housing 121 to move within the guide rail 111. The sliding member 11 is connected to the pitch assembly 2, and together they achieve rotation about the telecentric fixed point 4.

[0047] In some embodiments of the present invention, the surgical instrument can be adapted to different types of surgical instruments. In some specific embodiments, the surgical instrument is an endoscope for obtaining surgical environment information such as human tissues and organs, surgical instruments, blood vessels, and body fluids.

[0048] In some embodiments of the present invention, the transmission arm further includes a shell, the transmission rod 221 and the rotating member 222 are arranged in the shell, and the shells of adjacent transmission arms are rotatably arranged, so that the shells can be used as the main load-bearing mechanism, which is beneficial to improving the stability and safety of the transmission arm.

[0049] In some embodiments of the present invention, reference Figure 1 and Figure 2 The transmission assembly 22 includes three sets of transmission arms arranged to rotate in sequence, namely a first transmission arm 201, a second transmission arm 202, and a third transmission arm 203. The housing of the first transmission arm 201 is fixedly connected to the deflection assembly 3, and the first transmission arm 201 is stationary relative to the telecentric fixed point 4. One end of the second transmission arm 202 is rotationally connected to the first transmission arm 201, and the other end of the second transmission arm 202 is rotationally connected to the third transmission arm 203, and the second transmission arm 202 is in motion relative to the telecentric fixed point 4. The other end of the third transmission arm 203 is rotationally connected to the sliding member 11, and the third transmission arm 203 is in motion relative to the telecentric fixed point 4. The second transmission arm 202, the third transmission arm 203, and the sliding member 11 rotate relative to each other at a certain angle, forming a fixed rotation axis, namely the pitch axis 42.

[0050] Figure 4 for Figure 1 The figure shows the assembly diagram of the transmission arm and other components of the surgical robot.

[0051] In some embodiments of the present invention, reference Figures 1 to 4The first transmission arm 201 includes a first transmission rod 2011, a first rotating member 2012 and a main rotating member 2013; two first transmission rods 2011 are provided and are arranged in parallel, and the two ends of the first transmission rod 2011 are respectively rotatably connected to the first rotating member 2012 and the main rotating member 2013 to form a first parallelogram transmission mechanism; the main rotating member 2013 is connected to the output end of the driving member 21, and when the driving member 21 drives the main rotating member 2013 to rotate, it will drive the first transmission rod 2011 to move, and the first rotating member 2012 will rotate synchronously with the main rotating member 2013 as the first transmission rod 2011 moves. The second transmission arm 202 includes a second transmission rod 2021 and a second rotating member 2022; the second transmission rods 2021 are provided with two and are arranged in parallel, and the two ends of the second transmission rod 2021 are respectively rotatably connected to the first rotating member 2012 and the second rotating member 2022 to form a second parallelogram transmission mechanism; when the first rotating member 2012 rotates, it will drive the second transmission rod 2021 to move, and the second rotating member 2022 will rotate synchronously with the first rotating member 2012 as the second transmission rod 2021 moves. The third transmission arm 203 includes a third transmission rod 2031 and a third rotating member 2032. Two third transmission rods 2031 are provided and arranged in parallel. The ends of the third transmission rods 2031 are rotatably connected to the second rotating member 2022 and the third rotating member 2032, respectively, to form a third parallelogram transmission mechanism. When the second rotating member 2022 rotates, it drives the third transmission rod 2031 to move. The third rotating member 2032 rotates synchronously with the second rotating member 2022 along with the movement of the third transmission rod 2031, thereby rotating the slider 11. Through the transmission movement of the first, second, and third parallelogram transmission mechanisms, the slider 11 can achieve movement about a telecentric fixed point 4. This results in a transmission arm with superior stiffness, precision, and reliability to those of a wire bundle or steel belt transmission mechanism. Furthermore, the size and weight are smaller than those of a double parallelogram transmission mechanism and are similar to those of a wire bundle or steel belt transmission mechanism, thus achieving lightweight and compactness. This embodiment has three parallelogram transmission mechanisms, which are simple to manufacture and achieve safe and high-performance operation of the transmission arm. Furthermore, the rear placement of the drive element reduces the load torque caused by weight.

[0052] In some embodiments of the present invention, the first rotating member 2012 is rotatably connected to the housing of the second transmission arm 202 , and the second rotating member 2022 is rotatably connected to the housing of the third transmission arm 203 .

[0053] In some embodiments of the present invention, the driving member 21 is a driving motor.

[0054] In some embodiments of the present invention, the deflection assembly 3 is a yaw rotation motor.

[0055] Figure 5 for Figure 1 Schematic diagram of the angles between adjacent transmission rods and the center line of the rotating member in the surgical robot shown; Figure 6 Schematic diagram of a connecting rod structure and a transmission rod in a surgical robot according to an embodiment of the present invention in a first motion state; Figure 7 for Figure 6 A schematic diagram of the connecting rod structure and the transmission rod shown in the second motion state; Figure 8 Schematic diagram of a rotating disk structure and a transmission rod in a surgical robot according to an embodiment of the present invention in a first motion state; Figure 9 for Figure 8 The schematic diagram of the rotating disk structure and the transmission rod shown is in the second motion state.

[0056] In some embodiments of the present invention, reference Figures 6 to 9 The surgical robot also includes a connector (not shown). This connector (not shown) is located in the middle of the transmission rods 221 and is rotationally connected to each of the at least two transmission rods 221 that comprise the parallelogram transmission mechanism. The connector (not shown) moves with the movement of the transmission rods 221. This location of the connector (not shown) is equivalent to adding a support structure to the middle of the long sides of the parallelogram transmission mechanism, thereby shortening the length of the long sides and improving the stability of the transmission rods under pressure. Furthermore, the connector transmits force between the connected transmission rods, increasing the rigidity of the transmission rods themselves. Furthermore, when one transmission rod reaches a dead center position, force is transmitted through the connector, sharing the force applied to that transmission rod. The middle of the transmission rod 221 refers to the area between the two ends of the transmission rod 221.

[0057] Specifically, when the surgical robot's transmission arm is in different postures, the transmission rod may be compressed or pulled. When the transmission rod is compressed, it is easy to cause the transmission rod to become unstable and deform. In addition, when the line connecting the two ends of the transmission rod is collinear with the center line of the rotating part, the transmission rod is in a dead point position. At this time, the transmission rod in the collinear position does not bear any power transmission load, and the load is transmitted by other connecting rods. When the transmission rod is in a compressed state or in a dead point position, the overall stiffness of the transmission arm will decrease. Therefore, when designing the transmission arm, the position of the transmission rod needs to be set according to different force states. Figure 5Assuming the angles α and β between the two transmission rods 221 and the centerline 24 of the rotating member 222 are respectively, the forces acting on the two transmission rods 221 are Fα and Fβ (tensile force is positive, compressive force is negative). To ensure the overall rigidity of the transmission arm, the angles α and β should be optimized so that, under the same load torque, the forces acting on the transmission rods 221 are tensile, with Fα and Fβ as small as possible, avoiding dead points. The present invention optimizes the force state of the transmission rods by providing a connecting member, ensuring that the tensile range of the transmission rods is greater than the compressive range. By reducing the force and tensile and compressive states of the transmission rods, the overall rigidity of the surgical transmission arm is improved.

[0058] In some embodiments of the present invention, multiple connecting members are provided, and the connecting members are evenly spaced along the length of the transmission rod. This can improve the stress state of the transmission rod, making the stress on the transmission rod more uniform, thereby increasing the overall rigidity of the transmission arm of the surgical robot.

[0059] In some embodiments of the present invention, the connecting member is at least one of a connecting rod structure and a rotating disk structure, and the connecting member is rotatably connected to the transmission rod via a connecting rod rotating shaft. The structure is simple, and the structure of the connecting member can be selected according to actual needs.

[0060] In some embodiments of the present invention, reference Figure 6 and Figure 7 The connecting member is a connecting rod structure 51, and the plurality of transmission rods 221 are rotatably connected to the connecting rod structure 51 in sequence along the length of the connecting rod structure 51. The connecting rod structure 51 has a simple structure and occupies a small space. Multiple connecting rod structures 51 can be provided according to the force applied to the transmission rod 221, which helps to improve the overall rigidity of the transmission arm of the surgical robot.

[0061] In some embodiments of the present invention, reference Figure 8 and Figure 9 The connecting member is a rotating disk structure 52, and several of the transmission rods 221 are rotationally connected to the rotating disk structure 52 in sequence along the circumference of the rotating disk structure 52, and the rotating disk structure 52 is rotationally connected to the shell of the transmission arm, so that the stiffness of the transmission rod 221 can be further improved, the stress state of the transmission rod 221 can be improved, and the overall stiffness of the transmission arm in the surgical robot can be improved.

[0062] In some embodiments of the present invention, reference Figure 3 、 Figure 8 and Figure 9The structure of the rotating member 222 is the same as that of the connecting member and both are rotating disk structures 52, the rotating disk structure 52 includes a fixed rotating part 521 and a connecting part, the connecting part includes a first connecting part 522 and / or a second connecting part 523; the first connecting part 522 is an annular structure and is sleeved in the rotating part 521, and at least two transmission rods 221 are circumferentially arranged in the annular structure; the second connecting part 523 includes an annular connecting part 5231 and at least two extended protrusions 5232 arranged on the edge of the annular connecting part 5231, the annular connecting part 5231 is sleeved in the rotating part 521, the extended protrusion 5232 is arranged parallel to the surface of the rotating part 521, and the transmission rod 221 is rotatably set on the extended protrusion 5232. The structure of the first connecting part 522 is suitable for the rotating part 521 with a larger inner circumference, and the structure is simple and easy to install; the structure of the second connecting part 523 is suitable for the rotating part 521 with a smaller inner circumference, and the second connecting part 523 can be sleeved in the first connecting part 522, which can make the entire rotating part 222 structure more compact, thereby helping to reduce the overall volume of the transmission arm.

[0063] In some embodiments of the present invention, reference Figure 3 and Figure 4 The main rotating member 2013 includes the rotating portion 521 and the first connecting portion 522. One end of the first transmission rod 2011 is rotatably connected to the first connecting portion 522 via the connecting rod shaft 6. The rotating portion 521 drives the end of the first transmission rod 2011 to rotate around the center of the rotating portion 521, thereby driving the first transmission rod 2011 and the first rotating member 2012 connected to the other end of the first transmission rod 2011 to move.

[0064] In some embodiments of the present invention, reference Figure 3 and Figure 4The first rotating member 2012 and the second rotating member 2022 each include a rotating portion 521, a first connecting portion 522, and a second connecting portion 523. The first connecting portion 522 is sleeved on the inner circumference of the rotating portion 521, and the second connecting portion 523 is sleeved on the inner circumference of the first connecting portion 522. The other end of the first transmission rod 2011 is rotatably connected to the extended protrusion 5232 of the second connecting portion 523 in the first rotating member 2012 via a connecting rod rotating shaft 6. One end of the second transmission rod 2021 is rotatably connected to the first connecting portion 522 in the first rotating member 2012 via a connecting rod rotating shaft 6, and the other end of the second transmission rod 2021 is rotatably connected to the extended protrusion 5232 of the second connecting portion 523 in the second rotating member 2022 via a connecting rod rotating shaft 6. One end of the third transmission rod 2031 is rotatably connected to the first connecting portion 522 in the second rotating member 2022 via a connecting rod rotating shaft 6.

[0065] In some embodiments of the present invention, reference Figure 3 and Figure 4 The third rotating member 2032 includes the rotating portion 521 and the second connecting portion 523 , and the other end of the third transmission rod 2031 is rotatably connected to the extended protrusion 5232 of the second connecting portion 523 in the third rotating member 2032 through the connecting rod shaft 6 .

[0066] In some embodiments of the present invention, reference Figure 3 and Figure 4 The transmission rod 221 includes at least two transmission support rods 223. At least one connecting end of the transmission support rods 223 is provided with a plurality of equally spaced fixing portions 224. Adjacent transmission support rods 223 are detachably connected via the fixing portions 224. Adjacent transmission support rods 223 can be connected and fixed via the fixing portions 224 at different positions, thereby adjusting the length of the transmission rod 221 and preventing the parallelogram transmission mechanism from becoming stuck due to machining errors.

[0067] In some embodiments of the present invention, the fixing portion includes a first fixing portion and a second fixing portion cooperating with the first fixing portion, and the structure of the first fixing portion is the same as or different from the structure of the second fixing portion, and the first fixing portion is provided at one end of the transmission support rod, and / or the second fixing portion is provided at the other end of the transmission support rod.

[0068] In some embodiments of the present invention, the first fixing portion is provided at one end of one of the transmission support rods, and the second fixing portion is provided at one end of the other transmission support rod connected to the transmission support rod.

[0069] In some other embodiments of the present invention, the first fixing portion and the second fixing portion are respectively provided at both ends of the transmission support rod.

[0070] In some specific embodiments of the present invention, reference Figure 3 The transmission rod 221 includes at least two transmission rods 223, namely a first transmission rod 2231 and a second transmission rod 2232. The first fixing portion 2241 is provided at one end of the first transmission rod 2231, and the second fixing portion 2242 is provided at the end of the second transmission rod 2232 connected to the first transmission rod 2231.

[0071] In some embodiments of the present invention, the structure of the first fixing portion is different from the structure of the second fixing portion. The first fixing portion is a boss and the second fixing portion is a groove. According to the required length of the transmission rod, the bosses at corresponding positions on adjacent transmission support rods are plugged into the grooves to achieve connection and fixation of adjacent transmission support rods.

[0072] In other embodiments of the present invention, the structure of the first fixing portion and the structure of the second fixing portion are the same and are both connecting hole structures. According to the required length of the transmission rod, the connecting hole structures at corresponding positions on adjacent transmission support rods are aligned and fixed by screws to achieve the connection and fixation of adjacent transmission support rods.

[0073] In some specific embodiments of the present invention, reference Figure 3 and Figure 4 The structure of the first fixing part 2241 is the same as that of the second fixing part 2242 and both are connecting hole structures. The screws are sequentially passed through the connecting hole structure on the first transmission support rod 2231 and the connecting hole structure on the second transmission support rod 2232, and then the nuts are used to realize the connection between the first transmission support rod 2231 and the second transmission support rod 2232.

[0074] Figure 10 for Figure 1 Schematic diagram of the angle between adjacent transmission rods and the center line of the rotating part in the surgical robot shown Figure 2 ; Figure 11 for Figure 1 Schematic diagram of the angle between adjacent transmission rods and the center line of the rotating part in the surgical robot shown Figure 3 .

[0075] In some embodiments of the present invention, reference Figure 5 、 Figure 10 and Figure 11The angle between the first connecting line 23 passing through the end of any of the transmission rods 221 and the center of the rotating member 222 and the center line 24 of the rotating member 222 is 30°~150° to avoid interference between adjacent transmission rods.

[0076] In the embodiment of the present invention, the center line of the rotating member 222 passes through the center of the rotating member 222 and is parallel to the transmission rod 221 .

[0077] In some specific embodiments of the present invention, reference Figure 5 The angle between the first connecting line 23 and the center line 24 of the rotating member 222 is 45°, that is, the angle α and the angle β are both 45°.

[0078] In other specific embodiments of the present invention, reference Figure 10 The angle between the first connecting line 23 and the center line 24 of the rotating member 222 is 60°, that is, the angle α and the angle β are both 60°.

[0079] In some specific embodiments of the present invention, reference Figure 11 The angle between the first connecting line 23 and the center line 24 of the rotating member 222 is 90°, that is, the angle α and the angle β are both 90°.

[0080] While the embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations of these embodiments are possible. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the claims. Furthermore, the invention described herein is susceptible to other embodiments and may be practiced or implemented in a variety of ways.

Claims

1. A surgical robot, characterized in that: include: Instrument clamping assembly, used to mount and drive surgical instruments; A pitch assembly comprising a drive member and a transmission assembly, wherein the transmission assembly comprises at least three sets of sequentially connected transmission arms, wherein the transmission arms comprise a transmission rod and a rotating member, wherein the transmission rod is rotatably connected to the rotating member to form a parallelogram transmission mechanism, wherein the instrument clamping assembly is connected to the rotating member at a first end of the transmission assembly, and the drive member is connected to the rotating member at a second end of the transmission assembly to drive the rotating member to rotate, thereby sequentially driving the transmission arm and the instrument clamping assembly to move; a deflection assembly connected to the pitch assembly, the deflection assembly being used to drive the pitch assembly and the instrument clamping assembly to perform deflection motion; The device further comprises a connecting member, the connecting member being arranged at the middle portion of the transmission rod and being rotatably connected to at least two of the transmission rods constituting the parallelogram transmission mechanism, and the connecting member moving along with the movement of the transmission rod; The angle between a first connecting line passing through the end of any one of the transmission rods and the center of the rotating member and the center line of the rotating member is 30° to 150°; Among them, when the connecting member is a connecting rod structure, and several of the transmission rods are rotationally connected to the connecting rod structure in sequence along the length direction of the connecting rod structure; or when the connecting member is a rotating disk structure, several of the transmission rods are rotationally connected to the rotating disk structure in sequence along the circumference of the rotating disk structure, and the rotating disk structure is rotationally connected to the housing of the transmission arm.

2. The surgical robot according to claim 1, characterized in that: The transmission arm includes at least three transmission rods, which are arranged in parallel and form multiple parallelogram transmission mechanisms with the rotating parts at both ends of the transmission rods, and the ends of the transmission rods rotate around the center of the rotating part as the rotating part rotates.

3. The surgical robot according to claim 1, wherein: The transmission rod comprises at least two transmission support rods, at least one connecting end portion of the transmission support rod is provided with a plurality of fixing portions arranged at equal intervals, and adjacent transmission support rods are detachably connected via the fixing portions.

4. The surgical robot according to any one of claims 1 to 3, characterized in that: The rotation angle of the rotating member is -80°~80°.

5. The surgical robot according to claim 1 or 2, characterized in that: There are a plurality of connecting members, and the connecting members are arranged at equal intervals along the length direction of the transmission rod.

6. The surgical robot according to claim 1 or 2, characterized in that: The connecting member is at least one of a connecting rod structure and a rotating disk structure, and the connecting member is rotationally connected to the transmission rod through a connecting rod rotating shaft.

7. The surgical robot according to claim 3, characterized in that: The fixing portion includes a first fixing portion and a second fixing portion cooperating with the first fixing portion, and the structure of the first fixing portion is the same as or different from the structure of the second fixing portion. The first fixing portion is provided at one end of the transmission support rod, and / or the second fixing portion is provided at the other end of the transmission support rod.

8. The surgical robot according to claim 1 or 2, characterized in that: The structure of the rotating member is the same as that of the connecting member and both are rotating disk structures. The rotating disk structure includes a fixed rotating portion and a connecting portion. The connecting portion includes a first connecting portion and / or a second connecting portion. The first connecting portion is an annular structure and is sleeved in the rotating portion, and at least two transmission rods are circumferentially arranged in the annular structure; The second connecting part includes an annular connecting part and at least two extended protrusions arranged on the edge of the annular connecting part. The annular connecting part is sleeved in the rotating part. The extended protrusions are arranged parallel to the surface of the rotating part. The transmission rod is rotatably arranged on the extended protrusions.

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