Mechanical arm, surgical robot and surgical robot system

Abstract

The embodiment of the invention provides a mechanical arm, a surgical robot and a surgical robot system. The mechanical arm comprises a parallel mechanical arm, the parallel mechanical arm comprises a static platform, a movable platform and a plurality of branch chains connected between the static platform and the movable platform, and a connecting part is arranged on the movable platform; and the execution assembly is connected with the movable platform through a connecting part, and an execution main body of the execution assembly deviates and extends towards one side relative to a straight line perpendicular to the movable platform. According to the mechanical arm provided by the embodiment of the invention, the moving space is large, and the probability of collision interference in the moving process of the mechanical arm can be reduced, so that a surgical robot can carry more mechanical arms, and further carry more surgical instruments.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a mechanical arm, a surgical robot and a surgical robot system. Background Art

[0002] In current minimally invasive surgery, surgical robots are usually used to carry surgical instruments, and doctors remotely control the surgical robots to control the surgical instruments and perform surgery. A typical application of the prior art is the DAVINCI system of IntuitiveSurgicl, Inc. of Mountain View, CA.

[0003] Most surgical robots use 4 robotic arms or fewer than 3 robotic arms, which can carry 1 endoscope and 3 (or 2) other surgical instruments at the same time. However, a complete minimally invasive surgery, in addition to the endoscope, often requires 4 other surgical instruments to work simultaneously to complete. The existing solution is to have an assistant doctor at the patient's bedside, who can observe the surgical area image on the display screen and operate the instruments at the same time to cooperate with the surgeon. However, on the one hand, the robotic arm may collide with the assistant when moving, posing a safety hazard. On the other hand, the assistant doctor's safety space is compressed by the robotic arm, and the body is in a twisted state, making it difficult to coordinate hands and eyes, and the degree of cooperation with the surgeon is poor.

[0004] In order to further leverage the advantages of surgical robot-assisted surgery, a better idea is to increase the number of robotic arms to 5 or more, so that all surgical instruments required for the operation are carried by the surgical robot, and the assistant doctor also uses the console to control it remotely. However, although the industry hopes to increase the number of robotic arms, and there are related patents that propose the idea of ​​a five-arm dual console, it is subject to the characteristics of the parallelogram serial robotic arms, which will produce large swings during surgery. Combined with its layout across the human body, when the 4-arm robot acts at the same time, adjacent robotic arms are prone to collision and interference. If the number of parallelogram serial robotic arms is increased to 5 or more, the interference will be more serious, making it difficult to perform normal surgical operations. Therefore, how to make each robotic arm have a larger range of motion, while having a certain range of motion without interference, is a problem that needs to be solved urgently, especially when 5 or more robotic arms are moving at the same time. Summary of the invention

[0005] Therefore, an object of the present invention is to provide a robotic arm, a surgical robot and a surgical robot system, so as to at least solve the problem that the robotic arm has a small range of motion during movement.

[0006] A first aspect of the present invention provides a robotic arm comprising: a parallel robotic arm, the parallel robotic arm comprising a static platform, a dynamic platform and a plurality of branches connected between the static platform and the dynamic platform, the dynamic platform being provided with a connecting portion; an actuator component, the actuator component being connected to the dynamic platform via the connecting portion, the actuator body of the actuator component extending offset to one side relative to a straight line perpendicular to the dynamic platform.

[0007] The robotic arm provided in the embodiment of this aspect is connected to the execution component through a parallel robotic arm. Since the parallel robotic arm has a small swinging space during movement, after the execution component is installed on the parallel robotic arm, the execution body is not perpendicular to the moving platform, but is offset to one side compared to the straight line perpendicular to the moving platform, and there is a certain angle between the two. When the robotic arm acts near a target such as a human body, the parallel robotic arm will be supported a certain distance away from the target by the offset and extended execution component, which will increase the activity space of the robotic arm, thereby reducing the probability of interference during the movement of the robotic arm.

[0008] Especially when multiple robotic arms are distributed circumferentially around the target, multiple parallel robotic arms will be separated by a certain distance by multiple offset and extended actuators, which increases the circumferential spacing between the multiple parallel robotic arms. Compared with the case where the actuators are directly vertically installed on the moving platform of the parallel robotic arms, and the multiple parallel robotic arms are very closely spaced when the multiple actuators are positioned around the patient before surgery, the probability of collision and interference between the multiple parallel robotic arms and the actuators connected thereto can be greatly reduced. Therefore, when the robotic arms are applied to surgical robots, it is beneficial for the surgical robots to be equipped with more robotic arms and more actuators without mutual interference.

[0009] A second aspect of the present invention provides a surgical robot, comprising a base assembly and a plurality of robotic arms connected thereto as described in any one of the above embodiments.

[0010] The surgical robot proposed in the embodiment of this aspect has the mechanical arm of any of the above embodiments, and thus has the beneficial effects of any of the above embodiments, which will not be described one by one here.

[0011] A third aspect of the present invention provides a surgical robot system, which includes a surgical robot as described in any of the above embodiments, a first control console and a second control console, the first control console and the second control console are both connected to the surgical robot control, and each control console controls the movement of at least one of the robotic arms.

[0012] The surgical robot system provided by the embodiment of this aspect has the surgical robot of any of the above embodiments, and thus has the beneficial effects of any of the above embodiments, which are not described in detail here. In addition, the surgical robot system is equipped with two control consoles, and two people use the two control consoles to control the movement of the mechanical arms of the surgical robot. Compared with one control console, one person can independently control the movement of multiple mechanical arms, and can timely control the movement of the corresponding mechanical arms, which facilitates the coordinated movement of multiple mechanical arms at the same time.

[0013] A fourth aspect of the present invention provides a surgical robot, comprising: a base assembly; a suspension arm, which is arranged on the base assembly, and the suspension arm comprises a first-layer suspension arm and a second-layer suspension arm distributed up and down, and the first-layer suspension arm and the second-layer suspension arm can rotate relative to each other; a plurality of robotic arms, one end of the plurality of robotic arms is connected to the suspension arm, and at least two robotic arms are connected to the first-layer suspension arm and the second-layer suspension arm.

[0014] The surgical robot provided by the embodiment of this aspect enables multiple robotic arms to be distributed in two layers, changing the adjacent relationship of the robotic arms, so that multiple robotic arms can change into more positioning modes, which is convenient for adapting to different surgical scenarios. Moreover, the first-layer hanging arm can drive the robotic arm on it to rotate as a whole relative to the second-layer hanging arm of the lower layer and the robotic arm on it. Compared with the upper and lower hanging arms that cannot rotate relative to each other and the robotic arms can only move in the adjacent space, the movement range of the robotic arms is greatly improved. In the case of 5 robotic arms, it can provide convenience for carrying 5 surgical instruments without interfering with each other, which is conducive to allowing multiple robotic arms to be away from each other and each having enough space to move. Moreover, the robotic arms have high flexibility in movement, which is convenient for adapting to various surgical scenarios.

[0015] A fifth aspect embodiment of the present invention provides a surgical robot system, the surgical robot system comprising: a surgical robot as described in any embodiment of the fourth aspect embodiment above, a first control console and a second control console, the first control console and the second control console are both connected to the surgical robot control, and each control console controls the movement of at least one robotic arm of the surgical robot.

[0016] The surgical robot system provided by the embodiment of this aspect has the surgical robot of any embodiment of the fourth aspect, and thus has the beneficial effects of any embodiment, which will not be described in detail here. In addition, the surgical robot system is equipped with two control consoles, and two people use the two control consoles to control the movement of the mechanical arms of the surgical robot. Compared with one control console, one person can independently control the movement of multiple mechanical arms, and can timely control the movement of the corresponding mechanical arms, which facilitates the coordinated movement of multiple mechanical arms at the same time.

[0017] Additional aspects and / or advantages of the present general inventive concept will be set forth in part in the following description and in part will be obvious from the description, or may be learned through practice of the present general inventive concept. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other objects and features of the present invention will become more apparent through the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] Figure 1 A schematic diagram of the local structure of a surgical robot in the related art during preoperative positioning is shown;

[0020] Figure 2 A schematic structural diagram of a surgical robot according to an embodiment of the present application is shown;

[0021] Figure 3 A schematic diagram showing the structure of a parallel mechanical arm according to an embodiment of the present application is shown;

[0022] Figure 4 A schematic diagram showing the structure of a parallel robotic arm and a surgical instrument connected together according to an embodiment of the present application is shown;

[0023] Figure 5 A schematic diagram showing the structure of a parallel robotic arm and another surgical instrument connected together according to an embodiment of the present application is shown;

[0024] Figure 6 A schematic diagram showing the structure of an execution body and an execution installation part of an embodiment of the present application when assembled;

[0025] Figure 7 Shows Figure 6 A partial enlarged view of point I in the middle;

[0026] Figure 8 Another structural schematic diagram showing the assembly of the execution body and the execution installation part of an embodiment of the present application;

[0027] Fig. 9 Shows Figure 8 A partial enlarged view of the J in the middle;

[0028] Fig.10 A schematic diagram of the structure of a tandem mechanical arm according to an embodiment of the present application is shown;

[0029] Fig.11 A schematic structural diagram of a boom according to an embodiment of the present application is shown;

[0030] Fig.12 A schematic diagram of the structure of a boom in a top view according to an embodiment of the present application is shown;

[0031] Fig.13 Shows Fig.12 Schematic cross-sectional view along the AA direction;

[0032] Fig.14 A schematic structural diagram of a base assembly according to an embodiment of the present application is shown;

[0033] Fig.15 A schematic structural diagram of a suspension device according to an embodiment of the present application is shown;

[0034] Fig.16 A schematic diagram of the side structure of a surgical robot in one embodiment of the present application during preoperative positioning is shown;

[0035] Fig.17 Shows Fig.16 Middle: A top view of the surgical robot cutting open the BB;

[0036] Fig.18 A schematic diagram showing the structure of a surgical robot in preoperative positioning according to an embodiment of the present application is shown;

[0037] Fig.19 A schematic structural diagram of a first control console according to an embodiment of the present application is shown.

[0038] Figure 1 Description of Figure Numbers:

[0039] 10' surgical instruments, 20' parallel robotic arms.

[0040] Figures 2 to 19 Description of Figure Numbers:

[0041] 10 execution assembly (10a, 10b, 10c, 10d, 10e), 110 execution body, 111 instrument rod, 112 second transmission assembly, 120 execution mounting portion, 121 first mounting portion, 122 second mounting portion, 123 mounting hole, 124 first transmission assembly,

[0042] 20 parallel robot arm (20a, 20b, 20c, 20d, 20e), 210 static platform, 220 branch chain, 230 dynamic platform, 240 connecting part, 241 first mounting ear, 242 second mounting ear, 243 rotating part,

[0043] 30 serial robot arms (30a, 30b, 30c, 30d, 30e), 310 cross beams, 320 sliding beams, 330 telescopic rods, 340 rotating parts, 350 pitch parts,

[0044] 40 boom, 410 first layer boom, 411 first upper baffle, 412 first lower baffle, 413 first support column, 414 first connection port, 420 second layer boom, 421 second upper baffle, 422 second lower baffle, 423 second support column, 424 second connection port, 430 fourth drive assembly, 431 drive motor, 432 reducer, 433 drive belt,

[0045] 50 suspension device, 510 first suspension arm, 520 second suspension arm, 530 suspension umbrella,

[0046] 60 base assembly, 610 base, 620 pillar, 630 first beam, 640 second beam,

[0047] 70First control panel. DETAILED DESCRIPTION

[0048] The following specific embodiments are provided to help the reader obtain a comprehensive understanding of the methods, devices and / or systems described herein. However, after understanding the disclosure of the present application, various changes, modifications and equivalents of the methods, devices and / or systems described herein will be clear. For example, the order of operations described herein is only an example and is not limited to those orders set forth herein, but can be changed as will be clear after understanding the disclosure of the present application, except for operations that must occur in a specific order. In addition, for greater clarity and simplicity, the description of features known in the art may be omitted.

[0049] The features described herein can be implemented in different forms and should not be construed as being limited to the examples described herein. Rather, the examples described herein have been provided to illustrate only some of the many possible ways to implement the methods, devices, and / or systems described herein, which will be clear after understanding the disclosure of the present application.

[0050] As used herein, the term "and / or" includes any one of the associated listed items and any combination of any two or more.

[0051] Although terms such as "first", "second", and "third" may be used herein to describe various members, components, regions, layers, or portions, these members, components, regions, layers, or portions should not be limited by these terms. Instead, these terms are only used to distinguish one member, component, region, layer, or portion from another member, component, region, layer, or portion. Therefore, without departing from the teachings of the examples described herein, the first member, first component, first region, first layer, or first portion referred to in the examples may also be referred to as the second member, second component, second region, second layer, or second portion.

[0052] In the specification, when an element such as a layer, a region or a substrate is described as being “on”, “connected to” or “coupled to” another element, the element may be directly “on”, “connected to” or “coupled to” another element, or one or more other elements may be present therebetween. Conversely, when an element is described as being “directly on”, “directly connected to” or “directly coupled to” another element, other elements may not be present therebetween.

[0053] The terms used herein are only used to describe various examples and are not intended to limit the disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms "comprise", "include" and "have" indicate the presence of the described features, quantities, operations, components, elements and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements and / or combinations thereof. The term "plurality" represents any number of two and more than two.

[0054] The definitions of directional terms such as "above", "below", "top" and "bottom" in this application are based on the orientation of the product in normal use, unless otherwise specified.

[0055] Unless otherwise defined, all terms used herein, including technical terms and scientific terms, have the same meaning as those generally understood by ordinary technicians in the field to which the present invention belongs after understanding the present invention. Unless explicitly defined as such herein, terms such as those defined in general dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant field and the present invention, and should not be interpreted in an idealized or overly formal way.

[0056] Most current surgical robots only have 3 or 4 robotic arms. During the operation, they can only carry 1 endoscope and 2 (or 3) other surgical instruments at the same time. However, this is not enough in some operations. An assistant doctor is also required to stand next to the patient and hold the surgical instruments to complete the operation with the surgical robot. However, during the operation, the movement of the surgical robot is likely to interfere with the assistant doctor, posing a safety hazard. For this reason, it is a better technical concept to increase the number of robotic arms of the surgical robot so that all the surgical instruments required for the operation are carried on multiple robotic arms. However, in the current surgical robots, if the number of robotic arms is increased, for example, the number of robotic arms is increased to 5, during the operation, the robotic arms and the surgical instruments are likely to collide with each other, making it difficult to perform normal surgical operations.

[0057] To this end, a first embodiment of the present invention proposes a robotic arm having a large range of motion. Even when the surgical robot has multiple such robotic arms, the range of motion of the robotic arm is large and the multiple robotic arms are not easily interfered with each other.

[0058] The robot arm includes a parallel robot arm. Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the parallel robot arm 20 includes a static platform 210, a dynamic platform 230, and a plurality of branch chains 220 connected between the static platform 210 and the dynamic platform 230. A connecting portion 240 is provided on the dynamic platform 230, and the connecting portion 240 is used to connect with the actuator 10. Here, the parallel robot arm 20 is used to connect the actuator 10. The parallel robot arm 20 has a small swinging space during the movement and is not easy to collide.

[0059] Furthermore, the robot arm also includes an actuator 10, which is connected to the moving platform 230 through a connecting portion 240, and an actuator body 110 of the actuator 10 is offset and extended to one side relative to a straight line perpendicular to the moving platform 230. That is, the extension direction of the actuator body 110 is set at an angle to the straight line perpendicular to the moving platform 230. After the actuator 10 is installed on the parallel robot arm 20, the actuator body 110 is not perpendicular to the moving platform 230, but is offset to one side compared with the straight line perpendicular to the moving platform 230, and there is a certain angle between the two. When the robot arm acts on a target such as a human body, the parallel robot arm 20 will be supported by the offset and extended actuator 10 for a certain distance away from the target, which will increase the activity space of the robot arm, thereby reducing the probability of interference during the movement of the robot arm.

[0060] Figure 4 The middle straight line H1 represents a straight line perpendicular to the moving platform 230, and the straight line L1 represents the extension direction of the execution body 110. The straight line L1 is deflected to one side by an angle of K1 relative to the straight line H1, specifically, the head end of the execution body 110, that is, the end away from the target is offset by an angle of K1 relative to the straight line H1 in the direction away from the target. Compared with the execution body 110 being perpendicular to the moving platform 230, the execution body 110 can increase the distance between the parallel robot arm 20 and the target after being tilted, and the relative angle between the parallel robot arm 20 and the target is changed, thereby increasing the activity space of the parallel robot arm 20. Figure 5The middle straight line H2 represents a straight line perpendicular to the moving platform 230, and the straight line L2 represents the extension direction of the execution body 110. The straight line L2 is deflected to one side by an angle of K2 relative to the straight line H2, specifically, the head end of the execution body 110, that is, the end away from the target, is offset by an angle of K2 relative to the straight line H2 in the direction away from the target. Compared with the execution body 110 being perpendicular to the moving platform 230, the tilt of the execution body 110 can increase the distance between the parallel robot 20 and the target, thereby increasing the activity space of the parallel robot 20. Figure 4 and Figure 5 If the types and sizes of the actuators 10 are different, the deflection angles K1 and K2 can also be different, so that the parallel robot arm 20 connected to various actuators 10 has a certain range of motion. Of course, in other embodiments, the deflection angles K1 and K2 can also be the same.

[0061] It should be noted that, in this embodiment, the extension direction of the execution body 110 of the execution component 10 is the direction in which the execution component 10 acts on the target. For example, when the execution component 10 is a surgical instrument, the extension direction of the execution body 110 is the extension direction of the instrument rod 111, for example Figure 4 The extension direction of the middle straight line L1 and Figure 5 The extension direction of the straight line L2 in the middle. In addition, for the straight line perpendicular to the moving platform 230, in the initial state, the branches of the parallel robot arm 20 are all in the initial position, and the static platform 210 is parallel to the moving platform 230. At this time, the straight line perpendicular to the moving platform 230 is collinear or parallel to the axis of the parallel robot arm 20. If the parallel robot arm 20 changes its posture and moves a certain distance, the moving platform 230 may not be parallel to the static platform 210. At this time, the straight line perpendicular to the moving platform 230 may be offset and extended to one side relative to the axis of the parallel robot arm 20. However, whether the parallel robot arm 20 is in the initial position or changes its posture, after the actuator 10 is connected to the connecting part, its actuator body 110 can be offset and extended to one side relative to the straight line perpendicular to the moving platform 230, so that whether before or during the operation, the parallel robot arm 20 can be supported by the actuator 10 by a certain distance away from the human body to increase the activity space.

[0062] Furthermore, the angle between the extension direction of the actuator 110 of the actuator 10 and the line perpendicular to the moving platform 230 is between 30° and 90°. Within this angle range, the actuator 10 and the parallel robot arm 20 both have a suitable working range, which is beneficial for preoperative positioning and intraoperative motion control in the application of surgical robots.

[0063] refer to Figure 4 and Figure 5The angles K1 and K2 in the figure represent the angles between the extension direction of the actuator 110 and the straight line perpendicular to the moving platform 230 when different actuators 10 are installed on the parallel robot arm 20. When the actuator 10 is installed on the parallel robot arm 20, the angle between the actuator 110 and the straight line perpendicular to the moving platform 230 is any angle between 30° and 90°, for example, 35°, 40°, 46°, 52°, 65°, 78° and 83°, including the end values ​​of 30° and 90°. When multiple actuators 10 are distributed around the human body, the multiple parallel robot arms 20 will be supported by the multiple inclinedly extended actuators 10 for a certain distance, away from the human body, which greatly reduces the probability of collision and interference between the multiple parallel robot arms 20 and the surgical robots connected thereto.

[0064] refer to Fig.16 , Fig.17 and Fig.18 , Fig.16 , Fig.17 and Fig.18 The preoperative positioning posture of the parallel robot arm 20 and the actuator 10 is shown. The method of this embodiment makes the actuator 10 mostly in a tilted state during surgical positioning and the operation process. This further makes it possible to put the actuator 10 in a set position and a set posture without adjusting or drastically adjusting the parallel robot arm 20 during the preoperative positioning of the robot arm, and the preoperative positioning is convenient. Moreover, during the operation, the actuator 10 can be put in a set posture without drastic adjustments, reducing the probability of mutual interference between the robots before and during the operation. Moreover, it is beneficial for the parallel robot arm 20 to adjust the actuator 10 within the maximum travel range during the operation, thereby improving flexibility.

[0065] In addition, during the operation, there may be a situation where the execution body 110 needs to be replaced, or the execution body 110 needs to be disassembled after the operation. At this time, if the execution assembly 10 is installed vertically on the moving platform 230, that is, the extension direction of the execution body 110 of the execution assembly 10 is perpendicular to the moving platform 230, it is difficult to disassemble the execution body 110 when the parallel robotic arm 20 is stationary, especially when the execution body 110 is inserted into the human body, there will be certain safety hazards. In this embodiment, the angle between the extension direction of the execution body 110 and the straight line perpendicular to the moving platform 230 is between 30° and 90°, which is convenient for disassembly and assembly of the execution body 110. Specifically, when disassembling the execution body 110, the execution body 110 is moved backward to the end away from the human body and separated from the moving platform 230, or when installing or replacing the execution body 110, the execution body 110 is installed on the execution installation part 120 from back to front, and the disassembly and assembly process is safe. Reference Figures 7 to 10The execution body 110 can be inserted into the mounting hole 123 from below, and then pushed forward to a designated position to complete the assembly. When the execution body 110 is disassembled, the execution body 110 can be moved backward a certain distance and downwardly separated from the mounting hole 123 without moving the parallel robot arm 20.

[0066] In addition, in order to make the angle between the extension direction of the actuator body 110 of the actuator 10 and the straight line perpendicular to the moving platform 230 between 30° and 90° when the actuator 10 is installed on the connecting portion 240, the above-mentioned offset angle can be directly designed on the connecting portion 240, so that the actuator 10 can directly maintain the above-mentioned angle with the moving platform 230 after installation; or the offset angle can be designed on the actuator 10, for example, the position between the actuator 10 and the actuator body 110 has the above-mentioned angle to connect with the moving platform 230. Of course, additional connecting parts can be provided, so that the connecting parts themselves form the above-mentioned angle, and are detachably connected to the connecting portion 240 and the actuator 10 respectively, for example, the connecting parts are triangular, one of the angles of which is between 30° and 90°, and the two sides of the angle are respectively connected to the connecting portion 240 and the actuator 10, so that the above-mentioned angle is achieved between the actuator 10 and the moving platform 230. As long as the angle between the extension direction of the actuator body 110 of the actuator assembly 10 and the straight line perpendicular to the moving platform 230 is between 30° and 90°.

[0067] As an example, the angle between the extension direction of the execution body 110 and the straight line perpendicular to the moving platform 230 is between 40° and 75°, or between 35° and 60°, or between 50° and 80°. Within this angle range, when the execution assembly 10 acts on the human body, the parallel robot arm 20 can be away from the human body by a certain distance, and the activity space is large, which can effectively avoid the occurrence of collisions.

[0068] Furthermore, in some embodiments, Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, the connecting portion 240 includes a first mounting ear 241 and a second mounting ear 242 connected thereto, the first mounting ear 241 is connected to the moving platform 230, and the second mounting ear 242 is connected to the actuator assembly 10, and the first mounting ear 241 and the second mounting ear 242 are arranged at an angle so that the actuator body 110 is offset and extended to one side relative to a straight line perpendicular to the moving platform 230.

[0069] In these embodiments, the connecting portion 240 includes a first mounting ear 241 and a second mounting ear 242 having a certain angle, the first mounting ear 241 is connected to the moving platform 230, and the two are arranged in parallel, and the second mounting ear 242 is connected to the actuator 10. After the actuator 10 and the second mounting ear 242 are connected together, the actuator body 110 naturally has a certain angle with the first mounting ear 241, and extends to one side relative to the straight line perpendicular to the moving platform 230, which is convenient and quick to install, and there is no need to adjust the posture of the actuator 10 later. Moreover, after different types of actuators 10 are connected to the connecting portion 240, the actuator body 110 can be extended to one side relative to the straight line perpendicular to the moving platform 230, and has good versatility. In addition, the design structure of the connecting portion 240 is simple and easy to process.

[0070] Furthermore, if Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, the plane where the first mounting ear 241 is located is parallel to the plane where the moving platform 230 is located, and the plane where the second mounting ear 242 is located is parallel to the extension direction of the actuator 110. At this time, the angle between the first mounting ear 241 and the second mounting ear 242 can reflect the angle between the extension direction of the actuator 110 and the straight line perpendicular to the moving platform 230 after the actuator 10 is installed on the second mounting ear 242. The sum of the two angles is 90°, which is convenient for accurately designing the posture of the actuator 10 after installation, thereby facilitating stable adjustment of the movement of the robotic arm and accurately performing surgical operations.

[0071] Furthermore, the first mounting ear 241 is hingedly connected to the second mounting ear 242, and the angle between the first mounting ear 241 and the second mounting ear 242 is adjustable. By adjusting the angle between the two mounting ears, the actuator 10 can be installed on the connecting portion 240 to achieve different initial postures. The posture of the actuator 10 can be adjusted according to different surgeries, and the initial posture can also be adjusted according to different actuators 10, which has good versatility.

[0072] Furthermore, in some embodiments, Figure 3 , Figure 4 and Figure 5 As shown, the connecting portion 240 includes a rotating portion 243 , and the rotating portion 243 can rotate on the surface of the moving platform 230 and drive the actuator 10 to rotate.

[0073] In these embodiments, after the actuator 10 is connected to the connecting portion 240, the rotating portion 243 can drive the actuator 10 to rotate as a whole relative to the moving platform 230. The rotating portion 243 can participate in both preoperative positioning and surgery, and can increase the overall movement range of the parallel robot arm 20 and the rotating portion 243, allowing the surgical instrument to move flexibly.

[0074] Specifically, although the parallel robot arm 20 occupies a small space during the swinging process and is easy to operate in coordination without interfering with each other, the adjustment stroke of the parallel robot arm 20 is small, and it is necessary to rely on the passive arm in the robot arm to achieve preoperative positioning. Before surgery, the actuator 10 needs to be initially positioned on the patient. This positioning requires three movements and two deflections, a total of 5 degrees of freedom, so that the actuator 10 carried on the moving platform 230 passes through the so-called telecentric fixed point of the patient's epidermis and obtains a better preoperative state. Depending on the surgical procedure, the deflection angle of the actuator 10 varies greatly. An effective preoperative positioning structure is that the passive arm in the robot arm (such as the serial robot arm 30 below) can provide a larger deflection angle positioning for the parallel robot arm 20, but the passive arm is large in size, and too many rotating joints result in relatively poor rigidity. In this embodiment, a rotating part 243 is added to the end of the parallel robot arm 20. The rotating part 243 can drive the actuator 10 to rotate relative to the moving platform 230 during the preoperative positioning process, which can reduce the movement stroke of the passive arm in the movement orientation, and even make the movement stroke of the passive arm in the movement orientation 0, reduce the movement amplitude of the passive arm, reduce the probability of multiple robot arms interfering with each other during the movement process, and improve the rigidity of the robot arm. Moreover, since the rotating part 243 can independently drive the actuator 10 to rotate along the set orientation, compared with the passive arm or the parallel robot arm 20 driving the actuator 10 to rotate in the set orientation, since the weight and volume of the passive arm and the parallel robot arm 20 are both large, the space occupied by the operation can be reduced and the energy consumption can be reduced.

[0075] Furthermore, if Figures 6 to 9 As shown, when the connecting portion 240 further includes the first mounting ear 241 and the second mounting ear 242 , the first mounting ear 241 is connected to the rotating portion 243 , and the rotating portion 243 drives the actuator 10 to rotate via the first mounting ear 241 and the second mounting ear 242 .

[0076] Furthermore, the first mounting ear 241 and the rotating portion 243 are detachably connected, so that the first mounting ear 241 and the second mounting ear 242 can be easily replaced, thereby replacing structures with different angles to connect with the actuator 10 .

[0077] Furthermore, if Figure 3As shown, the rotation centerline of the rotating part 243 is perpendicular to the surface of the moving platform 230. In this way, the rotation direction of the rotating part 243 can be the same as the rotation direction of the moving platform 230 of the parallel robot 20, so that the parallel robot 20 and the rotating part 243 can have a larger movement stroke in this direction, thereby improving the movement flexibility of the actuator 10. In addition, in this case, the rotating part 243 can be further fitted with the surface of the moving platform 230, and of course there is a gap between the two for relative rotation, so that the moving platform 230 can limit the rotating part 243 to prevent the rotating part 243 from tilting during the rotation process and causing the actuator 10 to deviate.

[0078] Furthermore, the straight line in which the extension direction of the execution body 110 is located avoids the space where the parallel robot arm 20 is located. On the one hand, the execution body 110 and the parallel robot arm 20 can have relatively independent activity spaces to avoid mutual interference and restriction during the movement of the two, especially in the scenario where the execution assembly 10 and the connecting part 240 are detachable, which is conducive to the safe replacement of the execution body 110 according to its own extension direction; on the other hand, when multiple robots work together, the probability of collision between the execution body 110 and the parallel robot arm 20 on other robots can be reduced.

[0079] Furthermore, the actuator 10 is detachably connected to the connecting portion 240 , so that the actuator 10 can be replaced easily.

[0080] Regarding the specific structure of the execution component 10, further, in some embodiments, such as Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, the execution assembly 10 includes: an execution body 110; an execution installation part 120, the execution body 110 is arranged on the execution installation part 120, the execution body 110 and the execution installation part 120 are detachably connected, and the execution installation part 120 is connected to the connection part 240. It is convenient to replace the execution body 110.

[0081] In some embodiments, Figure 6 , Figure 7 , Figure 8 and Fig. 9As shown, the execution installation part 120 includes a first installation part 121 and a second installation part 122 that are perpendicular to each other. The surface of the first installation part 121 that is perpendicular to the extension direction of the second installation part 122 is fitted and connected with the connection part 240. A driving motor (not shown in the figure) is provided in the first installation part 121, and a first transmission assembly 124 is provided in the second installation part 122. The driving motor is connected to the first transmission assembly 124. The execution body 110 includes an instrument rod 111 and a second transmission assembly 112 disposed at the end of the instrument rod 111. The second transmission assembly 112 is connected to the first transmission assembly 124 on the second installation part 122. The extension direction of the instrument rod 111 is the same as the extension direction of the first installation part 121. The driving motor drives the mechanical rod 111 to move through the first transmission assembly 124 and the second transmission assembly 112.

[0082] In these embodiments, the execution installation part 120 has a driving motor and a first transmission assembly 124 connected to the driving motor, and the execution body 110 includes an instrument rod 111 and a second transmission assembly 112 connected to the instrument rod 111. The driving motor drives the execution end of the instrument rod 111 to move to perform surgical operations through the first transmission assembly 124 and the second transmission assembly 112. In the case where the execution body 110 and the execution installation part 120 are detachable, different types of instrument rods 111 can be replaced, and all are driven by the driving motor on the execution installation part 120. Compared with the configuration of the driving motor on the execution body 110, the weight of the execution body 110 can be reduced, and the operation of the execution body 110 movement is convenient.

[0083] In some embodiments, Figure 7 and Fig. 9 As shown, a mounting hole 123 is provided on the second mounting portion 122, and the mounting hole 123 penetrates the second mounting portion 122 along the extension direction of the first mounting portion 121, and the mounting hole 123 also penetrates the end surface of the second mounting portion 122 away from the first mounting portion 121; the instrument rod 111 can be inserted into the mounting hole 123 from the end of the second mounting portion 122 away from the first mounting portion 121, and extend back and forth in the mounting hole 123 along the extension direction parallel to the first mounting portion 121.

[0084] In these embodiments, since the first mounting portion 121 and the second mounting portion 122 are perpendicular to each other, and the second mounting portion 122 has a mounting hole 123 that passes through along the extension direction of the first mounting portion 121, the instrument rod 111 will be parallel to the first mounting portion 121 after being inserted into the mounting hole 123, which facilitates the instrument rod 111 to be in a set posture after installation, so that the extension direction of the instrument rod 111 and the straight line perpendicular to the moving platform 230 maintain a set angle, thereby avoiding the instrument rod 111 from being mis-shifted and resulting in the inability to accurately obtain the posture of the instrument rod 111, and facilitating accurate surgical operations. In addition, by making the mounting hole 123 pass through the end face of the second mounting portion 122 away from the first mounting portion 121, so that the instrument rod 111 enters the mounting hole 123 from this side, the end of the instrument rod 111 can be always located outside the mounting hole 123, and the middle section or other parts of the instrument rod 111 can enter the mounting hole 123, so that the end of the instrument rod 111 is conveniently configured with a structure that is convenient for surgery or a structure that is convenient for entering the human body, without interfering with the mounting hole 123.

[0085] Furthermore, the robot arm is a surgical robot arm, and the actuator 10 is a surgical instrument.

[0086] Furthermore, in some embodiments, Figure 2 , Figure 3 and Fig.16 As shown, the robot arm also includes: a serial robot arm 30, the serial robot arm 30 includes at least two joints and a first drive assembly for driving the joints, the serial robot arm 30 is connected to the static platform 210 of the parallel robot arm 20, the parallel robot arm 20 is provided with a second drive assembly, the serial robot arm 30 can drive the parallel robot arm 20 to move under the drive of the first drive assembly, and the parallel robot arm 20 can drive the actuator 10 to move through the moving platform 230 under the drive of the second drive assembly. The robot arm is connected by the serial robot arm 30 and the parallel robot arm 20, and the two can be driven independently. The serial robot arm 30 is convenient for preoperative positioning, and the parallel robot arm 20 is convenient for intraoperative movement, and has good flexibility.

[0087] In some embodiments, Figure 4 and Figure 5As shown, the connecting part 240 includes a rotating part 243, which can rotate on the surface of the moving platform 230. The rotating part 243 is connected to the actuator 10 and can drive the actuator 10 to rotate. The rotating part 243 is provided with a third driving component. The serial robot arm 30 and the rotating part 243 are used to complete the preoperative positioning of the robot arm, and the parallel robot arm 20 and the rotating part 243 are used to complete the intraoperative movement of the actuator 10. In the preoperative positioning process, the parallel robot arm 20 is not required to participate, which is conducive to the parallel robot arm 20 having the maximum operating stroke during the subsequent operation, and the surgical flexibility is good. Moreover, the parallel robot arm 20 and the rotating part 243 are used to complete the intraoperative movement of the actuator 10. The rotating part 243 can directly drive the actuator 10 to rotate. Compared with the need to rotate the parallel robot arm 20 to drive the actuator 10 to rotate, the parallel robot arm 20 continues to maintain the maximum movement stroke, and the rotating part is light in weight, small in size, and has good flexibility. Among them, the third driving component is a motor.

[0088] The robotic arm provided by the above-mentioned first aspect embodiment is configured such that the angle between the execution body 110 and the straight line perpendicular to the moving platform 230 is between 30° and 90°, and the connecting portion 240 has a first mounting ear 241 and a second mounting ear 242. Of course, in other embodiments, the connecting portion 240 may also have other structures. For example, the connecting portion 240 may also include a third mounting ear (not shown in the figure), one end of the third mounting ear is connected to the surface of the moving platform 230, and the other end is tilted, and the angle between the third mounting ear and the straight line perpendicular to the moving platform 230 is between 30° and 90°, and the third mounting ear is directly connected to the execution component 10. In this case, there is no rotating portion structure, and the execution component 10 is directly mounted on the third mounting ear, and the above-mentioned design angle can also be achieved.

[0089] In addition, in order to achieve the above-mentioned design angle, the first mounting ear 241 and the second mounting ear 242 can also be arranged on the execution mounting portion 120 of the actuator 10, or the third mounting ear can be arranged on the execution mounting portion 120 of the actuator 10. In this case, the structure of the connecting portion 240 can be an instrument interface (not shown in the figure) arranged on the moving platform 230. The structure is simple and convenient for processing. Of course, the first mounting ear 241 and the second mounting ear 242 can also be independent connecting parts, which are respectively connected to the connecting portion 240 and the actuator 10.

[0090] Among them, in the case where the above-mentioned angle is designed on the actuator 10, for the specific structure of the actuator 10, in some embodiments, the actuator 10 includes an actuator body 110 and an actuator mounting portion 120. The actuator body 110 is arranged on the actuator mounting portion 120, and an installation interface is arranged on the actuator mounting portion 120. The angle between the plane where the installation interface is located and the extension direction of the actuator body 110 is between 30° and 90°, and the installation interface is connected to the connecting portion 240. Here, when the installation interface is designed to be connected to the connecting portion 240, the plane where the installation interface is located is parallel to the moving platform 230. Since the angle between the plane where the installation interface is located and the extension direction of the actuator body 110 is between 30° and 90°, after the actuator 10 is installed in place, the angle between the extension direction of the actuator body 110 and the straight line perpendicular to the moving platform 230 is naturally between 30° and 90°.

[0091] Regarding the location of the installation interface, in one embodiment, Figure 4 and Figure 5 As shown, the execution installation part 120 has a third mounting ear on its surface, the angle between the third mounting ear and the extension direction of the execution body 110 is between 30° and 90°, and the mounting interface is arranged on the third mounting ear. The structure is simple and the processing is convenient. In another embodiment, the execution installation part 120 includes a trapezoidal block (not shown in the figure), the angle between the inclined surface and the bottom surface of the trapezoidal block is between 30° and 90°, the mounting interface is arranged on the inclined surface of the trapezoidal block, and the execution body 110 is flush with the bottom surface. The specific structure of the execution installation part 120 and the setting position of the mounting interface can be diversified, which are not listed here one by one.

[0092] In addition, the execution body 110 and the execution installation part 120 can be detachably connected, so that the execution body 110 and the execution installation part 120 can be replaced independently. Specifically, the number of the execution installation parts 120 can be multiple, and the angles between the plane where the installation interface on each execution installation part 120 is located and the extension direction of the execution body 110 are different. The execution installation part 120 can be replaced with the execution body 110 and the connection part 240. Here, multiple execution installation parts 120 can be configured for a parallel robot arm 20, and one execution installation part 120 is connected to a parallel robot arm 20 at the same time, and the remaining execution installation parts 120 are standby. Therefore, by replacing different execution installation parts 120, the extension direction of the execution body 110 on it and the moving platform 230 can have different angles, which is beneficial to make the execution component 10 have different angles and postures when installed on the parallel robot arm 20 according to the surgical characteristics of different execution components 10, thereby improving adaptability. For example, some actuators 10 are shorter and some actuators 10 are longer. If the multiple actuators 10 simultaneously mounted on multiple parallel robotic arms 20 are all in the preoperative positioning state, the positions of the multiple parallel robotic arms 20 are different, and the postures are also different, which increases the difficulty of coordinated control. Moreover, it is necessary to adjust the robotic arm as a whole to change the preoperative position of the actuator 10, such as making the robotic arm connected to the longer actuator 10 away from the human body and the robotic arm connected to the shorter actuator 10 close to the human body. The overall weight of the robotic arm is large, which increases energy consumption. By replacing different actuator mounting parts 120 to adjust the posture of the actuator 10, for example, making the inclination of the shorter actuator 10 smaller and the inclination of the longer actuator 10 larger, it can not only meet the preoperative positioning requirements, but also reduce the movement of the preoperative robotic arm, reduce the difficulty of control, and reduce energy consumption. In addition, the number of the actuator body 110 can also be multiple and different, such as an endoscope, a surgical instrument such as a scalpel, etc. Multiple actuator bodies 110 can be interchangeably arranged on the actuator mounting part 120. Here, at the same time, one execution body 110 is installed on the execution installation part 120 of one parallel robot arm 20, and the redundant execution body 110 can be used as a spare for subsequent use or replacement. The number and type of execution components 10 carried by the surgical robot can be determined according to the requirements of different surgeries, and are not specifically limited here.

[0093] It should be noted that the actuator 10 in this embodiment can be produced and sold in conjunction with a surgical robot, or it can be produced and sold independently. When the angle between the plane where the installation interface of the actuator 10 is located and the extension direction of the actuator body 110 is between 30° and 90°, the single actuator 10 can be matched with the moving platform 230 of the surgical robot in the related technology, and the angle between the extension direction of the actuator body 110 of the actuator 10 and the straight line perpendicular to the moving platform 230 can also be between 30° and 90°, which is also in line with the technical concept of this application.

[0094] like Figure 2 , Figures 16 to 18 As shown, a second aspect of the present invention provides a surgical robot, which includes a base assembly 60 and a plurality of robotic arms connected thereto as described in any one of the above embodiments.

[0095] The surgical robot proposed in the embodiment of this aspect has the mechanical arm of any of the above embodiments, and thus has the beneficial effects of any of the above embodiments, which will not be described one by one here.

[0096] In some embodiments, Figure 2 , Figures 16 to 18 As shown, the number of the robotic arms is 5. The surgical robot can carry 5 actuators 10 to perform surgery, which can be applicable to a variety of surgeries, and there is no need to configure an assistant doctor to hold surgical instruments for surgery, thereby avoiding collisions between the robotic arms and the assistant doctors and improving safety.

[0097] Specifically, Figure 2 As shown, the number of mechanical arms is 5, and each mechanical arm includes a serial mechanical arm 30 and a parallel mechanical arm 20. The five serial mechanical arms 30 are respectively Figure 2 and Fig.18 The five parallel mechanical arms 20, 30a, 30b, 30c, 30d, and 30e, are respectively Figure 2 and Fig.18 The five parallel robot arms 20, 20a, 20b, 20c, 20d, and 20e, are each connected to five actuators 10, respectively. Fig.10 After the actuator 10 is installed on the parallel robot arm 20, the actuator body 110 is not perpendicular to the moving platform 230, but is offset to one side compared to the straight line perpendicular to the moving platform 230. When the five actuators 10 are distributed around the human body, the multiple parallel robot arms 20 will be supported by the multiple offset and extended actuators 10 for a certain distance, away from the human body, such as Fig.16 , Fig.17 and Fig.18 As shown, this also increases the circumferential spacing between the multiple parallel robot arms 20, which is similar to Figure 1 The surgical instrument 10' is directly and vertically mounted on the moving platform 230 of the parallel robotic arm 20'. When multiple surgical instruments 10' are positioned around the patient before surgery, the multiple parallel robotic arms 20' are closely spaced from each other, which can greatly reduce the probability of collision and interference between multiple parallel robotic arms 20 and the actuators 10 connected thereto. This is conducive to the surgical robot carrying more actuators 10, such as 5 or more, and then no interference will occur during the operation.

[0098] like Figures 16 to 19 As shown, a third aspect of the present invention provides a surgical robot system, which includes the surgical robot, a first control console 70 and a second control console as described in the above embodiments, the first control console 70 and the second control console are both connected to the surgical robot control, and each control console controls the movement of at least one of the robotic arms.

[0099] The surgical robot system provided by the embodiment of this aspect has the surgical robot of any of the above embodiments, and thus has the beneficial effects of any of the above embodiments, which are not described in detail here. In addition, the surgical robot system is equipped with two control consoles, and two people use the two control consoles to control the movement of the mechanical arms of the surgical robot. Compared with one control console, one person can independently control the movement of multiple mechanical arms, and can timely control the movement of the corresponding mechanical arms, which facilitates the coordinated movement of multiple mechanical arms at the same time. Fig.19 A schematic structural diagram of a first control console 70 according to an embodiment is shown. The second control console may have the same or similar structure to the first control console 70 .

[0100] In some embodiments, the surgical robot includes five robotic arms, and each console controls the movement of at least two robotic arms. The surgical robot can carry five actuators 10 to perform surgery, and can be applied to a variety of surgeries. Moreover, each console controls the movement of at least two robotic arms, and two people use dual consoles to control the movement of multiple robotic arms, which increases surgical efficiency and reduces surgical time, and can avoid the situation where a single person controls too much and controls in time.

[0101] In some embodiments, when the parallel robot arm 20 is provided with a second drive assembly, the connecting portion 240 includes a rotating portion 243, and the rotating portion 243 is provided with a third drive assembly, the first control console 70 and the second control console are both control-connected with the second drive assembly and the third drive assembly. During the operation, each control console can independently control the movement of the parallel robot arm 20, and can also independently control the rotation of the rotating portion 243, thereby realizing the multi-directional movement of the actuator 10.

[0102] During a specific operation, after the posture of the robotic arm is adjusted, the doctor can issue control instructions to the second drive component and the third drive component through the control console, and finally control the execution component 10 to perform the operation.

[0103] like Figure 2 , Fig.11 and Fig.18 As shown, the fourth aspect of the present invention provides a surgical robot, which includes: a base assembly 60; a boom 40, which is arranged on the base assembly 60, and the boom 40 includes a first-layer boom 410 and a second-layer boom 420 distributed up and down, and the first-layer boom 410 and the second-layer boom 420 can rotate relative to each other; a plurality of robotic arms, one end of the plurality of robotic arms is connected to the boom 40, and at least two robotic arms are connected to the first-layer boom 410 and the second-layer boom 420.

[0104] The surgical robot provided by the embodiment of this aspect enables multiple robotic arms to be distributed in an upper and lower double layer, which changes the adjacent relationship of the robotic arms, so that the multiple robotic arms can be changed into more positioning modes, which is convenient for adapting to different surgical scenarios. Moreover, the first-layer suspension arm 410 can drive the robotic arm thereon to rotate as a whole relative to the lower-layer second-layer suspension arm 420 and the robotic arm thereon. Compared with the upper and lower suspension arms 40 that cannot rotate relative to each other and the robotic arms can only move in the adjacent space, the movement range of the robotic arms is greatly improved. In the case of 5 robotic arms, it can provide convenience for carrying 5 surgical instruments without interfering with each other, which is conducive to allowing multiple robotic arms to be away from each other and each having enough space to move. Moreover, the robotic arms have high flexibility in movement, which is convenient for adapting to a variety of surgical scenarios. Comparison Figure 2 The situation of multiple robotic arms crossing and Fig.18 In the case where multiple robotic arms are not placed crosswise, the robotic arms can move more widely and flexibly.

[0105] In some embodiments, the mechanical arms on the first layer of the boom 410 can rotate around the periphery of the mechanical arms on the second layer of the boom 420 to avoid interference between the inner and outer layers of the mechanical arms.

[0106] In some embodiments, the mechanical arm on the first-layer boom 410 can rotate relative to the first-layer boom 410, and the mechanical arm on the second-layer boom 420 can rotate relative to the second-layer boom 420. The flexibility of the multiple mechanical arms is further improved.

[0107] In some embodiments, the rotation range of the mechanical arm on the first layer of the suspension arm 410 is greater than the rotation range of the mechanical arm on the second layer of the suspension arm 420. The suspension arm 40 located at the upper layer is more flexible, which improves the flexibility of the surgical robot.

[0108] In some embodiments, the number of the mechanical arms is five, of which two are rotatably connected to the first-layer suspension arm 410, and the remaining three are rotatably connected to the second-layer suspension arm 420. The two mechanical arms can rotate in independent spaces, and the three mechanical arms rotate in independent spaces, which can reduce the probability of collision between the mechanical arms compared to four or more mechanical arms being located in the same horizontal space.

[0109] Regarding the specific structure of the boom 40, further, in some embodiments, as Fig.11 , Fig.12 and Fig.13 As shown, the first-layer boom 410 includes a first upper baffle 411, a first lower baffle 412 and a first support column 413 connected between the first upper baffle 411 and the first lower baffle 412, and one end of at least two mechanical arms is rotatably connected between the first upper baffle 411 and the first lower baffle 412; the second-layer boom 420 includes a second upper baffle 421, a second lower baffle 422 and a second support column 423 connected between the second upper baffle 421 and the second lower baffle 422, the second upper baffle 421 is rotatably connected to the bottom of the first lower baffle 412, and one end of at least two mechanical arms is rotatably connected between the second upper baffle 421 and the second lower baffle 422; the boom 40 is connected to a fourth drive assembly 430, and the fourth drive assembly 430 can drive the second-layer boom 420 to rotate, and the mechanical arm has a first drive assembly, and the first drive assembly can drive the mechanical arm to rotate relative to the boom 40.

[0110] In these embodiments, each layer of the suspension arm 40 has an upper baffle and a lower baffle, and one end of the mechanical arm is limited between the upper baffle and the lower baffle, which is conducive to improving the installation stability of the mechanical arm. The fourth driving assembly 430 drives the second layer of the suspension arm 420 located at the lower layer to rotate, and the first driving assembly drives the mechanical arm to rotate relative to the suspension arm 40. In addition to moving with the suspension arm 40 of the layer, the mechanical arm can also rotate relative to the suspension arm 40 of the layer, which has good flexibility.

[0111] In some embodiments, Fig.13 As shown, the fourth drive assembly 430 includes a drive motor 431 and a reducer 432. The first support column 413 and the second support column 423 have mutually connected cavities. The drive motor 431 is arranged in the cavity of the first support column 413, and the reducer 432 is arranged in the cavity of the second support column 423. The drive motor 431 can drive the second support column 423 to rotate through the reducer 432. Here, the fourth drive assembly 430 is hidden inside the boom 40, and the appearance effect is good. In addition, the drive motor 431 is used to drive the second-layer boom 420 to rotate through the reducer 432, and the boom 40 will not rotate too fast, thereby improving safety.

[0112] Furthermore, the fourth driving assembly 430 also includes a transmission belt 433 , and the driving motor 431 is connected to the reducer 432 via the transmission belt 433 .

[0113] In some embodiments, Fig.11 and Fig.12 As shown, the first lower baffle plate 412 is triangular in shape, and a first connection port 414 is provided at at least two of the three corners of the first lower baffle plate 412 exposed on the first support column 413, and the first connection port 414 is used for rotatably connecting to the robotic arm; the second lower baffle plate 422 is triangular in shape, and a second connection port 424 is provided at each of the three corners of the second lower baffle plate 422 exposed on the second support column 423, and the second connection port 424 is used for rotatably connecting to the robotic arm.

[0114] In these embodiments, the first lower baffle plate 412 and the second lower baffle plate 422 are both triangular in shape, and the connecting ports are arranged at the corners of the triangle to connect the robotic arms. On the one hand, the two baffles occupy little space, reduce weight, and save costs. On the other hand, the connecting ports at the corners are not too close to each other, which is conducive to separating the robotic arms and reducing the chance of collision between the robotic arms.

[0115] In some embodiments, the first lower baffle plate 412 is in the shape of an equilateral triangle, and the second lower baffle plate 422 is in the shape of an equilateral triangle, which is conducive to the circumferential equal spacing of the three second connection ports 424, and the spacing between the first connection ports 414 is the same as or similar to the spacing between the second connection ports 424, which can separate the mechanical arms more evenly and reduce the probability of collision between the mechanical arms.

[0116] In some embodiments, the circumscribed circle diameter of the first lower baffle plate 412 is greater than or equal to the circumscribed circle diameter of the second lower baffle plate 422. In the case where the circumscribed circle diameter of the first lower baffle plate 412 is greater than the circumscribed circle diameter of the second lower baffle plate 422, the first connection port 414 can be located outside the second connection port 424 in the horizontal direction, so that the mechanical arm on the first-layer suspension arm 410 can be located outside the mechanical arm on the second-layer suspension arm 420, which is conducive to the mechanical arm on the first-layer suspension arm 410 rotating outside the mechanical arm on the second-layer suspension arm 420, thereby reducing the probability of collision between the mechanical arms distributed inside and outside.

[0117] Of course, the circumscribed circle diameter of the first lower baffle plate 412 may be equal to the circumscribed circle diameter of the second lower baffle plate 422. At this time, if the mechanical arm on the first-layer suspension arm 410 is rotated outside the mechanical arm on the second-layer suspension arm 420, the length of the mechanical arm may be designed or adjusted so that the length of the mechanical arm on the first-layer suspension arm 410 is greater than the length of the mechanical arm on the second-layer suspension arm 420, thereby facilitating the mechanical arm on the first-layer suspension arm 410 to rotate outside the mechanical arm on the second-layer suspension arm 420.

[0118] In addition, the boom 40 includes not only the first-layer boom 410 and the second-layer boom 420, but also a third-layer boom 40 (not shown in the figure), the third-layer boom 40 is located below the second-layer boom 420, and the third-layer boom 40 can rotate relative to the second-layer boom 420, and multiple mechanical arms are distributed in the three-layer boom 40. For example, at least two of the multiple mechanical arms are connected to the third-layer boom 40. Similarly, the boom 40 can also continue to include a fourth-layer boom 40 (not shown in the figure), a fifth-layer boom 40 (not shown in the figure), etc., and is not limited to the above two layers.

[0119] Furthermore, in some embodiments, Figure 2 , Fig.16 , Fig.17 and Fig.18 As shown, each robot arm includes a serial robot arm 30 and a parallel robot arm 20 connected in sequence, one end of the serial robot arm 30 is connected to the suspension arm 40; the serial robot arm 30 can provide five degrees of freedom to achieve the preoperative positioning of the actuator 10, and / or the parallel robot arm 20 can provide at least five degrees of freedom, such as 6 degrees of freedom. The serial-parallel robot arm connection takes up less space and is not easy to interfere with each other.

[0120] In some embodiments, Figure 2 and Fig.10 As shown, the serial robot arm 30 includes a cross beam 310, a sliding beam 320, a telescopic rod 330, a rotating member 340 and a pitching member 350 which are connected in sequence. One end of the cross beam 310 is connected to the boom 40; the sliding beam 320 can slide along the cross beam 310 in a direction close to or away from the boom 40; the telescopic rod 330 is connected to the sliding beam 320 and can move up and down along the sliding beam 320; the rotating member 340 is connected to the bottom of the telescopic rod 330, the rotating member 340 can rotate relative to the telescopic rod 330, and the rotation center line of the rotating member 340 coincides with or is parallel to the axis of the telescopic rod 330; the pitching member 350 is connected to the rotating member 340, the pitching member 350 can do pitching motion relative to the rotating member 340, and the pitching member 350 is connected to the corresponding parallel robot arm 20. This type of robotic arm structure occupies a small space, and especially during preoperative positioning, the motion trajectory is relatively regular. Compared with a parallelogram-shaped robotic arm, the probability of collision between the robotic arms can be reduced, and it is convenient for the doctor to accurately control the serial robotic arm 30 to move to a specific position, thereby improving the control accuracy. The joints of the serial robotic arm 30 mentioned in the embodiment of this article include a kinematic pair composed of the above-mentioned crossbeam 310, sliding beam 320, telescopic rod 330, rotating member 340 and pitch member 350, wherein the first driving component is a motor, and the motor is used to drive the kinematic pair to move.

[0121] Of course, the structure of the serial robot arm 30 can also be implemented in other ways to achieve 5 degrees of freedom, and is not limited to the above example.

[0122] Furthermore, in some embodiments, Fig.15 and Fig.16 As shown, the surgical robot further includes a suspension device 50, which is connected to the bottom of the suspension arm 40, and a plurality of mechanical arms are circumferentially distributed around the suspension device 50. For example, the suspension device 50 is connected to the bottom of the second-layer suspension arm 420, and the suspension device 50 is fixedly connected to the second-layer suspension arm 420, or the suspension device 50 is rotatably connected to the second-layer suspension arm 420.

[0123] In one example, the actuator body 110 of the actuator assembly 10 extends offset to one side relative to a straight line perpendicular to the moving platform 230 , wherein the extending direction is the direction in which the actuator body 110 points to the suspension device 50 .

[0124] Here, multiple robotic arms can be arranged around the patient, reserving space above the patient's abdomen, so that the suspension device 50 can be used to act on the inner side of the patient's abdominal wall to make the patient's abdominal wall bulge, making it easier to establish surgical space and field of view inside the patient's body.

[0125] As an example, Fig.15 As shown, the suspension device 50 includes a first suspension arm 510, a second suspension arm 520 and a suspension umbrella 530. The first suspension arm 510 is rotatably connected to the suspension arm 40 and is horizontally placed below the suspension arm 40; the second suspension arm 520 is rotatably connected to the first suspension arm 510 and is horizontally placed below the first suspension arm 510; the suspension umbrella 530 is connected to the second suspension arm 520 through a suspension rope. The first suspension arm 510 and the second suspension arm 520 can be rotated and stacked up and down or at least partially overlapped, which can reduce the occupied space and reduce the probability of collision between the suspension device 50 and the surrounding mechanical arms. In addition, the first suspension arm 510 and the second suspension arm 520 are rotatably connected, and the first suspension arm 510 is rotatably connected to the suspension arm 40, so as to facilitate the adjustment of the position of the suspension umbrella 530. In a specific application, the suspension umbrella 530 acts on the inner side of the patient's abdominal wall, and the patient's abdominal wall is bulged by the upward pulling force provided by the suspension device 50.

[0126] Of course, in other embodiments, the surgical robot can also be used in conjunction with traditional carbon dioxide pneumoperitoneum methods to inflate the patient's body to establish a surgical space and field of view.

[0127] The fifth aspect embodiment of the present invention provides a surgical robot system, which includes: a surgical robot as in any embodiment of the fourth aspect embodiment, a first control console 70 and a second control console, the first control console 70 and the second control console are both connected to the surgical robot control, and each control console controls the movement of at least one robotic arm of the surgical robot.

[0128] The surgical robot system provided by the embodiment of this aspect has the surgical robot of any embodiment of the fourth aspect, and thus has the beneficial effects of any embodiment, which will not be described in detail here. In addition, the surgical robot system is equipped with two control consoles, and two people use the two control consoles to control the movement of the mechanical arms of the surgical robot. Compared with one control console, one person independently controls the movement of multiple mechanical arms, and can control the corresponding mechanical arm movement in time, which is convenient for multiple mechanical arms to move in coordination at the same time, and puts the assistant doctor in a more comfortable cooperation environment.

[0129] In some embodiments, the surgical robot includes five robotic arms, two of which are rotatably connected to the first-layer arm 410, and the remaining three robotic arms are rotatably connected to the second-layer arm 420; the first control console 70 is control-connected to the three robotic arms connected to the second-layer arm 420, and the second control console is control-connected to the two robotic arms connected to the first-layer arm 410.

[0130] In these embodiments, two control consoles are used to control the mechanical arm connected to the first-layer hanging arm 410 and the mechanical arm connected to the second-layer hanging arm 420, respectively, so as to facilitate observation of the posture of the corresponding mechanical arm for control. Moreover, one control console can be used as the main control console, and the other control console can be used as the slave control console. For example, several actuators 10 frequently used during surgery are connected to the same-layer hanging arm, such as the second-layer hanging arm 420 located at the lower layer, which is controlled by the surgeon, and the remaining actuators 10 are connected to the first-layer hanging arm 410 and controlled by the assistant doctor, so as to facilitate coordination and cooperation of the actuators 10 during surgery.

[0131] The following is a detailed description of a surgical robot according to an embodiment of the present invention.

[0132] like Figure 2 and Fig.18 As shown, a surgical robot comprises a base assembly 60, a suspension arm 40 and five mechanical arms, each of which comprises a serial mechanical arm 30 and a parallel mechanical arm 20. The five serial mechanical arms 30 are respectively Figure 2 and Fig.18 The five parallel mechanical arms 20, 30a, 30b, 30c, 30d, and 30e, are respectively Figure 2 and Fig.18 The five parallel robot arms 20, 20a, 20b, 20c, 20d, and 20e, are each connected to five actuators 10, respectively. Fig.17 The boom 40 is connected to the base assembly 60 , the serial robot arm 30 is connected to the boom 40 as a passive arm, and the parallel robot arm 20 is connected to the serial robot arm 30 as an active arm.

[0133] like Fig.10As shown, the serial robot arm 30 has five degrees of freedom of motion. The cross beam 310 is rotatably connected to the suspension arm 40 and driven by a motor to rotate along the axis O1. The sliding beam 320 is slidably connected to the cross beam 310 and driven by a motor to make linear motion along the cross beam 310. The telescopic rod 330 is slidably connected to the sliding beam 320 and driven by a motor to make up and down linear motion along the sliding beam 320. The rotating member 340 is rotatably connected to the telescopic rod 330 and driven by a motor to rotate along the axis O2. The pitch member 350 is rotatably connected to the rotating member 340 and driven by a motor to rotate along the axis O3. The main function of the serial robot arm 30 is preoperative positioning, which positions the parallel robot arm 20 in a suitable position for surgical operation.

[0134] like Figure 3 , Figure 4 and Figure 5 As shown, the parallel robot arm 20 is a 3-UPS type parallel mechanism, having three branches 220, and the three branches 220 connect the static platform 210 and the dynamic platform 230. Each branch chain 220 includes a cross hinge, a linear motion component, and an equivalent ball joint. The cross hinge has two revolute pairs, one of which is driven by a motor. The linear motion component is driven by the motor to reciprocate, and the equivalent ball joint has three revolute pairs with intersecting axes. The parallel robot arm 20 has 6 degrees of freedom and is mounted on the far end of the serial robot arm 30 and fixedly connected through an interface. In the above embodiment, the second drive assembly includes six motors, three of which are used to drive the reciprocating motion of the linear motion part, and the other three are used to drive the three branches to rotate. In another embodiment, the parallel robot arm 20 is a Stewart parallel mechanism.

[0135] In order to obtain more flexible preoperative positioning and surgical operation, a rotating part is additionally added to the moving platform 230 of the parallel robot arm 20, such as Figure 3 As shown, the rotating part is driven by a motor to rotate along the axis R1. This rotational motion can be used for preoperative positioning to allow the robotic arms to obtain more independent spaces, and can also be involved in the surgical process to make the parallel robotic arm 20 move more flexibly.

[0136] The parallel robot arm 20 can be equipped with an endoscope for surgery and various types of actuators 10. Figure 4As shown, the endoscope is fixed on the rotating part 243, and the axis of the endoscope forms an angle K1 with the axis R1 of the rotating part 243, and the angle is 30° to 90°, which makes the endoscope easier to install and remove. During the operation, by controlling the 6 degrees of freedom and the rotating part of the serial robot arm 30, the endoscope can rotate around D1X1 and D1Y1 and telescopic movement along D1Z1, wherein the D1X1Y1Z1 coordinate system is fixed relative to the static platform 210, and point D1 is called the telecentric fixed point. D1 is overlapped with the center of the opening on the patient's skin. During the operation, the endoscope will not cause pulling damage to the human skin, and the minimally invasive surgery effect is achieved.

[0137] Similar to the effect of an endoscope, various types of instruments required for the surgical process can be carried on the parallel robot arm 20. Figure 5 , realizing the rotation of the actuator 10 around D2X2, D2Y2 and the telescopic movement along D2Z2, wherein the D2X2Y2Z2 coordinate system is fixed relative to the static platform 210, point D2 is called the telecentric fixed point, and D2 is coincident with the center of the opening on the patient's skin.

[0138] Through the above structure, the execution component 10 can achieve Fig.16 and Fig.17 The relative position of the robotic arms can be determined, and the robotic arms can move flexibly during the operation without collision or interference.

[0139] exist Fig.16 and Fig.17 Under the relative position condition, a suspension device 50 can be optionally set just above the other actuators 10 and the endoscope, and the suspension umbrella 530 of the suspension device 50 acts on the inner side of the patient's abdominal wall, and the suspension device 50 provides an upward pulling force to make the patient's abdominal wall bulge, so as to establish a surgical space and field of view in the body. Of course, the traditional CO2 pneumoperitoneum method can also be used to inflate the body to establish a surgical space and field of view.

[0140] The five serially connected mechanical arms 30 are rotatably connected to the suspension arm 40, as shown in FIG. Fig.11 As shown, the arm 40 has two layers, the second layer arm 420 located at the lower layer has three second connection ports 424, which are respectively connected to the three mechanical arms. The second layer arm 420 is rotatably connected to the first layer arm 410 located at the upper layer, and is driven by the driving motor 431 to rotate along the axis P1. The first layer arm 410 has two first connection ports 414, which are respectively connected to the other two mechanical arms. The first layer arm 410 is fixedly connected to the second crossbeam 640 of the base assembly 60. The upper and lower layers of the arm 40 allow the serial mechanical arms 30 to be arranged crosswise, making the layout more flexible and improving the adaptability of the surgical robot.

[0141] like Fig.14As shown, in the base assembly 60, the second crossbeam 640 is slidably connected to the first crossbeam 630, and is driven by a motor to telescopically move along the first cross frame, the first cross frame is rotatably connected to the support 620, and is driven by a motor to rotate along the axis C1, the support 620 is slidably connected to the base 610, and is driven by a motor to move up and down along the base 610, and the base 610 is placed on the ground. The base assembly 60 provides stable support for the surgical robot.

[0142] In the above embodiment, a rotating part capable of coaxial rotational motion is connected in series on the moving platform 230 of the parallel manipulator 20, which can rotate in a full circle, and the extension line of the execution body 110 of the carried execution assembly 10 is made to form a fixed angle of 30° to 90° with the straight line perpendicular to the moving platform 230. The execution body 110 can be loaded from the back to the front, which is convenient for disassembly and assembly and has high safety. The increased rotational motion can be involved in the preoperative positioning, and the positioning is more flexible. The serial manipulator 30 does not need to realize the preoperative positioning of 5 degrees of freedom separately, which is conducive to making the structure of the serial manipulator 30 simpler. The increased rotational motion can also be involved in the operation to increase the motion range of the parallel manipulator 20. Compared with the parallel manipulator 20 fixedly connected to the execution assembly 10 without a rotating part, this embodiment can increase the distance between adjacent parallel manipulators 20 and further reduce the risk of collision.

[0143] In addition, the passive arm is a series structure, providing the parallel robotic arm 20 with 5 degrees of freedom for preoperative positioning. The 5 series robotic arms 30 are arranged in a double layer, with two on the upper layer and three on the lower layer. The upper and lower layers of the series robotic arms 30 can be arranged crosswise to change the adjacent relationship of the robotic arms, and more positioning methods can be changed to adapt to different surgical scenarios. A single series robotic arm 30 has a simple structure, small size, and good rigidity. This solution takes up little space during surgical operations, and can achieve multiple arms working simultaneously without interfering with each other, completely replacing the bedside handheld operation of the assistant doctor, improving the quality of surgery, and eliminating the risk of assistants being injured by robotic arms.

[0144] The surgical robot provided in the embodiment of the present invention solves the problem of collision between multiple parallel robotic arms 20 and multiple actuators 10 when working simultaneously by making the angle between the extension direction of the actuator body 110 and the straight line perpendicular to the moving platform 230 be between 30° and 90° when the actuator 10 is installed on the parallel robotic arm 20. The surgical robot occupies little space during surgical operations, and can realize simultaneous operation of multiple robotic arms without mutual interference, which is conducive to completely replacing the bedside handheld operation of assistant doctors, improving the quality of surgery, and eliminating the risk of assistant doctors being injured by the robotic arm. Of course, the flexibility of the robotic arm can be further improved by making the arm 40 include multiple layers of arms that can rotate relatively up and down, such as a first layer arm 410 and a second layer arm 420, or even a third layer arm and more layers of arms.

[0145] Although the embodiments of the present invention have been described in detail above, those skilled in the art may make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the present invention. It should be understood that, in the opinion of those skilled in the art, these modifications and variations will still fall within the spirit and scope of the embodiments of the present invention defined by the claims.

Claims

1. A robotic arm, It is characterized in that The robotic arm comprises: A parallel robot arm (20), the parallel robot arm (20) comprising a static platform (210), a dynamic platform (230), and a plurality of branch chains (220) connected between the static platform (210) and the dynamic platform (230), wherein a connecting portion (240) is provided on the dynamic platform (230); an actuator component (10), wherein the actuator component (10) is connected to the moving platform via a connecting portion (240), The actuator body (110) of the actuator assembly (10) extends offset to one side relative to a straight line perpendicular to the moving platform (230).

2. The robotic arm according to claim 1, It is characterized in that The angle between the extension direction of the execution body (110) and a straight line perpendicular to the moving platform (230) is 30° to 90°.

3. The robotic arm according to claim 2, It is characterized in that The angle is 40° to 75°, or 35° to 60°, or 50° to 80°.

4. The robotic arm according to claim 1, It is characterized in that The connecting portion (240) comprises a first mounting ear (241) and a second mounting ear (242) connected thereto, the first mounting ear (241) being connected to the moving platform (230), the second mounting ear (242) being connected to the actuator assembly (10), and the first mounting ear (241) and the second mounting ear (242) being installed at an angle so that the actuator body (110) is offset and extends to one side relative to a straight line perpendicular to the moving platform (230).

5. The robot arm according to claim 4, It is characterized in that The plane where the first mounting ear (241) is located is parallel to the plane where the moving platform (230) is located, and the plane where the second mounting ear (242) is located is parallel to the extension direction of the execution body (110); and / or, The first mounting ear (241) is hingedly connected to the second mounting ear (242), and the angle between the first mounting ear (241) and the second mounting ear (242) is adjustable.

6. The robotic arm according to claim 1, It is characterized in that The connecting portion (240) includes a rotating portion (243), and the rotating portion (243) is capable of rotating on the surface of the moving platform (230) and driving the actuator (10) to rotate.

7. The robot arm according to claim 6, It is characterized in that The rotation center line of the rotating portion (243) is perpendicular to the plane where the moving platform (230) is located.

8. The robotic arm according to claim 1, It is characterized in that The straight line in which the extension direction of the execution body (110) is located avoids the space where the parallel robot arm (20) is located, and / or the execution component (10) is detachably connected to the connecting part (240).

9. The robotic arm according to claim 1, It is characterized in that The execution component (10) comprises: Execution entity (110); An execution installation part (120), the execution body (110) is arranged on the execution installation part (120), the execution body (110) and the execution installation part (120) are detachably connected, and the execution installation part (120) is connected to the connection part (240).

10. The robot arm according to claim 9, It is characterized in that The execution installation part (120) comprises a first installation part (121) and a second installation part (122) which are vertically distributed to each other; a surface of the first installation part (121) which is vertical to an extension direction of the second installation part (122) is fitted and connected to the connection part (240); a driving motor is arranged in the first installation part (121); a first transmission assembly (124) is arranged in the second installation part (122); the driving motor is connected to the first transmission assembly (124); The execution body (110) includes an instrument rod (111) and a second transmission assembly (112) arranged at the end of the instrument rod (111), the second transmission assembly (112) is connected to the first transmission assembly (124) on the second mounting portion (122), and the extension direction of the instrument rod (111) is the same as the extension direction of the first mounting portion (121).

11. The robot arm according to claim 10, It is characterized in that The second mounting portion (122) is provided with a mounting hole (123), the mounting hole (123) penetrates the second mounting portion (122) along the extension direction of the first mounting portion (121), and the mounting hole (123) also penetrates the end surface of the second mounting portion (122) away from the first mounting portion (121); The instrument rod (111) can be inserted into the mounting hole (123) from one end of the second mounting portion (122) away from the first mounting portion (121), and extend forward and backward in the mounting hole (123) along an extension direction parallel to the first mounting portion (121).

12. The robotic arm according to claim 1, It is characterized in that The robotic arm is a surgical robotic arm, and the execution component is a surgical instrument.

13. The robotic arm according to claim 1, It is characterized in that The robotic arm also includes: A serial robot arm (30), the serial robot arm (30) comprising at least two joints and a first drive assembly for driving the joints, the serial robot arm (30) being connected to a stationary platform (210) of the parallel robot arm (20), the parallel robot arm (20) being provided with a second drive assembly, the serial robot arm (30) being able to drive the parallel robot arm (20) to move under the drive of the first drive assembly, and the parallel robot arm (20) being able to drive the actuator assembly (10) to move via the moving platform (230) under the drive of the second drive assembly.

14. The robot arm according to claim 13, It is characterized in that The connecting part (240) includes a rotating part (243), and the rotating part (243) can rotate on the surface of the moving platform (230). The rotating part (243) is connected to the actuator (10) and can drive the actuator (10) to rotate. The rotating part (243) is provided with a third driving component. The serial robot arm (30) and the rotating part (243) are used to complete the preoperative positioning of the robot arm, and the parallel robot arm (20) and the rotating part (243) are used to complete the intraoperative movement of the actuator (10).

15. A surgical robot, It is characterized in that The surgical robot comprises a base assembly (60) and a plurality of robotic arms as described in any one of claims 1 to 14 connected thereto.

16. The surgical robot according to claim 15, It is characterized in that The number of the robotic arms is 5.

17. A surgical robot system, It is characterized in that The surgical robot system includes the surgical robot as described in claim 15 or 16, a first control console and a second control console, the first control console and the second control console are both control-connected to the surgical robot, and each control console controls the movement of at least one of the robotic arms.

18. The surgical robot system according to claim 17, It is characterized in that The surgical robot includes five robotic arms, and each operating table controls the movement of at least two of the robotic arms.

19. The surgical robot system according to claim 17, It is characterized in that When the parallel robot arm (20) is provided with a second drive assembly, the connecting portion (240) includes a rotating portion (243), and the rotating portion (243) is provided with a third drive assembly, the first control console and the second control console are both controllably connected to the second drive assembly and the third drive assembly.

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