Surgical operation operation arm and surgical operation robot

Abstract

The invention provides a surgical operation operating arm and a surgical operation robot, the top surface of a moving seat is connected with a six-axis mechanical arm, the far end of the six-axis mechanical arm is connected with a driving rod, the two sides of the end, connected with the six-axis mechanical arm, of the driving rod are connected with symmetrical driving parts, and the outer wall of the lower portion of the driving rod is rotatably connected with intersecting bidirectional operating rods; the outer wall of the side face of one end, connected with the driving rod, of the bidirectional operating rod is in transmission connection with the driving part, a vertical extension rod is arranged in the bidirectional operating rod in a limited sliding mode, the far end of the vertical extension rod is connected with a vertical supporting arm, and a springback limiting part is arranged on the lower portion of the position, connected with the driving rod, of the bidirectional operating rod; the function of opening the supporting arms in the horizontal direction can be achieved, the electromagnetic combination parts are adopted to be matched with the adjusting transmission parts for driving, extension and contraction or arc-shaped rotation of the supporting arms can be achieved, and free opening and opening angle adjustment of skin or muscles are achieved.

Description

Technical Field

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

[0002] Surgical robots are high-end medical devices that integrate multiple advanced technologies. Through precise control systems and flexible operating arms, combined with high-resolution visual systems, they make surgical operations more precise and minimally invasive. These robots not only improve the safety and efficiency of surgery, but also greatly reduce the workload of doctors, showing great potential in the field of minimally invasive surgery.

[0003] Surgical robots perform surgeries by using their own robotic arms to perform operations on the patient's body. Surgical robotic arms have long-term working stability and operating precision that human arms do not have. During surgical operations, the skin is cut open to treat internal injuries. During traditional surgical robot operations, at least two sets of robotic arms are required to pull and stretch the patient's skin and muscles, which takes up a large space and affects the operation of other robotic arms. At the same time, the skin and muscle stretching angles are difficult to adjust.

[0004] Therefore, we made improvements to this and proposed surgical manipulators and surgical robots. Summary of the invention

[0005] The purpose of the present invention is to address the current problems that too many robotic arms are required to stretch the skin and muscles, and that the large space occupied affects the operation of the robotic arms.

[0006] In order to achieve the above-mentioned purpose of the invention, the present invention provides the following surgical operating arm and surgical robot to improve the above-mentioned problems.

[0007] The specific application is as follows:

[0008] The surgical robot comprises a moving seat, two symmetrical sets of universal wheels are fixed on both sides of the bottom surface of the moving seat, pneumatic push rods are fixed on both sides of the universal wheels inside the bottom surface of the moving seat, the output ends of the pneumatic push rods are connected to suction cups, a double pump group is provided at the inner center of the bottom surface of the moving seat, and the two output ends of the double pump group are connected to the pneumatic push rods and the suction cups.

[0009] The surgical operating arm comprises a surgical robot, wherein the top surface of the movable seat is connected to a six-axis mechanical arm, the distal end of the six-axis mechanical arm is connected to a driving rod, the two sides of one end of the driving rod connected to the six-axis mechanical arm are connected to symmetrical driving parts, the lower outer wall of the driving rod is rotatably connected to an intersecting two-way operating rod, the side outer wall of one end of the two-way operating rod connected to the driving rod is transmission-connected to the driving part, a vertical extension rod is limited and slidably provided inside the two-way operating rod, the distal end of the vertical extension rod is connected to a vertical support arm, and a rebound limiting part is provided at the lower part of the position where the two-way operating rod is connected to the driving rod. The two-way operating rod is elastically limitedly connected to the driving rod through a rebound limiting part, an adjusting transmission part is provided on the upper side of the position where the two-way operating rod is connected to the driving rod, and the two ends of the adjusting transmission part are respectively connected to the vertical extension rod and the driving rod for transmission, and an electromagnetic combining part is provided on the top surface of the position where the two-way operating rod is connected to the adjusting transmission part, and the electromagnetic combining part is drivingly connected to the adjusting transmission part. When the electromagnetic combining part is in an adsorption state, the adjusting transmission part meshes with the driving rod and the vertical extension rod for transmission, and when the electromagnetic combining part is in a repulsive state, the adjusting transmission part is separated from the driving rod and the vertical extension rod.

[0010] As a preferred technical solution of the present application, the driving part includes a winding assembly and a positioning assembly, the winding assembly includes a winding seat, the winding seat is fixed on both sides of the top of the driving rod, the inner side of the winding seat is rotatably connected to a wire roller, one end of the wire roller is drivingly connected to a servo motor, the servo motor is fixed on the outer surface of the winding seat, and the wire roller is fixed with a wound transmission wire.

[0011] As a preferred technical solution of the present application, the positioning assembly includes a wire limit box, which is fixed on both sides of the bottom of the driving rod, and the wire limit boxes are respectively fixed to the outer sides of two intersecting groups of two-way operating rods, the middle part of the wire limit box fits and slides on the outer surface of the two-way operating rod, and the wire limit box fits one side of the two-way operating rod and the top surface is provided with a connected positioning wire hole, one end of the transmission wire away from the wire roller is passed through the positioning wire hole, one end of the transmission wire located inside the driving part is fit and passed through the inner side of the outer wall of the two-way operating rod, and one end of the transmission wire passed through the inner side of the outer wall of the two-way operating rod is fixed to the side of the two-way operating rod away from the positioning assembly.

[0012] As a preferred technical solution of the present application, the rebound limit portion includes an elastic reset groove, which is arranged on the inner side of the bottom of the two-way operating rod, and oblique spring grooves are arranged on both sides of the elastic reset groove. The far end of the oblique spring groove extends to the inner side of the outer surface of the driving rod, and a reset tension spring is arranged on the inner side of the oblique spring groove, and the two ends of the reset tension spring are respectively fixed to the driving rod and the rebound limit portion.

[0013] As a preferred technical solution of the present application, an arc-shaped limit groove is provided on the bottom surface of the two-way operating lever, and the bottom surface of the arc-shaped limit groove slides in close proximity to the top surface of the driving rod. A reset block is provided on the top surface of the driving rod directly below the arc-shaped limit groove, and the reset block slides in close proximity to the inner surface of the arc-shaped limit groove. The position where the reset block connects to the driving rod is located at the end of the arc-shaped limit groove.

[0014] As a preferred technical solution of the present application, the adjustment transmission part includes a positioning plate, which is fixed on the outer wall of the position where the driving rod is connected to the two-way operating rod, and the bottom surface of the positioning plate is fixed with transmission teeth arranged in a ring and equidistantly spaced. The inner side of one end of the two-way operating rod connected to the positioning plate is rotatably connected to a power transmission shaft, and one end of the power transmission shaft is connected to a bevel gear, which meshes with the transmission teeth for transmission.

[0015] As a preferred technical solution of the present application, a large gear is connected to the other end of the power transmission shaft, and small gears are meshed on both sides of the large gear. A threaded rod is fixed to the side of the small gear away from the power transmission shaft, and the threaded rod is passed through the inside of the vertical extension rod. The threaded rod is located inside the vertical extension rod and is threadedly meshed with the vertical extension rod for transmission. Positioning columns are provided in the middle of the power transmission shaft and at one end of the threaded rod connected to the small gear. The positioning column at one end of the threaded rod is limited to rotate on the inner side of the two-way operating rod, and the positioning column in the middle of the power transmission shaft is limited to rotate inside the electromagnetic coupling part.

[0016] As a preferred technical solution of the present application, the electromagnetic coupling part includes a power combination block, the power combination block is limited in lifting and sliding inside the two-way operating lever, the power transmission shaft is passed through the center of the power combination block, the positioning column in the middle of the power transmission shaft is limited in rotation on the inside of the power combination block, an electromagnetic block is fixed on the top surface of the power combination block, and an electromagnetic drive block is fixed on the top surface of the two-way operating lever directly above the electromagnetic block, and the electromagnetic drive block is magnetically adsorbed and connected to the electromagnetic block.

[0017] As a preferred technical solution of the present application, a lifting limit groove is provided at the position where the power combination block is connected inside the two-way operating lever, and the power combination block is limited in lifting and sliding on the inside of the lifting limit groove; a transmission positioning groove is provided at the position where the two-way operating lever is connected to the positioning column at one end of the threaded rod, and the positioning column is limited in rotation on the inside of the transmission positioning groove; an extension slide groove is provided at the position where the two-way operating lever is connected to the vertical extension rod inside the two-way operating lever, a limiting stop block is fixed at the end of the vertical extension rod away from the support arm, and the limiting stop block slides inside the extension slide groove; symmetrical threaded holes are provided inside the limiting stop block and the vertical extension rod, and the threaded rod is penetrated into the threaded hole.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] In the scheme of this application:

[0020] 1. The present invention can realize the function of a single set of mechanical arms to stretch the skin or muscles to both sides through the coordinated driving of the two-way operating rod and the support arm. At the same time, the adjustable rotating part can be used to push the support arm during the rotation and opening of the two-way operating rod to realize the function of the support arm being stretched in the horizontal direction. The electromagnetic coupling part is used in conjunction with the adjustable transmission part to drive the support arm, which can realize the extension and contraction or arc-shaped rotation of the support arm, thereby realizing the free stretching of the skin or muscles and the adjustment of the stretching angle.

[0021] 2. The present invention is provided with driving parts on both sides of the upper part of the driving rod, and includes a winding assembly and a positioning assembly on the inner side of the driving part, which can realize the two-way opening and closing action of the two-way operating rod, thereby driving the support arm to open to both sides to complete the stretching of the skin or muscles. The positioning assembly can adjust the pulling direction of the transmission wire, thereby realizing vertical pulling to provide lateral driving force.

[0022] 3. The present invention provides a rebound limit portion at the position where the bottom of the driving rod is connected to the two-way operating rod. After the driving portion drives the two-way operating rod, the high-strength tension of the reset spring can be used to drive the two-way operating rod to rotate and reset. When the two-way operating rod is reset, the tension of the reset spring provides a clamping function for the support arm. An arc-shaped limit groove is provided on the bottom surface of the two-way operating rod, which is slidably connected to the reset block, thereby ensuring the accuracy of the two-way operating rod after reset.

[0023] 4. An adjusting transmission part is provided inside the two-way operating rod, which can drive the vertical extension rod inside the two-way operating rod to slide outward when the two-way operating rod is pulled and rotated by the driving part, so that the support arm connected to the far end of the vertical extension rod can still maintain its bidirectional horizontal opening when the two-way operating rod rotates in an arc, so that the support arm has the function of horizontally spreading the skin and muscles.

[0024] 5. An electromagnetic coupling part is provided at the position where the two-way operating lever is connected to the adjusting transmission part. Through the limited rotation of the power combination block inside the electromagnetic coupling part and the power transmission shaft, the electromagnetic drive block can be used to drive the power transmission shaft to slide up and down inside the two-way operating lever, thereby realizing the free cutting off of the power transmission between the adjusting transmission part and the drive rod, so that the two-way operating lever can have the function of freely adjusting the extension length and the opening angle of the support arm, and at the same time, the function of freely adjusting the opening distance is added.

[0025] 6. In the present invention, universal wheels are used at the bottom of the mobile seat to facilitate the free movement of the six-axis robot arm, and multiple groups of pneumatic push rods and suction cups are installed on the bottom of the mobile seat and driven by a double pump group. After the mobile seat is moved to the surgical operation position, the suction cup is used to fit the ground, and the suction force provided by the double pump group is used to firmly adsorb and fix the mobile seat to the ground. After the suction cup is adsorbed to the ground, the pneumatic push rod can be retracted to enhance the strength and stability of the fixation of the mobile seat to the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic structural diagram of a preferred embodiment of a surgical operating arm and a surgical robot provided by the present invention;

[0027] Figure 2 for Figure 1 The schematic structural diagram of the bottom of the mobile seat shown is viewed from above;

[0028] Figure 3 for Figure 2 The schematic structural diagram of the middle section of the moving seat shown;

[0029] Figure 4 for Figure 1 A schematic diagram of the structure of the driving rod position shown;

[0030] Figure 5 for Figure 4 An exploded and enlarged schematic diagram of the structure of the retracting assembly position is shown;

[0031] Figure 6 for Figure 4 The structural exploded and enlarged schematic diagram of the position adjustment component shown;

[0032] Figure 7 for Figure 6 A schematic diagram of the structure of the connection position between the bidirectional operating lever and the driving lever shown;

[0033] Figure 8 for Figure 7 The schematic diagram of the structure of the two-way operating lever connected to the driving lever is shown as an exploded bottom view;

[0034] Fig. 9 for Figure 8 The enlarged cross-sectional view of the structure of the two-way operating lever and the driving rod transmission shown;

[0035] Fig.10 for Fig. 9 The schematic diagram of the structure of the connection position between the two-way operating lever and the adjusting transmission part shown;

[0036] Fig.11 for Figure 4 A schematic diagram of the structure of the internal structure of the two-way operating lever shown;

[0037] Fig.12 for Fig.11 The diagram shown is an exploded and enlarged schematic diagram of the structure of the adjustment transmission part and the vertical extension rod transmission.

[0038] Indicated in the figure:

[0039] 1. Mobile seat; 2. Six-axis robot arm; 3. Driving rod; 4. Driving part; 5. Bidirectional operating rod; 6. Support arm; 7. Electromagnetic joint; 8. Rebound limit part; 9. Adjustment transmission part; 11. Universal wheel; 12. Double pump group; 13. Pneumatic push rod; 14. Suction cup; 41. Winding assembly; 42. Adjustment assembly; 411. Winding seat; 412. Wire winding roller; 413. Servo motor; 414. Transmission wire; 421. Wire limit box; 422. Adjustment wire hole; 51. Lifting limit slot; 52, transmission positioning slot; 53, extension slide slot; 54, vertical extension rod; 55, limit block; 56, threaded hole; 71, power combination block; 72, electromagnetic block; 73, electromagnetic drive block; 81, elastic reset slot; 82, oblique spring slot; 83, reset tension spring; 84, arc limit slot; 85, reset block; 91, positioning plate; 92, transmission tooth; 93, power transmission shaft; 94, bevel gear; 95, large gear; 96, small gear; 97, threaded rod; 971, positioning column. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0041] As described in the background art, too many robotic arms are required to stretch the skin and muscles, and the large space they occupy affects the operation of the robotic arms.

[0042] In order to solve this technical problem, the present invention provides a surgical operating arm and a surgical robot, which are applied to a single set of robotic arms to freely adjust and open the surgical skin at multiple angles.

[0043] Specifically, please refer to Figure 1-Figure 12 , the surgical robot specifically comprises:

[0044] A moving seat 1, wherein two symmetrical sets of universal wheels 11 are fixed on both sides of the bottom surface of the moving seat 1, and pneumatic push rods 13 are fixed on both sides of the universal wheels 11 inside the bottom surface of the moving seat 1, and the output ends of the pneumatic push rods 13 are connected to suction cups 14. A double pump group 12 is provided at the inner center of the bottom surface of the moving seat 1, and the two output ends of the double pump group 12 are connected to the pneumatic push rods 13 and the suction cups 14.

[0045] The surgical operating arm and surgical robot provided by the present invention have universal wheels 11 at the bottom of the moving seat 1, which can facilitate the free movement of the six-axis robot arm 2, and multiple groups of pneumatic push rods 13 and suction cups 14 are installed on the bottom surface of the moving seat 1, which are connected and driven by a double pump group 12. After the moving seat 1 is moved to the surgical operation position, the suction cups 14 can be used to fit the ground, and the suction force provided by the double pump group 12 can be used to firmly adsorb and fix the moving seat 1 to the ground. After the suction cups 14 are adsorbed to the ground, the pneumatic push rods 13 can be retracted to improve the strength and stability of the fixing of the moving seat 1 to the ground.

[0046] Specifically, please refer to Figure 1-Figure 12 , the surgical operating arm specifically comprises:

[0047] The surgical robot, the top surface of the movable seat 1 is connected to a six-axis mechanical arm 2, the distal end of the six-axis mechanical arm 2 is connected to a driving rod 3, the driving rod 3 is connected to one end of the six-axis mechanical arm 2 and is connected to symmetrical driving parts 4 on both sides, the lower outer wall of the driving rod 3 is rotatably connected to an intersecting two-way operating rod 5, the two-way operating rod 5 is connected to the outer wall of the side of one end of the driving rod 3 and is transmission-connected to the driving part 4, the two-way operating rod 5 is internally limited and slidably provided with a vertical extension rod 54, the distal end of the vertical extension rod 54 is connected to a vertical support arm 6, the lower part of the position where the two-way operating rod 5 is connected to the driving rod 3 is provided with a rebound limiting part 8, the two-way operating rod 5 is connected to the driving rod 3, and the two-way operating rod 5 is connected to the driving rod 3. The rod 5 is elastically limitedly connected to the driving rod 3 through a rebound limiting portion 8. An adjusting transmission portion 9 is provided on the upper side of the position where the two-way operating rod 5 is connected to the driving rod 3. The two ends of the adjusting transmission portion 9 are respectively connected to the vertical extension rod 54 and the driving rod 3 for transmission. An electromagnetic coupling portion 7 is provided on the top surface of the position where the two-way operating rod 5 is connected to the adjusting transmission portion 9. The electromagnetic coupling portion 7 is drivingly connected to the adjusting transmission portion 9. When the electromagnetic coupling portion 7 is in the adsorption state, the adjusting transmission portion 9 is meshed with the driving rod 3 and the vertical extension rod 54 for transmission. When the electromagnetic coupling portion 7 is in the repulsive state, the adjusting transmission portion 9 is separated from the driving rod 3 and the vertical extension rod 54.

[0048] The surgical operating arm and surgical robot provided by the present invention, the coordinated driving of the two-way operating rod 5 and the support arm 6 can realize the function of a single set of mechanical arms to stretch the skin or muscles to both sides. At the same time, by utilizing the adjusting rotating part, the support arm 6 can be pushed during the rotation and opening of the two-way operating rod 5, thereby realizing the function of horizontally stretching the support arm 6. In addition, the electromagnetic coupling part 7 is used in conjunction with the adjusting transmission part 9 to drive, so that the support arm 6 can be extended and contracted or rotated in an arc shape, thereby realizing the free stretching of the skin or muscles and the adjustment of the stretching angle.

[0049] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0050] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] Example 1

[0053] Please refer to Figure 1-Figure 12 , surgical operating arm, the driving part 4 includes a winding component 41 and a positioning component 42, the winding component 41 includes a winding seat 411, the winding seat 411 is fixed on both sides of the top of the driving rod 3, the inner side of the winding seat 411 is rotatably connected to a wire roller 412, one end of the wire roller 412 is driven and connected to a servo motor 413, the servo motor 413 is fixed on the outer surface of the winding seat 411, and the wire roller 412 is fixed with a wound transmission wire 414.

[0054] The positioning assembly 42 includes a steel wire limit box 421, which is fixed on both sides of the bottom of the driving rod 3, and the steel wire limit boxes 421 are respectively fixed on the outsides of the two intersecting groups of two-way operating rods 5. The middle part of the steel wire limit box 421 fits and slides on the outer surface of the two-way operating rod 5, and the steel wire limit box 421 fits on one side of the two-way operating rod 5 and the top surface is provided with a connected positioning steel wire hole 422. The end of the transmission steel wire 414 away from the wire roller 412 is passed through the positioning steel wire hole 422, and the end of the transmission steel wire 414 located inside the driving part 4 fits and passes through the inner side of the outer wall of the two-way operating rod 5. The end of the transmission steel wire 414 passing through the inner side of the outer wall of the two-way operating rod 5 is fixed to the side of the two-way operating rod 5 away from the positioning assembly 42.

[0055] A driving part 4 is provided on both sides of the upper part of the driving rod 3, and a winding component 41 and a positioning component 42 are included on the inner side of the driving part 4, which can realize the two-way opening and closing action of the two-way operating rod 5, thereby driving the support arm 6 to open to both sides to complete the stretching of the skin or muscles. The positioning component 42 can adjust the pulling direction of the transmission wire 414, thereby realizing vertical pulling to provide lateral driving force.

[0056] Example 2

[0057] The surgical operating arm provided in Example 1 is further optimized, specifically, as follows: Figure 1-Figure 12The rebound limit portion 8 includes an elastic reset groove 81, which is arranged on the inner side of the bottom of the two-way operating rod 5. Oblique spring grooves 82 are arranged on both sides of the elastic reset groove 81. The distal end of the oblique spring groove 82 extends to the inner side of the outer surface of the driving rod 3. A reset tension spring 83 is arranged on the inner side of the oblique spring groove 82. The two ends of the reset tension spring 83 are respectively fixed to the driving rod 3 and the rebound limit portion 8.

[0058] Further, such as Figure 1-Figure 12 As shown, the bottom surface of the two-way operating lever 5 is provided with an arc-shaped limit groove 84, and the bottom surface of the arc-shaped limit groove 84 slides in contact with the top surface of the driving rod 3. The top surface of the driving rod 3 is located directly below the arc-shaped limit groove 84 and is provided with a reset block 85. The reset block 85 slides in contact with the inner surface of the arc-shaped limit groove 84, and the position where the reset block 85 connects to the driving rod 3 is located at the end of the arc-shaped limit groove 84.

[0059] A rebound limit portion 8 is provided at the position where the bottom of the driving rod 3 is connected to the two-way operating rod 5. After the driving portion 4 drives the two-way operating rod 5, the high-strength tension of the reset spring 83 can drive the two-way operating rod 5 to rotate and reset. When the two-way operating rod 5 is reset, the tension of the reset spring 83 provides a clamping function for the support arm 6. An arc-shaped limit groove 84 is provided on the bottom surface of the two-way operating rod 5, which is slidably connected to the reset block 85, so as to ensure the accuracy of the two-way operating rod 5 after reset.

[0060] Example 3

[0061] The surgical operating arm provided in Example 1 or 2 is further optimized, specifically, as Figure 1-Figure 12 As shown, the adjustment transmission part 9 includes a positioning plate 91, and the positioning plate 91 is fixed on the outer wall of the position where the driving rod 3 is connected to the two-way operating rod 5. The bottom surface of the positioning plate 91 is fixed with transmission teeth 92 arranged in a ring and equidistantly. The inner side of one end of the two-way operating rod 5 connected to the positioning plate 91 is rotatably connected to a power transmission shaft 93, and one end of the power transmission shaft 93 is connected to a bevel gear 94, and the bevel gear 94 is meshed with the transmission teeth 92 for transmission.

[0062] Please refer to Figure 1-Figure 12, surgical operating arm, the other end of the power transmission shaft 93 is connected to a large gear 95, and small gears 96 are meshed on both sides of the large gear 95. A threaded rod 97 is fixed to the side of the small gear 96 away from the power transmission shaft 93, and the threaded rod 97 is penetrated inside the vertical extension rod 54. The threaded rod 97 is located inside the vertical extension rod 54 and is threadedly meshed with the vertical extension rod 54 for transmission. A positioning column 971 is provided in the middle of the power transmission shaft 93 and at one end of the threaded rod 97 connected to the small gear 96. The positioning column 971 at one end of the threaded rod 97 is limited to rotate on the inner side of the two-way operating rod 5, and the positioning column 971 in the middle of the power transmission shaft 93 is limited to rotate inside the electromagnetic coupling part 7.

[0063] An adjusting transmission part 9 is provided inside the two-way operating rod 5, which can drive the vertical extension rod 54 inside the two-way operating rod 5 to slide outward when the two-way operating rod 5 is pulled and rotated by the driving part 4, so that the support arm 6 connected to the far end of the vertical extension rod 54 can still maintain itself in a two-way horizontal opening when the two-way operating rod 5 rotates in an arc, so that the support arm 6 has the function of horizontally stretching the skin and muscles.

[0064] Example 4

[0065] The surgical operating arm provided in Example 1, 2 or 3 is further optimized, specifically, as Figure 1-Figure 12 As shown, the electromagnetic combining part 7 includes a power combination block 71 inside, and the power combination block 71 is limited to lift and slide inside the two-way operating rod 5, the power transmission shaft 93 is passed through the center of the power combination block 71, and the positioning column 971 in the middle of the power transmission shaft 93 is limited to rotate inside the power combination block 71, and an electromagnetic block 72 is fixed on the top surface of the power combination block 71, and an electromagnetic drive block 73 is fixed on the top surface of the two-way operating rod 5 directly above the electromagnetic block 72, and the electromagnetic drive block 73 is magnetically adsorbed and connected to the electromagnetic block 72.

[0066] A lifting limit groove 51 is provided at the position where the two-way operating rod 5 is connected to the power combination block 71, and the power combination block 71 is limited in lifting and sliding on the inside of the lifting limit groove 51. A transmission positioning groove 52 is provided at the position where the positioning column 971 at one end of the threaded rod 97 is connected to the two-way operating rod 5, and the positioning column 971 is limited in rotation on the inside of the transmission positioning groove 52. An extension groove 53 is provided at the position where the two-way operating rod 5 is connected to the vertical extension rod 54 on the inside, and a limit block 55 is fixed at the end of the vertical extension rod 54 away from the support arm 6, and the limit block 55 slides in the extension groove 53. Symmetrical threaded holes 56 are provided in the limit block 55 and the vertical extension rod 54, and the threaded rod 97 is penetrated into the threaded hole 56.

[0067] An electromagnetic coupling part 7 is provided at the position where the two-way operating lever 5 is connected to the adjusting transmission part 9. Through the limited rotation of the power combination block 71 inside the electromagnetic coupling part 7 and the power transmission shaft 93, the electromagnetic driving block 73 can be used to drive the power transmission shaft 93 to slide up and down inside the two-way operating lever 5, thereby realizing the free cutting off of the power transmission between the adjusting transmission part 9 and the driving rod 3, so that the two-way operating lever 5 can have the function of freely adjusting the extension length and the opening angle of the support arm 6, and at the same time, the function of freely adjusting the opening distance is added.

[0068] Working steps: the mobile seat 1 is moved to the position of the operating table, and the double pump group 12 is started (the double pump group 12 includes an air pump and a vacuum pump. When the mobile seat 1 is fixed, the vacuum pump is started and the mobile seat 1 is fixed by the suction cup 14). After the suction cup 14 is adsorbed and fixed to the ground, the pneumatic push rod 13 contracts and applies a downward pulling force to the mobile seat 1 to ensure that the mobile seat 1 is fixed.

[0069] Drive the six-axis robot 2, move the driving rod 3 to the upper side of the operating table, control the six-axis driving robot to adjust the position of the driving rod 3, move the support arm 6 to the position where the patient's skin or muscles need to be supported, control the six-axis driving arm to insert the support arm 6 into the skin or muscles, start the servo motor 413 in the driving unit 4, drive the wire roller to pull the transmission wire 414, and the transmission wire 414 at a distance passes through the wire limit box 421 and the adjustment wire hole 422 to convert the vertical pulling force of the transmission wire 414 into a lateral pulling force, and the transmission wire 414 pulls the bidirectional operating rod 5 to rotate (here, driving the servo motors 413 in different positions can drive different bidirectional operating rods 5).

[0070] When the two-way operating lever 5 rotates, it will drive the support arm 6 to rotate in an arc shape, pushing the skin or muscle in contact with the support arm 6 in the sliding direction of the support arm 6. During the rotation of the two-way operating lever 5, the reset tension spring 83 installed in the oblique spring groove 82 will be stretched by the rotational tension to store the elastic force required for reset. When the reset tension spring 83 is stretched, the volume of the tension spring itself will slide on the inside of the elastic reset groove 81.

[0071] During the rotation of the two-way operating rod 5, the power transmission shaft 93 inside the two-way operating rod 5 is meshed with the transmission teeth 92 on the bottom surface of the positioning plate 91 through the bevel gear 94, and the transmission teeth 92 on the bottom surface of the positioning plate 91 drive the bevel gear 94 to rotate, so that the power transmission shaft 93 transmits the rotational force to the large gear 95. The rotation of the large gear 95 drives the two sets of small gears 96 to rotate. During the rotation of the small gear 96, the threaded rod 97 is driven to rotate. The vertical extension rod 54 meshed with the threaded rod 97 will be driven by the threaded rod 97. When the support arm 6 slides open in an arc, a thrust is applied to the support arm 6, so that the support arm 6 can remain horizontally open when it is open to the skin or muscle.

[0072] It should be noted that the rotational driving force transmitted by the bevel gear 94 to the threaded rod 97 through the large gear 95 pushes the vertical extension rod 54 to slide outward, which is proportional to the distance of the arc-shaped rotation of the support arm 6. When the two-way operating rod 5 is opened, as long as the bevel gear 94 and the positioning plate 91 are transmitted, it can ensure that the support arm 6 is in a horizontally opened state.

[0073] When the two-way operating lever 5 drives the support arm 6 to open, the driving electromagnetic drive block 73 is in an adsorption state, so that the electromagnetic block 72 can fit on the top of the transmission positioning groove 52, so that the two ends of the power transmission shaft 93 connected to the inside of the power combination block 71 can be meshed and transmitted with the positioning plate 91 and the pinion 96, ensuring that the support arm 6 is in a horizontally expanded state when opened.

[0074] For example, when the two-way operating lever 5 drives the support arm 6 to unfold, the electromagnetic drive block 73 and the electromagnetic block 72 are in a repulsive state, and the power combination block 71 will be pushed to the bottom of the lifting limit groove 51 by the magnetic force, so that the bevel gear 94 and the large gear 95 at both ends of the power transmission shaft 93 are in a separated state from the positioning plate 91 and the small gear 96, so that the support arm 6 can rotate in an arc shape to expand the skin or muscle when it is expanded.

[0075] It should be noted that: surgical operations between robotic arms require sufficient space to enable multiple sets of robotic arms to work simultaneously, and the far end of the two-way operating rod 5 is connected to the support arm 6, which can provide operating space for multiple sets of robotic arms for the operation, while providing its own functions. When the surgical operation requires a larger space, the two-way operating rod 5 can be opened by adsorbing the power combination block 71 through the electromagnetic drive block 73, so that the power transmission shaft 93 drives the vertical extension rod 54 to slide outward, and when returning, the transmission of the power transmission shaft 93 is disconnected. In this way, the reciprocating movement can increase the distance between the support arm 6 and the drive rod 3, increase the space size of the surgical operation position, and allow the robotic arms performing the surgical operation to have sufficient operating space. At the same time, the support arm 6 can be used to stretch the patient's skin or muscles.

[0076] The use of the bidirectional operating rod 5 can freely adjust the extension length of the vertical extension rod 54 according to needs, allowing the two support arms 6 to stretch the skin muscles in different positions, and can stretch them in a staggered manner, and maintain an arc or horizontal stretch during the stretching process.

[0077] When two support arms 6 of the same length and in the same horizontal position are reset by the pull of the reset spring 83, the objects between the support arms 6 can be clamped, so that the device has a clamping function. At the same time, the support arms 6 themselves can be disassembled and replaced with the vertical extension plate, so that the support arms 6 have a variety of usage methods and have the functions of clamping and stretching. The clamping can also perform a variety of operations in conjunction with the operation of the six-axis robot 2.

[0078] During the return stroke of the support arm 6, after the reset tension spring 83 pulls the bidirectional operating rod 5 to a certain position, one end of the arc-shaped limit groove 84 will abut against the reset block 85, ensuring that the bidirectional operating rod 5 can be accurately reset.

[0079] It should be noted that one end of the transmission wire 414 connected to the bidirectional operating rod 5 is embedded and engaged with the inner side of the outer wall of the bidirectional operating rod 5 , which can ensure the stability of the transmission wire 414 driving the bidirectional operating rod 5 .

[0080] The use process of the surgical operating arm and the surgical robot provided by the present invention is as follows:

[0081] The movable seat 1 is fixed to the floor of the operating table by a suction cup 14, and the six-axis robotic arm 2 is started, driving the support arm 6 at the end of the operating rod to penetrate into the patient's skin in a position to stretch the skin or muscle. Then the driving unit 4 is started to drive the bidirectional operating rod 5 to rotate, so that the support arm 6 stretches the skin on both sides in a horizontal manner.

[0082] When it is necessary to use arms 6 of different lengths and angles, the state between the electromagnetic block 72 and the electromagnetic drive block 73 when the arm 6 moves can be controlled in the required manner. The adsorption state can extend and contract the arm 6 outward, while the separation state can keep the arm 6 in the current state, and the angle and length of the arm 6 can be adjusted according to use.

[0083] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific embodiments, or to perform equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of the present invention, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. A surgical robot, characterized in that: The invention comprises a moving seat (1), two groups of symmetrical universal wheels (11) are fixed on both sides of the bottom surface of the moving seat (1), pneumatic push rods (13) are fixed on both sides of the universal wheels (11) inside the bottom surface of the moving seat (1), the output end of the pneumatic push rod (13) is connected to a suction cup (14), and a double pump group (12) is provided at the inner center of the bottom surface of the moving seat (1), and the two output ends of the double pump group (12) are connected to the pneumatic push rod (13) and the suction cup (14).

2. A surgical operating arm, characterized in that: The surgical robot comprises the surgical robot as described in claim 1, wherein the top surface of the movable seat (1) is connected to a six-axis mechanical arm (2), the distal end of the six-axis mechanical arm (2) is connected to a driving rod (3), and the two sides of one end of the driving rod (3) connected to the six-axis mechanical arm (2) are connected to symmetrical driving parts (4), the lower outer wall of the driving rod (3) is rotatably connected to an intersecting two-way operating rod (5), the two-way operating rod (5) is connected to the outer wall of the side surface of one end of the driving rod (3) and is transmission-connected to the driving part (4), the two-way operating rod (5) has a vertical extension rod (54) inside the two-way operating rod (5) for limiting sliding, the distal end of the vertical extension rod (54) is connected to a vertical support arm (6), a rebound limiting part (8) is provided at the lower part of the position where the two-way operating rod (5) is connected to the driving rod (3), and the two-way operating rod (5) is connected to the driving rod (3). The bidirectional operating rod (5) is elastically limitedly connected to the driving rod (3) through a rebound limiter (8); an adjusting transmission part (9) is provided on the upper side of the position where the bidirectional operating rod (5) is connected to the driving rod (3); two ends of the adjusting transmission part (9) are respectively connected to the vertical extension rod (54) and the driving rod (3); an electromagnetic combination part (7) is provided on the top surface of the position where the bidirectional operating rod (5) is connected to the adjusting transmission part (9); the electromagnetic combination part (7) is connected to the adjusting transmission part (9); when the electromagnetic combination part (7) is in an adsorption state, the adjusting transmission part (9) engages with the driving rod (3) and the vertical extension rod (54) for transmission; when the electromagnetic combination part (7) is in a repulsive state, the adjusting transmission part (9) is separated from the driving rod (3) and the vertical extension rod (54).

3. The surgical operating arm according to claim 2, characterized in that: The driving part (4) comprises a winding assembly (41) and a positioning assembly (42), wherein the winding assembly (41) comprises a winding seat (411), wherein the winding seat (411) is fixed on both sides of the top of the driving rod (3), wherein the inner side of the winding seat (411) is rotatably connected to a wire winding roller (412), wherein one end of the wire winding roller (412) is drivingly connected to a servo motor (413), wherein the servo motor (413) is fixed on the outer surface of the winding seat (411), and wherein the wire winding roller (412) is fixed with a wound transmission wire (414).

4. The surgical operating arm according to claim 3, characterized in that: The positioning assembly (42) comprises a steel wire limit box (421), wherein the steel wire limit box (421) is fixed on both sides of the bottom of the driving rod (3), and the steel wire limit box (421) is respectively fixed on the outer sides of two intersecting groups of two-way operating rods (5). The middle part of the steel wire limit box (421) fits and slides on the outer surface of the two-way operating rod (5). A communicating positioning steel wire hole (422) is opened on one side of the steel wire limit box (421) that fits the two-way operating rod (5) and the top surface. One end of the transmission steel wire (414) away from the steel wire roller (412) is passed through the positioning steel wire hole (422). One end of the transmission steel wire (414) located inside the driving part (4) fits and passes through the inner side of the outer wall of the two-way operating rod (5). One end of the transmission steel wire (414) that passes through the inner side of the outer wall of the two-way operating rod (5) is fixed to the side of the two-way operating rod (5) that is away from the positioning assembly (42).

5. The surgical operating arm according to claim 4, characterized in that: The rebound limiting portion (8) comprises an elastic reset groove (81), the elastic reset groove (81) is arranged on the inner side of the bottom of the bidirectional operating rod (5), oblique spring grooves (82) are arranged on both sides of the elastic reset groove (81), the far end of the oblique spring groove (82) extends to the inner side of the outer surface of the driving rod (3), a reset tension spring (83) is arranged on the inner side of the oblique spring groove (82), and the two ends of the reset tension spring (83) are respectively fixed to the driving rod (3) and the rebound limiting portion (8).

6. The surgical operating arm according to claim 5, characterized in that: The bottom surface of the bidirectional operating rod (5) is provided with an arc-shaped limiting groove (84), the bottom surface of the arc-shaped limiting groove (84) is slidably fitted on the top surface of the driving rod (3), the top surface of the driving rod (3) is provided with a reset block (85) directly below the arc-shaped limiting groove (84), the reset block (85) is slidably fitted on the inner surface of the arc-shaped limiting groove (84), and the position where the reset block (85) is connected to the driving rod (3) is located at the end of the arc-shaped limiting groove (84).

7. The surgical operating arm according to claim 2, characterized in that: The adjusting transmission part (9) comprises a positioning plate (91), wherein the positioning plate (91) is fixed to the outer wall of the position where the driving rod (3) is connected to the bidirectional operating rod (5), and the bottom surface of the positioning plate (91) is fixed with transmission teeth (92) arranged in an annular manner and at equal intervals, and the inner side of one end of the bidirectional operating rod (5) connected to the positioning plate (91) is rotatably connected to a power transmission shaft (93), and one end of the power transmission shaft (93) is connected to a bevel gear (94), and the bevel gear (94) is meshed with the transmission teeth (92) for transmission.

8. The surgical operating arm according to claim 7, characterized in that: The other end of the power transmission shaft (93) is connected to a large gear (95), and small gears (96) are meshed on both sides of the large gear (95). A threaded rod (97) is fixed to the side of the small gear (96) away from the power transmission shaft (93). The threaded rod (97) is inserted into the vertical extension rod (54). The threaded rod (97) is located inside the vertical extension rod (54) and is threadedly meshed with the vertical extension rod (54) for transmission. A positioning column (971) is provided in the middle of the power transmission shaft (93) and at one end of the threaded rod (97) connected to the small gear (96). The positioning column (971) at one end of the threaded rod (97) is limited to rotate inside the two-way operating rod (5), and the positioning column (971) in the middle of the power transmission shaft (93) is limited to rotate inside the electromagnetic coupling part (7).

9. The surgical operating arm according to claim 8, characterized in that: The electromagnetic combination part (7) comprises a power assembly block (71) inside, the power assembly block (71) is limited in position and liftable and sliding inside the two-way operating rod (5), the power transmission shaft (93) is arranged at the center of the power assembly block (71), the positioning column (971) in the middle of the power transmission shaft (93) is limited in position and rotated inside the power assembly block (71), the top surface of the power assembly block (71) is fixed with an electromagnetic block (72), the top surface of the two-way operating rod (5) is located directly above the electromagnetic block (72) and is fixed with an electromagnetic drive block (73), and the electromagnetic drive block (73) is connected to the electromagnetic block (72) by magnetic attraction.

10. The surgical operating arm according to claim 9, characterized in that: A lifting limit groove (51) is provided at a position where the two-way operating rod (5) is connected to the power assembly block (71), and the power assembly block (71) is limited to lift and slide inside the lifting limit groove (51). A transmission positioning groove (52) is provided at a position where the two-way operating rod (5) is connected to a positioning column (971) at one end of the threaded rod (97), and the positioning column (971) is limited to rotate inside the transmission positioning groove (52). An extension slide groove (53) is provided at a position where the two-way operating rod (5) is connected to the vertical extension rod (54). A limit stopper (55) is fixed at one end of the vertical extension rod (54) away from the support arm (6), and the limit stopper (55) slides inside the extension slide groove (53). Symmetrical threaded holes (56) are provided inside the limit stopper (55) and the vertical extension rod (54), and the threaded rod (97) is penetrated inside the threaded hole (56).

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