Arm holding mechanism, multi-axis movement device and surgical robot

Abstract

The invention discloses an instrument holding arm mechanism, a multi-axis movement device and a surgical robot. The mechanical arm mechanism comprises an arm body, a driving part, a lead screw, a first connecting piece and a second connecting piece. The arm body is provided with a first cavity penetrating through the two ends of the arm body in the first direction, the arm body is provided with a through groove, the through groove enables the first cavity to be communicated with the outside of the arm body and extends in the first direction, and the arm body is provided with a first matching face arranged in the first cavity. The drive member is fixed to one end of the arm body. At least part of the lead screw extends in the first cavity, the lead screw is connected with the driving component and driven by the driving component to rotate, and the rotation axis of the lead screw is parallel to the first direction. The first connecting piece is located in the first cavity and can be driven by the lead screw to reciprocate in the axial direction of the lead screw. The second connecting piece is used for installing an instrument driver and is fixedly connected with the first connecting piece. The assembly error of the holding arm mechanism is small, so that the movement precision of the multi-axis movement device and the surgical robot can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a robotic arm mechanism, a multi-axis motion device, and a surgical robot. Background Art

[0002] At present, surgical robots have the advantages of accurate positioning, stable operation, strong dexterity, large working range, and no fear of radiation and infection. They are widely used in various surgeries.

[0003] In the related art, the surgical robot includes a multi-axis motion device, which includes several manipulators, and the ends of the manipulators can achieve multi-degree-of-freedom movements. A robotic arm mechanism is installed at the end of the manipulator to drive the instrument driver to move along a set direction. However, during the assembly process of the traditional robotic arm mechanism, there are many parts and the assembly process is unreasonable, which is prone to error accumulation, resulting in large assembly errors of the robotic arm mechanism and difficulty in calibration. Summary of the invention

[0004] The present invention provides a mechanical arm mechanism, a multi-axis motion device, and a surgical robot. The mechanical arm mechanism has a small assembly error and is easy to calibrate. The motion accuracy of the multi-axis motion device and the surgical operation accuracy of the surgical robot can be improved.

[0005] The technical solution is as follows:

[0006] According to the first aspect of the embodiment of the present disclosure, a mechanical arm mechanism is provided, which includes an arm body, a driving component, a screw, a first connecting member, and a second connecting member. The arm body is provided with a first cavity that passes through both ends of the arm body along a first direction, and the arm body is provided with a through slot that allows the first cavity to communicate with the outside of the arm body. The through slot extends along the first direction and has a first end and a second end that are arranged opposite to each other along the first direction. The arm body includes a first mating surface arranged in the first cavity. The driving component is fixed to one end of the arm body. At least part of the screw extends in the first cavity, the screw is connected to the driving component and driven to rotate by the driving component, and the rotation axis of the screw is parallel to the first direction. The first connecting member is located in the first cavity, the first connecting member is threadedly matched with the screw, and can reciprocate along the axial direction of the screw under the drive of the screw, and the surface of the first connecting member is provided with a second mating surface. The second connecting member is used to install the instrument driver, and part of the second connecting member is located outside the arm body, and part of the second connecting member passes through the through slot and is fixedly connected to the first connecting member. The first connecting member and the second connecting member can reciprocate between the first end and the second end together. The first matching surface matches with the second matching surface to limit the first connecting member from rotating along the axial direction of the screw rod. The second connecting member has no contact with the arm body.

[0007] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0008] During the assembly process of the arm-holding mechanism, the driving component is fixedly installed at one end of the arm body. After the screw rod is assembled with the first connecting piece, they are assembled together on the arm body. During this process, the screw rod and the first connecting piece are inserted into the first cavity from the other end of the arm body, so that the first mating surface matches the second mating surface to limit the axial rotation of the first connecting piece along the screw rod, and then the screw rod can drive the first connecting piece to reciprocate along the axial direction of the screw rod. After the installation of the first connecting piece is completed, the installation position of the screw rod is adjusted so that the rotation axis of the screw rod is parallel to the first direction, and the screw rod is connected to the driving component. Finally, part of the second connecting piece is fixedly connected to the first connecting piece through the through groove, so that part of the second connecting piece is arranged on the outside of the arm body, which is convenient for assembly with the instrument driver. In this way, the arm-holding mechanism realizes the sliding connection with the arm body and the threaded transmission cooperation of the screw rod by setting the first connecting piece, reduces the assembly parts, and thus can reduce the assembly error. Moreover, after the screw rod is assembled with the first connecting piece, it is assembled together with the arm body, which can effectively reduce the error accumulation, so that the parallelism error between the rotation axis of the screw rod and the first direction is small, and it is easy to calibrate. At the same time, after the second connecting piece is installed, it has no contact with the arm body, and thus will not affect the transmission accuracy between the first connecting piece and the screw rod and the arm body, which is conducive to improving the transmission accuracy of the mechanical arm mechanism.

[0009] According to the second aspect of the embodiment of the present application, a multi-axis motion device is also provided, including a manipulator, an instrument driver and the above-mentioned arm holding mechanism, the arm holding mechanism is installed at the end of the manipulator, and the instrument driver is connected to the second connecting member.

[0010] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0011] The multi-axis motion device applies the above-mentioned arm mechanism, and the arm mechanism has good transmission accuracy and can drive the instrument driver to move smoothly along the first direction, so that the multi-axis motion device has high motion accuracy and good operation stability.

[0012] According to a third aspect of the embodiments of the present application, a surgical robot is also provided, comprising the multi-axis motion device in the above embodiments.

[0013] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0014] The surgical robot applies the above-mentioned multi-axis motion device, and the multi-axis motion device has high motion accuracy and good operation stability, which is beneficial to improving the surgical operation accuracy of the surgical robot.

[0015] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are provided to help understand the present invention. The schematic accompanying drawings and their descriptions of the present invention are used to explain the technical solution of the present invention and do not constitute an improper limitation on the protection scope of the present invention.

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0018] Figure 1 Schematic diagram of the structure of a surgical robot shown in one embodiment.

[0019] Figure 2 for Figure 1 The structural schematic diagram of the multi-axis motion device shown.

[0020] Figure 3 for Figure 2 The structural explosion diagram of the robotic arm mechanism is shown.

[0021] Figure 4 for Figure 3 Schematic diagram of the assembly of the robotic arm mechanism shown.

[0022] Figure 5 It is a schematic diagram of the partial structure of the robotic arm mechanism shown in another embodiment.

[0023] Figure 6 for Figure 4 The half-section schematic diagram of the robotic arm mechanism shown is cut along the third direction.

[0024] Figure 7 for Figure 5 The half-section schematic diagram of the robotic arm mechanism shown is cut along the third direction.

[0025] Figure 8 for Figure 4 The shown diagram is a partial structural diagram of the robotic arm mechanism cut along the first direction.

[0026] Fig. 9 for Figure 4 The diagram shown is a schematic diagram of the routing movement of the routing belt of the robotic arm mechanism in the routing area.

[0027] Fig.10 It is a schematic diagram of the structure explosion of a robotic arm mechanism shown in another embodiment of the present application.

[0028] Description of reference numerals:

[0029] 1. Surgical robot; 10. Multi-axis motion device; 11. Manipulator;

[0030] 11a, articulated arm; 12, instrument driver; 13, instrument arm mechanism;

[0031] 100, arm body; 100A first arm body member; 100B second arm body member

[0032] 110. First cavity; 111. Transmission area; 112. Wiring area;

[0033] 101, second guide groove; 120, through groove; 130, first matching surface;

[0034] 131. slide groove; 132. convex ridge; 133. anti-slip part;

[0035] 140, profile structure; 150, guide rail; 200, driving components;

[0036] 210, power source; 211, output shaft; 300, screw rod;

[0037] 400, first connecting member; 410, second mating surface; 411, convex strip;

[0038] 420, jack; 430, first connection hole; 500, second connection member;

[0039] 510, first connector; 511, first through hole; 512, first guide groove;

[0040] 520, second connector; 521, second through hole; 600, fastener;

[0041] 610, screw; 700, shielding member; 800, position detection assembly;

[0042] 810, encoder fixed part; 820, encoder moving part; 900, housing;

[0043] 910, second cavity; 1100, circuit board assembly; 1200, second detection assembly;

[0044] 1400, end housing; 1410, drive cavity; 1500, wiring belt;

[0045] 1510. Elastic bending body; 20. Control device; 30. Imaging device. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present disclosure more clear, the present disclosure is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described here are only used to explain the present disclosure and do not limit the protection scope of the present disclosure.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present disclosure belongs. The terms used herein in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0048] like Figure 1 as well as Figure 2 As shown, a surgical robot 1 is provided, including a multi-axis motion device 10, which can drive the surgical instrument to move to achieve corresponding surgical actions. Specifically, the surgical robot 1 also includes a control device 20 and an imaging device 30, and the control device 20 is communicatively connected with the imaging device 30 and the multi-axis motion device 10. In this way, it is convenient for the doctor to control the multi-axis motion device 10 to move through the control device 20 to perform the corresponding surgical instrument action. In this process, the doctor can observe the operation more with the imaging device 30.

[0049] Optionally, in some embodiments, the control device 20 includes a display unit for displaying the surgical instrument environment and a control mechanism for the doctor to operate. The display unit is provided with an observation window for the doctor to observe. The doctor controls the multi-axis motion device 10 to move by operating the control mechanism to complete the corresponding action of the surgical instrument.

[0050] Optionally, in some embodiments, the control device 20 also has other control switches that are convenient for hands or feet to touch or press, so as to perform various functional operations and complete human-computer interaction.

[0051] Optionally, in some embodiments, the imaging system includes at least one of a display screen, an endoscope controller, system electronics, an image processor, and the like.

[0052] like Figure 2 As shown, in some embodiments, the multi-axis motion device 10 includes a manipulator 11 and an instrument driver 12. The manipulator 11 has at least two articulated arms 11a connected in sequence, and two adjacent articulated arms 11a move relative to each other with specific degrees of freedom, so that the end of the manipulator 11 can achieve multi-degree-of-freedom movement. The instrument driver 12 is installed at the end of the manipulator 11 to drive the surgical instrument to achieve operations such as gripping, deflection, and pitching.

[0053] like Figure 2As shown, in some embodiments, the multi-axis motion device 10 further includes a mechanical arm mechanism 13 installed at the end of the manipulator 11, and the mechanical arm mechanism 13 is connected to the instrument driver 12 to drive the instrument driver 12 to move along the first direction (that is, Figure 2 In this way, it is convenient for the operator to adjust the position of the instrument driver 12 relative to the manipulator 11 through the manipulator arm mechanism 13 to better perform surgical operations and achieve multiple degrees of freedom.

[0054] The movement accuracy and smoothness of the instrument driver 12 moving along the first direction will affect the movement accuracy of the multi-axis motion device 10 and the surgical operation accuracy of the surgical robot 1 .

[0055] During the assembly process of the traditional robotic arm mechanism, there are many parts, which are prone to error accumulation, resulting in a large assembly tolerance of the robotic arm mechanism and difficulty in calibration. For example, during the assembly of the traditional robotic arm mechanism, the slider and the arm body, as well as the lead screw and the arm body, are assembled independently and then debugged, which makes it difficult to debug the parallelism between the lead screw axis and the sliding direction of the slider, and it is difficult to improve the movement accuracy of the robotic arm mechanism to drive the instrument driver to move along the set direction. In fact, due to the large parallelism error between the slider and the lead screw, the lead screw is prone to jamming, affecting the smoothness of the instrument driver moving along the set direction.

[0056] Based on this, combined Figures 3 to 6 As shown, in some embodiments provided by the present application, the arm mechanism 13 includes an arm body 100, a driving component 200, a screw rod 300, a first connecting piece 400, and a second connecting piece 500 for installing the instrument driver 12. The arm body 100 is used as a bearing structure. The arm body 100 is provided with a first cavity 110 that runs through both ends of the arm body 100 along a first direction. The arm body 100 is provided with a through slot 120. The through slot 120 makes the first cavity 110 communicate with the outside of the arm body 100. The through slot 120 extends along the first direction and has a first end and a second end that are oppositely arranged along the first direction. The arm body 100 includes a first mating surface 130 arranged in the first cavity 110. It is convenient to use the first cavity 110 to protect the screw rod 300 and the first connecting piece 400, prevent dust and other solid debris from contaminating the screw rod 300 and the first connecting piece 400, and reduce the service life of the screw rod 300 and the first connecting piece 400. The provision of the through slot 120 will not affect the connection between the second connecting member 500 and the first connecting member 400 , and thus it is convenient to install the instrument driver 12 on the second connecting member 500 .

[0057] The driving component 200 is fixed to one end of the arm body 100. At least part of the screw rod 300 extends in the first cavity 110, the screw rod 300 is connected to the driving component 200 and driven to rotate by the driving component 200, and the rotation axis of the screw rod 300 is parallel to the first direction. The first connecting member 400 is located in the first cavity 110, and the first connecting member 400 and the screw rod 300 are threadedly matched (here the threaded matching can be a direct threaded matching or a ball transmission threaded matching), and can reciprocate along the axial direction of the screw rod 300 under the drive of the screw rod 300, and the surface of the first connecting member 400 is provided with a second matching surface 410. The second connecting member 500 is used to install the instrument driver 12, and part of the second connecting member 500 is located outside the arm body 100, and part of the second connecting member 500 passes through the through slot 120 and is fixedly connected to the first connecting member 400. The first connecting member 400 and the second connecting member 500 can reciprocate between the first end and the second end together. The first mating surface 130 is matched with the second mating surface 410 to limit the axial rotation of the first connecting member 400 along the screw rod 300. In this way, during the assembly process of the arm mechanism 13, the driving component 200 is installed and fixed on one end of the arm body 100. After the screw rod 300 and the first connecting member 400 are assembled, they are assembled together on the arm body 100. In this process, the screw rod 300 and the first connecting member 400 are inserted into the first cavity 110 from the other end of the arm body 100, so that the first mating surface 130 is matched with the second mating surface 410 to limit the axial rotation of the first connecting member 400 along the screw rod 300, and then the first connecting member 400 can be driven to reciprocate along the axial direction of the screw rod 300 through the screw rod 300. After the installation of the first connecting member 400 is completed, the installation position of the screw rod 300 is adjusted so that the rotation axis of the screw rod 300 is parallel to the first direction, and the screw rod 300 is connected to the driving component 200. Finally, part of the second connecting member 500 passes through the through slot 120 and is fixedly connected to the first connecting member 400 , so that part of the second connecting member 500 is disposed outside the arm body 100 , which is convenient for assembly with the instrument driver 12 .

[0058] In other words, the arm mechanism 13 realizes the sliding connection with the arm body 100 and the threaded transmission cooperation of the screw rod 300 by setting the first connecting member 400, thereby reducing the assembly parts and thus reducing the assembly error. Moreover, after the screw rod 300 is assembled with the first connecting member 400, it is assembled together on the arm body 100, which can effectively reduce the error accumulation, so that the parallelism error between the rotation axis of the screw rod 300 and the first direction is small and easy to calibrate. At the same time, after the second connecting member 500 is installed, it has no contact with the arm body 100, and thus will not affect the transmission accuracy between the first connecting member 400 and the screw rod 300 and the arm body 100, which is conducive to improving the transmission accuracy of the arm mechanism 13.

[0059] It can be understood that the driving device is installed on the arm body 100 from one end of the arm body 100, and the first connecting member 400 and the lead screw 300 are installed on the arm body 100 from the other end of the arm body 100, which is convenient for assembly. It is also convenient to calibrate the positional relationship between the lead screw 300, the first connecting member 400 and the arm body 100 when adjusting the assembly position of the first connecting member 400 and the arm body 100, and it is easy to calibrate, so that the rotation of the lead screw 300 will not be stuck, and the parallelism error between the rotation axis of the lead screw 300 and the first direction is small.

[0060] The specific structure of the second connecting member 500 can be various. Figure 6 or Figure 7 As shown, in some embodiments, the second connector 500 includes a first connector 510 and a second connector 520, the first connector 510 is used to install the instrument driver 12, at least part of the first connector 510 is located outside the arm body 100, one end of the second connector 520 is located in the first cavity 110 and fixedly connected to the first connector 400, and the other end of the second connector 520 is fixedly connected to the first connector 510. In this way, by cooperating with the first connector 510 and the second connector 520, it is convenient to install the instrument driver 12 through the first connector 510, and by utilizing the fixed connection between the second connector 520 and the first connector 400, the first connector 400 drives the instrument driver 12 to move along the first direction.

[0061] Optionally, in some embodiments, the first connector 510 and the second connector 520 are configured as an integrated structure. In this way, the first connector 510 and the second connector 520 are integrally formed to obtain the second connector 500, which can reduce the assembly process and improve the assembly efficiency of the robotic arm mechanism 13.

[0062] Optionally, in some embodiments, the first connector 510 and the second connector 520 are configured as split structures. In this way, the first connector 510 and the second connector 520 are manufactured separately and then assembled into the second connector 500, which is conducive to reducing the manufacturing difficulty of the second connector 500.

[0063] Reference Fig.10 , which is an embodiment of a split structure of the first connector 510 and the second connector 520. Fig.10 In the embodiment, the second connecting body 520 is configured as a special-shaped structure (eg, an L-shape or a convex shape), the second connecting body 520 and the first connecting member 400 are first fixed by screws, and then the first connecting body 510 and the second connecting body 520 are fixed together.

[0064] Optionally, refer to Fig.10As shown, the second connecting body 520 includes a first body (not labeled) connected to the first connecting member 400 and a second body (not labeled) connected to the first connecting body 510. At least part of the second body is protruded on the first body.

[0065] like Figure 6 or Figure 7 As shown, in some embodiments, the second connector 520 is inserted into the through slot 120. The other end of the second connector 520 is located outside the arm body 100 and is fixedly connected to the first connector 510, so that the first connector 510 is suspended outside the arm body 100. In this way, there is an avoidance gap between the first connector 510 and the arm body 100, which can avoid part of the structure of the instrument driver 12, so that the installation of the instrument driver 12 will not interfere with the arm body 100, and the smooth movement of the first connector 400 is maintained.

[0066] It should be noted that in the present application, the first direction, the second direction and the third direction are perpendicular to each other. For the sake of clarity and simplicity, the first direction in the drawings of the present application is the X-axis direction, the second direction is the Y-axis direction, and the third direction is the Z-axis direction. Specifically, taking the arm body 100 as an example, the X-axis direction is in the same direction as the length direction of the arm body 100, the Y-axis direction is in the same direction as the thickness direction of the arm body 100, and the Z-axis direction is in the same direction as the width direction of the arm body 100.

[0067] like Figure 6 or Figure 7 As shown, in some embodiments, the second connector 520 is block-shaped and passes through the through slot 120 along a second direction perpendicular to the first direction, and the first connector 510 and the second connector 520 are installed on the first connector 400 from far to near along the second direction. In this way, when the second connector 520 is assembled with the first connector 400, it only needs to pass through the through slot 120 along the Y-axis direction and be inserted into the first cavity 110, and then it can be installed with the first connector 400 in the first cavity 110, which is simple to operate.

[0068] In combination with the above embodiments, Figure 6 As shown, in some embodiments, the first connector 400 is provided with a plug hole 420, and a portion of the second connector 520 is inserted into the plug hole 420. In this way, the second connector 520 and the first connector 400 are initially positioned and installed by passing a portion of the second connector 520 through the through slot 120 along the Y-axis direction and then being inserted into the plug hole 420, so as to facilitate further fastening and fixing using the fastener 600 later.

[0069] like Figure 3 as well as Figure 6As shown, in other embodiments, the first connecting member 400 is provided with a first connecting hole 430, the first connecting body 510 is provided with a first through hole 511, the second connecting body 520 is provided with a second through hole 521, one end of the fastener 600 is against the first connecting body 510, and the other end of the fastener 600 passes through the first through hole 511 and the second through hole 521 in sequence and is fastened with the first connecting hole 430. In this way, by using the fastening cooperation between the fastener 600 and the first connecting hole 430, it is convenient to synchronously fix the first connecting body 510 and the second connecting body 520 on the first connecting member 400, which is conducive to reducing fastening parts, reducing fastening processes, and improving the assembly efficiency of the arm mechanism 13.

[0070] It should be noted that there may be many specific implementations of the fastener 600, including but not limited to screws, rivets, pins, etc.

[0071] Furthermore, in some embodiments, the first connection hole 430 is an internal threaded hole, and the other end of the fastener 600 is provided with a screw 610 threadedly engaged with the internal threaded hole. In this way, the fastener 600 is fixedly connected to the first connection member 400 by means of threaded fastening, so that the first connection body 510 and the second connection body 520 are simultaneously fixed to the first connection member 400, which is convenient for assembly and easy to disassemble and maintain.

[0072] Specifically, the fastener 600 includes at least one of a bolt and a screw.

[0073] In one example, the first through hole 511 and the second through hole 521 are threaded through holes. In this way, the screw of the fastener is threadedly engaged with the first through hole and the second through hole respectively, the first connecting body and the second connecting body are fixed to the fastener, and then the second connecting body is inserted into the through groove and the first connecting member, so that the screw of the fastener is engaged with the internal threaded hole, and the first connecting body and the second connecting body are fixed to the first connecting member.

[0074] like Figure 5 As shown, in some embodiments, along the first direction, the first connecting member 400 is provided with at least two first connecting holes 430, and the at least two first connecting holes 430 are arranged at intervals, and the number of the first through holes 511, the number of the second connecting bodies 520, and the number of the fasteners 600 are respectively equal to the number of the first screw holes and the arrangement positions correspond one to one. In this way, the first connecting body 510 and the second connecting body 520 form at least two fastening points with the first connecting member 400, which is conducive to improving the connection strength between the first connecting body 510 and the second connecting body 520 and the first connecting member 400.

[0075] In some embodiments, the second connector 520 is block-shaped and passes through the through slot 120 along a second direction perpendicular to the first direction. In this way, the block-shaped second connector 520 passes through the through slot 120 along the thickness direction of the arm body 100, which is easy to achieve non-contact with the arm body 100, and thus will not interfere with the movement of the first connector 400.

[0076] In combination with the above embodiments, Figure 5 as well as Figure 6 As shown, in some embodiments, the arm mechanism 13 includes two second connectors 520, which are arranged at intervals along the third direction, and the third direction, the first direction, and the second direction are mutually perpendicular, and the two second connectors 520 are respectively connected to the first connector 400 and the second connector 500 through the two through slots 120. In this way, the two second connectors 520 and the two through slots 120 are arranged at intervals along the third direction to form an avoidance space, so that the first connector 510 can use the space to set other parts, such as the encoder moving part 820. In addition, the space in the width direction of the arm body 100 is fully utilized to set the two second connectors 520 to improve the connection strength between the first connector 510 and the first connector 400.

[0077] In some embodiments, in order to enhance the strength of the arm body 100, especially the strength of the arm body 100 on one side of the through slot 120, the second connecting member 500 may include only one second connecting body 520, so that the arm body 100 has only one through slot 120. Fig.10 .

[0078] In one example, the first connector 510 is plate-shaped, which is convenient for connection with the instrument driver 12 and wiring. In addition, the second connector 520 and four fasteners 600 are connected to the first connector 400, so that the first connector 510 is reliably connected to the first connector 400.

[0079] In addition, when the second connector 520 is in a block shape, it includes the second connector being in a rod shape or the second connector being in a plate shape.

[0080] like Figure 3 as well as Figure 6 As shown, in one example, the second connecting body 520 is in a plate shape, and two pieces are arranged along the third direction, and each piece of the second connecting body is provided with two second through holes in the first direction.

[0081] In other embodiments, the second connecting body is in the shape of a rod, and four of them are provided, corresponding one to one to the four fasteners.

[0082] Regarding the structure of the arm body 100, in the embodiment of the present application, refer to Figure 3 The arm body 100 may be provided as an integral structure. In another embodiment, referring to Fig.10 , the arm body can also be set as a split structure.

[0083] exist Fig.10 In the embodiment, the arm body 100 includes a first arm body part 100A and a second arm body part 100B, the first arm body part 100A and the second arm body part 100B enclose a first cavity 110, and a through slot 120 is provided in the second arm body. In the embodiment, the first arm body part 100A and the second arm body part 100B both extend along the first direction X, that is, the first arm body part 100A and the second arm body part 100B both have a length in the first direction X. And the projection of the first arm body part 100A in the first direction X covers the projection of the second arm body part 100B in the first direction X, the length of the first arm body part 100A can be regarded as the length of the first cavity 110, and the length of the second arm body part 100B can be less than or equal to the length of the first cavity 110. In other words, the first arm main body 100A can be regarded as the main component of the force support of the entire robotic arm mechanism 13, and the first arm main body 100A has a relatively large opening, and the second arm main body 100B, as a buckle cover, can close the opening of the first main body to a certain extent, so that the first arm main body 100A and the second arm main body 100B are jointly enclosed to form a first cavity 110. In the embodiment, the first mating surface is processed in the first cavity 110 of the arm main body 100, and the first arm main body of the split structure has a relatively large opening structure, which is convenient for inserting tools from the opening.

[0084] Based on any of the above embodiments, Figure 3 as well as Figure 4 As shown, in some embodiments, the arm mechanism 13 further includes a shielding member 700, which covers the through slot 120 and at least a portion of the second connecting member 500. The shielding member 700 extends along the first direction, and the two ends of the shielding member 700 that are located in the first direction and opposite to each other are respectively fixedly connected to the arm body 100. In this way, by using the shielding member 700 to cover the through slot 120, it is possible to avoid or reduce solid debris such as dust from entering the first cavity 110 through the through slot 120 and contaminating the screw rod 300 and the first connecting member 400, thereby reducing the service life of the screw rod 300 and the first connecting member 400. Moreover, the shielding member 700 covers at least a portion of the second connecting member 500, that is, the shielding member 700 is placed on the second connecting member 500, does not interfere with the movement of the second connecting member 500, and is easily pushed open by the second connecting member 500.

[0085] Furthermore, in some embodiments, when the second connector 500 moves between the first end and the second section, the shielding member 700 can dynamically cover the through slot 120. In this way, during the movement of the second connector 500, the shielding member 700 in the forward direction of the second connector 500 will be tilted up, and the through slot 120 will be opened to facilitate the movement of the second connector 500. The through slot 120 located in the opposite direction of the movement direction of the second connector 500 will be in an open state due to the removal of the second connector 500, and the shielding member 700 behind the second connector 500 can naturally fit to the arm body and close the part of the through slot 120 in time. That is, when the second connector 500 moves between the first end and the second section, the shielding member 700 can open the through slot 120 in the forward direction of the second connector 500 in time, and will not interfere with the second connector 500. The shielding member 700 can close the through slot 120 in time behind the second connecting member 500 , effectively preventing foreign matter from entering the first cavity 110 through the through slot 120 , thereby improving the protective performance of the arm body 100 .

[0086] Furthermore, in some embodiments, one of the shielding member 700 and the arm body 100 is provided with a magnetic member (not shown), and the other of the shielding member 700 and the arm body 100 is provided with a matching member (not shown) magnetically fixed to the magnetic member, and the magnetic member and the matching member are magnetically fixed, so that the shielding member 700 can dynamically cover the through slot 120. In this way, during the movement of the second connecting member 500, the shielding member 700 in the forward direction of the second connecting member 500 will be pushed open by the second connecting member 500 to open the through slot 120, so as to facilitate the movement of the second connecting member 500. The through slot 120 in the opposite direction of the movement direction of the second connecting member 500 is in an open state due to the removal of the second connecting member 500. In addition, the shielding member 700 behind the second connecting member 500 can close the through slot 120 in time through the magnetic reset of the magnetic member and the matching member.

[0087] It should be noted that the magnetic attraction parts include magnets, magnetic strips and other magnetic attraction structures. The matching parts include magnets, iron and other magnetic attraction structures. Figure 3 as well as Figure 4 As shown, in some embodiments, the shielding member 700 includes a flexible shielding belt, and a portion of the flexible shielding belt can be reset to fit with the arm body 100 after avoiding the second connecting member 500 to cover the through slot 120. In this way, the flexibility of the flexible shielding belt makes it easy to be pushed open by the second connecting member 500 to open the through slot 120. When the flexible shielding belt closes the through slot 120 behind the second connecting member 500, it can better fit with the arm body 100 to prevent foreign matter from entering the first cavity 110 through the through slot 120, thereby improving the protective performance of the arm body 100.

[0088] Optionally, in some embodiments, the shielding member 700 is configured as a metal belt, a woven belt, a plastic belt, an elastic belt or a magnetic belt.

[0089] In any of the above embodiments of the shielding member 700, Figures 3 to 6 As shown, in some embodiments, the second connecting member 500 is provided with a first guide groove 512, the first guide groove 512 extends along a first direction, and the shielding member 700 passes through the first guide groove 512. In this way, the shielding member 700 cooperates with the second connecting member 500 and the arm body 100 more smoothly through the guiding cooperation with the first guide groove 512, the shielding member 700 is not easy to derail, and the shielding effect is highly reliable.

[0090] Alternatively, if Figure 5 As shown, in some embodiments, part of the second connecting member 500 passes through the through slot 120 along the second direction, and the projection of the plane formed by the bottom surface of the first guide slot 512 in the first direction and the second direction is arc-shaped, and the second direction is perpendicular to the first direction. In this way, it is convenient to achieve the arc-shaped guiding cooperation between the shielding belt and the second connecting member 500, so that the process of the shielding member 700 dynamically shielding the through slot 120 is smoother.

[0091] Alternatively, if Figure 5 As shown, in some embodiments, along the first direction, the depth of the through groove 120 of the first guide groove 512 gradually increases from the end of the first guide groove 512 to the middle of the first guide groove 512, and the groove bottom surface of the first guide groove 512 smoothly transitions from one end to the other end. In this way, it is easy to achieve smooth guiding cooperation between the shielding belt and the second connecting member 500, so that the process of the shielding member 700 dynamically shielding the through groove 120 is smoother.

[0092] Based on any of the above embodiments, Figure 8 As shown, in some embodiments, the arm mechanism 13 further includes a position detection component 800 for detecting the position state of the second connecting member 500 relative to the arm body 100. In this way, the position state of the second connecting member 500 can be obtained in time through the position detection component 800 to indirectly understand the position information of the instrument driver 12 in the first direction, so that the control device 20 controls the driving component 200 to adjust the position of the instrument driver 12 to meet the needs of surgical operation.

[0093] It should be noted that there are many specific implementation methods for the position detection component 800, including but not limited to a machine vision detection component, a linear encoder, and the like.

[0094] like Figure 5 as well as Figure 6As shown, in some embodiments, the position detection component 800 is configured as a linear encoder, and the linear encoder includes an encoder fixed part 810 and an encoder moving part 820. The encoder fixed part 810 is fixedly arranged relative to the arm body 100. The encoder moving part 820 is fixedly arranged relative to the second connecting member 500. The encoder fixed part 810 detects the instantaneous or continuous position, speed or state of the encoder moving part 820. In this way, the encoder moving part 820 moves with the second connecting member 500 and cooperates with the encoder fixed part 810 to

[0095] In some embodiments, the encoder fixed part 810 includes at least a grating scale, and the encoder moving part 820 includes at least a photosensitive element.

[0096] In some embodiments, the encoder fixed part 810 includes at least a magnetic scale, and the encoder moving part 820 includes at least a magnetic sensitive element.

[0097] In some embodiments, the position detection component may also use a wire encoder.

[0098] In some embodiments, the encoder fixed portion 810 is disposed away from the through slot 120 . In this way, the arrangement of the encoder fixed portion 810 will not interfere with the movement of the second connecting member 500 and the first connecting member 400 .

[0099] like Figure 5 In some embodiments shown, part of the second connecting member 500 passes through the through slot 120 along the second direction, the arm body 100 is provided with two through slots 120, the two through slots 120 are arranged at intervals along the third direction, and the encoder fixed part 810 is located between the two through slots 120 and fixedly arranged with the arm body 100. In this way, the two through slots 120 are arranged at intervals along the third direction, making full use of the width direction of the arm body 100 to form an escape space, so that the top of the encoder is conveniently set in the escape space, and then fixedly connected with the arm body 100, so as not to interfere with the movement of the second connecting member 500 and the first connecting member 400. The encoder moving part 820 is fixed to the second connecting member 500. Being integrated into the second connecting member 500, the structure of the mechanical arm mechanism 13 is more compact, and it is also convenient to use the second connecting member 500 for routing.

[0100] Based on any of the above embodiments, Figure 6 As shown, in some embodiments, the projection of the second mating surface 410 in the plane formed by the second direction and the third direction includes a protrusion, and the projection of the first mating surface 130 in the plane formed by the second direction and the third direction includes a depression. In this way, the first connecting member 400 is restricted from rotating along the axial direction of the screw rod 300 by using the cooperation of the protrusion and the depression, which is easy to manufacture and has low implementation cost.

[0101] Similarly, if Figure 7As shown, in some other embodiments, the projection of the second mating surface 410 in the plane formed by the second direction and the third direction includes a depression, and the projection of the first mating surface 130 in the plane formed by the second direction and the third direction includes a protrusion. In this way, the first connecting member 400 is restricted from rotating along the axial direction of the screw rod 300 by using the cooperation of the protrusion and the depression, which is easy to manufacture and has low implementation cost.

[0102] Based on any of the above embodiments, Figure 6 or Figure 7 As shown, in some embodiments, the first connecting member 400 has two second mating surfaces 410, and the two second mating surfaces 410 are symmetrically arranged along the third direction. The arm body 100 is correspondingly provided with two first mating surfaces 130, and the two first mating surfaces 130 correspond one-to-one with the two second mating surfaces 410, and are respectively limited in position. In this way, the first connecting member 400 is evenly stressed in the width direction of the arm body 100. Moreover, by the one-to-one correspondence between the two first mating surfaces 130 and the two second mating surfaces 410, and the limited in position cooperation respectively, the axial rotation of the first connecting member 400 along the screw rod 300 is more reliably limited, so that the connection accuracy of the sliding connection between the first connecting member 400 and the arm body 100 is high, which is conducive to reducing the parallelism error between the screw rod 300 and the first direction, and improving the movement accuracy of the instrument driver 12 along the X-axis direction.

[0103] like Figure 6 or Figure 7 As shown, in some embodiments, one of the first mating surface 130 and the second mating surface 410 is provided with a slide groove 131, and the other of the first mating surface 130 and the second mating surface 410 is provided with a convex strip 411 that slidably cooperates with the slide groove 131. In this way, through the cooperation of the slide groove 131 and the convex strip 411, it is easy to achieve the limited cooperation of the first mating surface 130 and the second mating surface 410, so that the first connecting member 400 is slidably connected relative to the arm body 100 along the length direction of the arm body 100.

[0104] In one example, the first mating surface 130 is provided with a sliding groove 131 , and the second mating surface 410 is provided with a protruding strip 411 that slidably cooperates with the sliding groove 131 .

[0105] like Figure 6 As shown, in some embodiments, the convex strip 411 is at least partially cylindrical. In this way, the slide groove 131 can adapt to the cylindrical convex strip 411 to limit the axial rotation of the first limit member along the screw rod 300.

[0106] In one example, the second mating surface 410 is provided with a sliding groove 131 , and the first mating surface 130 is provided with a protruding strip 411 that slidably cooperates with the sliding groove 131 .

[0107] Furthermore, if Figure 7As shown, in some embodiments, the convex strip 411 includes a convex rib 132 and an anti-slip portion 133 fixed to the end of the convex rib 132, and the slide groove 131 is adapted to the anti-slip portion 133 and slidably cooperates with the anti-slip portion 133. In this way, the anti-slip portion 133 cooperates more closely with the slide groove 131, so that the sliding connection accuracy of the first connecting member 400 and the arm body 100 is higher.

[0108] Optionally, in some embodiments, the projection of the anti-slip portion 133 in the plane formed by the second direction and the third direction is a partial circle, and the partial circle is larger than a semicircle.

[0109] Based on any of the above embodiments, Figure 6 or Figure 7 As shown, in some embodiments, the arm body 100 includes a profile structure 140 and a guide rail 150, the guide rail 150 is fixedly connected to the profile structure 140, and the first mating surface 130 is located on the guide rail 150. In this way, the arm body 100 is assembled by matching the profile structure 140 with the guide rail 150, which is conducive to reducing the manufacturing difficulty and cost of the arm body 100.

[0110] As can be seen from the foregoing, the robotic arm mechanism 13 is disposed at the end of the manipulator 11, and in order to facilitate interaction and reduce the number of cables, the robotic arm mechanism 13 is usually provided with a circuit board assembly 1100, which can be connected with the driving component 200, the position detection assembly 800 and the instrument driver 12, so as to facilitate interaction with the control device 20 and the like.

[0111] Combination Figure 6 , see you later Figure 3 as well as Figure 4 As shown, in some embodiments, the arm mechanism 13 further includes a housing 900, the housing 900 is fixedly connected to the profile structure 140, and a second cavity 910 is provided between the housing 900 and the profile structure 140. It is convenient to assemble and form the second cavity 910. The circuit board assembly 1100 is disposed in the second cavity 910, and the circuit board assembly 1100 is electrically connected to the driving component 200. In this way, the second cavity 910 is used to protect the circuit board assembly 1100, so as to prevent the circuit board assembly 1100 from being damaged and affecting the use of the driving component 200, thereby improving the reliability of the electrical connection of the arm mechanism 13.

[0112] Based on any of the above embodiments, Figure 3 as well as Figure 8As shown, in some embodiments, the driving component 200 includes a power source 210 fixedly arranged relative to the arm body 100, the power source 210 is connected to the screw rod 300 in a transmission manner, and at least a portion of the screw rod 300 is arranged in the first cavity 110 and is threadedly connected to the first connecting member 400. In this way, the first connecting member 400 is threadedly connected to the screw rod 300 and is slidably connected to the arm body 100. In the process of driving the screw rod 300 to rotate by the power source 210, the first connecting member 400 will be driven to reciprocate along the axial direction of the screw rod 300, and the instrument driver 12 will be driven to reciprocate along the length direction of the arm body 100. The threaded transmission connection has a self-locking property, which facilitates the follow-up and stop of the instrument driver 12.

[0113] In combination with the above-mentioned embodiments, the power source 210 is protected by the protective shell and the outer shell 900, has good protection performance, and is convenient for electrical connection with the circuit board assembly 1100. Specifically, the driving component 200 is fixed to the profile structure 140, the circuit board assembly 1100 is fixed to the profile structure 140, and then the driving component 200 and the circuit board assembly 1100 are electrically connected through a cable. Finally, the outer shell 900 is fixedly connected to the protective shell and the profile structure 140, so that the driving component 200 and the arm body 100 are integrated into a whole, and have good electrical protection performance.

[0114] like Figure 8 As shown, in some embodiments, the power source 210 includes an output shaft 211 that is transmission-connected to the screw rod 300, and the robotic arm mechanism 13 also includes a second detection component 1200, which is used to detect the rotation angle of the output shaft 211. In this way, the rotation angle of the output shaft 211 is detected by the second detection component 1200, so as to timely know the power output of the power source 210, so as to facilitate the control of the power source 210.

[0115] It should be noted that there may be many specific implementations of the second detection component 1200, including but not limited to a rotary encoder, an angular displacement sensor, and the like.

[0116] like Figure 3 , Figure 4 as well as Figure 8 As shown, in some embodiments, the mechanical arm mechanism 13 further includes an end housing 1400, which is fixed to one end of the arm body 100, and the end housing 1400 is provided with a driving cavity 1410, and at least a portion of the driving component 200 is located in the driving cavity 1410. It is convenient to arrange at least a portion of the driving component 200 on the arm body 100 through the end housing 1400, and to use the driving cavity 1410 for protection, so as to improve the protection performance of the mechanical arm mechanism 13.

[0117] Optionally, in some embodiments, the end housing 1400 is installed on the arm body 100 from far to near along the first direction, so as to improve assembly efficiency.

[0118] Specifically, at least part of the driving component 200 includes a power source 210, which can be mounted on the end shell 1400 and then installed on the arm body 100 from far to near along the first direction through the end shell 1400, which is convenient for assembly.

[0119] In combination with the aforementioned housing 900 , in one example, the end housing 1400 is fixedly connected to the housing 900 , which can improve the protection performance of the driving component 200 and the connection strength between the driving component 200 and the arm body 100 .

[0120] Since the instrument driver 12 needs to be powered and controlled, a cable electrically connected to the instrument driver 12 is usually provided on the arm mechanism 13. The instrument driver 12 moves along the length direction of the arm body 100, so that at least part of the cable can move with the instrument driver 12 to ensure the reliability of the electrical connection. Fig. 9 As shown, in some embodiments, the first cavity 110 includes a transmission area 111 and a routing area 112, the screw rod 300 is located in the transmission area 111, the first connecting member 400 moves in the transmission area 111, the routing area 112 is used to set the cable, the moving area and the routing area 112 are arranged along the second direction, and the second direction is perpendicular to the first direction. In this way, by setting the routing area 112 and the transmission area 111, the interior of the arm body 100 is more regular, and the interference between the first connecting member 400 and the screw rod 300 and the cable is reduced. Among them, the routing area 112 is closer to the through groove 120 than the transmission area 111. In this way, the cables in the routing area 112 can be set away from the first connecting member 400 to minimize interference with the first connecting member 400 and the screw rod 300.

[0121] like Fig. 9As shown, in some embodiments, the arm mechanism 13 further includes a routing belt 1500, one end of which is fixedly connected to the second connecting member 500, and the other end is fixedly connected to the arm body 100. In this way, the routing belt 1500 moves with the second connecting member 500, and the movable part of the routing belt 1500 is limited to the routing area 112. Two second guide grooves 101 are provided facing the routing area 112 and located in the arm body 100, and the groove bottom surfaces of the second guide grooves 101 are parallel and facing each other. At least part of the routing belt 1500 is dynamically guided and matched with one of the two second guide grooves 101, and at least part of the routing belt 1500 is dynamically guided and matched with the other of the two second guide grooves 101. In this way, the routing belt 1500 is guided and matched with the second guide groove 101, so as to facilitate the routing belt 1500 to move along the length direction of the second guide groove 101. It is convenient to arrange the movable part of the cable on the wiring belt 1500, thereby avoiding the influence of the cable on the lead screw 300.

[0122] It should be noted that the specific implementation of the routing belt 1500 can be various, including but not limited to a drag chain, a metal belt, etc., which can install cables and drive the cables to move along a set track. Optionally, the cables are attached to the outer surface of the routing belt 1500. Or the cable clamp is arranged inside the routing belt 1500.

[0123] In some embodiments, the other end of the routing belt 1500 is connected to the arm body 100 and is disposed close to another second guide groove 101, so that a portion of the routing belt 1500 forms an elastic bent body 1510, and the elastic bent body 1510 respectively abuts against the bottom walls of the two second guide grooves 101. In this way, the routing belt 1500 is stuck on the second guide groove 101 by its own elastic force through the elastic bent body 1510, so that the routing belt 1500 can move along the extension direction of the second guide groove 101 and will not be separated from the second guide groove 101, thereby effectively preventing the routing belt 1500 and the cable from scratching the lead screw 300, thereby reducing the transmission reliability of the lead screw 300.

[0124] like Fig. 9 As shown, in some embodiments, the movable length of the routing belt 1500 is greater than half of the total stroke of the second connecting member 500. In this way, the routing belt 1500 will not interfere with the movement of the second connecting member 500 and shorten the stroke of the second connecting member 500.

[0125] like Fig. 9 As shown, the movable length of the routing belt 1500 is L1, the total stroke of the second connecting member 500 is L2, and 0.5L2≤L1.

[0126] It should be noted that the movable length of the routing belt is the length that the routing belt can move within the routing area, excluding the length of the fixed portion of the routing belt.

[0127] It should be noted that the "interval setting" in this application should be understood in a broad sense, including interval setting, span setting, etc.

[0128] It should be noted that when an element is referred to as being "fixed to", "disposed on", "fixedly arranged on" or "installed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. Furthermore, when an element is considered to be "fixedly connected to" another element, the two may be fixed in a detachable connection manner or in a non-detachable connection manner, such as socketing, snap-fitting, integral molding, welding, etc., which can be achieved in traditional technologies and will not be repeated here.

[0129] When an element is perpendicular or approximately perpendicular to another element, the ideal state of the two elements is perpendicular, but due to the influence of manufacturing and assembly, there may be a certain vertical error. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0130] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The above embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the inventive concept of the present disclosure, and these all belong to the protection scope of the present disclosure.

Claims

1. A mechanical arm mechanism, characterized in that: include: An arm body, wherein the arm body is provided with a first cavity penetrating through both ends of the arm body along a first direction, the arm body is provided with a through slot, the through slot enables the first cavity to communicate with the outside of the arm body, the through slot extends along the first direction and has a first end and a second end oppositely arranged along the first direction, and the arm body includes a first mating surface arranged in the first cavity; A driving component, wherein the driving component is fixed to one end of the arm body; A screw rod, at least a portion of which extends in the first cavity, the screw rod is connected to the driving component and driven to rotate by the driving component, and a rotation axis of the screw rod is parallel to the first direction; A first connecting member, the first connecting member is located in the first cavity, the first connecting member is threadedly matched with the screw rod, and can reciprocate along the axial direction of the screw rod under the drive of the screw rod, and a second matching surface is provided on the surface of the first connecting member; as well as a second connecting member, the second connecting member is used to install the instrument driver, a portion of the second connecting member is located outside the arm body, a portion of the second connecting member passes through the through slot, and is fixedly connected to the first connecting member; wherein the first connecting member and the second connecting member are jointly capable of reciprocating between the first end and the second end; The first mating surface cooperates with the second mating surface to limit the first connecting member from rotating along the axial direction of the screw rod; The second connecting member has no contact with the arm body.

2. The robotic arm mechanism according to claim 1, characterized in that: The second connecting member includes a first connecting body and a second connecting body, the first connecting body is used to install the instrument driver, at least part of the first connecting body is located outside the arm body, one end of the second connecting body is located in the first cavity and fixedly connected to the first connecting member, and the other end of the second connecting body is fixedly connected to the first connecting body.

3. The robotic arm mechanism according to claim 2, characterized in that: The first connector and the second connector are configured as an integrated structure; Alternatively, the first connector and the second connector are configured as a split structure.

4. The robotic arm mechanism according to claim 2, characterized in that: The second connector is inserted into the through slot, and the other end of the second connector is located outside the arm body and fixedly connected to the first connector, so that the first connector is suspended outside the arm body.

5. The robotic arm mechanism according to claim 4, characterized in that: The second connecting body passes through the through slot along a second direction perpendicular to the first direction, and the first connecting body and the second connecting body are installed on the first connecting member from far to near along the second direction.

6. The robotic arm mechanism according to claim 5, characterized in that: The first connecting member is provided with a plug hole, and a portion of the second connecting body is inserted into the plug hole.

7. The robotic arm mechanism according to claim 5, characterized in that: The first connecting member is provided with a first connecting hole, the first connecting body is provided with a first through hole, and the second connecting body is provided with a second through hole; the arm holding mechanism also includes a fastener, one end of which is abutted against the first connecting body, and the other end of the fastener passes through the first through hole and the second through hole in sequence and is fastened to the first connecting hole.

8. The robotic arm mechanism according to claim 7, characterized in that: The first connecting hole is an internal threaded hole, and the other end of the fastener is provided with a screw rod threadedly matched with the internal threaded hole.

9. The robotic arm mechanism according to claim 7, characterized in that: Along the first direction, the first connecting member has at least two first connecting holes, and at least two of the first connecting holes are arranged at a distance from each other. The number of the first through holes, the number of the second connecting bodies, and the number of the fasteners are respectively equal to the number of the first screw holes and the setting positions correspond one to one.

10. The robotic arm mechanism according to claim 2, characterized in that: The second connector passes through the through slot along a second direction perpendicular to the first direction; the robotic arm mechanism comprises two second connectors, the two second connectors are spaced apart along a third direction, the third direction, the first direction and the second direction are perpendicular to each other, and the two second connectors pass through the two through slots respectively and are connected to the first connector and the second connector.

11. The robotic arm mechanism according to claim 2, characterized in that: The arm body is provided with a through slot, and the second connecting member includes a second connecting body.

12. The robotic arm mechanism according to claim 1, characterized in that: The arm body is configured as an integral structure; or The arm body is configured as a split structure.

13. The robotic arm mechanism according to claim 1, characterized in that: The arm body includes a first arm body component and a second arm body component, the first arm body component extends along a first direction, the second arm body component extends along the first direction, the projection of the first arm body component in the first direction covers the projection of the second body component in the first direction, the first arm body component and the second arm body component enclose the first cavity, and the through groove is opened in the second arm body component.

14. The robotic arm mechanism according to any one of claims 1 to 13, characterized in that: The mechanical arm mechanism also includes a shielding member, which covers the through slot and at least a portion of the second connecting member. The shielding member extends along the first direction, and two ends of the shielding member that are located on the first direction and opposite to each other are respectively fixedly connected to the arm body.

15. The robotic arm mechanism according to claim 14, characterized in that: When the second connecting member moves between the first end and the second section, the shielding member can dynamically cover the through slot.

16. The robotic arm mechanism according to claim 15, characterized in that: One of the shielding member and the arm body is provided with a magnetic member, and the other of the shielding member and the arm body is provided with a matching member magnetically fixed to the magnetic member. The magnetic member is magnetically fixed to the matching member, so that the shielding member can dynamically cover the through slot.

17. The robotic arm mechanism according to claim 14, characterized in that: The shielding member includes a flexible shielding belt, and a portion of the flexible shielding belt can be restored to fit with the arm body after avoiding the second connecting member to shield the through slot.

18. The robotic arm mechanism according to claim 14, characterized in that: The shielding member is configured as a metal belt, a braided belt, a plastic belt, an elastic belt, or a magnetic belt.

19. The robotic arm mechanism according to claim 14, characterized in that: The second connecting member defines a first guide groove, the first guide groove extends along a first direction, and the shielding member passes through the first guide groove.

20. The robotic arm mechanism according to claim 19, characterized in that: A portion of the second connecting member passes through the through slot along a second direction, a projection of a bottom surface of the first guide slot on a plane formed by the first direction and the second direction is arc-shaped, and the second direction is perpendicular to the first direction; And / or, along the first direction, the through groove bottom depth of the first guide groove gradually increases from the end of the first guide groove to the middle part of the first guide groove, and the groove bottom surface of the first guide groove smoothly transitions from one end to the other end.

21. The robotic arm mechanism according to claim 1, characterized in that: The robotic arm mechanism further comprises a position detection component for detecting a position state of the second connecting member relative to the arm body.

22. The robotic arm mechanism according to claim 21, characterized in that: The position detection component is configured as a linear encoder, and the linear encoder comprises: An encoder fixed part, fixedly arranged relative to the arm body; The encoder moving part is fixedly arranged relative to the second connecting member; The encoder fixed part detects the instantaneous or continuous position, speed or state of the encoder moving part.

23. The robotic arm mechanism according to claim 22, characterized in that: The fixed part of the encoder at least includes a grating ruler, and the moving part of the encoder at least includes a photosensitive element; Alternatively, the encoder stator includes at least a magnetic scale, and the encoder moving part includes at least a magnetic sensitive element.

24. The robotic arm mechanism according to claim 22, characterized in that: The encoder stator is arranged to avoid the through slot.

25. The robotic arm mechanism according to claim 24, characterized in that: Part of the second connecting member passes through the through slot along the second direction, the arm body is provided with two through slots, the two through slots are arranged at intervals along the third direction, the fixed part of the encoder is located between the two through slots and is fixed to the arm body; the movable part of the encoder is fixed to the second connecting member; the third direction, the first direction and the second direction are perpendicular to each other.

26. The robotic arm mechanism according to claim 1, characterized in that: A portion of the second connecting member passes through the through slot along a second direction, and the first direction, the second direction and the third direction are perpendicular to each other; The projection of the second mating surface in the plane formed by the second direction and the third direction includes a convexity, and the projection of the first mating surface in the plane formed by the second direction and the third direction includes a concaveity; And / or, a projection of the second mating surface in a plane formed by the second direction and the third direction includes a recess, and a projection of the first mating surface in a plane formed by the second direction and the third direction includes a protrusion.

27. The robotic arm mechanism according to claim 26, characterized in that: The first connecting member has two second mating surfaces, the two second mating surfaces are symmetrically arranged along the third direction, the arm body is correspondingly provided with two first mating surfaces, the two first mating surfaces correspond one-to-one with the two second mating surfaces, and are respectively limitedly matched.

28. The robotic arm mechanism according to claim 1, characterized in that: One of the first matching surface and the second matching surface is provided with a sliding groove, and the other of the first matching surface and the second matching surface is provided with a convex strip slidably matched with the sliding groove.

29. The robotic arm mechanism according to claim 28, characterized in that: The convex strip is at least partially cylindrical, or the convex strip includes a convex rib and an anti-slip portion fixed to the end of the convex rib, and the slide groove is adapted to the anti-slip portion and slidably cooperates with the anti-slip portion.

30. The robotic arm mechanism according to claim 29, characterized in that: Part of the second connecting member passes through the through slot along the second direction, and the first direction, the second direction and the third direction are perpendicular to each other; the projection of the anti-detachment portion in the plane formed by the second direction and the third direction is partially circular, and the partial circle is larger than a semicircle.

31. The robotic arm mechanism according to claim 1, characterized in that: The arm body comprises a profile structure and a guide rail, the guide rail is fixedly connected to the profile structure, and the first matching surface is located on the guide rail.

32. The robotic arm mechanism according to claim 31, characterized in that: The robotic arm mechanism also includes a shell, which is fixedly connected to the profile structure, and a second cavity is defined between the shell and the profile structure; the robotic arm mechanism also includes a circuit board assembly disposed in the second cavity, and the circuit board assembly is electrically connected to the driving component.

33. The robotic arm mechanism according to claim 1, characterized in that: The driving component includes a power source fixedly arranged relative to the arm body, the power source is transmission-connected to a screw rod, at least a portion of the screw rod is arranged in the first cavity, and is threadedly transmission-connected to the first connecting member.

34. The robotic arm mechanism according to claim 33, characterized in that: The power source includes an output shaft transmission-connected to the screw rod, and the robotic arm mechanism also includes a second detection component, and the second detection component is used to detect the rotation angle of the output shaft.

35. The robotic arm mechanism according to claim 1, characterized in that: A portion of the second connecting member passes through the through slot along a second direction, the first cavity includes a transmission area and a wiring area, the screw rod is located in the transmission area, the first connecting member moves in the transmission area, the wiring area is used to set cables, the moving area and the wiring area are arranged along the second direction, and the second direction is perpendicular to the first direction; Wherein, the wiring area is closer to the through slot than the transmission area.

36. The robotic arm mechanism according to claim 35, characterized in that: Two second guide grooves are provided toward the routing area and located on the arm body, and the bottom surfaces of the second guide grooves are parallel and facing each other; the robotic arm mechanism also includes a routing belt, one end of which is fixedly connected to the second connecting piece, and the other end is fixedly connected to the arm body, and at least a portion of the routing belt is dynamically guided and cooperated with one of the two second guide grooves, and at least a portion of the routing belt is dynamically guided and cooperated with the other of the two second guide grooves.

37. The robotic arm mechanism according to claim 36, characterized in that: The other end of the routing belt is connected to the arm body and is disposed close to the other second guide groove, so that a portion of the routing belt forms an elastic bending body, and the elastic bending body respectively abuts against the bottom walls of the two second guide grooves; And / or, the movable length of the routing belt is greater than half of the total stroke of the second connecting member.

38. The robotic arm mechanism according to claim 37, characterized in that: The mechanical arm mechanism further comprises an end shell, which is fixed to one end of the arm body. The end shell is provided with a driving cavity, and at least a part of the driving component is located in the driving cavity.

39. The robotic arm mechanism according to claim 38, characterized in that: The end housing is installed on the arm body from far to near along the first direction.

40. A multi-axis motion device, characterized in that: It comprises a manipulator, an instrument driver and a manipulator arm mechanism as described in any one of claims 1 to 39, wherein the manipulator arm mechanism is arranged at the end of the manipulator, and the instrument driver is connected to the second connecting member.

41. A surgical robot, characterized in that: Includes the multi-axis motion device as described in claim 40.

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