Mechanical arm and laparoscopic surgical instrument

Abstract

The invention provides a mechanical arm and a laparoscopic surgery instrument, and belongs to the technical field of laparoscopic surgery. Comprising longitudinal moving mechanisms, connecting arms are fixedly connected to the sides, close to each other, of the longitudinal moving mechanisms, angle adjusting mechanisms are movably installed at the inner ends of the connecting arms, and arc-shaped displacement mechanisms are installed on the inner sides of the angle adjusting mechanisms. In the laparoscopic surgery, through cooperation of the rotating mechanism, the transverse moving mechanism and the longitudinal moving mechanism, the position of the mechanical arm can be flexibly adjusted according to the size of a patient and surgery requirements, a third motor drives a gear to be engaged with a gear ring, the mechanical arm is driven to move annularly, and transverse and longitudinal moving is matched for auxiliary adjustment, so that convenience and adaptability are improved; a motor in the transverse and longitudinal moving mechanism drives a lead screw, a sliding block slides to drive the mechanical arm to move transversely and longitudinally, the flexibility and the adaptability are improved, in addition, arc-shaped displacement, angle adjustment and instrument installation assembly cooperation and multi-motor cooperative adjustment are achieved, operation equipment is convenient to install, the complex operation requirement is better met, and the operation success rate is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of laparoscopic surgery, and more specifically, to a mechanical arm and a laparoscopic surgical instrument. Background Art

[0002] In the modern medical field, laparoscopic surgery is a minimally invasive surgical method that is widely used because of its advantages such as less trauma and faster recovery. With the continuous advancement of science and technology, robotic arm-assisted laparoscopic surgery has gradually become an important development trend;

[0003] However, the existing robotic arms have great limitations in the application of laparoscopic surgery. Most robotic arms can only perform simple up and down displacement or angle adjustment, and cannot achieve more flexible and comprehensive displacement activities. This limitation is particularly obvious in complex laparoscopic surgery. For example, the existing robotic arms cannot further change their horizontal and vertical positions on the patient's body, which greatly restricts surgical operations in some cases.

[0004] In laparoscopic surgery, doctors need to perform precise resection and suturing of diseased tissues in patients, which requires the robotic arm to be able to move flexibly in all directions to ensure that surgical instruments can accurately reach the lesion site. Existing robotic arms cannot meet this requirement, which not only increases the difficulty of the operation, but also may affect the effect and safety of the operation.

[0005] In addition, complex laparoscopic surgeries often require delicate operations in a small space. If the robotic arm cannot achieve comprehensive displacement activities, it will be difficult to adapt to different surgical scenarios and individual differences of patients, which poses a great challenge to the successful implementation of the operation. It can be seen that the existing robotic arms in laparoscopic surgery have certain defects and deficiencies and cannot meet the needs of complex laparoscopic surgery. Therefore, there is an urgent need to develop a more flexible and comprehensive robotic arm system to improve the quality and safety of laparoscopic surgery. Summary of the invention

[0006] In view of the problem that the existing robotic arms used for laparoscopic surgery in the prior art have great limitations and can only be simply displaced or adjusted in angle but cannot be flexibly and comprehensively displaced, thus affecting the surgical operation, effect and success rate, the purpose of the present invention is to provide a robotic arm and a laparoscopic surgical instrument.

[0007] To solve the above problems, the present invention adopts the following technical solutions:

[0008] A mechanical arm, comprising a longitudinal movement mechanism, wherein a connecting arm is fixedly connected to one side of the longitudinal movement mechanism close to each other, an angle adjustment mechanism is movably installed on the inner end of the connecting arm, an arc displacement mechanism is installed on the inner side of the angle adjustment mechanism, and an equipment installation assembly is fixedly installed on the inner side of the arc displacement mechanism;

[0009] The longitudinal movement mechanism includes a vertical rail, a fixed plate is fixedly connected to the bottom of the vertical rail, a first motor is fixedly connected to the bottom of the fixed plate, a longitudinal screw rod is fixedly connected to the output end fixed plate of the first motor, the longitudinal screw rod is rotatably connected to the inside of the vertical rail, a longitudinal slider is threadedly connected to the outer surface of the longitudinal screw rod, and the connecting arm is fixedly connected to the inner side of the longitudinal slider.

[0010] Optionally, the angle adjustment mechanism includes a first articulated seat and a second articulated seat, the first articulated seat is fixedly connected to the outer end of the connecting arm, the second articulated seat is fixedly connected to the inner corner of the connecting arm, the connecting arm is hingedly installed with a first electric push rod through the second articulated seat, the connecting arm is hinged through the first articulated seat and an arc-shaped displacement mechanism, a third articulated seat is installed at the output end of the first electric push rod, and the output end of the first electric push rod is hinged through the third articulated seat and the lower end of the arc-shaped displacement mechanism.

[0011] Optionally, the arc-shaped displacement mechanism includes an arc-shaped rail, which is hingedly mounted on the outer end of the connecting arm through a first hinge seat, a side of the arc-shaped rail close to the connecting arm is fixedly connected to a mounting bracket, a lower end of the mounting bracket close to the connecting arm is fixedly connected to a second motor, an output end of the second motor passes through the mounting bracket and is fixedly connected to a toggle plate, a top of the toggle plate is fixedly connected to an arc-shaped movable block, the arc-shaped movable block is slidably connected to the inside of the arc-shaped rail, a side of the arc-shaped movable block away from the connecting arm is connected to the equipment mounting assembly, and a side of the mounting bracket close to the connecting arm is hinged to the output end of the first electric push rod through a third hinge seat.

[0012] Optionally, the equipment mounting assembly includes a base frame, which is fixedly connected to a side of the arc-shaped movable block away from the connecting arm, the inner side of the base frame is rotatably connected to an adjusting wheel, the outer side of the base frame is fixedly connected to a sixth motor, the output end of the sixth motor is connected to the adjusting wheel, the bottom of the adjusting wheel is fixedly connected to a frame body, the inner side of the frame body is fixedly connected to a second electric push rod, the output end of the second electric push rod passes through the base frame and is fixedly connected to a fifth motor, the output end of the fifth motor is fixedly connected to a fixed sleeve, the outer side of the fixed sleeve is threaded with mounting screws at equal intervals, and the inner ends of the mounting screws pass through the fixed sleeve.

[0013] A laparoscopic surgical instrument comprises a base, the top of the base is fixedly connected with fixing parts at equal intervals, the top of the fixing parts is fixedly installed with a rotating mechanism, the top outer end of the rotating mechanism is fixedly connected with a transverse mechanism, and the vertical rail is fixedly connected to the top of the transverse mechanism.

[0014] Optionally, the rotating mechanism includes an annular rail, which is fixedly connected to the top of the fixing member, and the inner side of the annular rail is movably connected with a driving assembly at equal intervals, the top of the driving assembly is fixedly connected with a connecting plate, and the outer side of the connecting plate is fixedly connected to the bottom of the transverse movement mechanism.

[0015] Optionally, the driving assembly includes an arc-shaped slider, a gear ring and a side frame, the arc-shaped slider is slidably connected to the inside of the annular rail, the top of the arc-shaped slider is fixedly connected to the bottom of the connecting plate, the side frame is fixedly connected to one end of the connecting plate close to the inner side of the annular rail, the gear ring is fixedly connected to the inside of the annular rail, the bottom of the side frame is fixedly connected to a third motor, the output end of the third motor passes through the side frame and is fixedly connected to a gear, the gear is rotatably connected to the inside of the side frame, and the gear and the gear ring are meshingly connected.

[0016] Optionally, the transverse movement mechanism includes a transverse rail, which is fixedly connected to the outer end of the connecting plate, and the inner end of the transverse rail close to the connecting plate is fixedly connected to a fourth motor, the output end of the fourth motor passes through the transverse rail and is fixedly connected to a transverse screw rod, the transverse screw rod is rotatably connected to the inner part of the transverse rail, the outer surface of the transverse screw rod is threadedly connected to a transverse slider, and the top of the transverse slider is fixedly connected to the bottom of the vertical rail.

[0017] Optionally, the overall cross-sectional shape of the transverse slider and the longitudinal slider is set to a cross shape, the cross-sectional shape of the internal cavity of the transverse rail and the vertical rail is also set to a cross shape, and the outer surfaces of the transverse slider, arc-shaped movable block, arc-shaped slider and longitudinal slider are all pasted with wear-resistant gaskets.

[0018] Optionally, mounting holes are provided at the four corners of the top of the base, the mounting holes are configured as countersunk holes, and the outer corners of the horizontal rail, vertical rail, connecting arm, annular rail and arc rail are configured as arcs.

[0019] Compared with the prior art, the technical solution provided by the present invention has at least the following beneficial effects:

[0020] In the above scheme, the device is installed at the bottom of the operating table frame through the base mounting holes and bolts, and the robotic arm extends from it to the operating table. When in use, it can be adjusted according to the patient's size and abdominal surgery needs. The third motor is started to drive the gear to rotate. Because the gear is meshed with the gear ring, the arc-shaped slider is driven to move in the annular track, so that the top horizontal and vertical movement mechanisms and the robotic arm are displaced in a ring shape, which can better meet the patient's abdominal surgery needs. With the auxiliary adjustment of the horizontal and vertical movement mechanisms, it can adapt to the surgical needs and volumes of different patients, thereby improving the overall convenience and adaptability of the device. For example, in actual surgery, the position of the robotic arm can be flexibly adjusted according to the patient's specific situation to ensure the smooth progress of the operation.

[0021] During use, starting the fourth motor can drive the transverse screw in the transverse rail to rotate, driving the transverse slider to slide in the transverse rail, and assisting in driving the longitudinal movement mechanism and the robotic arm to move horizontally, thereby improving the flexibility and convenience of the equipment. At the same time, starting the first motor of the longitudinal movement mechanism can drive the longitudinal screw to rotate in the vertical rail, causing the longitudinal slider to move up and down, thereby driving the connecting arm and the entire robotic arm system to move up and down, further improving the adaptability of the device in laparoscopic surgery. For example, during surgery, the transverse and longitudinal positions of the robotic arm can be accurately adjusted to better reach the lesion site, thereby providing convenience for surgical operations and improving the accuracy and success rate of surgery.

[0022] The device cooperates with an arc displacement mechanism, an angle adjustment mechanism and an equipment installation component. The second motor is started to drive the toggle plate to rotate, so that the arc movable block in the arc track is displaced, driving the equipment installation component to change position. The first electric push rod is started to promote the rotation of the arc track, and the stroke of the second electric push rod is changed through the auxiliary linkage of the hinge seat. The sixth motor is started to drive the adjustment wheel to rotate, and the displacement of the fixed sleeve at the end of the second electric push rod is adjusted. The equipment installation component is installed with the fixed sleeve by screws. Multiple mechanical arms cooperate with the rotating mechanism and the linkage component to adjust the position to the greatest extent, meet the needs of complex operations, simplify the operation steps, and improve the success rate of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable those skilled in the relevant art to make and use the invention.

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 2 It is a side view structural schematic diagram of the present invention;

[0026] Figure 3 It is a schematic diagram of the top view of the structure of the present invention;

[0027] Figure 4It is a schematic diagram of the state structure of a single mechanical arm on the rotating mechanism of the present invention;

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of the transverse movement mechanism, the longitudinal movement mechanism and the mechanical arm of the present invention;

[0029] Figure 6 It is a bottom view structural diagram of the transverse movement mechanism, longitudinal movement mechanism and mechanical arm of the present invention;

[0030] Figure 7 It is a schematic diagram of the side view of the arc displacement mechanism and the equipment installation assembly of the present invention;

[0031] Figure 8 It is a structural schematic diagram of the arc-shaped displacement mechanism and the equipment installation assembly of the present invention close to the inner side of the ring-shaped rail;

[0032] Fig. 9 For the present invention Figure 2 A is an enlarged structural diagram of FIG.

[0033] [Reference Signs]

[0034] 1. longitudinal movement mechanism; 11. vertical rail; 12. first motor; 13. longitudinal screw rod; 14. longitudinal slide block; 15. fixed plate;

[0035] 2. Base;

[0036] 3. arc displacement mechanism; 31. arc rail; 32. mounting frame; 33. second motor; 34. toggle plate; 35. arc movable block;

[0037] 4. Connecting arm;

[0038] 5. Equipment installation assembly; 51. Base frame; 52. Second electric push rod; 53. Fifth motor; 54. Fixing sleeve; 55. Mounting screw; 56. Adjusting wheel; 57. Sixth motor; 58. Frame;

[0039] 6. Angle adjustment mechanism; 61. First articulated seat; 62. Second articulated seat; 63. First electric push rod; 64. Third articulated seat;

[0040] 7. Fixing parts;

[0041] 8. Rotating mechanism; 81. Ring rail; 82. Driving assembly; 821. Arc-shaped slider; 822. Gear ring; 823. Side frame; 824. Third motor; 825. Gear; 83. Connecting plate;

[0042] 9. Transverse movement mechanism; 91. Transverse rail; 92. Fourth motor; 93. Transverse screw rod; 94. Transverse slide block;

[0043] 10. Mounting hole.

[0044] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0045] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0046] It should be noted that the references to "one embodiment", "embodiment", "exemplary embodiments", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0047] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0048] It will be understood that the meanings of “on,” “over,” and “above” in the present invention should be interpreted in the broadest manner, so that “on” not only means “directly on” something, but also includes the meaning of being “on” something with intervening features or layers therebetween, and “on” or “over” not only means “on” or “above” something, but also includes the meaning of being “on” or “above” something with no intervening features or layers therebetween.

[0049] Additionally, spatially relative terms such as "under," "beneath," "lower," "above," "upper," and the like may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as shown in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein may be similarly interpreted accordingly.

[0050] like Figures 1 to 9 As shown, an embodiment of the present invention provides a robotic arm, including a longitudinal movement mechanism 1, a connecting arm 4 is fixedly connected to one side of the longitudinal movement mechanism 1 that is close to each other, an angle adjustment mechanism 6 is movably installed on the inner end of the connecting arm 4, an arc-shaped displacement mechanism 3 is installed on the inner side of the angle adjustment mechanism 6, and an equipment installation assembly 5 is fixedly installed on the inner side of the arc-shaped displacement mechanism 3.

[0051] The longitudinal movement mechanism 1 includes a vertical rail 11, a fixing plate 15 is fixedly connected to the bottom of the vertical rail 11, a first motor 12 is fixedly connected to the bottom of the fixing plate 15, a longitudinal screw rod 13 is fixedly connected to the fixing plate 15 at the output end of the first motor 12, the longitudinal screw rod 13 is rotatably connected to the inside of the vertical rail 11, a longitudinal slider 14 is threadedly connected to the outer surface of the longitudinal screw rod 13, a connecting arm 4 is fixedly connected to the inner side of the longitudinal slider 14, the output end of the first motor 12 is fixedly connected to the fixing plate 15 with the longitudinal screw rod 13, the motor can stably drive the longitudinal screw rod 13 to rotate inside the vertical rail 11, and the longitudinal screw rod 13 rotates When the device is in motion, the longitudinal slider 14 threadedly connected to its outer surface can move up and down along the screw rod, and the connecting arm 4 is fixed on the inner side of the longitudinal slider 14, and the connecting arm 4 is connected to the angle adjustment mechanism 6, the arc displacement mechanism 3 and the equipment installation component 5. Through this structural design, the height position of the connecting arm 4 and each mechanism connected thereto can be accurately adjusted during use. For example, in different operating scenarios, the equipment installation component 5 can be adjusted to a suitable height according to actual needs for better operation. This function of being able to accurately adjust the height can adapt to different working environments and task requirements.

[0052] like Figures 4 to 9As shown, the angle adjustment mechanism 6 includes a first hinge seat 61 and a second hinge seat 62, the first hinge seat 61 is fixedly connected to the outer end of the connecting arm 4, the second hinge seat 62 is fixedly connected to the inner corner of the connecting arm 4, the connecting arm 4 is hingedly installed with a first electric push rod 63 through the second hinge seat 62, the connecting arm 4 is hinged with the arc displacement mechanism 3 through the first hinge seat 61, the output end of the first electric push rod 63 is installed with a third hinge seat 64, the output end of the first electric push rod 63 is hinged with the lower end of the arc displacement mechanism 3 through the third hinge seat 64, the arc displacement mechanism 3 includes an arc rail 31, the arc rail 31 is hingedly installed on the outer end of the connecting arm 4 through the first hinge seat 61, a mounting frame 32 is fixedly connected to a side of the arc rail 31 close to the connecting arm 4, a second motor 33 is fixedly connected to the lower end of the side of the mounting frame 32 close to the connecting arm 4, the output end of the second motor 33 passes through the mounting frame 32 and is fixedly connected to a toggle plate 34, the top of the toggle plate 34 An arc-shaped movable block 35 is fixedly connected, and the arc-shaped movable block 35 is slidably connected to the inside of the arc-shaped rail 31. The side of the arc-shaped movable block 35 away from the connecting arm 4 is connected to the equipment mounting assembly 5. The side of the mounting frame 32 close to the connecting arm 4 is hinged through the third hinge seat 64 and the output end of the first electric push rod 63. In the angle adjustment mechanism 6, the first hinge seat 61 is fixed to the outer end of the connecting arm 4 to provide a connection point for the arc-shaped displacement mechanism 3. The second hinge seat 62 is fixed at the inner corner of the connecting arm 4. The connecting arm 4 is installed with the first electric push rod 63 through this hinge seat, so that the first electric push rod 63 can be connected to the connecting arm 4 in a stable manner. The third hinge seat 64 at the output end of the first electric push rod 63 is further hinged to the lower end of the arc-shaped displacement mechanism 3. The angle of the arc-shaped displacement mechanism 3 can be changed by retracting the first electric push rod 63. This design enables the robot arm to adjust its angle according to actual needs during operation to adapt to different working scenarios and task requirements.

[0053] The arc-shaped rail 31 of the arc-shaped displacement mechanism 3 is hinged to the outer end of the connecting arm 4 through the first hinge seat 61, ensuring that the arc-shaped rail 31 can be flexibly rotated relative to the connecting arm 4. The mounting frame 32 on the arc-shaped rail 31 provides a stable mounting position for the second motor 33. The output end of the second motor 33 passes through the mounting frame 32 and is connected to the toggle plate 34. When the motor is running, it can stably drive the toggle plate 34 to rotate. The arc-shaped movable block 35 on the top of the toggle plate 34 is slidably connected to the inside of the arc-shaped rail 31. When the toggle plate 34 rotates, the arc-shaped movable block 35 is driven to slide in the arc-shaped rail 31, thereby driving the equipment installation assembly 5 connected thereto to move, thereby realizing the position adjustment of the equipment installation assembly 5 in the arc direction. This design enables the equipment installation assembly 5 to perform arc displacement within a certain range, thereby increasing the operational flexibility and accessible range of the robotic arm. The mounting frame 32 is hinged to the output end of the first electric push rod 63 through the third hinge seat 64, so that the first electric push rod 63 can affect the position of the arc-shaped displacement mechanism 3 while adjusting the angle, thereby further improving the overall adjustment ability of the robotic arm.

[0054] like Fig. 9As shown, the equipment installation assembly 5 includes a base frame 51, which is fixedly connected to the side of the arc-shaped movable block 35 away from the connecting arm 4, and the inner side of the base frame 51 is rotatably connected to an adjusting wheel 56, and the outer side of the base frame 51 is fixedly connected to a sixth motor 57, and the output end of the sixth motor 57 is connected to the adjusting wheel 56. The bottom of the adjusting wheel 56 is fixedly connected to a frame body 58, and the inner side of the frame body 58 is fixedly connected to a second electric push rod 52, and the output end of the second electric push rod 52 passes through the base frame 51 and is fixedly connected to a fifth motor 53, and the output end of the fifth motor 53 is fixedly connected to a fixed sleeve 54, and the outer side of the fixed sleeve 54 is threaded with mounting screws 55 at equal intervals, and the inner end of the mounting screws 55 passes through the fixed sleeve 54, and the base frame 51 is fixed to the side of the arc-shaped movable block 35 away from the connecting arm 4, providing stable support for the entire equipment installation assembly 5, and the inner side of the base frame 51 is rotatably connected to the adjusting wheel 56, and the output end of the sixth motor 57 on the outer side is connected to the adjusting wheel 56 The motor can drive the adjusting wheel 56 to rotate. The frame 58 at the bottom of the adjusting wheel 56 provides an installation position for the second electric push rod 52. The output end of the second electric push rod 52 passes through the base frame 51 to connect the fifth motor 53. The position of the fifth motor 53 can be adjusted by the extension and retraction of the electric push rod. The fixed sleeve 54 at the output end of the fifth motor 53 can fix the instruments required for laparoscopic surgery through the mounting screws 55 at equal intervals on the outside. This structural design enables the equipment installation component 5 to be adjusted in multiple directions. The sixth motor 57 drives the adjusting wheel 56 to change the horizontal position of the fixed sleeve 54, the second electric push rod 52 can adjust its longitudinal position, and the fifth motor 53 can rotate the fixed sleeve 54 to further adjust the angle of the instrument. The mounting screws 55 can firmly fix the instrument to ensure that the instrument will not loosen during operation. The various components cooperate with each other, so that the equipment installation component 5 can accurately adjust the position and angle of the clamped instrument to meet different surgical needs.

[0055] like Figures 1 to 3 As shown, an embodiment of the present invention provides a laparoscopic surgical instrument, including a base 2, the top of the base 2 is fixedly connected with fixing parts 7 at equal intervals, the top of the fixing part 7 is fixedly installed with a rotating mechanism 8, the top outer end of the rotating mechanism 8 is fixedly connected with a transverse mechanism 9, and the vertical rail 11 is fixedly connected to the top of the transverse mechanism 9. The rotating mechanism 8 can realize the annular displacement of the transverse mechanism 9 and subsequent components connected at the top, so that the instrument can adjust the position and direction according to the surgical requirements to adapt to different patient conditions and surgical scenes. The transverse mechanism 9 is connected to the top outer end of the rotating mechanism 8 and can realize the adjustment of the lateral position. The cooperation with the rotating mechanism 8 further increases the adjustability of the instrument. The vertical rail 11 is fixed on the top of the transverse mechanism 9 to provide an installation position for subsequent longitudinal mechanism 1 and other components, thereby ensuring the integrity and stability of the entire instrument structure. The various parts cooperate with each other to improve the practicality and flexibility of the instrument in laparoscopic surgery.

[0056] like Figure 4 As shown, the rotating mechanism 8 includes an annular rail 81, which is fixedly connected to the top of the fixing member 7, and a driving assembly 82 is movably connected to the inner side of the annular rail 81 at equal intervals. The top of the driving assembly 82 is fixedly connected to a connecting plate 83, and the outer side of the connecting plate 83 is fixedly connected to the bottom of the transverse mechanism 9. The driving assembly 82 includes an arc-shaped slider 821, a gear ring 822 and a side frame 823. The arc-shaped slider 821 is slidably connected to the inside of the annular rail 81, and the top of the arc-shaped slider 821 is fixedly connected to the bottom of the connecting plate 83. The side frame 823 is fixedly connected to one end of the connecting plate 83 close to the inner side of the annular rail 81, and the gear ring 822 is fixedly connected to the inside of the annular rail 81. The bottom of the side frame 823 is fixedly connected to a third motor 824, and the output end of the third motor 824 passes through the side frame 823 and is fixedly connected to a gear 825, and the gear 825 rotates Connected to the inside of the side frame 823, the gear 825 and the gear ring 822 are meshed and connected, and the arc-shaped slider 821 in the driving component 82 is slidably connected to the inside of the annular rail 81, ensuring that the connecting plate 83 connected to the top thereof and subsequent components can stably perform annular displacement. The side frame 823 is fixed at one end of the connecting plate 83 to provide an installation position for the third motor 824. The gear ring 822 is fixed inside the annular rail 81, and the gear 825 at the output end of the third motor 824 is meshed and connected to the gear ring 822. When the motor drives the gear 825 to rotate, the meshing transmission between the gear 825 and the gear ring 822 drives the arc-shaped slider 821 to slide in the annular rail 81, thereby realizing the annular displacement of the connecting plate 83 and the transverse movement mechanism 9 connected thereto, so that the instrument can be adjusted in all directions on the horizontal plane to adapt to different surgical needs and operating angles.

[0057] like Figures 1 to 6As shown, the transverse movement mechanism 9 includes a transverse rail 91, which is fixedly connected to the outer end of the connecting plate 83, and the inner end of the transverse rail 91 near the connecting plate 83 is fixedly connected to a fourth motor 92, and the output end of the fourth motor 92 passes through the transverse rail 91 and is fixedly connected to a transverse screw rod 93, and the transverse screw rod 93 is rotatably connected to the inner part of the transverse rail 91, and the outer surface of the transverse screw rod 93 is threadedly connected to a transverse slider 94, and the top of the transverse slider 94 is fixedly connected to the bottom of the vertical rail 11, and the overall cross-sectional shape of the transverse slider 94 and the longitudinal slider 14 are both set to a cross shape, and the cross-sectional shape of the internal cavity of the transverse rail 91 and the vertical rail 11 are also set to a cross shape, and the outer surfaces of the transverse slider 94, the arc-shaped movable block 35, the arc-shaped slider 821 and the longitudinal slider 14 are all pasted with wear-resistant gaskets, and the four corners of the top of the base 2 are provided with mounting holes 10, and the mounting holes 10 are set to countersunk holes, and the transverse rail 91, the vertical rail 11, the connecting arm 4, and the annular rail The outer corners of 81 and the arc-shaped rail 31 are both set to be arc-shaped. The output end of the fourth motor 92 at one end inside the transverse rail 91 is connected to the transverse screw rod 93, and the motor drives the transverse screw rod 93 to rotate in the transverse rail 91. The outer surface of the transverse screw rod 93 is threadedly connected to the transverse slider 94. The top of the slider is fixedly connected to the bottom of the vertical rail 11. The slider is driven to slide horizontally in the transverse rail 91 through the rotation of the screw rod to achieve the lateral position adjustment of the vertical rail 11 and subsequent components. The cross-section of the transverse slider 94 and the longitudinal slider 14 are cross-shaped, which respectively cooperate with the cross-shaped cavities inside the transverse rail 91 and the vertical rail 11 to ensure stable sliding and accurate direction. Wear-resistant gaskets are pasted on the outer surfaces of each slider and rail to reduce wear and increase service life. The mounting holes 10 at the four corners at the top of the base 2 are countersunk holes for convenient installation and fixing of equipment. The outer corners of the transverse rail 91, the vertical rail 11, the connecting arm 4, the annular rail 81 and the arc-shaped rail 31 are arc-shaped to reduce the risk of collision and improve safety.

[0058] The workflow of the technical solution provided by the present invention is as follows:

[0059] During use, the device can be installed at the bottom of the operating table frame through the mounting holes 10 on the base 2 with bolts. At this time, each mechanical arm extends from the bottom of the operating table frame to the operating table. During use, it can be adjusted according to the patient's size and the specific needs of abdominal surgery. Specifically, the third motor 824 is started to run, and the third motor 824 can drive the gear 825 to rotate. Since the gear 825 and the gear ring 822 are meshed and connected, as the third motor 824 drives the gear 825 to rotate, the gear 825 and the gear ring 822 can be meshed and driven to drive the arc-shaped slider 821 to move in the inner part of the annular rail 81 in the reverse direction through the mutual meshing transmission of the gear 825 and the gear ring 822. When the arc-shaped slider 821 is driven to slide in the inner part of the annular rail 81, the transverse movement mechanism 9 and the longitudinal movement mechanism 1 on the top and the mechanical arm can be driven to move in a ring shape. Such a design enables the device to be better adjusted according to the patient's needs for abdominal surgery. At the same time, with the longitudinal movement mechanism 1 and the transverse movement mechanism 9 for auxiliary adjustment, the mechanical arm can be further adjusted to facilitate the surgical needs of different patients and better adapt to patients of different sizes.

[0060] During use, the fourth motor 92 is started to run, and the fourth motor 92 can drive the transverse screw rod 93 inside the transverse rail 91 to rotate. When the transverse screw rod 93 is located inside the transverse rail 91 and rotates, it can assist in driving the transverse slider 94 to slide inside the transverse rail 91. By adjusting the displacement of the transverse slider 94, it can assist in driving the longitudinal movement mechanism 1 and the mechanical arm on its top to move laterally, which is convenient for adjusting the entire mechanical arm to further move, further improving the flexibility and convenience of using the device. During the adjustment process, the first motor 12 of the longitudinal movement mechanism 1 is started to run. The operation of the first motor 12 can drive the longitudinal screw rod 13 located inside the vertical rail 11 to rotate. By starting the longitudinal screw rod 13 to rotate, the longitudinal slider 14 can be driven to move up and down. The longitudinal slider 14 can be flexibly adjusted by moving up and down. By adjusting the up and down displacement of the longitudinal slider 14, the connecting arm 4 and its entire mechanical arm system can be further driven to move up and down, which can further improve the overall adaptability of the device during laparoscopic surgery.

[0061] Through the coordination of the arc displacement mechanism 3, the angle adjustment mechanism 6 and the equipment installation assembly 5, during the use of the device, the second motor 33 is started to run, and the operation of the second motor 33 can drive the toggle plate 34 to rotate, and the rotation of the toggle plate 34 can drive the arc-shaped movable block 35 inside the arc rail 31 to displace and rotate, and during the displacement of the arc movable block 35, the equipment installation assembly 5 outside the arc movable block 35 can be synchronously driven to displace, and at this time, the position of the equipment installation assembly 5 can be further changed, and the operation of the first electric push rod 63 can be started to drive the arc rail 31 at the bottom of the first articulated seat 61 to rotate. During this period, the first articulated seat 61, the second articulated seat 62 and the third articulated seat 64 are assisted in linkage, so that the pushing stroke of the second electric push rod 52 can be changed, so that it can be better adjusted and adapted, and in the process of its adjustment, By starting the sixth motor 57, the sixth motor 57 can drive the adjusting wheel 56 inside the base frame 51 to rotate. The rotation of the adjusting wheel 56 can adjust the fixed sleeve 54 at the end of the second electric push rod 52 to further move. During the use of the device, the equipment installation component 5 can cooperate with the fixed sleeve 54 through screws to assist in the installation of the laparoscopic camera, laparoscope, light source system, suction system and electric knife required during laparoscopic surgery. The setting of the fifth motor 53 can adjust the fixed sleeve 54 to rotate, which is convenient for further adjustment of the instruments installed on the fixed sleeve 54. It adopts multiple independently set mechanical arms to cooperate with the rotating mechanism 8 and each linkage drive component 82, which can adjust the position to the greatest extent, can better cope with the complex laparoscopic surgery needs, can simplify the laparoscopic surgery steps to the greatest extent, and improve the success rate of the surgery.

[0062] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0063] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A robotic arm, comprising a longitudinal movement mechanism, characterized in that: A connecting arm is fixedly connected to one side of the longitudinal movement mechanism that is close to each other, an angle adjustment mechanism is movably installed on the inner end of the connecting arm, an arc displacement mechanism is installed on the inner side of the angle adjustment mechanism, and an equipment installation component is fixedly installed on the inner side of the arc displacement mechanism; The longitudinal movement mechanism includes a vertical rail, a fixed plate is fixedly connected to the bottom of the vertical rail, a first motor is fixedly connected to the bottom of the fixed plate, a longitudinal screw rod is fixedly connected to the output end fixed plate of the first motor, the longitudinal screw rod is rotatably connected to the inside of the vertical rail, a longitudinal slider is threadedly connected to the outer surface of the longitudinal screw rod, and the connecting arm is fixedly connected to the inner side of the longitudinal slider.

2. The robotic arm according to claim 1, characterized in that: The angle adjustment mechanism includes a first articulated seat and a second articulated seat, the first articulated seat is fixedly connected to the outer end of the connecting arm, the second articulated seat is fixedly connected to the inner corner of the connecting arm, the connecting arm is hingedly installed with a first electric push rod through the second articulated seat, the connecting arm is hinged with the first articulated seat and the arc-shaped displacement mechanism, the output end of the first electric push rod is installed with a third articulated seat, and the output end of the first electric push rod is hinged with the lower end of the arc-shaped displacement mechanism through the third articulated seat.

3. The robotic arm according to claim 2, characterized in that: The arc displacement mechanism includes an arc rail, which is hingedly mounted on the outer end of the connecting arm through a first hinge seat, a side of the arc rail close to the connecting arm is fixedly connected to a mounting bracket, a lower end of the mounting bracket close to the connecting arm is fixedly connected to a second motor, an output end of the second motor passes through the mounting bracket and is fixedly connected to a toggle plate, a top of the toggle plate is fixedly connected to an arc movable block, the arc movable block is slidably connected to the inside of the arc rail, a side of the arc movable block away from the connecting arm is connected to the equipment mounting assembly, and a side of the mounting bracket close to the connecting arm is hinged to the output end of the first electric push rod through a third hinge seat.

4. The robotic arm according to claim 3, characterized in that: The equipment installation assembly includes a base frame, which is fixedly connected to a side of the arc-shaped movable block away from the connecting arm, the inner side of the base frame is rotatably connected to an adjusting wheel, the outer side of the base frame is fixedly connected to a sixth motor, the output end of the sixth motor is connected to the adjusting wheel, the bottom of the adjusting wheel is fixedly connected to a frame body, the inner side of the frame body is fixedly connected to a second electric push rod, the output end of the second electric push rod passes through the base frame and is fixedly connected to a fifth motor, the output end of the fifth motor is fixedly connected to a fixed sleeve, the outer side of the fixed sleeve is threaded with mounting screws at equal intervals, and the inner ends of the mounting screws pass through the fixed sleeve.

5. A laparoscopic surgical instrument, using the mechanical arm according to any one of claims 1 to 4, characterized in that: It comprises a base, the top of which is fixedly connected with fixing parts at equal intervals, the top of which is fixedly installed with a rotating mechanism, the top outer end of the rotating mechanism is fixedly connected with a transverse mechanism, and the vertical rail is fixedly connected to the top of the transverse mechanism.

6. The laparoscopic surgical instrument according to claim 5, characterized in that: The rotating mechanism includes an annular rail, which is fixedly connected to the top of the fixing member. The inner side of the annular rail is movably connected with a driving assembly at equal intervals. The top of the driving assembly is fixedly connected with a connecting plate. The outer side of the connecting plate is fixedly connected to the bottom of the transverse mechanism.

7. The laparoscopic surgical instrument according to claim 6, characterized in that: The driving assembly includes an arc-shaped slider, a gear ring and a side frame. The arc-shaped slider is slidably connected to the inside of the annular rail, the top of the arc-shaped slider is fixedly connected to the bottom of the connecting plate, the side frame is fixedly connected to one end of the connecting plate close to the inner side of the annular rail, the gear ring is fixedly connected to the inside of the annular rail, the bottom of the side frame is fixedly connected to a third motor, the output end of the third motor passes through the side frame and is fixedly connected to a gear, the gear is rotatably connected to the inside of the side frame, and the gear and the gear ring are meshingly connected.

8. The laparoscopic surgical instrument according to claim 7, characterized in that: The transverse movement mechanism includes a transverse rail, which is fixedly connected to the outer end of the connecting plate, and a fourth motor is fixedly connected to the inner end of the transverse rail close to the connecting plate. The output end of the fourth motor passes through the transverse rail and is fixedly connected to a transverse screw rod, which is rotatably connected to the inner part of the transverse rail, and a transverse slider is threadedly connected to the outer surface of the transverse screw rod, and the top of the transverse slider is fixedly connected to the bottom of the vertical rail.

9. The laparoscopic surgical instrument according to claim 8, characterized in that: The overall cross-sectional shapes of the transverse slider and the longitudinal slider are both set to a cross shape, the cross-sectional shapes of the internal cavities of the transverse rail and the vertical rail are also set to a cross shape, and the outer surfaces of the transverse slider, the arc-shaped movable block, the arc-shaped slider and the longitudinal slider are all pasted with wear-resistant gaskets.

10. The laparoscopic surgical instrument according to claim 9, characterized in that: The four corners on the top of the base are all provided with mounting holes, and the mounting holes are arranged as countersunk holes. The outer corners of the transverse rail, the vertical rail, the connecting arm, the annular rail and the arc-shaped rail are all arranged as arcs.

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