Arm and surgical robot

Abstract

The invention provides a mechanical arm and a surgical robot. The mechanical arm comprises a body, a transmission assembly and a motor. The body has first and second ends and an inner cavity. The transmission assembly comprises a first transmission wheel, a second transmission wheel and a transmission connecting piece. The first transmission wheel is rotatably arranged at the first end around a first axis. The second transmission wheel is rotatably arranged at the second end around a second axis. The transmission connection is at least partially located in the interior cavity. The transmission connecting piece is in transmission connection with the first transmission wheel and the second transmission wheel. The transmission connection is configured to transfer power between the first transmission wheel and the second transmission wheel. The motor includes a drive shaft. The driving shaft is in transmission connection with one of the first transmission wheel and the second transmission wheel so as to drive one of the first transmission wheel and the second transmission wheel to rotate. The precision requirements for the shell and the internal structure of the holding arm can be reduced, the occupied space is reduced, and the cost is reduced.

Description

Technical Field

[0001] The present application generally relates to the technical field of medical devices, and more specifically to a robotic arm and a surgical robot. Background Art

[0002] A surgical robot is a robot that can be remotely controlled to perform surgery. A surgical robot usually includes a control system, a robotic arm system, and an imaging system. The robotic arm system includes a number of robotic arms, each of which has a number of connecting arms. Two adjacent connecting arms move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom movement. The end connecting arm of the robotic arm is a holding arm, on which an instrument driver is installed. The instrument driver can reciprocate in a straight line on the holding arm, and the surgical instrument or endoscope is detachably installed on the instrument driver.

[0003] The related art arm includes a ball screw mechanism. The ball screw mechanism is used to connect to the motor and convert the motor's rotational motion into linear motion, thereby driving the instrument driver to move along the length of the arm. However, the structure of this arm has the disadvantage that the precision requirements for the outer shell and internal structure of the arm are very high, resulting in high costs. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description of the Invention section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] In order to at least partially solve the above problems, the present application provides a first aspect of a mechanical arm for connecting an instrument driver, the mechanical arm comprising:

[0006] A body, the body having a first end and a second end opposite to each other along its own length direction and an inner cavity extending along the length direction, the body being used to install the instrument driver capable of moving along the length direction;

[0007] A transmission assembly, the transmission assembly comprising:

[0008] A first transmission wheel, the first transmission wheel is rotatably disposed at the first end around a first axis;

[0009] a second transmission wheel, the second transmission wheel being rotatably disposed at the second end around a second axis, the second axis being parallel to the first axis, and the first axis and the second axis both intersecting in the length direction;

[0010] a transmission connection member, the transmission connection member being at least partially located in the inner cavity, the transmission connection member being transmission-connected to the first transmission wheel and the second transmission wheel, and the transmission connection member being configured to transmit power between the first transmission wheel and the second transmission wheel;

[0011] as well as

[0012] The motor includes a drive shaft, the drive shaft is drivingly connected to one of the first transmission wheel and the second transmission wheel to drive one of the first transmission wheel and the second transmission wheel to rotate.

[0013] According to the robotic arm of the first aspect of the present application, the driving shaft drives one of the first transmission wheel and the second transmission wheel to rotate, thereby driving the other of the first transmission wheel and the second transmission wheel to rotate through the transmission connection. By adopting the above scheme of the present application, the precision requirements for the outer shell and internal structure of the robotic arm can be reduced, thereby reducing costs. Compared with the use of a ball screw mechanism, the number of parts and the space occupied in the length direction of the robotic arm are reduced, so it is also helpful to reduce the weight of the robotic arm.

[0014] Optionally, the motor is disposed corresponding to the second end of the body, the drive shaft is connected to the second transmission wheel, and the drive shaft is parallel to the first axis and the second axis.

[0015] Optionally, the drive shaft and the second transmission wheel are coaxial.

[0016] Optionally, the robotic arm further comprises a brake assembly, wherein the brake assembly is disposed at at least one of the first end and the second end, and is used to output a braking torque to at least one of the first transmission wheel and the second transmission wheel.

[0017] Optionally, the robotic arm further comprises a brake assembly, wherein the brake assembly is disposed at the second end and is used to output a braking torque to the second transmission wheel.

[0018] Optionally, the first transmission wheel is configured as a first pulley, the second transmission wheel is configured as a second pulley, and the transmission connection member is configured as a transmission belt.

[0019] Optionally, the transmission assembly includes at least two transmission belts, and the at least two transmission belts are spaced apart and arranged in a direction parallel to the first axis.

[0020] Optionally, the transmission belt is configured as one of a belt, a rope, and a wire.

[0021] Optionally, the first transmission wheel is configured as a first sprocket, the second transmission wheel is configured as a second sprocket, and the transmission connecting member is configured as a chain.

[0022] Optionally, the robotic arm further comprises:

[0023] The adapter is located in the inner cavity and is fixed relative to the transmission connection member so as to move along the length direction with the transmission connection member.

[0024] Optionally, the body is provided with a guide hole, the guide hole extending along the length direction and communicating with the inner cavity and the outside of the body;

[0025] The mechanical arm further comprises a transfer piece, a part of which is located outside the body, and another part of which passes through the guide hole and is connected to the adapter, and the transfer piece is used for installing the instrument driver.

[0026] Optionally, the robotic arm further comprises:

[0027] A guide rail, the guide rail is connected to the outer surface of the body and is located on the side of the guide hole, and the extension direction of the guide rail is parallel to the length direction;

[0028] A slider is slidably matched to the guide rail along the length direction, and the slider is connected to the adapter.

[0029] Optionally, the body is provided with a guide hole, the guide hole extending along the length direction and communicating with the inner cavity and the outside of the body;

[0030] The robotic arm further comprises:

[0031] A guide rail, the guide rail is connected to the outer surface of the body and is located on the side of the guide hole, and the extension direction of the guide rail is parallel to the length direction;

[0032] A slider is slidably matched to the guide rail along the length direction, the slider is fixed relative to the adapter, and the slider is used to directly or indirectly install the instrument driver.

[0033] Optionally, the first end of the body includes a first supporting portion, and the first supporting portion is provided with a first through hole for passing the transmission connecting member;

[0034] The holding arm comprises a first end shell, which is detachably connected to the first end of the body and encloses the first support portion to form a first installation space;

[0035] The first transmission wheel is located in the first installation space.

[0036] Optionally, the second end of the body includes a second supporting portion, and the second supporting portion is provided with a second through hole for passing the transmission connecting member;

[0037] The holding arm comprises a second end shell, which is detachably connected to the second end of the body and encloses the second support portion to form a second installation space;

[0038] The second transmission wheel is located in the second installation space.

[0039] Optionally, the first transmission wheel is located in the inner cavity; and / or

[0040] The second transmission wheel is located in the inner cavity; and / or

[0041] The brake assembly is located in the inner cavity; and / or

[0042] The motor is located in the inner cavity.

[0043] Optionally, the inner cavity passes through the second end of the body along the length direction;

[0044] The holding arm includes a lower end cover, and the lower end cover is detachably connected to the second end of the body;

[0045] The second transmission wheel, the brake assembly and the motor are all located in the inner cavity.

[0046] Optionally, the inner cavity passes through the first end of the body along the length direction;

[0047] The holding arm includes an upper end cover, and the upper end cover is detachably connected to the first end of the body;

[0048] The first transmission wheel, the brake assembly and the motor are all located in the inner cavity.

[0049] Optionally, the motor is configured as a frameless motor.

[0050] Optionally, the robotic arm further comprises a first encoder, the first encoder is disposed at the first end of the body, and a moving part of the first encoder is fixedly disposed relative to the first transmission wheel; and / or

[0051] The robotic arm further comprises a second encoder, which is arranged at the second end of the body, and a moving part of the second encoder is fixedly arranged relative to the second transmission wheel.

[0052] A second aspect of the present application provides a mechanical arm for connecting an instrument driver, the mechanical arm comprising:

[0053] A body, the body having a first end and a second end opposite to each other along its own length direction and an inner cavity extending along the length direction, the body being used to install the instrument driver capable of moving along the length direction;

[0054] A transmission assembly, the transmission assembly comprising:

[0055] A first transmission wheel, the first transmission wheel is rotatably disposed at the first end around a first axis;

[0056] a second transmission wheel, the second transmission wheel being rotatably disposed at the second end around a second axis, the second axis being parallel to the first axis, and the first axis and the second axis both intersecting in the length direction;

[0057] a transmission connection member, the transmission connection member being at least partially located in the inner cavity, the transmission connection member being transmission-connected to the first transmission wheel and the second transmission wheel, and the transmission connection member being configured to transmit power between the first transmission wheel and the second transmission wheel;

[0058] a worm wheel rotatably connected to the body about its own axis, and the worm wheel is coaxial with and fixedly connected to one of the first transmission wheel and the second transmission wheel; and

[0059] A worm, the worm being rotatably connected to the body about its own axis and meshing with the worm wheel, the axis of the worm being parallel to the length direction;

[0060] as well as

[0061] A motor includes a driving shaft connected to the worm and coaxially arranged to drive one of the first transmission wheel and the second transmission wheel to rotate.

[0062] According to the robotic arm of the second aspect of the present application, one of the first transmission wheel and the second transmission wheel is driven to rotate by the driving shaft, thereby driving the other of the first transmission wheel and the second transmission wheel to rotate by the transmission connecting member. In addition, the transmission is carried out between the motor and the second transmission wheel by a worm gear, so that the driving shaft of the motor can be arranged along the length direction of the robotic arm. By adopting the above-mentioned scheme of the present application, the precision requirements for the outer shell and internal structure of the robotic arm can be reduced, thereby reducing costs. At the same time, the space occupied in the direction perpendicular to the length of the robotic arm is also reduced.

[0063] A third aspect of the present application provides a surgical robot, which includes the above-mentioned robotic arm.

[0064] The surgical robot according to the third aspect of the present application can reduce costs by applying any one of the above-mentioned robotic arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The following drawings of the embodiments of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0066] Figure 1 is a schematic diagram of a surgical robot according to a preferred embodiment of the present application;

[0067] Figure 2 is a schematic diagram of a robotic arm system according to a preferred embodiment of the present application;

[0068] Figure 3 A front view of a robotic arm according to a preferred embodiment of the present application; and

[0069] Figure 4 It is a stereoscopic view of a robotic arm according to a preferred embodiment of the present application.

[0070] Description of reference numerals:

[0071] 1: Surgical robot 10: Control system

[0072] 20: Imaging system 30: Robotic arm system

[0073] 301: Adjustment arm 302: Operation arm

[0074] 303: Column 304: Handle

[0075] 305: Base 310: Arm

[0076] 311: body 311a: inner cavity

[0077] 311b: first end 311c: second end

[0078] 311d: first support portion 311e: first through hole

[0079] 311f: Guide hole 311g: Joint connection part

[0080] 312: Transmission assembly 313: First pulley

[0081] 314: Second pulley 315: Transmission belt

[0082] 316: Motor 317: Brake assembly

[0083] 318: Adapter 319: Adapter

[0084] 321: Guide rail 322: Slider

[0085] 323: First encoder D1: Length direction

[0086] AX1: First axis AX2: Second axis DETAILED DESCRIPTION

[0087] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application embodiments, some technical features well known in the art are not described.

[0088] In order to fully understand the implementation of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the implementation of the present application is not limited to the specific details familiar to those skilled in the art.

[0089] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present application, and the singular forms "a", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, integral bodies, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integral bodies, steps, operations, elements, components and / or combinations thereof.

[0090] Ordinal numbers such as "first" and "second" cited in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer" and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0091] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings show representative embodiments of the present application and do not limit the present application.

[0092] like Figure 1 and Figure 2 As shown, the present invention provides a surgical robot for remotely controlling and performing surgery. The surgical robot 1 may include a control system 10, an imaging system 20 and a mechanical arm system 30, which may communicate with each other.

[0093] The control system 10 is also called a doctor's console or control device. The control system 10 has a display unit for displaying surgical instruments or endoscope environments, a control mechanism for doctors to operate, and armrests. The display unit is provided with an observation window for doctors to observe. The control mechanism is configured to perform various actions corresponding to the actions of surgical instruments or endoscopes. The armrests are used to place the doctor's arms. In addition, the doctor's console also has other control switches that are convenient for hands or feet to touch or press, which are used to perform various functional operations and complete human-computer interaction.

[0094] The imaging system 20 has a display screen, an endoscope controller, system electronic equipment, an image processor, etc. Thus, the internal organs of the patient can be presented to the operator more clearly.

[0095] The robotic arm system 30 can also be called a patient-side robotic arm system. The robotic arm system 30 is arranged next to the patient, and a surgical instrument or an endoscope is arranged at its distal end for performing various surgical operations on the patient. The robotic arm system 30 may include at least one robotic arm. The robotic arm has a plurality of connecting arms, and two adjacent connecting arms are connected by joints and move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multiple degrees of freedom. An instrument support frame is installed at the end of the robotic arm, and the surgical instrument is detachably mounted on the instrument support frame. The instrument support frame can be called a robotic arm 310 or an instrument arm. An instrument drive module is arranged on the instrument support frame to drive the end effector of the surgical instrument to perform insertion, clamping, hooking, shearing, shoveling and other actions.

[0096] In some cases, a single robotic arm may include an adjustment arm 301, an operating arm 302, and a holding arm 310. The surgical instrument or endoscope is detachably mounted on the holding arm 310. During surgery, part of the main channel and wrist mechanism of the surgical instrument are passed through tissues such as the chest and abdominal wall to replace human hands for surgery. Two adjacent connecting rods in the adjustment arm 301 are pivotally connected through a rotating joint. In addition, a rotating joint is also provided between the adjustment arm 301 and the operating arm 302 to achieve a pivotable connection. Before operating the robotic arm system 30 for surgery, it is necessary to first operate the adjustment arm 301 to make the holding arm 310 reach a specified position, and then lock the rotating joint of the adjustment arm 301. During surgery, the surgical operation is completed by remotely controlling the operating arm 302, while keeping the rotating joint of the adjustment arm 301 locked to prevent relative rotation between the connecting rods of the adjustment arm 301 during surgery.

[0097] In one example, reference Figure 2The robot arm system 30 includes a base 305. The base 305 is provided with a column 303 and a handle 304. The column 303 includes at least one set of lifting mechanisms (not marked). For example, the column 303 includes four sets of lifting mechanisms, and each set of lifting mechanisms corresponds to a robot arm. The operator can use the handle 304 to assist in completing the movement of the base 305.

[0098] The inventors found that the arm 310 in the related art includes a ball screw mechanism. The ball screw mechanism is used to connect to the motor and convert the rotational motion of the motor into linear motion, thereby driving the instrument driver to move on the arm along the length direction of the arm. However, the structure of this arm has disadvantages including but not limited to: (1) the precision requirements for the outer shell and internal structure of the arm are very high, resulting in high cost; (2) the arm occupies more space, resulting in a larger size of the arm; (3) there are more parts, which increases the weight of the arm.

[0099] In order to solve the above technical problems, the present application provides a robotic arm and a surgical robot having the same. Figures 1 to 4 The shown example explains the robot arm and the surgical robot 1 according to the present application in detail.

[0100] The present application provides a mechanical arm 310 for connecting an instrument driver. The mechanical arm 310 according to the present application may include a body 311, a transmission assembly 312, and a motor 316. The body 311 has a first end 311b and a second end 311c facing oppositely along its own length direction D1 and an inner cavity 311a extending along the length direction D1. The body 311 is used to install an instrument driver that can move along the length direction D1. The transmission assembly 312 may include a first transmission wheel, a second transmission wheel, and a transmission connection. The first transmission wheel is rotatably disposed at the first end 311b around a first axis AX1. The second transmission wheel is rotatably disposed at the second end 311c around a second axis AX2. The second axis AX2 is parallel to the first axis AX1. And the first axis AX1 and the second axis AX2 both intersect in the length direction D1. The transmission connection is at least partially located in the inner cavity 311a. The transmission connection is transmission-connected to the first transmission wheel and the second transmission wheel. The transmission connection is configured to transmit power between the first transmission wheel and the second transmission wheel. The transmission connection piece is used to connect the instrument driver, thereby driving the instrument driver to move along the length direction D1 of the body 311. The motor 316 may include a drive shaft. The drive shaft is transmission-connected to one of the first transmission wheel and the second transmission wheel to drive one of the first transmission wheel and the second transmission wheel to rotate.

[0101] According to the robotic arm 310 of the present application, one of the first transmission wheel and the second transmission wheel is driven to rotate by the driving shaft, thereby driving the other of the first transmission wheel and the second transmission wheel to rotate by the transmission connecting member. By adopting the above scheme of the present application, the precision requirements for the outer shell and internal structure of the robotic arm 310 can be reduced, thereby reducing costs. Compared with the use of a ball screw mechanism, the number of parts and the space occupied in the length direction D1 of the robotic arm 310 are reduced, so it is also helpful to reduce the weight of the robotic arm 310.

[0102] For example, the motor 316 is correspondingly mounted at the second end 311c of the body 311. The drive shaft is directly or indirectly connected to the second transmission wheel. The drive shaft is parallel to the first axis AX1 and the second axis AX2. Since the drive shaft is parallel to the first axis AX1, it is helpful to reduce the space occupied by the motor 316 in the length direction D1 of the robotic arm 310.

[0103] Furthermore, the driving shaft can be coaxially arranged with the second transmission wheel. Compared with the method in which the driving shaft is indirectly connected to the second transmission wheel through other transmission structures, this method can further reduce the space occupied by the motor 316 in the length direction D1 of the robotic arm 310 .

[0104] In one example, the robotic arm 310 may further include a brake assembly 317. The brake assembly 317 is disposed at at least one of the first end 311b and the second end 311c, and is used to output a braking torque to at least one of the first transmission wheel and the second transmission wheel. It is understood that the brake assembly 317 here may be disposed at the first end 311b to output a braking torque to the first transmission wheel to achieve the braking purpose. The brake assembly 317 may also be disposed at the second end 311c to output a braking torque to the second transmission wheel or the drive shaft to achieve the braking purpose. The brake assembly 317 may also be disposed at the first end 311b and the second end 311c, respectively, so that the braking torque may be output to either the first transmission wheel or the second transmission wheel to achieve the desired braking effect.

[0105] In another example, the robotic arm 310 may further include a brake assembly 317. The brake assembly 317 is disposed at the second end 311c and is used to output a braking torque to the second transmission wheel. Here, the brake assembly 317 is disposed at a position closer to the drive shaft, thereby improving the braking effect.

[0106] In an example of the transmission assembly 312 , the first transmission wheel is configured as a first pulley 313 , the second transmission wheel is configured as a second pulley 314 , and the transmission connection member is configured as a transmission belt 315 .

[0107] Further, the transmission assembly 312 may include at least two transmission belts 315. The at least two transmission belts 315 are spaced apart in a direction parallel to the first axis AX1. That is, the at least two transmission belts 315 are arranged side by side. The first pulley 313 and the second pulley 314 transmit power through the at least two transmission belts 315. By providing at least two transmission belts 315, each transmission belt 315 can be connected to the adapter 318, which helps prevent the adapter 318 from deflecting when moving along the length direction D1 of the body 311.

[0108] exist Figure 3 and Figure 4 In the illustrated embodiment, the transmission assembly 312 includes two transmission belts 315 .

[0109] For example, the transmission belt 315 may be configured as one of a belt, a rope, and a wire.

[0110] In another example of the transmission assembly 312, the first transmission wheel is configured as a first sprocket, the second transmission wheel is configured as a second sprocket, and the transmission connection member is configured as a chain.

[0111] See also Figure 4 In addition, the robot arm 310 may further include an adapter 318. The adapter 318 is located in the inner cavity 311a. The adapter 318 is fixed relative to the transmission connection member to move along the length direction D1 with the transmission connection member. The adapter 318 is used to connect the instrument driver, so as to drive the instrument driver to move along the length direction D1.

[0112] Further, the body 311 is provided with a guide hole 311f. The guide hole 311f extends along the length direction D1 and is connected to the inner cavity 311a and the outside of the body 311. The robotic arm 310 may further include an adapter 319. A portion of the adapter 319 is located outside the body 311. Another portion of the adapter 319 is connected to the adapter 318 through the guide hole 311f. The portion of the adapter 319 located outside the body 311 is used to install the instrument driver. In other words, the adapter 318 is directly connected to the transmission connection and the adapter 319. The adapter 318 is indirectly connected to the instrument driver through the adapter 319. In the process of the transmission connection moving along the length direction D1 of the body 311, the adapter 319 moves along the extension direction of the guide hole 311f, thereby driving the instrument driver to move. When the guide hole 311f does not extend in a straight line due to processing accuracy issues, the transmission connector can adapt to the processing error of the guide hole 311f to a certain extent, thereby reducing the probability of the adapter 319 getting stuck during movement due to the processing error of the guide hole 311f.

[0113] In addition, the robotic arm 310 may further include a guide rail 321 and a slider 322. The guide rail 321 is connected to the outer surface of the body 311 and is located on the side of the guide hole 311f. The extension direction of the guide rail 321 is parallel to the length direction D1. The slider 322 is slidably fitted to the guide rail 321 along the length direction D1. The slider 322 is connected to the adapter 319. Here, by providing the guide rail 321 and the slider 322, the moving direction of the adapter 319 can be better defined, which is conducive to preventing the adapter 319 from swinging in a direction perpendicular to the length direction D1 of the body 311 during movement, thereby ensuring the certainty of the displacement of the instrument driver, and further ensuring that the surgical instrument can be accurately and safely operated by the surgical robot.

[0114] In some other embodiments not shown, the adapter 319 may be omitted. For example, the instrument driver may be directly mounted using the slider 322. The slider 322 is connected to the adapter 318 via a connector.

[0115] See also Figure 3 and Figure 4 In one example, the first end 311b of the body 311 may include a first support portion 311d. The first support portion 311d is provided with a first through hole 311e for inserting a transmission connector. The robotic arm 310 may include a first end shell (not shown). The first end shell is detachably connected to the first end 311b of the body 311. The first end shell and the first support portion 311d are enclosed to form a first installation space. The first transmission wheel is located in the first installation space. The first support portion 311d can be used to install parts such as a bearing seat that supports the first transmission wheel. By providing the first end shell, it is convenient to disassemble and assemble the first transmission wheel.

[0116] Further, the inner cavity 311a passes through the second end 311c of the body 311 along the length direction D1. The robotic arm 310 may include a lower end cover (not shown). The lower end cover is detachably connected to the second end 311c of the body 311. The second transmission wheel, the brake assembly 317, and the motor 316 may all be located in the inner cavity 311a. After the lower end cover is installed, the second transmission wheel, the brake assembly 317, and the motor 316 may be covered in the inner cavity 311a.

[0117] In another example not shown, the second end 311c of the body 311 may include a second support portion (not shown). The second support portion is provided with a second through hole (not shown) for inserting a transmission connector. The robotic arm 310 may include a second end housing (not shown). The second end housing is detachably connected to the second end 311c of the body 311 and encloses the second support portion to form a second installation space. The second transmission wheel is located in the second installation space. The second support portion can be used to install parts such as a bearing seat supporting the second transmission wheel. By providing the second end housing, the second transmission wheel can be easily disassembled and assembled.

[0118] In other examples not shown, the first transmission wheel may also be located in the inner cavity 311 a.

[0119] Further, the inner cavity 311a passes through the first end 311b of the body 311 along the length direction D1. The robotic arm 310 may include an upper end cover (not shown). The upper end cover is detachably connected to the first end 311b of the body 311. The first transmission wheel, the brake assembly 317, and the motor 316 may all be located in the inner cavity 311a. Here, the motor 316 is connected to the first transmission wheel, and the brake assembly 317 is connected to the first transmission wheel or the motor 316. After the lower end cover is installed, the first transmission wheel, the brake assembly 317, and the motor 316 may be covered in the inner cavity 311a.

[0120] For example, the motor 316 may be configured as a frameless motor 316. After the frameless motor 316 is installed in the inner cavity 311a of the body 311, a portion of the body 311 may be used as a frame structure of the frameless motor 316.

[0121] In addition, the robotic arm 310 may further include a first encoder 323. The first encoder 323 is disposed at the first end 311b of the body 311, and the moving part of the first encoder 323 is fixedly disposed relative to the first transmission wheel. The first encoder 323 is used to detect the rotation angle of the first transmission wheel.

[0122] In addition, the robotic arm 310 may further include a second encoder (not shown). The second encoder is disposed at the second end 311c of the body 311, and the moving part of the second encoder is fixed relative to the second transmission wheel. The second encoder may be used to detect the rotation angle of the second transmission wheel.

[0123] In the example where the robotic arm 310 includes a first encoder 323 and a second encoder, the first encoder 323 and the second encoder can be designed to be redundant with each other. The two encoders can be used simultaneously to ensure detection accuracy. It is also possible to use one of the two encoders as a main encoder and the other as an auxiliary encoder, and they are not used at the same time. For example, the auxiliary encoder can be enabled when the main encoder fails, or it can be enabled regularly or irregularly to determine whether the main encoder is working properly.

[0124] exist Figure 4 In the example shown, the robotic arm 310 may further include a joint connection portion 311g. The joint connection portion 311g is used to connect with the operating arm 302 (such as Figure 2 The ends of the two electrodes are connected.

[0125] Combination Figure 3 and Figure 4Another embodiment of the present application that is not shown provides a mechanical arm 310 for connecting an instrument driver. The mechanical arm 310 according to the present application may include a body 311, a transmission assembly, and a motor. The body 311 has a first end 311b and a second end 311c opposite to its own length direction D1 and an inner cavity 311a extending along the length direction D1. The body 311 is used to install an instrument driver that can move along the length direction D1. The transmission assembly may include a first transmission wheel, a second transmission wheel, a transmission connection, a worm wheel (not shown), and a worm (not shown). The first transmission wheel is rotatably disposed at the first end 311b around a first axis AX1. The second transmission wheel is rotatably disposed at the second end 311c around a second axis AX2. The second axis AX2 is parallel to the first axis AX1. And the first axis AX1 and the second axis AX2 both intersect in the length direction D1. The transmission connection is at least partially located in the inner cavity 311a. The transmission connection is transmission-connected to the first transmission wheel and the second transmission wheel. The transmission connection is configured to transmit power between the first transmission wheel and the second transmission wheel. The transmission connection member is used to be connected to the instrument driver, so as to drive the instrument driver to move. The worm wheel is rotatably connected to the body 311 around its own axis. And the worm wheel is coaxial and fixedly connected to one of the first transmission wheel and the second transmission wheel. The worm is rotatably connected to the body 311 around its own axis. And the worm is engaged with the worm wheel. The axis of the worm is parallel to the length direction D1. The motor may include a drive shaft. The drive shaft is connected to the worm and is coaxially arranged to drive one of the first transmission wheel and the second transmission wheel to rotate.

[0126] It can be understood that the first transmission wheel, the second transmission wheel and the transmission connecting member here can be implemented with reference to the above embodiments.

[0127] According to the robotic arm 310 of the present application, one of the first transmission wheel and the second transmission wheel is driven to rotate by the driving shaft, thereby driving the other of the first transmission wheel and the second transmission wheel to rotate by the transmission connection member. Moreover, the transmission is carried out between the motor 316 and the second transmission wheel by the worm gear, so that the driving shaft of the motor 316 is arranged along the length direction D1 of the robotic arm 310. By adopting the above-mentioned scheme of the present application, the precision requirements for the outer shell and internal structure of the robotic arm 310 can be reduced, thereby reducing the cost. At the same time, the space occupied in the length direction D1 perpendicular to the robotic arm 310 is also reduced.

[0128] The present application also provides a surgical robot, which includes the above-mentioned robotic arm 310 .

[0129] According to the surgical robot of the present application, by using any of the above-mentioned holding arms 310, it is helpful to miniaturize and lighten the holding arm 310, and it is also helpful to improve the compactness of the structure of the surgical robot and the flexibility during the surgical operation. In addition, by using the above-mentioned holding arms 310, the number of parts can be reduced, thereby reducing costs.

[0130] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this article can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0131] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed in the present application.

Claims

1. A mechanical arm for connecting a mechanical drive, characterized in that: The robotic arm comprises: A body, the body having a first end and a second end opposite to each other along its own length direction and an inner cavity extending along the length direction, the body being used to install the instrument driver capable of moving along the length direction; A transmission assembly, the transmission assembly comprising: A first transmission wheel, the first transmission wheel is rotatably disposed at the first end around a first axis; a second transmission wheel, the second transmission wheel being rotatably disposed at the second end around a second axis, the second axis being parallel to the first axis, and the first axis and the second axis both intersecting in the length direction; a transmission connection member, the transmission connection member being at least partially located in the inner cavity, the transmission connection member being transmission-connected to the first transmission wheel and the second transmission wheel, and the transmission connection member being configured to transmit power between the first transmission wheel and the second transmission wheel; and The motor includes a drive shaft, the drive shaft is drivingly connected to one of the first transmission wheel and the second transmission wheel to drive one of the first transmission wheel and the second transmission wheel to rotate.

2. The robotic arm according to claim 1, characterized in that: The motor is disposed corresponding to the second end of the body, the drive shaft is connected to the second transmission wheel, and the drive shaft is parallel to the first axis and the second axis.

3. The robotic arm according to claim 2, characterized in that: The driving shaft and the second transmission wheel are coaxial.

4. The robotic arm according to claim 1, characterized in that: The robotic arm further includes a brake assembly, which is disposed at at least one of the first end and the second end and is configured to output a braking torque to at least one of the first transmission wheel and the second transmission wheel.

5. The robotic arm according to claim 2, characterized in that: The robotic arm further comprises a brake assembly, which is disposed at the second end and is used to output a braking torque to the second transmission wheel.

6. The robotic arm according to any one of claims 1 to 5, characterized in that: The first transmission wheel is configured as a first pulley, the second transmission wheel is configured as a second pulley, and the transmission connection member is configured as a transmission belt.

7. The robotic arm according to claim 6, characterized in that: The transmission assembly includes at least two transmission belts, and the at least two transmission belts are spaced apart and arranged in a direction parallel to the first axis.

8. The robotic arm according to claim 6, characterized in that: The transmission belt is configured as one of a belt, a rope, and a wire.

9. The robotic arm according to any one of claims 1 to 5, characterized in that: The first transmission wheel is configured as a first sprocket, the second transmission wheel is configured as a second sprocket, and the transmission connecting member is configured as a chain.

10. The robotic arm according to any one of claims 1 to 5, characterized in that: The robotic arm further comprises: The adapter is located in the inner cavity and is fixed relative to the transmission connection member so as to move along the length direction with the transmission connection member.

11. The robotic arm according to claim 10, characterized in that: The body is provided with a guide hole, which extends along the length direction and communicates with the inner cavity and the outside of the body; The mechanical arm further comprises a transfer piece, a part of which is located outside the body, and another part of which passes through the guide hole and is connected to the adapter, and the transfer piece is used for installing the instrument driver.

12. The robotic arm according to claim 11, characterized in that: The robotic arm further comprises: A guide rail, the guide rail is connected to the outer surface of the body and is located on the side of the guide hole, and the extension direction of the guide rail is parallel to the length direction; A slider is slidably matched to the guide rail along the length direction, and the slider is connected to the adapter.

13. The robotic arm according to claim 10, characterized in that: The body is provided with a guide hole, which extends along the length direction and communicates with the inner cavity and the outside of the body; The robotic arm further comprises: A guide rail, the guide rail is connected to the outer surface of the body and is located on the side of the guide hole, and the extension direction of the guide rail is parallel to the length direction; A slider is slidably matched to the guide rail along the length direction, the slider is fixed relative to the adapter, and the slider is used to directly or indirectly install the instrument driver.

14. The robotic arm according to any one of claims 1 to 5, characterized in that: The first end of the body comprises a first supporting portion, and the first supporting portion is provided with a first through hole for passing the transmission connecting member; The holding arm comprises a first end shell, which is detachably connected to the first end of the body and encloses the first support portion to form a first installation space; The first transmission wheel is located in the first installation space.

15. The robotic arm according to any one of claims 1 to 5, characterized in that: The second end of the body comprises a second supporting portion, and the second supporting portion is provided with a second through hole for passing the transmission connecting member; The holding arm comprises a second end shell, which is detachably connected to the second end of the body and encloses the second support portion to form a second installation space; The second transmission wheel is located in the second installation space.

16. The robotic arm according to claim 4 or 5, characterized in that: The first transmission wheel is located in the inner cavity; and / or The second transmission wheel is located in the inner cavity; and / or The brake assembly is located in the inner cavity; and / or The motor is located in the inner cavity.

17. The robotic arm according to claim 4 or 5, characterized in that: The inner cavity passes through the second end of the body along the length direction; The holding arm includes a lower end cover, and the lower end cover is detachably connected to the second end of the body; The second transmission wheel, the brake assembly and the motor are all located in the inner cavity.

18. The robotic arm according to claim 4 or 5, characterized in that: The inner cavity passes through the first end of the body along the length direction; The holding arm includes an upper end cover, and the upper end cover is detachably connected to the first end of the body; The first transmission wheel, the brake assembly and the motor are all located in the inner cavity.

19. The robotic arm according to claim 17, characterized in that: The motor is configured as a frameless motor.

20. The robotic arm according to any one of claims 1 to 5, characterized in that: The robotic arm further comprises a first encoder, the first encoder is disposed at the first end of the body, and a moving part of the first encoder is fixedly disposed relative to the first transmission wheel; and / or The robotic arm further comprises a second encoder, which is arranged at the second end of the body, and a moving part of the second encoder is fixedly arranged relative to the second transmission wheel.

21. A mechanical arm for connecting to a mechanical driver, characterized in that: The robotic arm comprises: A body, the body having a first end and a second end opposite to each other along its own length direction and an inner cavity extending along the length direction, the body being used to install the instrument driver capable of moving along the length direction; A transmission assembly, the transmission assembly comprising: A first transmission wheel, the first transmission wheel is rotatably disposed at the first end around a first axis; a second transmission wheel, the second transmission wheel being rotatably disposed at the second end around a second axis, the second axis being parallel to the first axis, and the first axis and the second axis both intersecting in the length direction; a transmission connection member, the transmission connection member being at least partially located in the inner cavity, the transmission connection member being transmission-connected to the first transmission wheel and the second transmission wheel, and the transmission connection member being configured to transmit power between the first transmission wheel and the second transmission wheel; a worm wheel rotatably connected to the body about its own axis, and the worm wheel is coaxial with and fixedly connected to one of the first transmission wheel and the second transmission wheel; and A worm, the worm being rotatably connected to the body about its own axis and meshing with the worm wheel, the axis of the worm being parallel to the length direction; as well as A motor includes a driving shaft connected to the worm and coaxially arranged to drive one of the first transmission wheel and the second transmission wheel to rotate.

22. A surgical robot, characterized in that: The surgical robot comprises a robotic arm according to any one of claims 1 to 21.

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