Surgical robot

Abstract

The invention discloses a surgical robot, and relates to the technical field of medical instruments, the surgical robot comprises a stand column, the stand column comprises a stand column body, a lifting stand column, a first lead screw, a second lead screw, a first driving mechanism and a braking mechanism; the axis of the first lead screw is parallel to the vertical direction, the first driving mechanism is connected with the first lead screw, and the first lead screw is connected with the lifting stand column through a first lead screw nut; the axis of the second lead screw is parallel to the vertical direction, the brake mechanism is connected with the second lead screw, and the second lead screw is connected with the lifting stand column through a second lead screw nut. According to the surgical robot, the two lead screws are arranged, the two lead screws are connected with the lifting stand columns correspondingly, and the first lead screw achieves normal lifting action; under the condition that the first driving mechanism loses power, the braking mechanism locks axial rotation of the second lead screw, and therefore it is guaranteed that the mechanical arm does not slide down freely due to the gravity effect.

Description

[0001] Related Applications This application claims the priority of a Chinese patent application with the application number CN202510414561.4 and the invention title "Column and Surgical Robot" filed on April 3, 2025. The entire text of this application is hereby incorporated by reference in its entirety, and all of its content is incorporated into this application by reference.

[0002] This application claims the priority of a Chinese patent application with the application number CN202510259247.3 and the invention title "A Manipulator" filed on March 6, 2025. The entire text of this application is hereby incorporated by reference in its entirety, and all of its content is incorporated into this application by reference. Technical Field

[0003] The present invention relates to the technical field of medical devices, and particularly to a surgical robot. Background Art

[0004] In existing surgical robot systems, the lifting of the manipulator is usually achieved through a lead screw drive mechanism inside the column. Specifically, the motor drives the lead screw to rotate, and the lead screw nut is connected to the manipulator, thereby converting the rotational motion into a linear motion to move the manipulator up and down along the column. This structural design is simple and reliable and can meet the requirements for adjusting the position of the manipulator during the surgical process.

[0005] However, this design has a significant defect: a single lead screw can only perform lifting and lowering actions and cannot brake the manipulator when the motor loses power. The manipulator may slide freely due to gravity, resulting in abnormal descent. This situation poses a safety hazard to patients or medical staff. Summary of the Invention

[0006] To solve the deficiencies in the prior art, the present invention provides a surgical robot. This surgical robot is equipped with a double lead screw. The two lead screws are respectively connected to the lifting column. The first lead screw realizes normal lifting and lowering actions; when the first drive mechanism loses power, the braking mechanism locks the axial rotation of the second lead screw, thereby ensuring that the manipulator does not slide freely due to gravity.

[0007] To achieve the above object, the present invention adopts the following technical solutions: The present invention provides a surgical robot, including a column, and the column includes a column body, a lifting column, a first lead screw, a second lead screw, a first drive mechanism, and a braking mechanism; The axis of the first lead screw is parallel to the vertical direction. The first drive mechanism is connected to the first lead screw, and the first lead screw is connected to the lifting column through a first lead screw nut; The axis of the second lead screw is parallel to the vertical direction. The braking mechanism is connected to the second lead screw, and the second lead screw is connected to the lifting column through a second lead screw nut.

[0008] In the present invention, the first driving mechanism drives the first lead screw to rotate. The rotation of the first lead screw drives the lifting column to move up and down on the column body through the first lead screw nut. During the normal up and down movement of the lifting column, the second lead screw rotates passively. When the first driving mechanism loses power due to power failure or malfunction, the braking mechanism locks the axial rotation of the second lead screw, so that the height of the lifting column remains stable, avoiding the abnormal descent of the robotic arm.

[0009] The surgical robot of the present invention is equipped with a double lead screw. The two lead screws are respectively connected to the lifting column. The first lead screw realizes the normal up and down movement. In the case that the first driving mechanism loses power, the braking mechanism locks the axial rotation of the second lead screw, thereby ensuring that the robotic arm does not slide freely due to gravity.

[0010] In a further technical solution, the column further includes a first set of guide rails and a second set of guide rails. The lifting column reciprocates on the first set of guide rails and the second set of guide rails respectively, and the first set of guide rails and the second set of guide rails are symmetrically arranged on opposite sides of the lifting column.

[0011] The up and down movement of the lifting column is guided by the two sets of guide rails in two directions respectively, ensuring the stability of the lifting column during the up and down movement.

[0012] In a further technical solution, the first set of guide rails is connected to the lifting column through a first slider, and the second set of guide rails is connected to the lifting column through a second slider.

[0013] The guide rails are connected to the lifting column through sliders, with higher connection stability and movement stability.

[0014] In a further technical solution, the first set of guide rails includes two first guide rails arranged in parallel, and the second set of guide rails includes two second guide rails arranged in parallel.

[0015] Each set of guide rails is equipped with two guide rails arranged in parallel, further improving the movement stability of the lifting column.

[0016] In a further technical solution, the column further includes a first moving member and a second moving member respectively connected to the lifting column. The first slider is connected to the first moving member, the second slider is connected to the second moving member, and the first moving member and the second moving member are arranged opposite to each other along the movement direction of the lifting column.

[0017] Two sets of guide rails are respectively connected to the lifting column through the first moving member and the second moving member. The independent connection structure between the two sets of guide rails and the lifting column enables the connection and positioning between the lifting column and the two sets of guide rails to be carried out independently, which is more convenient for assembly.

[0018] In a further technical solution, both the first moving member and the second moving member are arranged below the lifting column. The upper surfaces of the first moving member and the second moving member are both in contact with the lower surface of the lifting column, and there is a gap between the first moving member and the second moving member.

[0019] The first moving member and the second moving member are arranged on the same side of the lifting column and there is a gap between them, which further facilitates assembly and avoids mutual influence.

[0020] In a further technical solution, both the first moving member and the second moving member are connected to the lifting column by screws.

[0021] The two moving members are respectively connected to the lifting column by screws; the screws can move radially in the screw holes on the lifting column, so as to adjust the relative position between the moving member and the lifting column, thus avoiding the problem of over-positioning on both sides of the lifting column and reducing the processing difficulty and assembly difficulty.

[0022] In a further technical solution, the surgical robot further includes a cross beam and a second driving mechanism. The second driving mechanism is connected to the cross beam through a reducer, and the second driving mechanism is used to drive the cross beam to rotate on a horizontal plane.

[0023] By setting the second driving mechanism, the degree of freedom of rotation of the cross beam of the surgical robot is increased, and the movement range of the surgical robot is further expanded.

[0024] In a further technical solution, the cross beam includes a cross beam body, a telescopic cross beam, a third lead screw and a third driving mechanism. The axis of the third lead screw is parallel to the length direction of the telescopic cross beam. The third lead screw is connected to the third driving mechanism, and the third lead screw is connected to the telescopic cross beam through a third lead screw nut.

[0025] By adding a third lead screw and a third driving mechanism in the cross beam, the degree of freedom of telescopic movement of the cross beam of the surgical robot is increased, and the movement range of the surgical robot is further expanded.

[0026] In a further technical solution, the surgical robot further includes a robotic arm and a surgical end effector. The robotic arm includes a connecting arm, a moving arm and a spherical joint arm connected in sequence.

[0027] The connecting arm and the moving arm increase the motion range of the surgical robot. Due to the use of spherical joints, the spherical joint arm can obtain a greater degree of freedom with a smaller volume, which can not only reduce the volume of the end of the surgical robot but also ensure its flexibility.

[0028] In a further technical solution, the spherical joint arm includes a first spherical parallel mechanism, a linear motion mechanism, and a second spherical parallel mechanism connected in sequence, and the second spherical parallel mechanism is connected to the surgical end effector.

[0029] Compared with the existing robotic arm structure, the robotic arm structure in this solution is simpler. Since each spherical parallel mechanism has three rotational degrees of freedom and the linear motion mechanism also has one degree of freedom, it also brings a greater motion range to the robotic arm.

[0030] The beneficial effects are as follows: 1. The surgical robot of the present invention is equipped with double lead screws, and the two lead screws are respectively connected to the lifting column. The first lead screw realizes normal lifting and lowering actions; in the case where the first driving mechanism loses power, the braking mechanism locks the axial rotation of the second lead screw, thereby ensuring that the robotic arm does not freely slide down due to the action of gravity.

[0031] 2. The lifting of the lifting column is guided in two directions by two groups of guide rails respectively, ensuring the stability of the lifting column during the lifting process.

[0032] 3. The guide rails are connected to the lifting column through sliders, and the connection stability and motion stability are higher.

[0033] 4. Each group of guide rails is equipped with two parallel guide rails, further improving the motion stability of the lifting column.

[0034] 5. The two groups of guide rails are respectively connected to the lifting column through the first moving member and the second moving member. The independent connection structure between the two groups of guide rails and the lifting column enables the connection and positioning between the lifting column and the two groups of guide rails to be carried out independently, making the assembly more convenient.

[0035] 6. The first moving member and the second moving member are arranged on the same side of the lifting column and there is a gap between them, further facilitating assembly and avoiding mutual influence.

[0036] 7. The two moving members are respectively connected to the lifting column through screws; the screws can move radially in the screw holes on the lifting column, thereby adjusting the relative position between the moving member and the lifting column, thus avoiding the problem of over-positioning on both sides of the lifting column and reducing the processing difficulty and assembly difficulty.

[0037] 8. By setting the second driving mechanism, the degree of freedom of the rotation of the cross beam of the surgical robot is increased, further expanding the motion range of the surgical robot.

[0038] 9. A third lead screw and a third driving mechanism are added inside the cross beam, increasing the freedom degree of the telescopic motion of the cross beam of the surgical robot and further expanding the motion range of the surgical robot.

[0039] 10. The connecting arm and the moving arm increase the motion range of the surgical robot. Since the spherical joint arm adopts a spherical joint, a larger freedom degree can be obtained with a smaller volume, which can not only reduce the volume of the end of the surgical robot but also ensure its flexibility.

[0040] 11. Compared with the existing robotic arm structure, the robotic arm structure in this solution is simpler. Since each spherical parallel mechanism has three rotational freedom degrees and the linear motion mechanism also has one freedom degree, a larger motion range is also brought to the robotic arm. Description of the Drawings

[0041] Figure 1 is a schematic structural diagram of the column and cross beam of the surgical robot according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of the column of the surgical robot according to an embodiment of the present invention; Figure 3 is Figure 2 a schematic structural diagram of the column body removed; Figure 4 is a schematic installation structure diagram of the lifting column, the first moving part and the second moving part of the surgical robot according to an embodiment of the present invention; Figure 5 is a schematic internal structure diagram of the lifting column of the surgical robot according to an embodiment of the present invention; Figure 6 is a schematic internal structure diagram of the cross beam of the surgical robot according to an embodiment of the present invention; Figure 7 is a schematic overall structure diagram of the surgical robot according to an embodiment of the present invention; Figure 8 is a schematic structural diagram of the spherical joint arm of the surgical robot according to an embodiment of the present invention; Figure 9 is a schematic structural diagram of the first spherical parallel mechanism of the surgical robot according to an embodiment of the present invention; Figure 10 is a schematic structural diagram of the first motion posture of the spherical joint arm of the surgical robot according to an embodiment of the present invention; Figure 11 is a schematic structural diagram of the second motion posture of the spherical joint arm of the surgical robot according to an embodiment of the present invention.

[0042] 1. First spherical parallel mechanism; 11. Static platform; 12. Moving platform; 13. Kinematic chain assembly; 2. Linear motion mechanism; 3. Second spherical parallel mechanism; 4. End effector; 5. Base; 6. Column; 61. Column body; 62. Lifting column; 63. First lead screw; 64. Second lead screw; 65. First driving motor; 66. No-excitation brake; 67. First group of guide rails; 68. Second group of guide rails; 69. First moving part; 610. Second moving part; 611. Screw; 612. Second driving motor; 7. Cross beam; 71. Cross beam body; 72. Telescopic cross beam; 73. Third group of guide rails; 74. Third lead screw; 75. Third driving motor; 8. Connecting arm; 9. Moving arm. Detailed implementation mode

[0043] The present invention will be further described below with reference to the accompanying drawings: Embodiment:

[0044] As Figure 1 shown, a surgical robot includes a column 6, as Figure 2 and Figure 3 shown, the column 6 includes a column body 61, a lifting column 62, a first lead screw 63, a second lead screw 64, a first driving mechanism and a braking mechanism; The axis of the first lead screw 63 is parallel to the vertical direction, the first driving mechanism is connected to the first lead screw 63, and the first lead screw 63 is connected to the lifting column 62 through a first lead screw nut; The axis of the second lead screw 64 is parallel to the vertical direction, the braking mechanism is connected to the second lead screw 64, and the second lead screw 64 is connected to the lifting column 62 through a second lead screw nut.

[0045] In this embodiment, the first driving mechanism is a first driving motor 65, the first lead screw 63 is connected to the output shaft of the first driving motor 65, and the braking mechanism is a no-excitation brake 66.

[0046] In the present invention, the first driving motor 65 drives the first lead screw 63 to rotate. The rotation of the first lead screw 63 drives the lifting column 62 to move up and down on the column body 61 through the first lead screw nut. During the normal up and down movement of the lifting column 62, the second lead screw 64 rotates passively. When the first driving motor 65 loses power due to power failure, the no-excitation brake 66 locks the axial rotation of the second lead screw 64, so that the height of the lifting column 62 remains stable, avoiding abnormal dropping of the robotic arm.

[0047] The surgical robot of the present invention is equipped with a double lead screw. The two lead screws are respectively connected to the lifting column 62. The first lead screw 63 realizes normal lifting and lowering actions. In the case where the first driving motor 65 loses power, the non-excitation brake 66 locks the axial rotation of the second lead screw 64, thereby ensuring that the robotic arm does not freely slide down due to the action of gravity.

[0048] In another embodiment, as Figure 3 shown, the column 6 further includes a first set of guide rails 67 and a second set of guide rails 68. The lifting column 62 reciprocates on the first set of guide rails 67 and the second set of guide rails 68 respectively, and the first set of guide rails 67 and the second set of guide rails 68 are symmetrically arranged on the opposite sides of the lifting column 62.

[0049] Specifically, both the first set of guide rails 67 and the second set of guide rails 68 are arranged on the inner side surface of the column body 61.

[0050] By guiding the lifting of the lifting column 62 in two directions respectively by the two sets of guide rails, the stability of the lifting column 62 during the lifting process is ensured.

[0051] In another embodiment, the first set of guide rails 67 is connected to the lifting column 62 through a first slider, and the second set of guide rails 68 is connected to the lifting column 62 through a second slider.

[0052] The connection between the guide rails and the lifting column 62 is made through sliders, which results in higher connection stability and motion stability.

[0053] In another embodiment, as Figure 3 shown, the first set of guide rails 67 includes two first guide rails arranged in parallel, and the second set of guide rails 68 includes two second guide rails arranged in parallel.

[0054] Each set of guide rails is equipped with two parallel guide rails, which further improves the motion stability of the lifting column 62.

[0055] In another embodiment, as Figure 3 and Figure 4 shown, the column 6 further includes a first moving member 69 and a second moving member 610 respectively connected to the lifting column 62. The first slider is connected to the first moving member 69, the second slider is connected to the second moving member 610, and the first moving member 69 and the second moving member 610 are arranged oppositely along the moving direction of the lifting column 62.

[0056] The lifting column 62 can be lifted and lowered in the column body 61, and the first moving member 69 and the second moving member 610 are symmetrically arranged left and right in the column body 61.

[0057] The two sets of guide rails are respectively connected to the lifting column 62 through the first moving member 69 and the second moving member 610. The independent connection structure between the two sets of guide rails and the lifting column 62 enables the connection and positioning between the lifting column 62 and the two sets of guide rails to be carried out independently, which is more convenient for assembly.

[0058] In another embodiment, as Figure 3 and Figure 4 shown, both the first moving member 69 and the second moving member 610 are arranged below the lifting column 62. The upper surfaces of the first moving member 69 and the second moving member 610 are both in contact with the lower surface of the lifting column 62, and there is a gap between the first moving member 69 and the second moving member 610.

[0059] The first moving member 69 and the second moving member 610 are arranged on the same side of the lifting column 62 and there is a gap between them, which further facilitates assembly and avoids mutual influence.

[0060] In another embodiment, as Figure 3 and Figure 4 shown, both the first moving member 69 and the second moving member 610 are connected to the lifting column 62 by screws 611.

[0061] The two moving members are respectively connected to the lifting column 62 by screws 611; the screws 611 can move radially in the screw holes 611 in the lifting column 62, so as to adjust the relative position between the moving member and the lifting column 62, thereby avoiding the problem of over-positioning on both sides of the lifting column 62 and reducing the processing difficulty and assembly difficulty.

[0062] Regarding the problem of over-positioning, specifically, if the lifting column 62 is directly connected to the first set of guide rails 67 and the second set of guide rails 68, one side of the lifting column 62 is positioned by the first set of guide rails 67, and the other side of the lifting column 62 is positioned by the second set of guide rails 68, and the first set of guide rails 67 and the second set of guide rails 68 are respectively fixed on the column body 61, then there is a problem of over-positioning on both sides of the lifting column 62. In this case, it is necessary to improve the processing and assembly accuracy of each part to solve the problem, otherwise it is difficult for the lifting column 62 to move up and down on the first set of guide rails 67 and the second set of guide rails 68.

[0063] Therefore, in this embodiment, it is set that the first set of guide rails 67 is connected to the lifting column 62 through the first moving member 69, the second set of guide rails 68 is connected to the lifting column 62 through the second moving member 610, and the first moving member 69 / second moving member 610 is connected to the lifting column 62 by screws 611; the screws 611 can move radially in the screw holes in the lifting column 62, so as to adjust the relative position between the first moving member 69 / second moving member 610 and the lifting column 62, thereby avoiding the above-mentioned problem of over-positioning on both sides of the lifting column 62.

[0064] In another embodiment, as Figure 1 and Figure 5 , the surgical robot further includes a cross beam 7 and a second driving mechanism. The second driving mechanism is connected to the cross beam 7 through a speed reducer, and the second driving mechanism is used to drive the cross beam 7 to rotate on a horizontal plane.

[0065] Specifically, in this embodiment, the second driving mechanism is a second driving motor 612. The output shaft of the second driving motor 612 is connected to the cross beam 7 through a speed reducer. By rotating the output shaft of the second driving motor 612, the cross beam 7 can be driven to rotate on a horizontal plane.

[0066] By setting the second driving mechanism, the degree of freedom of rotation of the cross beam 7 of the surgical robot is increased, and further the movement range of the surgical robot is expanded.

[0067] In another embodiment, as Figure 6 shown, the cross beam 7 includes a cross beam body 71, a telescopic cross beam 72, a third lead screw 74 and a third driving mechanism. The axis of the third lead screw 74 is parallel to the length direction of the telescopic cross beam 72. The third lead screw 74 is connected to the third driving mechanism, and the third lead screw 74 is connected to the telescopic cross beam 72 through a third lead screw nut.

[0068] Specifically, in this embodiment, the third driving mechanism is a third driving motor 75, and the third lead screw 74 is connected to the output shaft of the third driving motor 75.

[0069] By adding the third lead screw 74 and the third driving mechanism in the cross beam 7, the degree of freedom of telescoping of the cross beam 7 of the surgical robot is increased, and further the movement range of the surgical robot is expanded.

[0070] In this embodiment, it further includes a third group of guide rails 73. The third group of guide rails 73 is arranged on the inner side surface of the cross beam body 71. The third group of guide rails 73 includes two third guide rails. Third sliders are slidably arranged on each third guide rail, and the third sliders are all connected to the telescopic cross beam 72. Then, by rotating the output shaft of the third driving motor 75, the telescopic cross beam 72 can be driven to telescope on the cross beam body 71 through the third lead screw 74.

[0071] In another embodiment, as Figure 7 shown, the surgical robot further includes a robotic arm and a surgical end effector 4. The robotic arm includes a connecting arm 8, a moving arm 9 and a spherical joint arm connected in sequence.

[0072] The connecting arm 8 and the moving arm 9 increase the movement range of the surgical robot. Since the spherical joint arm adopts a spherical joint, a larger degree of freedom can be obtained with a smaller volume, which can not only reduce the end volume of the surgical robot but also ensure its flexibility.

[0073] In another embodiment, asFigure 7 and Figure 8 As shown in Figure 8 , the spherical articulated arm includes a first spherical parallel mechanism 1, a linear motion mechanism 2, and a second spherical parallel mechanism 3 that are connected in sequence. The second spherical parallel mechanism 3 is also connected to an end effector 4, which is a surgical instrument.

[0074] Compared with the existing robotic arm structure, the robotic arm structure in this solution is simpler. Since each spherical parallel mechanism has three rotational degrees of freedom, and the linear motion mechanism 2 also has one degree of freedom, it also brings a larger motion range to the robotic arm.

[0075] In another embodiment, as Figure 9 shown in Figure 9 , the first spherical parallel mechanism 1 includes a stationary platform 11, a moving platform 12, and 3 sets of kinematic chain components 13. The 3 sets of kinematic chain components 13 are respectively connected to the stationary platform 11 and the moving platform 12. During the movement, the moving center point of the moving platform 12 can move on the axis of the central axis of the stationary platform 11. The structure of the second spherical parallel mechanism 3 is the same as that of the first spherical parallel mechanism 1. The moving platform 12 in the first spherical parallel mechanism 1 is connected to the fixed end / moving end of the linear motion mechanism 2, the stationary platform 11 in the second spherical parallel mechanism 3 is connected to the moving end / fixed end of the linear motion mechanism 2, and the moving platform 12 in the second spherical parallel mechanism 3 is connected to the end effector 4.

[0076] Compared with the existing robotic arm structure, the robotic arm structure in this solution is simpler. Since each spherical parallel mechanism has three rotational degrees of freedom, and the linear motion mechanism 2 also has one degree of freedom, it also brings a larger motion range to the robotic arm.

[0077] Specifically, as compared with Figure 10 and Figure 11 it can be seen that since each spherical parallel mechanism has three rotational degrees of freedom, and the linear motion mechanism 2 also has one degree of freedom, it brings a larger motion range to the robotic arm. Therefore, the surgical instrument can reach more positions in the abdominal cavity, making the surgical robot more adaptable to more surgeries.

[0078] It should be emphasized that the degrees of freedom of the robotic arm in this embodiment include: the linear sliding degree of freedom of the moving arm on the connecting arm, the three rotational degrees of freedom of the first spherical parallel mechanism, the linear motion degree of freedom of the linear motion mechanism, and the three rotational degrees of freedom of the second spherical parallel mechanism. Therefore, the robotic arm in this embodiment has eight degrees of freedom. Compared with the existing robotic arm structures, most of the existing robotic arms cannot reach eight degrees of freedom. Therefore, the motion range and flexibility during operation adjustment of the robotic arm in this embodiment are greater, providing an operation basis for more precise, efficient, and safe surgeries. For the robotic arm structures in existing non-surgical robots, they can also reach eight degrees of freedom, but a large number of movable arms and movable rotating shaft joints need to be set, which makes their structures complex and huge, resulting in easy interference between adjacent robotic arms during the surgical process, making them unable to be applied in surgical robots. At the same time, a large number of rotating shafts may have dead point problems during actual operation, which also makes it more difficult to be applied in surgical robots.

[0079] In another embodiment, the difference from the previous embodiment is that another type of spherical joint arm is provided, including a first spherical parallel mechanism 1, a linear motion mechanism 2, and a second spherical parallel mechanism 3. The first spherical parallel mechanism 1, the linear motion mechanism 2, and the second spherical parallel mechanism 3 are connected in sequence, and the end effector 4 to be driven by the robotic arm is connected to the second spherical parallel mechanism 3.

[0080] The first spherical parallel mechanism 1 includes a static platform 11, a moving platform 12, and 3 sets of kinematic chain components 13. The 3 sets of kinematic chain components 13 are respectively connected to the static platform 11 and the moving platform 12. During the movement, the moving spherical center point of the moving platform 12 can move on the axis of the central axis of the static platform 11. The structure of the second spherical parallel mechanism 3 is the same as that of the first spherical parallel mechanism 1. The static platform 11 in the first spherical parallel mechanism 1 is connected to the fixed end / moving end of the linear motion mechanism 2, the moving platform 12 in the second spherical parallel mechanism 3 is connected to the moving end / fixed end of the linear motion mechanism 2, and the static platform 11 in the second spherical parallel mechanism 3 is connected to the end effector 4.

[0081] Compared with the existing robotic arm structures, the robotic arm structure in this solution is simpler. Since each spherical parallel mechanism has three rotational degrees of freedom, and the linear motion mechanism 2 also has one degree of freedom, it also brings a larger motion range to the robotic arm.

[0082] In another embodiment, the difference from the previous embodiment is that another type of spherical joint arm is provided, including a first spherical parallel mechanism 1, a linear motion mechanism 2, and a second spherical parallel mechanism 3. The first spherical parallel mechanism 1, the linear motion mechanism 2, and the second spherical parallel mechanism 3 are connected in sequence, and the end effector 4 to be driven by the robotic arm is connected to the second spherical parallel mechanism 3.

[0083] The first spherical parallel mechanism 1 includes a stationary platform 11, a moving platform 12, and three sets of kinematic chain components 13. The three sets of kinematic chain components 13 are respectively connected to the stationary platform 11 and the moving platform 12. During the movement, the moving spherical center point of the moving platform 12 can move on the axis of the central axis of the stationary platform 11. The structure of the second spherical parallel mechanism 3 is the same as that of the first spherical parallel mechanism 1. The stationary platform 11 in the first spherical parallel mechanism 1 is connected to the fixed end / moving end of the linear motion mechanism 2, the stationary platform 11 in the second spherical parallel mechanism 3 is connected to the moving end / fixed end of the linear motion mechanism 2, and the moving platform 12 in the second spherical parallel mechanism 3 is connected to the end effector 4.

[0084] Compared with the existing robotic arm structure, the robotic arm structure in this solution is simpler. Since each spherical parallel mechanism has three rotational degrees of freedom, and the linear motion mechanism 2 also has one degree of freedom, it also brings a larger movement range to the robotic arm.

[0085] In another embodiment, the difference from the previous embodiment is that another type of spherical joint arm is provided, including a first spherical parallel mechanism 1, a linear motion mechanism 2, and a second spherical parallel mechanism 3. The first spherical parallel mechanism 1, the linear motion mechanism 2, and the second spherical parallel mechanism 3 are connected in sequence, and the end effector 4 to be driven by the robotic arm is connected to the second spherical parallel mechanism 3.

[0086] The first spherical parallel mechanism 1 includes a stationary platform 11, a moving platform 12, and three sets of kinematic chain components 13. The three sets of kinematic chain components 13 are respectively connected to the stationary platform 11 and the moving platform 12. During the movement, the moving spherical center point of the moving platform 12 can move on the axis of the central axis of the stationary platform 11. The structure of the second spherical parallel mechanism 3 is the same as that of the first spherical parallel mechanism 1. The moving platform 12 in the first spherical parallel mechanism 1 is connected to the fixed end / moving end of the linear motion mechanism 2, the moving platform 12 in the second spherical parallel mechanism 3 is connected to the moving end / fixed end of the linear motion mechanism 2, and the stationary platform 11 in the second spherical parallel mechanism 3 is connected to the end effector 4.

[0087] Compared with the existing robotic arm structure, the robotic arm structure in this solution is simpler. Since each spherical parallel mechanism has three rotational degrees of freedom, and the linear motion mechanism 2 also has one degree of freedom, it also brings a larger movement range to the robotic arm.

[0088] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. A surgical robot, characterized in that: It includes a column, and the column includes a column body, a lifting column, a first lead screw, a second lead screw, a first driving mechanism and a braking mechanism; The axis of the first screw is parallel to the vertical direction, the first driving mechanism is connected to the first screw, and the first screw is connected to the lifting column through a first screw nut; The axis of the second lead screw is parallel to the vertical direction, the braking mechanism is connected to the second lead screw, and the second lead screw is connected to the lifting column through a second lead screw nut.

2. The surgical robot according to claim 1, characterized in that: The column further comprises a first set of guide rails and a second set of guide rails, the lifting column reciprocates on the first set of guide rails and the second set of guide rails respectively, and the first set of guide rails and the second set of guide rails are symmetrically arranged on opposite sides of the lifting column.

3. The surgical robot according to claim 2, characterized in that: The first set of guide rails is connected to the lifting column via a first slider, and the second set of guide rails is connected to the lifting column via a second slider.

4. The surgical robot according to claim 2, characterized in that: The first group of guide rails includes two first guide rails arranged in parallel, and the second group of guide rails includes two second guide rails arranged in parallel.

5. The surgical robot according to claim 3, characterized in that: The column further comprises a first moving member and a second moving member respectively connected to the lifting column, the first slider is connected to the first moving member, the second slider is connected to the second moving member, and the first moving member and the second moving member are arranged opposite to each other along the moving direction of the lifting column.

6. The surgical robot according to claim 5, characterized in that: The first moving member and the second moving member are both arranged below the lifting column, the upper surface of the first moving member and the upper surface of the second moving member are both in contact with the lower surface of the lifting column, and there is a gap between the first moving member and the second moving member.

7. The surgical robot according to claim 6, characterized in that: The first moving part and the second moving part are both connected to the lifting column through screws.

8. The surgical robot according to claim 1, characterized in that: The surgical robot further includes a crossbeam and a second driving mechanism, wherein the second driving mechanism is connected to the crossbeam via a reducer, and the second driving mechanism is used to drive the crossbeam to rotate on a horizontal plane.

9. The surgical robot according to claim 8, characterized in that: The crossbeam comprises a crossbeam body, a telescopic crossbeam, a third lead screw and a third driving mechanism, the axis of the third lead screw is parallel to the length direction of the telescopic crossbeam, the third lead screw is connected to the third driving mechanism, and the third lead screw is connected to the telescopic crossbeam through a third lead screw nut.

10. The surgical robot according to claim 9, characterized in that: The surgical robot further comprises a mechanical arm and a surgical end actuator, wherein the mechanical arm comprises a connecting arm, a moving arm and a spherical joint arm which are connected in sequence.

11. The surgical robot according to claim 10, characterized in that: The spherical joint arm comprises a first spherical parallel mechanism, a linear motion mechanism and a second spherical parallel mechanism which are connected in sequence, and the second spherical parallel mechanism is connected to a surgical end actuator.

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