Surgical robot and mechanical arm thereof

Abstract

The invention discloses a surgical robot and a mechanical arm thereof, and belongs to the technical field of medical instruments. A mechanical arm comprises a base, a supporting arm is installed on one side of the base, a guide rail is fixedly connected to the end of the supporting arm, an arc-shaped guide groove is formed in the guide rail, an arc-shaped supporting rod is installed in the arc-shaped guide groove, and a first driving mechanism used for driving the arc-shaped supporting rod to move along the arc-shaped guide groove is installed at the end of the supporting arm. The upper portion of the arc-shaped supporting rod is rotationally connected with a mechanical arm, the rotation axis of the mechanical arm is parallel to the rotation axis of the arc-shaped supporting rod, one end of the mechanical arm extends to the rotation axis of the arc-shaped supporting rod, and the other end of the mechanical arm crosses the rotation axis of the mechanical arm and is provided with an adjusting mechanism. The adjusting mechanism can fix the positions of the arc-shaped supporting rod and the instrument holding arm when in the first state, error accumulation is avoided by reducing the series movement stage number, and the control precision of swinging of the instrument holding arm around a fixed point is improved.

Description

Technical Field

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

[0002] In the field of minimally invasive surgical robotics, motion control technology for the robotic arm is key to achieving precise surgical operations. As a crucial component of the surgical robot, the performance of the robotic arm joint directly impacts the precision and stability of the surgical instrument.

[0003] After searching, the existing Chinese patent CN116965936A discloses a robotic arm and a surgical robot. The device is equipped with a surgical instrument through a robotic arm and can drive the surgical instrument to translate along a fifth axis and / or rotate around the fifth axis; it can also use a transmission mechanism to drive the robotic arm to rotate around a sixth axis, so that the surgical instrument can swing along a fixed point R in space.

[0004] The aforementioned device utilizes a linkage mechanism to control the motion of the surgical instrument. However, the connection between the robotic arm and the third arm must be capable of both rotation and the ability to overcome the unbalanced torque generated by the robotic arm. This compromises the stability and motion accuracy of the device, increasing its manufacturing cost. Given this, we propose a surgical robot and its robotic arm. Summary of the Invention

[0005] 1. Technical problems to be solved

[0006] The object of the present invention is to provide a surgical robot and a robotic arm thereof to solve the problems raised in the above-mentioned background technology.

[0007] 2. Technical solution

[0008] The present invention is achieved through the following technical solutions:

[0009] The cam is secured to the base and has a pivotal portion for securing the cam, the pivot portion for securing the cam to the base and a second portion for securing the cam to the base relative to the pivot portion.

[0010] As an optional solution to the technical solution of the present application document, the adjustment mechanism includes a telescopic motor, an adjusting rod, a sliding sleeve and an elastic element. The telescopic motor is fixedly installed at the end of the arm holding device, the telescopic end of the telescopic motor is fixedly connected to the adjusting rod, the sliding sleeve is slidably connected to the arm holding device, and the sliding sleeve is elastically connected to the arm holding device through an elastic element. A limiting groove is provided in the middle of the adjusting rod, and the sliding sleeve slides along the limiting groove. A baffle is fixedly connected to the end of the arc support rod, and a positioning groove is provided on the baffle. The sliding sleeve is plugged into the positioning groove, and the opening direction of the positioning groove is orthogonal to the rotation axis of the arc support rod.

[0011] As an optional solution to the technical solution of this application document, the sliding sleeve is arranged on the outside of the holding arm, the adjusting rod is slidably inserted inside the holding arm, a sliding groove is opened in the middle of the holding arm, and a limit pin is slidably connected inside the sliding groove. The limit pin slides through the limit groove and is fixedly connected to the sliding sleeve, and the elastic element is used to push the sliding sleeve toward the rotation axis of the holding arm.

[0012] As an optional solution to the technical solution of this application document, the elastic element is a spring, the elastic element is sleeved on the outside of the holding arm, the elastic element is in a stretched shape, and the two ends of the elastic element are respectively connected and fixed to the holding arm and the sliding sleeve through a spring connecting seat.

[0013] As an optional solution to the technical solution of the present application, a dovetail groove is provided on the side of the baffle away from the rotation axis of the holding arm, the dovetail groove is connected to the positioning groove, the side of the sliding sleeve is fixedly connected to a limiting rod, and the limiting rod extends into the dovetail groove or the positioning groove.

[0014] As an optional solution to the technical solution of this application document, the first driving mechanism includes a first driving motor with a self-locking function, an arc-shaped tooth groove is provided on the outer side of the arc-shaped support rod, and a gear meshing with the arc-shaped tooth groove is installed at the output end of the first driving motor.

[0015] As an optional solution to the technical solution of this application document, the second driving mechanism includes a second driving motor, and an active arm is installed at the output end of the second driving motor. One end of the active arm is rotatably connected to the support arm, and the other end is installed with a driven arm. One end of the driven arm is rotatably connected to the active arm, and the other end is rotatably connected to the telescopic motor.

[0016] As an optional solution to the technical solution of this application document, the second drive motor has an active state and a passive state. In the active state, the second drive motor is used to drive the rotation of the active arm; in the passive state, the second drive motor is used to apply rotational resistance to the active arm.

[0017] As an optional solution to the technical solution of this application document, the base is used to drive the support arm to rotate in two mutually orthogonal directions, and the arm includes a telescopic part, which is used to drive the medical device installed on the arm to move along the length direction of the arm.

[0018] 3. Beneficial effects

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1) The present application sets up an adjustment mechanism so that when the adjustment mechanism is in the first state, it can fix the position of the arc-shaped support rod and the arm. By reducing the number of series movement stages, error accumulation is avoided and the control accuracy of the swing of the arm around the fixed point is increased.

[0021] 2) When the adjustment mechanism is in the second state, the robotic arm can only retain the freedom of rotation around the arc-shaped support rod, and can utilize the support effect of the arc-shaped support rod on the robotic arm, which can reduce the difficulty of the second drive mechanism to control the motion of the robotic arm, reduce the manufacturing cost of the second drive mechanism, and increase the stability of the robotic arm control.

[0022] 3) By setting a dovetail groove at the end of the positioning groove, the present application enables the device to control the movement amplitude of the robotic arm by controlling the position of the limit rod in the dovetail groove, and can also adjust the movement response of the robotic arm under the control of the first drive mechanism and the second drive mechanism with the help of the telescopic part at the end of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of a robotic arm;

[0024] Figure 2It is a schematic diagram of the adjustment mechanism of a robotic arm;

[0025] Figure 3 It is a schematic diagram of the sliding sleeve structure of a robotic arm;

[0026] Figure 4 is a schematic diagram of a second drive mechanism of a robotic arm;

[0027] Figure 5 is a schematic diagram of a first driving mechanism of a robotic arm;

[0028] In the figure: 1. base; 2. support arm; 3. guide rail; 301. arc-shaped guide groove; 4. arc-shaped support rod; 401. baffle; 402. positioning groove; 403. dovetail groove; 5. first driving mechanism; 6. holding arm; 601. slide groove; 7. adjusting mechanism; 701. telescopic motor; 702. adjusting rod; 7021. limit groove; 703. sliding sleeve; 7031. limit pin; 7032. limit rod; 704, elastic element; 8. second driving mechanism; 801. active arm; 802. driven arm. DETAILED DESCRIPTION

[0029] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0030] Example 1

[0031] See also Figure 1 The present invention provides a robotic arm, comprising a base 1, a supporting arm 2 being installed on one side of the base 1, an end portion of the supporting arm 2 being fixedly connected to a guide rail 3, an arc-shaped guide groove 301 being opened inside the guide rail 3, an arc-shaped support rod 4 being installed inside the arc-shaped guide groove 301, an end portion of the supporting arm 2 being installed with a first driving mechanism 5 for driving the arc-shaped support rod 4 to move along the arc-shaped guide groove 301, an upper portion of the arc-shaped support rod 4 being rotatably connected to a holding arm 6, the rotation axis of the holding arm 6 being parallel to the rotation axis of the arc-shaped support rod 4, one end of the holding arm 6 extending to the rotation axis of the arc-shaped support rod 4, and the other end crossing its rotation axis and being installed with an adjusting mechanism 7, the adjusting mechanism 7 having a first state and a second state, in the first state, the holding arm 6 and the arc-shaped support rod 4 remain fixed, in the second state, the holding arm 6 and the arc-shaped support rod 4 are rotatably connected, a second driving mechanism 8 is provided between the supporting arm 2 and the adjusting mechanism 7, and in the second state, the second driving mechanism 8 is used to drive the holding arm 6 to rotate.

[0032] The arm 6 is used to install medical equipment or endoscopes; when the adjustment mechanism 7 is in the first state, the arm 6 and the arc-shaped support rod 4 remain fixed. When the first driving mechanism 5 drives the arc-shaped support rod 4 to move along the arc-shaped guide groove 301, the end of the arm 6 can remain fixed and swing; under this driving mode, the error accumulation caused by the series transmission system can be avoided, and the accuracy of the arm 6 when swinging around the fixed point can be increased.

[0033] When the adjustment mechanism 7 is in the second state, the holding arm 6 is rotatably connected to the arc-shaped support rod 4, and the second driving mechanism 8 is used to drive the adjustment mechanism 7 at the end of the holding arm 6 to rotate up and down, so as to realize the displacement control of the holding end of the holding arm 6, and realize the cutting operation of the wound; since the middle part of the holding arm 6 is supported by the arc-shaped support rod 4, the torque of the second driving mechanism 8 when driving / fixing the position of the holding arm 6 can be reduced. On the other hand, it can limit the degree of freedom of the holding arm 6, reduce the manufacturing cost of the second driving mechanism 8, and increase the stability of the holding arm 6 during the cutting operation.

[0034] like Figure 2 and Figure 3 As shown, the adjustment mechanism 7 includes a telescopic motor 701, an adjusting rod 702, a sliding sleeve 703 and an elastic element 704. The telescopic motor 701 is fixedly installed at the end of the mechanical arm 6. The telescopic end of the telescopic motor 701 is fixedly connected to the adjusting rod 702. The sliding sleeve 703 is slidably connected to the mechanical arm 6. The sliding sleeve 703 is elastically connected to the mechanical arm 6 through the elastic element 704. A limiting groove 7021 is provided in the middle of the adjusting rod 702. The sliding sleeve 703 slides along the limiting groove 7021. The end of the arc-shaped support rod 4 is fixedly connected to the baffle 401. A positioning groove 402 is provided on the baffle 401. The sliding sleeve 703 is plugged into the positioning groove 402. The opening direction of the positioning groove 402 is orthogonal to the rotation axis of the arc-shaped support rod 4.

[0035] Preferably, the sliding sleeve 703 is slidably mounted on the outside of the mechanical arm 6, and the side of the sliding sleeve 703 is fixedly connected to the limiting rod 7032. The sliding sleeve 703 is plugged into the positioning groove 402 through the limiting rod 7032. The adjusting rod 702 is slidably inserted into the inside of the mechanical arm 6. A sliding groove 601 is provided in the middle of the mechanical arm 6. The sliding groove 601 is slidably connected to the limiting pin 7031. The limiting pin 7031 slides through the limiting groove 7021 and is fixedly connected to the sliding sleeve 703. The elastic element 704 is used to push the sliding sleeve 703 toward the rotation axis of the mechanical arm 6. The elastic element 704 is a spring. The elastic element 704 is mounted on the outside of the mechanical arm 6. The elastic element 704 is in a stretched state. The two ends of the elastic element 704 are respectively connected and fixed to the mechanical arm 6 and the sliding sleeve 703 through a spring connecting seat.

[0036] When the adjustment mechanism 7 needs to be placed in the first state, the telescopic motor 701 is controlled to push the adjustment rod 702 into the interior of the holding arm 6, so that the range of movement of the limit pin 7031 can move toward the side close to the rotation axis of the holding arm 6; the elastic element 704 can pull the sliding sleeve 703, so that the limit rod 7032 is inserted into the positioning groove 402, and the holding arm 6 can maintain its rotation axis pointing to the arc-shaped support rod 4 under the limitation of the sliding sleeve 703.

[0037] When the adjustment mechanism 7 needs to be placed in the second state, the telescopic motor 701 is controlled to move the adjustment rod 702 out from the inside of the holding arm 6, and then the range of movement of the limit pin 7031 is moved to the side away from the rotation axis of the holding arm 6, and the limit pin 7031 is pushed out of the positioning groove 402 with the help of the inner wall of the limit groove 7021, so that the second drive mechanism 8 can drive the end of the holding arm 6 to perform an arc cutting movement.

[0038] like Figure 4 As shown, the second drive mechanism 8 includes a second drive motor, and an active arm 801 is installed at the output end of the second drive motor. One end of the active arm 801 is rotatably connected to the support arm 2, and the other end is installed with a driven arm 802. One end of the driven arm 802 is rotatably connected to the active arm 801, and the other end is rotatably connected to the telescopic motor 701; the second drive motor has an active state and a passive state. In the active state, the second drive motor is used to drive the rotation of the active arm 801; in the passive state, the second drive motor is used to apply rotational resistance to the active arm 801.

[0039] When the adjustment mechanism 7 is in the first state, the second drive motor is set to a passive state; when the first drive mechanism 5 controls the holding arm 6 to swing around the fixed point, the active arm 801 and the driven arm 802 can support and follow the adjustment mechanism 7, thereby increasing the stability of the movement of the holding arm 6.

[0040] When the adjustment mechanism 7 is in the second state, the second drive motor can drive the active arm 801 to swing in different directions, and use the driven arm 802 to push or pull the end of the holding arm 6 to achieve swing control of the holding arm 6.

[0041] like Figure 5 As shown, a dovetail groove 403 is provided on one side of the baffle 401 away from the rotation axis of the robotic arm 6 , the dovetail groove 403 is connected to the positioning groove 402 , and the limiting rod 7032 extends into the dovetail groove 403 or the positioning groove 402 .

[0042] When the adjustment mechanism 7 is in the second state, the limit rod 7032 can be moved into the dovetail groove 403. When the second drive motor drives the arm 6 to swing, the limit rod 7032 can contact the inner wall of the dovetail groove 403, increasing the rotational torque of the arm 6 and enabling monitoring of the swing range of the arm 6. The relative position of the limit rod 7032 and the dovetail groove 403 is controlled by the telescopic motor 701. By monitoring the output torque of the second drive motor, the swing range of the arm 6 can be controlled, thereby enhancing safety.

[0043] Preferably, the first drive mechanism 5 includes a first drive motor with a self-locking function, an arc-shaped tooth groove is provided on the outer side of the arc-shaped support rod 4, and a gear meshing with the arc-shaped tooth groove is installed at the output end of the first drive motor; in addition, the first drive mechanism 5 can also adopt other transmission methods to realize the displacement control of the arc-shaped support rod 4.

[0044] Preferably, the base 1 is used to drive the support arm 2 to rotate in two mutually orthogonal directions, so as to increase the freedom of movement of the robotic arm 6; not only that, the robotic arm 6 includes a telescopic part, which is used to drive the medical device mounted on the robotic arm 6 to move along the length direction of the robotic arm 6, thereby realizing the insertion and extraction action, and can cooperate with the first drive mechanism 5 and the second drive mechanism 8 to adjust the movement response of the robotic arm 6.

[0045] Example 2:

[0046] The present application provides a surgical robot, which adopts at least one robotic arm described in Example 1, and the robot also includes a control module, a display module and a moving module; the control module has a force feedback control function, which can judge the state of each joint based on the input or input torque of each control joint of the robotic arm, and can actively intervene in the control of each control joint of the robotic arm; the control module has advanced algorithms and sensor networks, which can accurately control the motion trajectory and speed of the robotic arm to achieve sub-millimeter positioning accuracy; in addition, the control module can also monitor the surrounding environment of the robotic arm in real time, detect potential collision risks through sensors and algorithms, and automatically adjust the motion path to avoid collision with surgical instruments, patients or other equipment.

[0047] The display module integrates multiple imaging technologies, such as CT, MRI, ultrasound, and optical imaging, and displays these images in real time. Doctors can view images from different modalities on the same screen, gaining a more comprehensive understanding of the anatomical structure of the surgical site. Furthermore, the display module can overlay virtual surgical paths, landmarks, or important anatomical structures on the real-time image, providing doctors with more intuitive navigation information.

[0048] The mobile module is equipped with multiple degrees of freedom, such as wheels, joints, or tracks, allowing the robot to move freely within the operating room. It can achieve multiple motion modes such as forward, backward, turning, and lifting, adapting to different operating room layouts.

[0049] There can be multiple robotic arms, and the structures and functions of the multiple robotic arms can be different. The multiple robotic arms can perform operations such as cutting, grasping, suturing, and electrocoagulation under the control of the control module.

Claims

1. A robotic arm, characterized in that: The invention comprises a base (1), a support arm (2) is installed on one side of the base (1), the end of the support arm (2) is fixedly connected to a guide rail (3), an arc-shaped guide groove (301) is provided inside the guide rail (3), an arc-shaped support rod (4) is installed inside the arc-shaped guide groove (301), a first driving mechanism (5) for driving the arc-shaped support rod (4) to move along the arc-shaped guide groove (301) is installed at the end of the support arm (2), the upper part of the arc-shaped support rod (4) is rotatably connected to a holding arm (6), and the rotation axis of the holding arm (6) is aligned with the arc-shaped support rod (4). The support arm (2) and the adjusting mechanism (7) are parallel to each other, one end of the holding arm (6) extends to the rotation axis of the arc-shaped support rod (4), and the other end crosses its rotation axis and is installed with an adjusting mechanism (7). The adjusting mechanism (7) has a first state and a second state. In the first state, the holding arm (6) and the arc-shaped support rod (4) remain fixed. In the second state, the holding arm (6) and the arc-shaped support rod (4) are rotationally connected. A second driving mechanism (8) is provided between the support arm (2) and the adjusting mechanism (7). In the second state, the second driving mechanism (8) is used to drive the holding arm (6) to rotate.

2. The robotic arm according to claim 1, wherein: The adjusting mechanism (7) comprises a telescopic motor (701), an adjusting rod (702), a sliding sleeve (703) and an elastic element (704); the telescopic motor (701) is fixedly mounted on the end of the mechanical arm (6); the telescopic end of the telescopic motor (701) is fixedly connected to the adjusting rod (702); the sliding sleeve (703) is slidably connected to the mechanical arm (6); the sliding sleeve (703) and the mechanical arm (6) are elastically connected via the elastic element (704); The adjusting rod (702) is provided with a limiting groove (7021) in the middle thereof, the sliding sleeve (703) slides along the limiting groove (7021), the end of the arc-shaped support rod (4) is fixedly connected with a baffle (401), the baffle (401) is provided with a positioning groove (402), the sliding sleeve (703) is plugged into and matched with the positioning groove (402), and the direction in which the positioning groove (402) is opened is orthogonal to the rotation axis of the arc-shaped support rod (4).

3. The robotic arm according to claim 2, wherein: The sliding sleeve (703) is slidably mounted on the outside of the holding arm (6), and the adjusting rod (702) is slidably inserted into the inside of the holding arm (6). A sliding groove (601) is provided in the middle of the holding arm (6), and a limiting pin (7031) is slidably connected inside the sliding groove (601). The limiting pin (7031) slides through the limiting groove (7021) and is fixedly connected to the sliding sleeve (703). The elastic element (704) is used to push the sliding sleeve (703) toward the rotation axis of the holding arm (6).

4. The robotic arm according to claim 2, wherein: The elastic element (704) is a spring, and the elastic element (704) is sleeved on the outside of the holding arm (6). The elastic element (704) is in a stretched state, and the two ends of the elastic element (704) are respectively connected and fixed to the holding arm (6) and the sliding sleeve (703) through a spring connecting seat.

5. The robotic arm according to claim 2, wherein: A dovetail groove (403) is provided on one side of the baffle (401) away from the rotation axis of the holding arm (6), and the dovetail groove (403) is communicated with the positioning groove (402). A limiting rod (7032) is fixedly connected to the side of the sliding sleeve (703), and the limiting rod (7032) extends into the dovetail groove (403) or the positioning groove (402).

6. The robotic arm according to claim 1, characterized in that: The first drive mechanism (5) comprises a first drive motor with a self-locking function, an arc-shaped tooth groove is provided on the outside of the arc-shaped support rod (4), and a gear meshing with the arc-shaped tooth groove is installed at the output end of the first drive motor.

7. The robotic arm according to claim 2, characterized in that: The second driving mechanism (8) comprises a second driving motor, wherein an active arm (801) is mounted on an output end of the second driving motor, wherein one end of the active arm (801) is rotatably connected to the support arm (2), and the other end of the active arm (802) is mounted on the other end, wherein one end of the driven arm (802) is rotatably connected to the active arm (801), and the other end of the driven arm (802) is rotatably connected to the telescopic motor (701).

8. The robotic arm according to claim 7, characterized in that: The second drive motor has an active state and a passive state. In the active state, the second drive motor is used to drive the rotation of the active arm (801); In the passive state, the second drive motor is used to apply rotational resistance to the active arm (801).

9. The robotic arm according to claim 7, characterized in that: The base (1) is used to drive the support arm (2) to rotate in two mutually orthogonal directions, and the arm (6) includes a telescopic portion, which is used to drive the medical device installed on the arm (6) to move along the length direction of the arm (6).

10. A surgical robot, characterized in that: At least one robotic arm according to any one of claims 1 to 8 is used, further comprising a control module, a display module and a movement module.

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