Surgical robot and mechanical arm therefor

Abstract

The application discloses a surgical robot and a mechanical arm thereof and belongs to the technical field of medical devices. The 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, a first driving mechanism for driving the arc-shaped supporting rod to move along the arc-shaped guide groove is installed at the end of the supporting arm, a holding arm is rotatably connected to the upper portion of the arc-shaped supporting rod, the rotation axis of the holding arm is parallel to the rotation axis of the arc-shaped supporting rod, one end of the holding arm extends to the rotation axis of the arc-shaped supporting rod, the other end of the holding arm is beyond the rotation axis and is provided with an adjusting mechanism, the adjusting mechanism is arranged to fix the positions of the arc-shaped supporting rod and the holding arm in the first state, the motion series is reduced, the error accumulation is avoided, and the control precision of the holding arm swinging around the fixed point is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a surgical robot and its robotic arm. Background Technology

[0002] In the field of minimally invasive surgical robotics research, motion control technology for the robotic arm is crucial for achieving precise surgical procedures. As an important component of the surgical robot, the performance of the robotic arm joints directly affects the motion accuracy and stability of surgical instruments.

[0003] A search revealed that Chinese patent CN116965936A discloses a robotic arm and a surgical robot. The device uses a robotic arm to mount surgical instruments and can drive the surgical instruments 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 instruments can swing along a fixed point R in space.

[0004] The aforementioned device uses a linkage mechanism to control the movement of surgical instruments. However, the connection between the holding arm and the third arm needs to be able to both rotate and overcome the unbalanced torque generated by the holding arm. This affects the stability and motion accuracy of the device, increasing its manufacturing cost. Therefore, we propose a surgical robot and its robotic arm. Summary of the Invention

[0005] 1. Technical problems to be solved

[0006] The purpose of this invention is to provide a surgical robot and its robotic arm to solve the problems mentioned in the background art.

[0007] 2. Technical Solution

[0008] This invention is achieved through the following technical solution:

[0009] A surgical robot and its robotic arm include a base, a support arm mounted on one side of the base, a guide rail fixedly connected to the end of the support arm, an arc-shaped guide groove inside the guide rail, an arc-shaped support rod installed inside the arc-shaped guide groove, a first drive mechanism for driving the arc-shaped support rod to move along the arc-shaped guide groove at the end of the support arm, a holding arm rotatably connected to the upper part of the arc-shaped support rod, the rotation axis of the holding arm being parallel to the rotation axis of the arc-shaped support rod, one end of the holding arm extending to the rotation axis of the arc-shaped support rod, and the other end extending beyond its rotation axis and mounted with an adjustment mechanism, the adjustment mechanism having a first state and a second state; in the first state, the holding arm and the arc-shaped support rod are fixed; in the second state, the holding arm and the arc-shaped support rod are rotatably connected; a second drive mechanism is provided between the support arm and the adjustment mechanism, the second drive mechanism being used to drive the holding arm to rotate in the second state.

[0010] As an optional solution to the technical solution of this application, the adjustment mechanism includes a telescopic motor, an adjustment rod, a sliding sleeve, and an elastic element. The telescopic motor is fixedly installed at the end of the holding arm, and the telescopic end of the telescopic motor is connected and fixedly connected to the adjustment rod. The sliding sleeve is slidably connected to the holding arm, and the sliding sleeve and the holding arm are elastically connected through the elastic element. A limit groove is opened in the middle of the adjustment rod, and the sliding sleeve slides along the limit groove. A baffle is fixedly connected to the end of the arc-shaped support rod, and a positioning groove is opened on the baffle. The sliding sleeve is inserted into the positioning groove, and the opening direction of the positioning groove is orthogonal to the rotation axis of the arc-shaped support rod.

[0011] As an optional solution to the technical solution of this application, the sliding sleeve is slidably sleeved on the outside of the holding arm, the adjusting rod is slidably inserted into the inside of the holding arm, a sliding groove is provided in the middle of the holding arm, a limiting pin is slidably connected inside the sliding groove, the limiting pin slidably passes through the limiting groove and is connected and fixed 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, 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 state, and the two ends of the elastic element are respectively connected and fixed to the holding arm and the sliding sleeve through spring connecting seats.

[0013] As an optional solution to the technical solution of this 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. A limit rod is fixedly connected to the side of the sliding sleeve. The limit rod extends into the dovetail groove or the positioning groove.

[0014] As an optional solution to the technical solution of this application, the first drive mechanism includes a first drive motor with a self-locking function, the outer side of the arc-shaped support rod is provided with an arc-shaped tooth groove, and the output end of the first drive motor is equipped with a gear that meshes with the arc-shaped tooth groove.

[0015] As an optional solution to the technical solution of this application, the second drive mechanism includes a second drive motor, an active arm is installed at the output end of the second drive 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, 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, the base is used to drive the support arm to rotate in two mutually orthogonal directions, and the holding arm includes a telescopic part, which is used to drive the medical device mounted on the holding arm to move along the length direction of the holding arm.

[0018] 3. Beneficial effects

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1) This application sets up an adjustment mechanism so that the position of the arc-shaped support rod and the holding arm can be fixed in the first state. By reducing the number of motion series stages, error accumulation is avoided and the control accuracy of the holding arm swinging around the fixed point is increased.

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

[0022] 3) By setting a dovetail groove at the end of the positioning groove, this application enables the device to control the movement range of the holding arm by controlling the position of the limiting rod in the dovetail groove, and can also adjust the movement response of the holding arm under the control of the first drive mechanism and the second drive mechanism by means of the telescopic part at the end of the holding arm. Attached Figure Description

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

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

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

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

[0027] Figure 5 This is a schematic diagram of the first drive mechanism of a robotic arm;

[0028] In the diagram: 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 drive mechanism; 6. Holding arm; 601. Slide groove; 7. Adjustment mechanism; 701. Telescopic motor; 702. Adjustment rod; 7021. Limiting groove; 703. Sliding sleeve; 7031. Limiting pin; 7032. Limiting rod; 704. Elastic element; 8. Second drive mechanism; 801. Driving arm; 802. Driven arm. Detailed Implementation

[0029] The technical solution of the present invention will now be clearly and completely described in conjunction with the accompanying drawings.

[0030] Example 1

[0031] Please see Figure 1 This invention provides a robotic arm, including a base 1, a support arm 2 mounted on one side of the base 1, a guide rail 3 fixedly connected to the end of the support arm 2, an arc-shaped guide groove 301 inside the guide rail 3, an arc-shaped support rod 4 mounted inside the arc-shaped guide groove 301, a first drive mechanism 5 for driving the arc-shaped support rod 4 to move along the arc-shaped guide groove 301 mounted at the end of the support arm 2, a holding arm 6 rotatably connected to the upper part of the arc-shaped support rod 4, 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 passing over its rotation axis and mounted with an adjustment mechanism 7, the adjustment 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 drive mechanism 8 is provided between the support arm 2 and the adjustment mechanism 7, in the second state the second drive mechanism 8 is used to drive the holding arm 6 to rotate.

[0032] The holding arm 6 is used to install medical devices or endoscopes. When the adjustment mechanism 7 is in the first state, the holding arm 6 is fixed to the arc-shaped support rod 4. When the arc-shaped support rod 4 is driven to move along the arc-shaped guide groove 301 by the first drive mechanism 5, the end of the holding arm 6 can be kept fixed and swing. Under this driving method, the cumulative error caused by the series transmission system can be avoided, and the accuracy of the holding arm 6 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. The adjustment mechanism 7 at the end of the holding arm 6 is driven up and down by the second drive mechanism 8 to achieve displacement control of the holding end of the holding arm 6, which enables 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 drive mechanism 8 when driving / fixing the position of the holding arm 6 can be reduced. On the other hand, the degree of freedom of the holding arm 6 can be restricted, the manufacturing cost of the second drive mechanism 8 can be reduced, and the stability of the holding arm 6 when performing the cutting operation can be increased.

[0034] like Figure 2 and Figure 3 As shown, the adjustment mechanism 7 includes a telescopic motor 701, an adjustment rod 702, a sliding sleeve 703, and an elastic element 704. The telescopic motor 701 is fixedly installed at the end of the holding arm 6. The telescopic end of the telescopic motor 701 is connected and fixed to the adjustment rod 702. The sliding sleeve 703 is slidably connected to the holding arm 6. The sliding sleeve 703 and the holding arm 6 are elastically connected through the elastic element 704. A limiting groove 7021 is opened in the middle of the adjustment rod 702. The sliding sleeve 703 slides along the limiting groove 7021. A baffle 401 is fixedly connected to the end of the arc-shaped support rod 4. A positioning groove 402 is opened on the baffle 401. The sliding sleeve 703 is inserted 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 sleeved on the outside of the holding arm 6. A limiting rod 7032 is fixedly connected to the side of the sliding sleeve 703. The sliding sleeve 703 is inserted into the positioning groove 402 through the limiting rod 7032. The adjusting rod 702 is slidably inserted into the inside of the holding arm 6. A sliding groove 601 is opened in the middle of the holding arm 6. A limiting pin 7031 is slidably connected inside the sliding groove 601. The limiting pin 7031 slides through the limiting groove 7021 and is connected and fixed to the sliding sleeve 703. An elastic element 704 is used to push the sliding sleeve 703 towards the rotation axis of the holding arm 6. The elastic element 704 is a spring. The elastic element 704 is sleeved on the outside of the holding arm 6. The elastic element 704 is in a stretched state. The two ends of the elastic element 704 are connected and fixed to the holding arm 6 and the sliding sleeve 703 respectively through spring connecting seats.

[0036] When the adjustment mechanism 7 needs to be set to the first state, the telescopic motor 701 is controlled to push the adjustment rod 702 into the arm 6, so that the range of motion of the limit pin 7031 can move to the side closer to the rotation axis of the 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 arm 6 can maintain its orientation towards the rotation axis of the arc-shaped support rod 4 under the limit of the sliding sleeve 703.

[0037] When the adjustment mechanism 7 needs to be set to the second state, the telescopic motor 701 controls the adjustment rod 702 to move out of the inside of the holding arm 6, thereby moving the range of motion of the limit pin 7031 to the side away from the rotation axis of the holding arm 6, and pushing the limit pin 7031 out of the positioning groove 402 by means 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 arc cutting motion.

[0038] like Figure 4 As shown, the second drive mechanism 8 includes a second drive motor. An active arm 801 is mounted on 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 mounted 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 the 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, 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 realize the swing control of the holding end of the holding arm 6.

[0041] like Figure 5 As shown, a dovetail groove 403 is provided on the side of the baffle 401 away from the rotation axis of the holding 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 adjusting mechanism 7 is in the second state, the limiting rod 7032 can be moved into the dovetail groove 403. When the mechanical arm 6 is driven to swing by the second drive motor, the limiting rod 7032 can increase the rotational torque of the mechanical arm 6 by contacting the inner wall of the dovetail groove 403, thereby enabling monitoring of the swing range of the mechanical arm 6. By controlling the relative positional relationship between the limiting rod 7032 and the dovetail groove 403 through the telescopic motor 701, and by monitoring the output torque of the second drive motor, the swing amplitude of the mechanical arm 6 can be controlled, increasing safety.

[0043] Preferably, the first drive mechanism 5 includes a first drive motor with a self-locking function, and the outer side of the arc-shaped support rod 4 is provided with an arc-shaped tooth groove. A gear that meshes 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 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 to increase the degree of freedom of movement of the holding arm 6; in addition, the holding arm 6 includes a telescopic part, which is used to drive the medical device mounted on the holding arm 6 to move along the length of the holding 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 motion response of the holding arm 6.

[0045] Example 2:

[0046] This application provides a surgical robot, employing at least one robotic arm as described in Embodiment 1. The robot further includes a control module, a display module, and a movement module. The control module has force feedback control functionality, capable of determining 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, enabling precise control of the robotic arm's motion trajectory and speed to achieve sub-millimeter-level positioning accuracy. In addition, the control module can 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 collisions with surgical instruments, patients, or other equipment.

[0047] The display module integrates multiple imaging technologies, such as CT, MRI, ultrasound, and optical imaging, and fuses these images in real time. Doctors can view images of 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, markers, or important anatomical structures onto the real-time images, providing doctors with more intuitive navigation information.

[0048] The mobility module is equipped with multiple degrees of freedom, such as wheels, joints, or tracks, enabling the robot to move freely within the operating room. It can perform various movements, including forward, backward, turning, and lifting, adapting to different operating room layouts.

[0049] Multiple robotic arms can be installed, and the structures and functions of the multiple robotic arms can be different. Under the control of the control module, the multiple robotic arms can perform operations such as cutting, grasping, sewing, and electrocoagulation.

Claims

1. A robotic arm, characterized in that: The system includes a base (1), a support arm (2) mounted on one side of the base (1), a guide rail (3) fixedly connected to the end of the support arm (2), an arc-shaped guide groove (301) inside the guide rail (3), an arc-shaped support rod (4) installed inside the arc-shaped guide groove (301), a first drive mechanism (5) for driving the arc-shaped support rod (4) to move along the arc-shaped guide groove (301) at the end of the support arm (2), and a mechanical arm (6) rotatably connected to the upper part of the arc-shaped support rod (4), the rotation axis of the mechanical arm (6) being parallel to the arc-shaped support rod (4). The rotation axis is parallel to the arc support rod (4). One end of the holding arm (6) extends to the rotation axis of the arc support rod (4), and the other end passes over its rotation axis and is equipped with an adjustment mechanism (7). The adjustment mechanism (7) has a first state and a second state. In the first state, the holding arm (6) and the arc support rod (4) are fixed. In the second state, the holding arm (6) and the arc support rod (4) are rotatably connected. A second drive mechanism (8) is provided between the support arm (2) and the adjustment mechanism (7). In the second state, the second drive mechanism (8) is used to drive the holding arm (6) to rotate. The adjustment mechanism (7) includes a telescopic motor (701), an adjustment rod (702), a sliding sleeve (703), and an elastic element (704). The telescopic motor (701) is fixedly installed at the end of the holding arm (6). The telescopic end of the telescopic motor (701) is connected and fixed to the adjustment rod (702). The sliding sleeve (703) is slidably connected to the holding arm (6). The sliding sleeve (703) and the holding arm (6) are elastically connected through the elastic element (704). A limiting groove (7021) is opened in the middle of the adjustment rod (702). The sliding sleeve (703) slides along the limiting groove (7021). A baffle (401) is fixedly connected to the end of the arc-shaped support rod (4). A positioning groove (402) is opened on the baffle (401). The sliding sleeve (703) is inserted 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).

2. The robotic arm according to claim 1, characterized in that: The sliding sleeve (703) is slidably sleeved 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). A limiting pin (7031) is slidably connected inside the sliding groove (601). The limiting pin (7031) slides through the limiting groove (7021) and is connected and fixed to the sliding sleeve (703). The elastic element (704) is used to push the sliding sleeve (703) towards the rotation axis of the holding arm (6).

3. The robotic arm according to claim 1, characterized in that: The elastic element (704) is a spring. The elastic element (704) is sleeved on the outside of the holding arm (6). The elastic element (704) is in a stretched state. The two ends of the elastic element (704) are connected and fixed to the holding arm (6) and the sliding sleeve (703) respectively through spring connecting seats.

4. A robotic arm according to claim 1, characterized in that: The baffle (401) has a dovetail groove (403) on the side away from the rotation axis of the holding arm (6). The dovetail groove (403) is connected to the positioning groove (402). The sliding sleeve (703) is fixedly connected to a limiting rod (7032) on its side. The limiting rod (7032) extends into the dovetail groove (403) or the positioning groove (402).

5. A robotic arm according to claim 1, characterized in that: The first drive mechanism (5) includes a first drive motor with a self-locking function, and the outer side of the arc-shaped support rod (4) is provided with an arc-shaped tooth groove. The output end of the first drive motor is equipped with a gear that meshes with the arc-shaped tooth groove.

6. A robotic arm according to claim 1, characterized in that: The second drive mechanism (8) includes a second drive motor. 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 equipped 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).

7. A robotic arm according to claim 6, 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).

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

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