Cabling mechanism, linear joint and surgical robot

Abstract

The application discloses a wiring mechanism, a linear joint and a surgical robot. The wiring mechanism is used in the linear joint of the robot, and the linear joint comprises a main body part and a movable part. The wiring mechanism comprises a moving piece, a first guide assembly, a first flexible piece and a force applying assembly. The moving piece is arranged in a cavity of the main body part and is movable relative to the main body part, and the moving direction of the moving piece is opposite to the moving direction of the movable part. The first guide assembly comprises a first guide piece and a second guide piece. The first guide piece is arranged outside the cavity and is fixed relative to the main body part in position. The second guide piece is arranged in the cavity and is fixed relative to the main body part in position. The first flexible piece is wound on the first guide piece and the second guide piece. The part of the first flexible piece outside the cavity is connected to the movable part, and the part of the first flexible piece in the cavity is connected to the moving piece. The force applying assembly is connected to the moving piece, and the force applying assembly applies a pulling force to the moving piece so that the first flexible piece is tensioned.

Description

Technical Field

[0001] This invention relates generally to the field of surgical robot technology, and more specifically to a wiring mechanism, a linear joint, and a surgical robot. Background Technology

[0002] A surgical robot is a robot that can be remotely controlled to perform surgery. A surgical robot typically includes a robotic arm system, which may include at least one robotic arm with several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, such as linear movement in different directions, forming a linear joint, so that the end effector of the robotic arm can achieve multi-degree-of-freedom movement.

[0003] The cables connected to the surgical robot need to be protected during the movement of the connecting arm to prevent them from becoming entangled or entering the joint's movement gaps, thus interfering with the arm's movement. Existing technologies typically use cable protection components such as cable chains, corrugated pipes, and flexible conduits for cable routing, which can protect the cables, but this complicates the external structure of the surgical robot and affects its size. Furthermore, a cable guide channel needs to be installed on one side of the connecting arm to accommodate the cable; the length of the guide channel is roughly equivalent to the joint's stroke length. This channel significantly reduces the connecting arm's bending and torsional stiffness. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] A first aspect of the present invention provides a wiring mechanism for a linear joint of a robot, the linear joint including a main body and a movable part, the main body having an inner cavity, the movable part being movable relative to the main body along a first straight line outside the inner cavity, the wiring mechanism comprising:

[0006] A movable member is disposed in the inner cavity of the main body and is movable relative to the main body, wherein the moving direction of the movable member is opposite to the moving direction of the movable part;

[0007] A first guide assembly, comprising a first guide member and a second guide member, wherein the first guide member is disposed outside the inner cavity of the main body and is fixed in position relative to the main body, and the second guide member is disposed inside the inner cavity of the main body and is fixed in position relative to the main body;

[0008] A first flexible element, which is a cable or a flexible circuit board, is wound around the first guide and the second guide. The portion of the first flexible element located outside the inner cavity of the main body is used to connect to the movable part, and the portion of the first flexible element located inside the inner cavity of the main body is connected to the moving part.

[0009] A force-applying component is connected to the movable member, and the force-applying component applies a tensile force to the movable member to tension the first flexible member.

[0010] Optionally, one end of the first flexible member located in the cavity of the main body is fixed to the movable member; or

[0011] The first guide assembly further includes a third guide member, the position of which is fixed relative to the moving member. A portion of the first flexible member located in the inner cavity of the main body is wrapped around the third guide member, and one end of the first flexible member located in the inner cavity of the main body is used to fix it to the main body.

[0012] Optionally, the first flexible member includes a first segment, a second segment, and a third segment. The first segment extends outside the inner cavity, the third segment extends within the inner cavity, and the second segment wraps around the first guide and the second guide. One end of the first segment is used to connect to the movable part, and the other end of the first segment is connected to the second segment. One end of the third segment is connected to the movable member, and the other end of the third segment is connected to the second segment.

[0013] Optionally, the first segment and the third segment extend parallel to the first straight line.

[0014] Optionally, a portion of the second segment extends perpendicular to the first straight line.

[0015] Optionally, the first guide assembly further includes a third guide member, the position of which is fixed relative to the moving member, and the first flexible member further includes a fourth segment, one end of which is used to connect to the main body, and the other end of which is wrapped around the third guide member and connected to the third segment.

[0016] Optionally, the fourth segment extends parallel to the first straight line.

[0017] Optionally, the displacement of the moving member is equal to the displacement of the movable part; or

[0018] The displacement of the moving part is half the displacement of the movable part.

[0019] Optionally, the first guide assembly includes a pulley.

[0020] Optionally, the force-applying component includes an elastic element, the free end of which is connected to the moving element.

[0021] Optionally, the elastic element includes a constant force spring.

[0022] Optionally, the force-applying component includes:

[0023] The second guide assembly includes a fourth guide member and a fifth guide member. The fourth guide member is disposed outside the inner cavity of the main body and its position is fixed relative to the main body. The fifth guide member is disposed inside the inner cavity of the main body and its position is fixed relative to the main body.

[0024] The second flexible member is wound around the fourth guide member and the fifth guide member. The portion of the second flexible member located outside the inner cavity of the main body is used to connect to the movable part, and the portion of the second flexible member located inside the inner cavity of the main body is connected to the moving member.

[0025] Optionally, one end of the second flexible member located in the cavity of the main body is fixed to the moving member; or

[0026] The second guide assembly further includes a sixth guide member, the position of which is fixed relative to the moving member. A portion of the second flexible member located in the inner cavity of the main body is wrapped around the sixth guide member, and one end of the second flexible member located in the inner cavity of the main body is used to fix it to the main body.

[0027] Optionally, the length of the portion of the second flexible member located outside the inner cavity of the main body is constant, as is the sum of the length of the portion of the first flexible member located outside the inner cavity of the main body.

[0028] Optionally, the second flexible element includes at least one of the following: filament, rope, belt, cable, and flexible circuit board.

[0029] Optionally, the second guide component includes a pulley.

[0030] A second aspect of the present invention provides a wiring mechanism for a linear joint of a robot, the linear joint including a main body and a movable part, the movable part being movable relative to the main body, the wiring mechanism comprising:

[0031] A movable member, the movable member being movable relative to the main body, the moving direction of the movable member being opposite to the moving direction of the movable part;

[0032] A first flexible member, one end of which is used to connect to the movable part, the first flexible member connects to the movable member and applies a first tensile force to the movable member;

[0033] A second flexible member, one end of which is used to connect to the movable part, the second flexible member connects to the movable member and applies a second tension force to the movable member, the second tension force being in the opposite direction to the first tension force;

[0034] A first guiding component is used to guide the direction of the first flexible member;

[0035] The second guide component is used to guide the direction of the second flexible member;

[0036] Wherein, at least one of the first flexible component and the second flexible component is a cable or a flexible circuit board.

[0037] Optionally, the first guide component and / or the second guide component may include pulleys.

[0038] A third aspect of the present invention provides a linear joint for a robot, the linear joint comprising:

[0039] The main body has an internal cavity;

[0040] The movable part is movable relative to the main body part along a first straight line outside the inner cavity;

[0041] The wiring mechanism according to any one of the above technical solutions.

[0042] Optionally, the main body portion is further provided with a through hole, which communicates with the inner cavity of the main body portion, and the first flexible member enters the inner cavity through the through hole.

[0043] Optionally, the through hole is located outside the travel distance of the movable part in the direction along the first straight line.

[0044] A fourth aspect of the present invention provides a surgical robot, including a suture mechanism according to any one of the above-described technical solutions or a linear joint according to any one of the above-described technical solutions.

[0045] Details of one or more examples of this application are set forth in the accompanying drawings and description below. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description

[0046] The following drawings, which illustrate embodiments of the present invention, are included as part of this invention for understanding its principles. The drawings depict embodiments of the invention and their descriptions, serving to explain the principles of the invention. In the drawings,

[0047] Figure 1 This is a schematic diagram of a medical system according to an example of the present invention;

[0048] Figure 2 A schematic diagram of a surgical robot according to an example of the present invention;

[0049] Figure 3 This is a schematic diagram of the wiring mechanism according to an example of the present invention;

[0050] Figure 4 This is a schematic diagram of the wiring mechanism according to an example of the present invention;

[0051] Figure 5 This is a schematic diagram of the motion relationship of the wiring mechanism according to an example of the present invention;

[0052] Figure 6 This is a schematic diagram of the connecting arm according to an example of the present invention.

[0053] Explanation of reference numerals in the attached figures:

[0054] 100: Wiring mechanism; 10: Main body.

[0055] 11: Housing 12: Base Plate

[0056] 13: First threading hole; 14: Second threading hole

[0057] 15: First working chamber; 16: Second working chamber

[0058] 20: Drive unit; 30: First pulley block

[0059] 31: First pulley; 32: Second pulley

[0060] 33: Third pulley; 34: First fixing device

[0061] 40: Second flexible component; 50: First sliding part

[0062] 51: First guide rail; 52: First slider

[0063] 53: Activities Department; 60: Second Pulley Group

[0064] 61: Fourth pulley 62: Fifth pulley

[0065] 63: Sixth pulley; 64: Second fixing device

[0066] 70: First flexible component; 71: First section

[0067] 72: Second section 73: Third section

[0068] 74: Fourth section; 80: Second sliding part

[0069] 81: Second guide rail; 82: Second slider

[0070] 83: Mobile Components 200: Medical Systems

[0071] 210: Doctor Control Console 220: Patient-Friendly Robot

[0072] 230: Imaging equipment; 221: Base

[0073] 222: Support device; 223: Adjustment platform

[0074] 224: Robotic arm; 225: Adjusting arm section

[0075] 226: Operating arm section 227: Surgical instruments Detailed Implementation

[0076] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0077] To fully understand the present invention, a detailed description will be set forth in the following description. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0078] The ordinal numbers such as "first" and "second" used in this invention are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first component" does not imply the existence of "second component," and the term "second component" does not imply the existence of "first component."

[0079] It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used in this invention are for illustrative purposes only and are not intended to be limiting.

[0080] In this invention, the terms "distal" and "proximal" are used as directional terms, which are commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during surgery, while "proximal" refers to the end closest to the operator. In a remotely operated surgical robot system, "operator" refers to the surgical robot that holds and actuates the surgical instruments.

[0081] The terms “parallel” / “perpendicular” and similar expressions used in this invention include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by a range of -5° to +5°), which can achieve equivalent effects.

[0082] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings.

[0083] The medical system 200 according to an example of the present invention is a surgical robot system (also referred to as a surgical robot) capable of performing surgery. See, in one example, […]. Figure 1 The medical system 200 may include a doctor's console 210, a patient-side robot 220, and an imaging device 230. These three are separate devices that can communicate with each other, so they do not have to be located in the same geographical location, which facilitates remote operation of the surgery. It is understood that, in other examples not shown, the doctor's console 210, the patient-side robot 220, and the imaging device 230 may also be integrated into a single device.

[0084] The doctor's control console 210 includes a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 210 also has other control switches that are easily accessible by hand or foot for various functions and human-computer interaction.

[0085] The imaging device 230 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0086] See Figure 2 The patient-side robot 220 includes a base 221, a support device 222, an adjustment platform 223, and a robotic arm 224.

[0087] The base 221 can be placed on the ground, and the bottom of the base 221 can be equipped with wheels for easy movement. Alternatively, the base 221 can also be installed on the wall or ceiling of the operating room and can be moved with the assistance of guide rails.

[0088] One end of the support device 222 is connected to the base 221, and the other end is connected to the adjustment platform 223. The support device 222 may include a linear joint for adjusting the distance between the base 221 and the adjustment platform 223. For example, as... Figure 2 As shown, the support device 222 includes a longitudinal telescopic mechanism, which serves as a linear joint. The linear joint may also take the form of a sliding joint or other forms, and there is no limitation thereto.

[0089] One end of the adjustment platform 223 is connected to the support device 222, and the other end is connected to the robotic arm 224. The adjustment platform 223 may include linear joints and / or rotary joints for adjusting the position of the robotic arm 224 relative to the support device 222. For example, as Figure 2 As shown, the adjustment platform 223 is rotatably connected to the support device 222, serving as a rotary joint; furthermore, the adjustment platform 223 includes a lateral telescopic mechanism, serving as a linear joint. The linear joint may also take the form of a sliding joint or other forms, and this is not limited.

[0090] At least one robotic arm 224 is connected to the adjustment platform 223. The robotic arm 224 typically includes an adjustment arm portion 225 and a manipulator arm portion 226. The adjustment arm portion 225 may include linear joints and / or rotary joints for adjusting the position and orientation of the manipulator arm portion 226 before surgery. For example, as... Figure 2 As shown, the adjusting arm portion 225 may include at least a lateral linear joint and a longitudinal linear joint, which may be telescopic or sliding joint. The operating arm portion 226 includes a plurality of connecting arms connected in sequence, the structure of which can be referred to... Figure 6 As shown, multiple connecting arms are connected by rotating joints, with the last connecting arm being the holding arm, used to hold the surgical instrument 227. The holding arm may also be equipped with linear joints to drive the surgical instrument 227 to complete the insertion action.

[0091] In this application, the surgical instrument 227 can be an instrument for performing surgical procedures, such as an electrocautery device, clamp, or vascular occluder, or a camera for acquiring images of the surgical area, such as an endoscope, or other surgical instruments.

[0092] During the operation, the surgical procedure is performed by controlling the end effector of the operating arm portion 226 and the surgical instrument 227, while keeping the joint of the adjusting arm portion 226 locked to prevent the adjusting arm portion 226 from moving during the operation.

[0093] For the patient-side robot 220, some joints are active joints, and these active joints are equipped with actuators (such as motors) to drive the joint's movement. Furthermore, almost all joints are equipped with sensors to detect the joint's motion state and amount of motion. These actuators and sensors require cables for power supply or signal transmission, so the routing of these cables within the joints needs to be designed to ensure that the cables and the joint's movement do not interfere with each other.

[0094] For the cable routing design of linear joints, to prevent cables from getting tangled or entering the joint's movement gaps during joint movement, cables are currently typically placed in high-strength protective components such as cable chains, corrugated pipes, or flexible conduits. These protective components restrict the movement path, which to some extent prevents cables from entering the joint's movement gaps and prevents cable accumulation and tangling, thus protecting the cables. However, the inventors discovered that because the protective components themselves are large and occupy a lot of space within the linear joint, and sufficient space needs to be reserved for their movement, this cable routing method results in low space utilization of the linear joint, affecting the size of the surgical robot. Moreover, this cable routing method requires a cable guide slot on one side of the linear joint for the protective components and cables to pass through. The length of the cable guide slot needs to be comparable to the joint's stroke length to ensure that the cable can move with the joint without interfering with its movement. The design of a slot of this length significantly reduces the stiffness and strength of the linear joint, especially under bending and torque conditions.

[0095] The wiring mechanism of this invention can improve or solve at least one of the above-mentioned problems.

[0096] The wiring mechanism 100 of this invention is used for the linear joint of the patient-side robot 220. A linear joint typically comprises two movably connected parts, referred to in this example as the main body 10 and the movable part 53, respectively. See [link to relevant documentation]. Figures 3 to 5 The linear joint may also include a drive device 20, under which the movable part 53 moves relative to the main body 10 along a first straight line. In the example shown in the figure, the drive device 20 may be a rotary motor, and the movable part 53 may be driven by the mover of the rotary motor, that is, the drive device 20 may drive the movable part 53 to move through a transmission device, wherein the transmission device may be a lead screw drive, a belt (pulley) drive, or a gear and rack drive, etc. Alternatively, the drive device 20 may also be a linear motor, and the movable part 53 may be rigidly connected to the mover of the linear motor. The linear joint may also include a braking device (not shown), under which the movable part 53 stops moving and remains stationary relative to the main body 10.

[0097] The main body 10 has a relatively enclosed inner cavity for accommodating components such as cables and circuit boards that are not convenient to be exposed outside the linear joint. The movable part 53 is disposed outside the inner cavity and is movably connected to the main body 10 along a first straight line relative to the main body 10.

[0098] The main body 10 can be a structural component such as a support column, connecting arm, or pipe for a linear joint. These structural components are hollow inside, forming an inner cavity for installing other components. The direction of the first straight line is the direction of movement of the linear joint. For example, if the linear joint moves horizontally, the direction of the first straight line is the length or width direction of the main body 10; if the linear joint moves vertically, the direction of the first straight line is the height direction of the main body 10.

[0099] In one example, see Figures 3 to 5 The main body 10 has a first working cavity 15 and a second working cavity 16, which are separated by a base plate 12. The base plate 12 is fixedly installed in the housing 11 of the main body 10. The first working cavity 15 is used to accommodate the movable part 53, the drive device 20, and the transmission device (if any). The first working cavity 15 is partially open, exposing the movable part 53 to the outside, which facilitates the connection of the movable part 53 with other components. The movable part 53 is connected to the main body 10 through a first sliding joint provided in the first working cavity 15. The first sliding joint may include, for example, a first slider 52 and a first slide rail 51. The first slider 52 may be fixedly connected to the movable part 53 or formed as one piece. The second working cavity 16 is relatively closed, that is, the aforementioned inner cavity, and is used to accommodate cables and circuit boards, etc.

[0100] The wiring mechanism 100 includes a moving part 83, a first guide assembly, and a first flexible part 70.

[0101] The movable member 83 is disposed within the inner cavity of the main body 10 and is movable relative to the main body 10. The direction of movement of the movable member 83 is opposite to the direction of movement of the movable part 53. The direction of movement of the movable member 83 can be considered to be parallel to a first straight line. In one example, the movable member 83 can be connected to the main body 10 via a second sliding pair disposed within the second working cavity 16. The second sliding pair may include, for example, a second slider 82 and a second slide rail 81. The first slider 82 may be fixedly connected to the movable member 83 or integrally formed therefrom.

[0102] The first guiding assembly includes a first guide member and a second guide member. The first guide member is disposed outside the inner cavity of the main body 10 and its position is fixed relative to the main body 10. The second guide member is disposed inside the inner cavity of the main body 10 and its position is fixed relative to the main body 10. The first and second guide members are used to guide the first flexible member 70 inside and outside the inner cavity, and can define the path of the first flexible member 70 from the inside of the inner cavity to the outside.

[0103] Since the positions of the first guide member and the second guide member are fixed relative to the main body 10, the path of the first flexible member 70 from the inside of the cavity to the outside is also fixed. Therefore, it is only necessary to open a through hole slightly larger than the first flexible member 70 on the wall of the cavity to ensure that the first flexible member 70 can move with the joint. Compared with the existing solutions, the solution of this application does not require opening a lead wire through groove equivalent to the stroke length of the joint, which can effectively improve the stiffness and strength of the linear joint. In one example, the through hole can be, for example, the second wire hole 14 provided on the seat plate 12 as shown in the figure. In one example, the through hole can be set outside the stroke of the movable part 53, that is, in any direction perpendicular to the first straight line, the through hole and the stroke of the movable part 53 do not overlap. Therefore, the first guide member and the second guide member can also be set outside the stroke of the movable part 53, so that the first guide member, the second guide member and the first flexible member 70 do not hinder the movement of the movable part 53. Furthermore, the through hole, the first guide member, and the second guide member can be positioned close to the end of the travel of the movable part 53 to minimize the trace length of the first flexible member 70 outside the cavity.

[0104] The first guide member can be a guide roller or a pulley, such as the fourth pulley 61 in the figure. The second guide member can be a guide roller or a pulley, such as the fifth pulley 62 in the figure. Both the fourth pulley 61 and the fifth pulley 62 are fixed to the housing 11 or the base plate 12 of the main body 10 by brackets, which are equivalent to fixed pulleys.

[0105] The first flexible member 70 is a cable or a flexible circuit board. The first flexible member 70 is wound around the first guide member and the second guide member. The portion of the first flexible member 70 located outside the inner cavity of the main body 10 is used to connect to the movable part 53, and the portion of the first flexible member 70 located inside the inner cavity of the main body 10 is connected to the moving member 83. The first flexible member 70 can be flat, circular, or have multiple parallel members, etc.

[0106] The first flexible member 70 is connected to the movable part 53, through which other components, such as a connecting arm connected to the movable part 53, can be further connected. The first flexible member 70 is connected to the moving member 83, through which other components, such as a circuit board disposed in the inner cavity of the main body 10, can be further connected.

[0107] like Figure 3 , Figure 4As shown, guided by the first guide and the second guide, the first flexible member 70 can include at least a first segment 71, a second segment 72 and a third segment 73 according to the extension path. The first segment 71 extends outside the inner cavity, the third segment 73 extends inside the inner cavity, and the second segment 72 is wrapped around the first guide and the second guide. One end of the first segment 71 is used to connect to the movable part 53, and the other end of the first segment 71 is connected to the second segment 72. One end of the third segment 73 is connected to the movable member 83, and the other end of the third segment 73 is connected to the second segment 72.

[0108] The moving part 53 provides traction to the first section 71, the first and second guide members provide support and guidance to the second section 72, and the moving part 83 provides traction to the third section 73.

[0109] The wiring mechanism 100 also includes a force-applying component. The force-applying component is connected to the moving member 83 and can apply tension to the moving member 83 to tension the first flexible member 70. The tension from the force-applying component is transmitted to the moving member 83 and then to the first flexible member 70. Simultaneously, the moving part 53 applies tension to the first flexible member 70 under the action of a drive device or a braking device. Supported and guided by the first and second guide members, the first flexible member 70 can always remain taut.

[0110] During the process of the first flexible member 70 moving in and out of the inner cavity, since the first flexible member 70 is always kept taut, the lengths of the first segment 71 and the third segment 73 are changing, while the length of the second segment 72 can be considered constant. During the process of the first flexible member 70 extending out of the inner cavity, the length of the first segment 71 gradually increases, and the length of the third segment 73 gradually decreases; during the process of the first flexible member 70 retracting into the inner cavity, the length of the first segment 71 gradually decreases, and the length of the third segment 73 gradually increases.

[0111] By designing the first flexible component 70 to be guided into and out of the inner cavity of the main body 10 by a first guide and a second guide fixed in position under tension, the first flexible component 70 can move with the movable part 53 and always remain tensioned. This effectively prevents the first flexible component 70 from accumulating, tangling, or entering the joint's movement gap, thus avoiding interference with the linear joint's movement and ensuring smooth movement of the linear joint. This improves the stability of the surgical robot. Therefore, there is no need to set additional cable protection components such as drag chains, corrugated pipes, and snakeskin tubes, simplifying the external structure of the surgical robot and improving its size. At the same time, there is no need to set a lead wire channel on one side of the linear joint, allowing the linear joint to be designed with structural characteristics that better conform to structural mechanics, improving the bending and torsional stiffness and strength of the linear joint, and extending its service life.

[0112] The connection between the first flexible member 70 and the movable part 53 allows the movable part 53 and the first flexible member 70 to exert tension on each other.

[0113] In one example, one end of the first flexible member 70 located outside the inner cavity of the main body 10 is fixed to the movable part 53. The end of the first flexible member 70 fixed to the movable part 53 can move with the movable part 53, but this end may not be the end of the first flexible member 70. The end of the first flexible member 70 may continue to extend and connect to other components, such as a connecting arm connected to the movable part 53.

[0114] The connection between the first flexible member 70 and the movable member 83 allows the movable member 83 and the first flexible member 70 to apply tension to each other.

[0115] In one example, one end of the first flexible member 70 located within the cavity of the main body 10 is fixed to the movable member 83. This end of the first flexible member 70, fixed to the movable member 83, can move with the movable member 83, at which point the length changes of the first segment 71 and the third segment 73 can be considered equal. However, it is understood that this end may not be the end of the first flexible member 70; the end of the first flexible member 70 may continue to extend and connect to other components, such as a circuit board disposed within the cavity of the main body 10.

[0116] In this application scenario, optionally, the first segment 71 and the third segment 73 can extend parallel to the first straight line, such that the direction of length change of the first segment 71 and the third segment 73 is consistent with the direction of movement of the linear joint. This helps to reduce the length and movement space of the first flexible member 70, and thus helps to reduce the size of the linear joint. At this time, the displacement of the moving member 83 is equal to the displacement of the moving part 53.

[0117] In another example, the first guide assembly also includes a third guide member, the position of which is fixed relative to the movable member 83. A portion of the first flexible member 70 located within the inner cavity of the main body 10 wraps around the third guide member, and one end of the first flexible member 70 located within the inner cavity of the main body 10 is fixed to the main body 10. The third guide member can be a guide roller or a pulley, such as the sixth pulley 63 shown in the figure, which is mounted and fixed to the movable member 83 via a bracket and can move synchronously with the movable member 83. The sixth pulley 63 is equivalent to a movable pulley. A second fixing device 64 is provided within the inner cavity of the main body 10 to fix one end of the first flexible member 70. However, it is understood that this end may not be the end of the first flexible member 70; the end of the first flexible member 70 may continue to be connected to components such as a circuit board. Alternatively, the second fixing device 64 may be directly connected to the circuit board.

[0118] At this time, the first flexible member 70 also includes a fourth segment 74. One end of the fourth segment 74 is connected to the main body 10, and the other end of the fourth segment 74 is wrapped around the third guide and connected to the third segment 73. During the movement of the first flexible member 70 into and out of the inner cavity, the length of the fourth segment 74 also changes. As the first flexible member 70 extends out of the inner cavity, the length of the fourth segment 74 gradually decreases; as the first flexible member 70 retracts into the inner cavity, the length of the fourth segment 74 gradually increases. Supported and guided by the third guide, the sum of the length changes of the fourth segment 74 and the third segment 73 can be considered equal to the length change of the first segment 71.

[0119] In this application scenario, optionally, the first segment 71, the third segment 73, and the fourth segment 74 can extend parallel to the first straight line, such that the direction of length change of the first segment 71, the third segment 73, and the fourth segment 74 is consistent with the direction of movement of the linear joint. This helps to reduce the length and movement space of the first flexible member 70, and thus helps to reduce the size of the linear joint. At this time, the displacement of the moving member 83 is half the displacement of the moving part 53, such as... Figure 5 As shown, L AB It is the displacement of the moving part 53, L CD This is the displacement of the moving part 83, at which point L AB =2L CD .

[0120] It can be seen that the setting of the third guide member can reduce the range of motion of the moving member 83, further save wiring space in the inner cavity of the main body 10, and improve the space utilization of the linear joint.

[0121] In one example, a portion of the second segment 72 extends perpendicular to the first straight line. This arrangement helps reduce the length and movement space of the first flexible member 70, thus helping to reduce the size of the linear joint; it also helps to reduce the size of the through hole (e.g., the second wire hole 14), thus helping to enhance the stiffness and strength of the linear joint. At this time, the mounting positions of the first guide and the second guide are consistent, for example, the centers of the first guide and the second guide are at the same distance from the end of the main body 10.

[0122] In one example, the first guide component includes pulleys, which can be fixed pulleys or a combination of fixed and movable pulleys. As shown in the figure, the fourth pulley 61 and the fifth pulley 62 are fixed pulleys, and the sixth pulley 63 is a movable pulley. Limiting grooves can be provided on the circumferential surface of each pulley, the width of which matches the width of the first flexible member 70, preventing the first flexible member 70 from shifting off the circumferential surface of the pulley. If the first flexible member 70 includes multiple cables, multiple limiting grooves can be correspondingly provided on the circumferential surface of the pulley.

[0123] In one example, the force-applying component includes an elastic element (not shown), the free end of which is connected to the movable element 83, and the fixed end of which can hook onto the housing 11 fixed to the main body 10. During the movement of the movable element, the elastic element always applies a spring force to the movable element, thereby creating a tension force on the first flexible element 70. For example, the elastic element may include a constant-force spring.

[0124] In another example, such as Figure 3 , Figure 4 As shown, the force-applying component may include: a second guide component and a second flexible component 40.

[0125] The second guide assembly includes a fourth guide member and a fifth guide member. The fourth guide member is disposed outside the inner cavity of the main body 10 and its position is fixed relative to the main body 10. The fifth guide member is disposed inside the inner cavity of the main body 10 and its position is fixed relative to the main body 10.

[0126] The second flexible member 40 is wound around the fourth and fifth guide members. The portion of the second flexible member 40 located outside the inner cavity of the main body 10 is connected to the movable part 53, and the portion of the second flexible member 40 located inside the inner cavity of the main body 10 is connected to the moving member 83. The fourth and fifth guide members are used to guide the second flexible member 40 inside and outside the inner cavity, and can define the path of the second flexible member 40 from the inside of the inner cavity to the outside.

[0127] Since the positions of the fourth and fifth guide members are fixed relative to the main body 10, the path of the second flexible member 40 from the inside of the cavity to the outside is also fixed. Therefore, it is only necessary to open a through hole slightly larger than the second flexible member 40 on the wall of the cavity to ensure that the second flexible member 40 can move with the joint. Compared with the existing solutions, the solution of this application does not require opening a guide slot equivalent to the stroke length of the joint, which can effectively improve the stiffness and strength of the linear joint. In one example, the through hole can be, for example, the first threading hole 13 provided on the seat plate 12 as shown in the figure. In one example, the through hole can be set outside the stroke of the movable part 53, so the fourth and fifth guide members can also be set outside the stroke of the movable part 53, so that the fourth guide member, the fifth guide member and the second flexible member 40 will not hinder the movement of the movable part 53. In one example, the stroke of the movable part 53 is between the first threading hole 13 and the second threading hole 14. Furthermore, the through hole, the fourth guide, and the fifth guide can be positioned close to the end of the travel of the movable part 53 to minimize the trace length of the second flexible member 40 outside the cavity.

[0128] The fourth guide component can be a guide roller or a pulley, such as the first pulley 31 in the figure. The fifth guide component can be a guide roller or a pulley, such as the second pulley 32 in the figure. Both the first pulley 31 and the second pulley 32 are fixed to the housing 11 or the base plate 12 of the main body 10 by means of a bracket, which is equivalent to a fixed pulley.

[0129] The second flexible element 40 includes at least one of a wire, rope, belt, cable, and flexible circuit board. In some applications, the second flexible element 40 is a wire, rope, or belt, and the first flexible element 70 is a cable or flexible circuit board. In other applications, both the second flexible element 40 and the first flexible element 70 can be configured as either a cable or a flexible circuit board.

[0130] The second flexible member 40 is wound around the fourth and fifth guide members. The portion of the second flexible member 40 located outside the inner cavity of the main body 10 is used to connect to the movable part 53, and the portion of the second flexible member 40 located inside the inner cavity of the main body 10 is connected to the moving member 83. The second flexible member 40 can be flat, circular, or have multiple parallel members, etc.

[0131] The second flexible member 40 is connected to the movable part 53, through which other components, such as a connecting arm connected to the movable part 53, can be further connected. The second flexible member 40 is also connected to the movable member 83, through which other components, such as a circuit board disposed in the inner cavity of the main body 10, can be further connected.

[0132] The second flexible member 40 is connected to the movable part 53 and the moving part 83, and is pulled relative to the first flexible member 70 to form a closed-loop traction. At this time, there is no need to set an additional elastic member, and the first flexible member 70 can always be in a tensioned state, while the second flexible member 40 is also always in a tensioned state.

[0133] like Figure 3 , Figure 4 As shown, guided by the fourth and fifth guide members, the second flexible member 40 may also include at least a first section, a second section, and a third section according to the extension path. The first section extends outside the inner cavity, the third section extends inside the inner cavity, and the second section is wrapped around the fourth and fifth guide members. One end of the first section is used to connect to the movable part 53, and the other end of the first section is connected to the second section. One end of the third section is connected to the movable member 83, and the other end of the third section is connected to the second section.

[0134] The active part 53 provides traction for the first section, the fourth and fifth guide components provide support and guidance for the second section, and the moving part 83 provides traction for the third section.

[0135] During the process of the second flexible member 40 moving in and out of the inner cavity, since the second flexible member 40 is always kept taut, the lengths of the first and third sections are changing, while the length of the second section can be considered constant. During the process of the second flexible member 40 extending out of the inner cavity, the length of the first section gradually increases, and the length of the third section gradually decreases; during the process of the second flexible member 40 retracting into the inner cavity, the length of the first section gradually decreases, and the length of the third section gradually increases.

[0136] By designing the second flexible component 40 to be guided into and out of the inner cavity of the main body 10 by the fourth and fifth guides fixed in position under tension, the second flexible component 40 can move with the movable part 53 and always remain tensioned. This effectively prevents the second flexible component 40 from accumulating, tangling, or entering the joint's movement gap, thus avoiding interference with the linear joint's movement and ensuring smooth movement of the linear joint. This improves the stability of the surgical robot. Therefore, there is no need to set additional cable protection components such as drag chains, corrugated pipes, and snakeskin tubes, simplifying the external structure of the surgical robot and improving its size. At the same time, there is no need to set a lead wire channel on one side of the linear joint, allowing the linear joint to be designed with structural characteristics that better conform to structural mechanics. This improves the bending and torsional stiffness and strength of the linear joint and extends its service life.

[0137] The connection between the second flexible member 40 and the movable part 53 allows the movable part 53 and the second flexible member 40 to apply tension to each other.

[0138] In one example, one end of the second flexible member 40 located outside the inner cavity of the main body 10 is fixed to the movable part 53. The end of the second flexible member 40 fixed to the movable part 53 can move with the movable part 53, but this end may not be the end of the second flexible member 40. The end of the second flexible member 40 may continue to extend and connect to other components, such as a connecting arm connected to the movable part 53.

[0139] The connection between the second flexible member 40 and the movable member 83 allows the movable member 83 and the second flexible member 40 to apply tension to each other.

[0140] In one example, one end of the second flexible member 40 located within the cavity of the main body 10 is fixed to the movable member 83, in accordance with the example described above where one end of the first flexible member 70 is fixed to the movable member 83. The end of the second flexible member 40 fixed to the movable member 83 can move with the movable member 83, at which point the length changes of the first segment and the third segment can be considered equal. However, it is understood that this end may not be the end of the second flexible member 40; the end of the second flexible member 40 may continue to extend and connect to other components, such as a circuit board disposed within the cavity of the main body 10.

[0141] In this application scenario, optionally, the first segment and the third segment can extend parallel to the first straight line, so that the direction of length change of the first segment and the third segment is consistent with the direction of movement of the linear joint. This helps to reduce the length and movement space of the second flexible member 40, and thus helps to reduce the size of the linear joint. At this time, the displacement of the moving member 83 is equal to the displacement of the moving part 53.

[0142] In another example, the second guide assembly further includes a sixth guide member, the position of which is fixed relative to the movable member 83. A portion of the second flexible member 40 located in the cavity of the main body 10 is wrapped around the sixth guide member, and one end of the second flexible member 40 located in the cavity of the main body 10 is fixed to the main body 10, in order to cooperate with the example described above where the first guide assembly includes a third guide member.

[0143] The sixth guide member can be a guide roller or a pulley, such as the third pulley 33 shown in the figure. It is mounted and fixed to the movable member 83 by a bracket and can move synchronously with the movable member 83. A first fixing device 34 is provided in the inner cavity of the main body 10 for fixing one end of the second flexible member 40. However, it is understood that this end may not be the end of the second flexible member 40, and the end of the second flexible member 40 may continue to be connected to components such as circuit boards. Alternatively, the first fixing device 34 may be directly connected to the circuit board.

[0144] At this time, the second flexible member 40 also includes a fourth section, one end of which is connected to the main body 10, and the other end of which is wrapped around the sixth guide member and connected to the third section. During the movement of the second flexible member 40 into and out of the inner cavity, the length of the fourth section also changes. As the second flexible member 40 extends out of the inner cavity, the length of the fourth section gradually decreases; as the second flexible member 40 retracts into the inner cavity, the length of the fourth section gradually increases. Supported and guided by the sixth guide member, the sum of the length changes of the fourth section and the third section can be considered equal to the length change of the first section.

[0145] In this application scenario, optionally, the first, third, and fourth segments can extend parallel to the first straight line, such that the direction of length change of the first, third, and fourth segments is consistent with the direction of movement of the linear joint. This helps to reduce the length and movement space of the second flexible member 40, and thus helps to reduce the size of the linear joint. At this time, the displacement of the moving member 83 is half the displacement of the moving part 53, such as... Figure 5 As shown, L AB It is the displacement of the moving part 53, L CD This is the displacement of the moving part 83, at which point L AB =2L CD .

[0146] It can be seen that the setting of the sixth guide member can reduce the range of motion of the moving member 83, further save wiring space in the inner cavity of the main body 10, and improve the space utilization of the linear joint.

[0147] In one example, a portion of the second section extends perpendicular to the first straight line. This arrangement helps reduce the length and movement space of the second flexible member 40, thus helping to reduce the size of the linear joint; it also helps to reduce the size of the through hole (e.g., the first thread hole 13), thus helping to enhance the stiffness and strength of the linear joint. At this time, the mounting positions of the fourth and fifth guide members are consistent, for example, the centers of the fourth and fifth guide members are equidistant from the end of the main body 10.

[0148] In one example, the second guide component includes pulleys, which can be fixed pulleys or a combination of fixed and movable pulleys. As shown in the figure, the first pulley 31 and the second pulley 32 are fixed pulleys, and the third pulley 33 is a movable pulley. Limiting grooves can be provided on the circumferential surface of each pulley, the width of which matches the width of the second flexible member 40, preventing the second flexible member 40 from shifting off the circumferential surface of the pulley. If the second flexible member 40 includes multiple wires, ropes, or belts, multiple limiting grooves can be correspondingly provided on the circumferential surface of the pulleys.

[0149] In understanding the scope of this invention, the term "comprising" and its derivatives, as used herein, are intended to be open-ended terms that specify the presence of the described features, elements, components, groups, integrals, and / or steps, but do not exclude the presence of other undescribed features, elements, components, groups, integrals, and / or steps. This concept also applies to words with similar meanings, such as the terms "comprising," "having," and their derivatives.

[0150] The term "attached" or "joined" as used herein includes: a construction in which one element is directly fixed to another element by fixing it directly to another element; a construction in which one element is indirectly fixed to another element by fixing it to an intermediate member, which in turn is fixed to another element; and a construction in which one element is integral with another element, that is, one element is substantially part of another element. This definition also applies to words with similar meanings, such as "connect," "joint," "couple," "install," "adhere," "fix," and their derivatives. Finally, degree terms such as "substantially," "approximately," and "approximately" as used herein indicate the amount of deviation from which modifications to the terminology do not significantly alter the final result.

[0151] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0152] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention.

Claims

1. A wiring mechanism for a linear joint of a robot, the linear joint comprising a main body and a movable part, the main body having an inner cavity, the movable part being movable relative to the main body along a first straight line outside the inner cavity, characterized in that, The wiring mechanism includes: A movable member is disposed in the inner cavity of the main body and is movable relative to the main body, wherein the moving direction of the movable member is opposite to the moving direction of the movable part; A first guide assembly, comprising a first guide member and a second guide member, wherein the first guide member is disposed outside the inner cavity of the main body and is fixed in position relative to the main body, and the second guide member is disposed inside the inner cavity of the main body and is fixed in position relative to the main body; A first flexible element, which is a cable or a flexible circuit board, is wound around the first guide and the second guide. The portion of the first flexible element located outside the inner cavity of the main body is used to connect to the movable part, and the portion of the first flexible element located inside the inner cavity of the main body is connected to the moving part. A force-applying component is connected to the movable member, and the force-applying component applies a tensile force to the movable member to tension the first flexible member.

2. The wiring mechanism according to claim 1, characterized in that, One end of the first flexible member located in the cavity of the main body is fixed to the moving member; or The first guide assembly further includes a third guide member, the position of which is fixed relative to the moving member. A portion of the first flexible member located in the inner cavity of the main body is wrapped around the third guide member, and one end of the first flexible member located in the inner cavity of the main body is used to fix it to the main body.

3. The wiring mechanism according to claim 1, characterized in that, The first flexible member includes a first segment, a second segment, and a third segment. The first segment extends outside the inner cavity, the third segment extends within the inner cavity, and the second segment wraps around the first guide and the second guide. One end of the first segment is used to connect to the movable part, and the other end of the first segment is connected to the second segment. One end of the third segment is connected to the movable member, and the other end of the third segment is connected to the second segment.

4. The wiring mechanism according to claim 3, characterized in that, The first segment and the third segment extend parallel to the first straight line.

5. The wiring mechanism according to claim 4, characterized in that, The second segment extends perpendicularly to the first straight line.

6. The wiring mechanism according to claim 3, characterized in that, The first guide assembly further includes a third guide member, the position of which is fixed relative to the moving member. The first flexible member further includes a fourth section, one end of which is used to connect to the main body, and the other end of which is wrapped around the third guide member and connected to the third section.

7. The wiring mechanism according to claim 6, characterized in that, The fourth segment extends parallel to the first straight line.

8. The wiring mechanism according to claim 1, characterized in that, The displacement of the moving part is equal to the displacement of the movable part; or The displacement of the moving part is half the displacement of the movable part.

9. The wiring mechanism according to claim 1, characterized in that, The first guide assembly includes a pulley.

10. The wiring mechanism according to any one of claims 1 to 9, characterized in that, The force-applying component includes an elastic element, the free end of which is connected to the moving element.

11. The wiring mechanism according to claim 10, characterized in that, The elastic element includes a constant force spring.

12. The wiring mechanism according to any one of claims 1 to 9, characterized in that, The force-applying component includes: The second guide assembly includes a fourth guide member and a fifth guide member. The fourth guide member is disposed outside the inner cavity of the main body and its position is fixed relative to the main body. The fifth guide member is disposed inside the inner cavity of the main body and its position is fixed relative to the main body. The second flexible member is wound around the fourth guide member and the fifth guide member. The portion of the second flexible member located outside the inner cavity of the main body is used to connect to the movable part, and the portion of the second flexible member located inside the inner cavity of the main body is connected to the moving member.

13. The wiring mechanism according to claim 12, characterized in that, One end of the second flexible member located in the cavity of the main body is fixed to the moving member; or The second guide assembly further includes a sixth guide member, the position of which is fixed relative to the moving member. A portion of the second flexible member located in the inner cavity of the main body is wrapped around the sixth guide member, and one end of the second flexible member located in the inner cavity of the main body is used to fix it to the main body.

14. The wiring mechanism according to claim 12, characterized in that, The length of the portion of the second flexible member located outside the inner cavity of the main body is constant, as is the sum of the length of the portion of the first flexible member located outside the inner cavity of the main body.

15. The wiring mechanism according to claim 12, characterized in that, The second flexible component includes at least one of the following: wire, rope, belt, cable, and flexible circuit board.

16. The wiring mechanism according to claim 12, characterized in that, The second guide component includes a pulley.

17. A wiring mechanism for a linear joint of a robot, the linear joint comprising a main body and a movable part, the movable part being movable relative to the main body, characterized in that, The wiring mechanism includes: A movable member, the movable member being movable relative to the main body, the moving direction of the movable member being opposite to the moving direction of the movable part; A first flexible member, one end of which is used to connect to the movable part, the first flexible member connects to the movable member and applies a first tensile force to the movable member; A second flexible member, one end of which is used to connect to the movable part, the second flexible member connects to the movable member and applies a second tension force to the movable member, the second tension force being in the opposite direction to the first tension force; A first guiding component is used to guide the direction of the first flexible member; The second guide component is used to guide the direction of the second flexible member; Wherein, at least one of the first flexible component and the second flexible component is a cable or a flexible circuit board.

18. The wiring mechanism according to claim 17, characterized in that, The first guide component and / or the second guide component include pulleys.

19. A linear joint for a robot, characterized in that, The linear joint includes: The main body has an internal cavity; The movable part is movable relative to the main body part along a first straight line outside the inner cavity; The wiring mechanism according to any one of claims 1 to 18.

20. The linear joint according to claim 19, characterized in that, The main body also has a through hole, which communicates with the inner cavity of the main body, and the first flexible member enters the inner cavity through the through hole.

21. The linear joint according to claim 20, characterized in that, The through hole is located outside the travel distance of the movable part along the first straight line.

22. A surgical robot, characterized in that, It includes the wiring mechanism according to any one of claims 1 to 18 or the linear joint according to any one of claims 19 to 21.

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