Rapidly replaceable laparoscopic surgery robot holding arm

Abstract

The invention relates to the technical field of surgical robots, in particular to a laparoscopic surgical robot holding arm capable of being quickly replaced, which comprises a mechanical arm, a holding connector is arranged at one end of the mechanical arm, the holding connector comprises a connecting plate, a supporting assembly is fixedly connected to one side of the connecting plate, and a plurality of carrier assemblies are slidably connected to the supporting assembly; the bottom of the connecting plate is further rotationally connected with a selection driving assembly, an operation doctor completes unlocking and resetting of a previous surgical instrument by twisting the selection driving assembly, and meanwhile selection and equipment of a next surgical functional instrument are achieved. A cam groove is formed in the selection driving assembly, a buffer cylinder is further vertically and slidably connected to the supporting assembly, and a cam rod is fixedly connected to the outer side wall of the buffer cylinder; according to the mechanical arm, an impact force counteracting mechanism integrating the buffer cylinder and the cam groove is combined with single-step rotation switching driving of a plurality of instruments, the problems of pose drift and vibration interference caused by instrument replacement of a traditional laparoscope mechanical arm are solved, and the operation stability and operation convenience are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a quickly replaceable laparoscopic surgical robot holding arm. Background Art

[0002] The rapidly replaceable laparoscopic surgical robot arm is a key component in the robotic surgical system for clamping and operating functional instruments. Its interface design allows the replacement of instruments with different functions (such as electrocoagulation forceps, needle holders or ultrasonic scalpels) within seconds during surgery without interrupting the surgical process.

[0003] In the prior art, the Chinese patent publication number CN109352675B discloses a mechatronic quick-change interface for a space manipulator, which realizes torque transmission (precision coupling of the transmission key and the key sleeve) through the cooperation of the semicircular keyway of the active end transmission shaft and the passive end transmission shaft; automatically completes the establishment of the electrical path during connection through the J36A connector, supporting high-voltage and high-current transmission; drives the axial movement of the threaded shaft through a motor, combined with a steel ball locking mechanism, to achieve rapid locking and separation, realizing the three major functions of tool replacement, energy transmission and rotational transmission in a single interface, making up for the defect of incomplete tool capabilities of traditional quick-change interfaces, having a wide range of application space and strong adaptability, and can be applied to the end of a space manipulator to provide it with rich tool replacement capabilities.

[0004] The aforementioned literature integrates tool replacement, energy transmission, and rotational drive. However, in practical applications, differences in the quality of surgical instruments can cause the robotic arm to drift during replacement. This can lead to amplified errors during delicate operations (such as vascular suturing) when transferred to the robotic arm of a laparoscopic surgical robot. This can force the surgeon to perform frequent manual calibrations, prolonging the surgery and increasing operator fatigue. Therefore, it is necessary to design a rapidly replaceable robotic arm for laparoscopic surgery that minimizes the impact on the robotic arm's position during instrument replacement and meets the instrument stability and precision requirements of laparoscopic surgery. Summary of the Invention

[0005] To solve the above problems, the present invention provides a quickly replaceable laparoscopic surgical robot arm. By integrating the impact force offset mechanism of the buffer cylinder and the cam groove combined with the single-step rotation switching drive of several instruments, the problems of posture drift and vibration interference caused by instrument replacement in traditional laparoscopic robotic arms are solved, thereby improving surgical stability and operational convenience.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: a rapidly replaceable laparoscopic surgical robot holding arm, comprising a robotic arm, the robotic arm being signal-connected to a control system for controlling the multi-directional movement of the robotic arm, a holding joint being provided at one end of the robotic arm, the holding joint comprising a connecting plate detachably connected to the robotic arm, a support assembly for carrying and connecting various components being fixedly connected to the connecting plate on a side remote from the robotic arm, a plurality of carrier assemblies for carrying instruments with different surgical functions being uniformly and vertically slidably connected to the support assembly along its circumference;

[0007] The bottom of the connecting plate is also rotatably connected to a selection drive assembly. The operating doctor twists the selection drive assembly to unlock and reset the previous surgical instrument, and at the same time realizes the selection and equipment of the next surgical functional instrument;

[0008] A cam groove is provided in the selection drive assembly, and a buffer cylinder is vertically slidably connected to the support assembly. A cam rod that slides with the cam groove is fixedly connected to the outer wall of the buffer cylinder. When the operator twists the selection drive assembly, the cam rod slides along the cam groove to convert the rotation of the selection drive assembly into a vertical displacement of the buffer cylinder. The vertical displacement of the buffer cylinder contacts the corresponding carrier assembly to offset the impact force that affects the position of the robotic arm when the surgical instrument is reset.

[0009] The technical principle behind this solution is as follows: a drive assembly is selected as the power source for the entire system, providing the initial driving force for instrument replacement. The device design transmits the drive assembly's rotational motion to the buffer cylinder via a cam groove and cam rod, converting the rotational motion into linear displacement. The carrier assembly serves as the instrument's support platform, moving with the linear displacement of the buffer cylinder. During instrument replacement, the movement of the carrier assembly transports the new instrument to the designated location and removes the old instrument. Since the carrier assembly inevitably generates a certain amount of impact force when resetting, the buffer cylinder is designed to disperse and absorb this impact, preventing it from affecting the instrument and the entire system.

[0010] The above scheme has the following beneficial effects:

[0011] 1. In the traditional laparoscopic surgical robot arm interface, the impact force generated when the instrument is replaced will be directly transmitted, causing the robot arm posture to drift, requiring frequent posture calibration. The vertical displacement of the buffer cylinder following the selection process is designed to offset the impact force. When the impact force is generated by resetting the instrument replacement carrier assembly (that is, when unlocking and resetting the previous instrument), the buffer cylinder shortens the reset distance by rising, offsetting part of the impact force, reducing the impact of the impact force on the robot arm, and reducing the degree of robot arm posture drift, thereby reducing the frequency of posture calibration and improving the stability of the robot arm.

[0012] 2. Traditional instrument replacement requires multiple steps to unlock the old instrument and load the new one, which is cumbersome and time-consuming. This design, however, completes the dual process of "resetting the old instrument and locking the new one" with a single twist, integrating the unlocking and loading functions of the rotary drive assembly. In actual surgical scenarios, this shortens switching time, improves the efficiency of instrument replacement during surgery, and saves valuable time for surgery.

[0013] 3. Since laparoscopic surgery requires extremely high accuracy in repeated positioning of the instrument end, traditional independent interfaces are prone to errors during the assembly process, affecting the positioning accuracy of the instrument. By integrating various functional instruments into the interface and circumferentially evenly arranged carrier components, the consistency of the spatial posture of the instrument can be effectively maintained, making the position of each carrier component relatively fixed and precise, eliminating assembly errors. That is, when the instrument is replaced, the new instrument can accurately reach the designated position, meeting the strict requirements of laparoscopic surgery for repeated positioning accuracy of the instrument end.

[0014] Furthermore, the support assembly includes a guide shaft fixedly connected to a side of the connecting plate away from the robotic arm.

[0015] Beneficial effects: The design of the guide shaft realizes the alignment and positioning function of the robotic arm, and it slides with the buffer cylinder to form a dual guide mechanism; when the carrier assembly moves, the guide shaft provides it with stable support and guidance, effectively reducing the shaking and deviation of the carrier assembly during movement, and improving its movement stability.

[0016] Furthermore, the selection drive assembly includes a selection cylinder unidirectionally connected to the connection plate, an instrument cavity is provided between the inner side wall of the selection cylinder and the outer side wall of the buffer cylinder, and the carrier assemblies are all located in the instrument cavity. The carrier assemblies all include a vertical sliding platform slidably connected to the outer side wall of the buffer cylinder, and the plurality of vertical sliding platforms are evenly arranged along the circumference of the axis of the buffer cylinder, and different surgical functional instruments are respectively embedded in the bottom of the vertical sliding platforms;

[0017] An extrusion groove is provided on the inner wall of the selection cylinder, and an extrusion block is vertically slidably connected to the extrusion groove. A wedge block is fixedly connected to the side of the extrusion block close to the buffer cylinder, and the bottom surface of the wedge block matches the shape of the top surface of each vertical sliding platform; a return spring is provided on one side of the vertical sliding platform, and the two ends of the return spring are respectively fixedly connected to the vertical sliding platform and the connecting plate.

[0018] Beneficial Effects: When the extrusion block moves, the wedge-shaped structure causes the vertical slide table to move accordingly, enabling the instrument to be ejected. The return spring design optimizes the instrument resetting process, making resetting faster and more stable. It also improves compatibility with the storage of multiple instruments, allowing for simultaneous storage and facilitating quick switching during surgery.

[0019] Furthermore, a twisting cylinder is provided at the top of the inner part of the cylinder and is rotatably connected to the connecting plate, a threaded strip is fixedly connected to the bottom of the outer wall of the twisting cylinder, and a groove corresponding to the shape of the threaded strip is engraved on the pressing block;

[0020] Symmetrical twisting grooves are provided on the selection cylinder, and the twisting grooves all correspond to the positions of the twisting cylinder body.

[0021] Beneficial effects: The threaded strips and the grooves are precisely matched to ensure the accurate transmission of force when the twisting barrel rotates, so that the pressing block can be pressed down accurately, providing the drive for changing the instrument. The doctor can complete the operation of extending the instrument by rotating the twisting barrel, and can adjust the length control by visually measuring the length and combining the twisting size.

[0022] Furthermore, the vertical sliding tables include an integrally formed locking block and unlocking block, the edges of the locking block and the unlocking block close to the selection cylinder are both arc-shaped edges, the arc-shaped edges of the locking block and the unlocking block away from each other are both in contact with the side wall of the selection cylinder, and a slot is provided between the arc-shaped edge of the locking block and the unlocking block close to each other and the inner side wall of the selection cylinder, and the shape of several slots corresponds to the shape of the extrusion block.

[0023] Beneficial effect: The design of the card slot can limit the pressing block during the use process after the instrument is replaced, ensuring that the pressing block accurately acts on the target vertical sliding table, ensuring the accuracy of instrument replacement, while improving the accuracy of the robot arm operation and improving the fixing effect of the pressing block.

[0024] Furthermore, a push plate is connected to the extrusion groove in a circumferential sliding manner along the selection cylinder, and a plurality of first springs are provided between the push plate and the extrusion groove. The two ends of the first springs are respectively fixedly connected to the side wall of the extrusion groove and the side wall of the push plate. The push plate is fitted with the extrusion block on the side away from the extrusion groove. A second spring is provided on the top of the extrusion block, and the two ends of the second spring are respectively fixedly connected to the extrusion block and the extrusion groove.

[0025] Beneficial effect: The first spring and the second spring work together. During the process of the doctor rotating the selection cylinder, combined with the design of the shape of the locking block and the unlocking block, the thread matching state of the groove on the pressing block and the threaded strip can be adjusted in stages. When the doctor rotates the selection cylinder to make the pressing block leave the locking block, the locking block squeezes the pressing block to separate the groove from the threaded strip. At this time, the pressing block is reset under the action of the second spring, so that the pressing block returns to its initial position and regains the function of driving and limiting the sliding table.

[0026] Furthermore, the curve endpoints presented by the cam groove include an upper endpoint and a lower endpoint, the upper endpoints correspond to the positions where the locking block and the unlocking block are close to each other, and the lower endpoints correspond to the gap positions between adjacent vertical sliding platforms.

[0027] Beneficial Effects: The curved trajectories of the upper and lower endpoints allow for precise control of the buffer cylinder's displacement sequence. During the various stages of instrument replacement, the upward displacement (towards the connecting plate) of the buffer cylinder occurs as the extrusion block slides closer to the nearest slot, while the downward displacement (away from the connecting plate) of the buffer cylinder occurs as the extrusion block slides away from the nearest slot. This allows the buffer cylinder to move according to a preset trajectory and sequence, ensuring a highly efficient and stable instrument replacement process and improving the reliability of the entire system.

[0028] Furthermore, a positioning laser transmitter is fixedly connected to one end of the guide shaft away from the robotic arm, an optical receiving component is provided on the outside of the positioning laser transmitter, the signal of the optical receiving component is connected to the control system, and the control system is connected to the robotic arm signal.

[0029] Beneficial effects: The positioning laser transmitter and the optical receiving component form a closed-loop detection system. The positioning laser transmitter emits laser, and the optical receiving component receives the reflected light, and detects the posture of the end of the robotic arm in real time. When posture deviation is detected, the real-time posture compensation system will promptly transmit the signal to the control system, calculate and convert it into the displacement drive signal of the robotic arm, ensure the operating accuracy of the end of the robotic arm, and effectively improve the accuracy and safety of surgical operations.

[0030] Furthermore, a plurality of buffer grooves are provided on the outside of the buffer cylinder and are respectively located at the sliding connection between each vertical sliding platform and the buffer cylinder, and shock-absorbing plates are fixedly connected in the buffer grooves.

[0031] Beneficial effect: The buffer groove structure of the shock-absorbing plate can effectively absorb high-frequency vibrations. When the vertical sliding table is reset, the reset vibration generated will be absorbed by the buffer groove.

[0032] Furthermore, an arrow mark corresponding to the position of the extrusion groove is engraved on the outer wall of the selection cylinder.

[0033] Beneficial effects: The visual arrow marks play an important guiding role in the instrument selection process. The operating doctor can quickly and accurately select the required instrument based on the arrow marks without spending too much time on identification and judgment, which reduces the doctor's cognitive load and makes the surgical operation more convenient and efficient.

[0034] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a quickly replaceable laparoscopic surgical robot holding arm according to the present invention;

[0036] Figure 2 This is an axonometric diagram of the arm joint of the quickly replaceable laparoscopic surgical robot arm embodiment of the present invention;

[0037] Figure 3 This is an axonometric cross-sectional view of a holding joint of an embodiment of a quickly replaceable laparoscopic surgical robot holding arm of the present invention;

[0038] Figure 4 Schematic diagram of the details of the vertical sliding platform and the curved trajectory of the cam groove in an embodiment of the rapidly replaceable laparoscopic surgical robot arm of the present invention;

[0039] Figure 5 This is a schematic diagram of the disassembly of the selection cylinder, the twisting cylinder, and the guide shaft in an embodiment of the quickly replaceable laparoscopic surgical robot arm of the present invention;

[0040] Figure 6 Schematic diagram of the detailed axonometric view of the connection between the groove and the thread strip in the embodiment of the quickly replaceable laparoscopic surgical robot arm of the present invention.

[0041] The figure marks in the drawings of the specification include: 1. Robotic arm; 2. Arm joint; 3. Connecting plate; 4. Guide shaft; 5. Selection cylinder; 6. One-way bearing; 7. Instrument cavity; 8. Vertical sliding table; 801. Locking block; 802. Unlocking block; 9. Pressing groove; 10. Pressing block; 11. Wedge block; 12. Arrow mark; 13. Twisting cylinder; 14. Twisting groove; 15. Threaded bar; 16. Notch; 17. Return spring; 18. Push plate; 19. First spring; 20. Second spring; 21. Cam groove; 22. Cam rod; 23. Upper end point; 24. Lower end point; 25. Positioning laser emitter; 26. Buffer groove; 27. Buffer cylinder. DETAILED DESCRIPTION

[0042] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0044] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0045] The following is further described in detail through specific implementation methods:

[0046] Example 1:

[0047] As attached Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown: A quickly replaceable laparoscopic surgical robot holding arm includes a robotic arm 1, which is preferably a WG-NST600T multi-degree-of-freedom robotic arm 1. A holding joint 2 is provided at one end of the robotic arm 1, and the holding joint 2 includes a connecting plate 3. The connecting plate 3 is fixedly connected to a support assembly for carrying and connecting various components on the side away from the robotic arm 1. The support assembly includes a guide shaft 4 welded to the center of the side of the connecting plate 3 away from the robotic arm 1. The connecting plate 3 and the robotic arm 1 are detachably fixed by a snap-fit structure; the design of the connecting plate 3 and the guide shaft 4 provides connection, fixation and guidance for the holding joint 2.

[0048] The outer side of the guide shaft 4 is sleeved with a buffer cylinder 27 for sliding connection, and the bottom of the connecting plate 3 is also rotatably connected to a selection drive assembly, which includes a selection cylinder 5. The rotation connection between the selection cylinder 5 and the connecting plate 3 is realized by a one-way bearing 6. The inner edge and outer side of the one-way bearing 6 are welded to the connecting plate 3 and the buffer cylinder 27 respectively. The one-way bearing 6 enables the buffer cylinder 27 and the connecting plate 3 to rotate only clockwise relative to each other. An instrument cavity 7 is provided between the inner side wall of the selection cylinder 5 and the outer side wall of the buffer cylinder 27. A number of carrier assemblies are provided in the instrument cavity 7. The carrier assemblies all include a vertical connection with the outer side wall of the buffer cylinder 27. A vertical sliding platform 8 is slidably connected, and several vertical sliding platforms 8 are evenly arranged along the circumference of the axis of the buffer cylinder 27, and different functional instruments are embedded in the bottom of the vertical sliding platform 8 respectively; compared with the conventional design in which each functional instrument is independently disassembled and connected, this design integrates several different functional instruments into one connector, so that different functional instruments (such as electrocoagulation forceps, needle holders, ultrasonic scalpels, etc.) are pre-loaded in the same axial space, eliminating the risk of tool misalignment caused by the traditional independent disassembly and assembly of multiple instruments, and improving the efficiency of the disassembly and assembly operation compared to the traditional design, thereby ensuring the continuity and safety of the surgical process.

[0049] In order to ensure the precision of the operation during the operation, it is necessary to ensure the stability of the functional instrument at the operating end of the robotic arm 1. An extrusion groove 9 is designed to be opened on the inner wall of the selection cylinder 5, and an extrusion block 10 is vertically slidably connected in the extrusion groove 9. A wedge block 11 integrally formed with the extrusion block 10 is provided on the side of the extrusion block 10 close to the buffer cylinder 27. The bottom surface of the wedge block 11 is matched with the top surface shape of the vertical sliding platform 8. When the wedge block 11 in the selection cylinder 5 is fitted with any vertical sliding platform 8, the downward displacement of the wedge block 11 will drive the vertical sliding platform 8 to slide on the surface of the buffer cylinder 27, and the corresponding functional instrument will leak out through the opening at the bottom of the selection cylinder 5.

[0050] In addition, an arrow mark 12 corresponding to the position of the extrusion groove 9 is engraved on the outer wall of the selection cylinder 5. This design enables the operating doctor to judge whether the currently selected functional device is correct based on the position of the arrow mark 12, thereby improving the accuracy of the functional device replacement process.

[0051] The cam 13 is provided with a screw thread 15 which is integral with the cam 13 and is screwed to the cam 13 so that the cam 13 can rotate relative to the cam 13. 5 relative sliding, after the operating doctor completes the alignment of the corresponding functional instrument through the selection cylinder 5 (the bottom of the internal wedge block 11 fits into the corresponding vertical sliding platform 8), the operating doctor twists the twisting cylinder 13 exposed due to the design of the twisting groove 14 by hand (twist counterclockwise). In the initial state, the threaded strip 15 on the twisting cylinder 13 and the groove 16 on the extrusion block 10 screw and slide with each other. During the rotation of the twisting cylinder 13, the threaded strip 15 slides along the groove 16, and the movement can be relatively converted into the groove 16 (i.e. the extrusion block 10) sliding clockwise downward along the threaded strip 15. Since the displacement of the extrusion block 10 is limited by the extrusion groove 9, the extrusion block 10 can only be displaced vertically, that is, when the twisting cylinder 13 is twisted counterclockwise, the extrusion block 10 displaces downward (away from the connecting plate 3). The downward displacement of the extrusion block 10 drives the wedge block 11 to press the vertical sliding platform 8 and slide downward synchronously, thereby achieving the effect of extruding the functional instrument out of the selection cylinder 5.

[0052] In existing laparoscopic surgical robot technology, when a certain surgical step is completed, the old instrument (the instrument currently installed at the operating end of the robotic arm 1) needs to be unlocked and removed, and then time is spent on selecting the instrument required for the next surgical step, which consumes the doctor's energy and increases the duration of the operation. To this end, a return spring 17 is designed on one side of the vertical sliding platform 8, and the two ends of the return spring 17 are respectively welded to the vertical sliding platform 8 and the connecting plate 3. When a functional device is used, the vertical sliding platform 8 carrying the previous functional device is pressed by the wedge block 11 on the extrusion block 10 and is located below the other vertical sliding platforms 8. During the process of changing the functional device, the operating doctor directly rotates the selection cylinder 5 and selects the next functional device required through the arrow mark 12. In this process, due to the presence of the damping sliding layer, the friction between the groove 16 and the threaded strip 15 and the rotation limit contact of the one-way bearing 6 are increased. At this time, the rotation of the selection cylinder 5 will drive the torsion cylinder 13 to rotate together. The rotation of the selection cylinder 5 will drive the extrusion block 10 limited by the extrusion groove 9 to rotate, that is, drive the wedge block 11 to slide away from the upper surface of the vertical sliding platform 8. The vertical sliding platform 8 that has lost the vertical limit of the wedge block 11 returns to the same height as the other vertical sliding platforms 8 under the action of the return elastic force of the return spring 17, that is, reset is achieved.

[0053] Special features such as Figure 4As shown, the vertical sliding platform 8 includes an integrally formed locking block 801 and an unlocking block 802. The edges of the locking block 801 and the unlocking block 802 close to the selection cylinder 5 are both arc-shaped edges. The arc-shaped edges of the locking block 801 and the unlocking block 802 away from each other are both in contact with the side wall of the selection cylinder 5. A card groove is provided between the arc-shaped edges of the locking block 801 and the unlocking block 802 close to each other and the inner side wall of the selection cylinder 5. The shapes of the card grooves correspond to the shapes of the extrusion block 10. A push plate 18 is connected to the circumferential sliding of the selection cylinder 5 in the extrusion groove 9. Several first springs 19 are provided between the push plate 18 and the extrusion groove 9. The two ends of the first spring 19 are respectively welded to the side wall of the extrusion groove 9 and the side wall of the push plate 18. The push plate 18 is in contact with the extrusion block 10 away from the extrusion groove 9. A second spring 20 is provided on the top of the extrusion block 10. The two ends of the second spring 20 are respectively connected to the extrusion block 10 and the extrusion groove 9 Welding, this design, in the process of selecting a functional device and unlocking and resetting the previous device, is described with the process of unlocking and resetting the previous device. Due to the design of the arc-shaped edge of the unlocking block 802, the pressing block 10 slides along the arc-shaped surface of the unlocking block 802, and at the same time, it squeezes the push plate 18 and the first spring 19 outward along the circumference of the selection cylinder 5. This displacement causes the groove on the pressing block 10 to be released from the fit with the threaded strip 15, and returns to the initial state (that is, the position of the pressing block 10 when the torsion cylinder 13 is not twisted) under the reset pull of the second spring 20. When the wedge block 11 completely slides off the vertical sliding platform 8, the vertical sliding platform 8 loses the vertical limit of the wedge block 11, and the reset spring 17 releases the reset tension to drive the vertical sliding platform 8 to move toward the direction close to the connecting plate 3. This process replaces the steps of unlocking the previous device joint and removing the previous device joint in conventional technology.

[0054] Since the elasticity of the return spring 17 is used to restore the old tool, the rapid displacement of the vertical sliding platform 8 may cause vibration of the entire structure, affecting the stability of the robot arm 1. For this reason, based on the design of integrating the selection of tools, unlocking of old tools and returning of old tools, a cam groove 21 is provided at the bottom of the inner wall of the selection cylinder 5, and a cam rod 22 corresponding to the position of the cam groove 21 is welded on the outer side of the buffer cylinder 27. The end of the cam rod 22 away from the buffer cylinder 27 slides and fits in the cam groove 21. Based on the limit of the vertical sliding connection between the buffer cylinder 27 and the guide shaft 4, during the rotation of the selection cylinder 5, the sliding of the cam rod 22 in the cam groove 21 will drive the buffer cylinder 27 to vertically displace along the curve of the cam groove 21; specifically, Figure 4As shown, the curved endpoints of the cam groove 21 include an upper endpoint 23 and a lower endpoint 24. The upper endpoint 23 corresponds to the position where the locking block 801 and the unlocking block 802 are close to each other, and the lower endpoint 24 corresponds to the gap position between adjacent vertical sliding tables 8. In this design, when the extrusion block 10 slides away from the vertical sliding table 8 along the unlocking block 802, the buffer cylinder 27 is displaced downward (away from the connecting plate 3) by the sliding of the cam rod 22 in the cam groove 21. At this time, the distance between the top side of the buffer groove 26 and the sliding table 8 is reduced, that is, the reset distance of the sliding table is reduced to reduce the impact force generated by the reset of the sliding table, showing a tendency of the buffer cylinder 27 to release the reset of the sliding table downward to reduce the influence of the sliding reset on the stability of the robot arm 1; and when the selection cylinder 5 continues to rotate and the extrusion block 10 slides along the locking block 801, the buffer cylinder 27 is displaced upward (close to the connecting plate 3) by the sliding of the cam rod 22 in the cam groove 21, and the sliding table is gradually returned to its initial position to facilitate the re-selection of the wedge block 11.

[0055] Example 2:

[0056] As attached Figure 2 As shown, the difference from Example 1 is that a positioning laser emitter 25 is fused to one end of the guide shaft 4 away from the robotic arm 1, and an optical receiving component is provided on the outside of the positioning laser emitter 25. The signal of the optical receiving component is connected to the control system, and the control system is connected to the signal of the robotic arm 1. The optical receiving component is preferably a plurality of CMOS sensors, and each CMOS sensor is arranged circumferentially along the guide shaft 4 and fixedly connected to the outer wall of the guide shaft 4 by screws. The design of the positioning laser emitter 25 can be combined with reflective marking points, and the reflective marking points are arranged on the instrument and the patient's body surface. During the operation, the positioning laser emitter 25 projects a laser grid to cover the surgical field, and a plurality of CMOS sensors capture the reflected signal. The control system solves the end posture of the instrument in real time and drives the robotic arm 1 for dynamic positioning compensation.

[0057] Example 3:

[0058] As attached Figure 3 As shown, the difference from Example 2 is that, in order to improve the stability of the sliding table during movement, a plurality of buffer grooves 26 are designed to be opened on the outside of the buffer cylinder 27, which are respectively located at the sliding connection between each vertical sliding table 8 and the buffer cylinder 27. Shock-absorbing plates are adhered in the buffer grooves 26. The shock-absorbing plates are preferably made of viscoelastic polymer composite materials (such as polyurethane-carbon fiber composite layers). When impacted, they undergo hysteresis deformation, converting the kinetic energy generated when the sliding table is quickly reset by the reset spring 17 into heat energy dissipation, thereby reducing the displacement fluctuation of the end of the robotic arm 1 when the instrument is reset, and meeting the repeatable positioning accuracy requirements of the surgical robot.

[0059] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A rapidly replaceable laparoscopic surgical robot arm, comprising a robotic arm (1), wherein the robotic arm (1) is signal-connected to a control system for controlling the multi-directional movement of the robotic arm (1), and wherein: A mechanical arm (1) is provided with an instrument holding joint (2) at one end thereof, the instrument holding joint (2) comprising a connecting plate (3) detachably connected to the mechanical arm (1), a supporting assembly for carrying and connecting various components being fixedly connected to the connecting plate (3) on a side away from the mechanical arm (1), and a plurality of carrier assemblies for carrying instruments with different surgical functions being uniformly and vertically slidably connected to the supporting assembly along its circumference; The bottom of the connecting plate (3) is also rotatably connected to a selection drive assembly, and the operating doctor unlocks and resets the previous surgical instrument by twisting the selection drive assembly, and simultaneously selects and equips the next surgical instrument; A cam groove (21) is provided in the selection drive assembly, and a buffer cylinder (27) is vertically slidably connected to the support assembly. The outer wall of the buffer cylinder (27) is fixedly connected to a cam rod (22) that slides with the cam groove (21). When the operator twists the selection drive assembly, the cam rod (22) slides along the cam groove (21) to convert the rotation of the selection drive assembly into a vertical displacement of the buffer cylinder (27). The vertical displacement of the buffer cylinder (27) contacts the corresponding carrier assembly to offset the impact force that affects the posture of the robotic arm (1) when the surgical instrument is reset.

2. The rapidly replaceable laparoscopic surgical robot arm according to claim 1, characterized in that: The support assembly comprises a guide shaft (4) fixedly connected to a side of the connecting plate (3) away from the mechanical arm (1).

3. The rapidly replaceable laparoscopic surgical robot arm according to claim 1, characterized in that: The selection drive assembly includes a selection cylinder (5) connected to the connection plate (3) in a unidirectional rotation manner, an instrument cavity (7) is provided between the inner wall of the selection cylinder (5) and the outer wall of the buffer cylinder (27), the carrier assemblies are all located in the instrument cavity (7), and the carrier assemblies include a vertical sliding platform (8) connected to the outer wall of the buffer cylinder (27) in a sliding manner, a plurality of vertical sliding platforms (8) are evenly arranged along the circumference of the axis of the buffer cylinder (27), and different surgical functional instruments are respectively embedded in the bottom of the vertical sliding platforms (8); An extrusion groove (9) is provided on the inner side wall of the selection cylinder (5), and an extrusion block (10) is vertically slidably connected in the extrusion groove (9). A wedge block (11) is fixedly connected to the side of the extrusion block (10) close to the buffer cylinder (27), and the bottom surface of the wedge block (11) is in conformity with the top surface shape of each vertical sliding platform (8); a return spring (17) is provided on one side of each vertical sliding platform (8), and the two ends of the return spring (17) are respectively fixedly connected to the vertical sliding platform (8) and the connecting plate (3).

4. The rapidly replaceable laparoscopic surgical robot arm according to claim 3, characterized in that: The top of the selection cylinder (5) is provided with a twisting cylinder (13) rotatably connected to the connecting plate (3), a threaded strip (15) is fixedly connected to the bottom of the outer wall of the twisting cylinder (13), and a groove (16) corresponding to the shape of the threaded strip (15) is engraved on the pressing block (10); Symmetrical twisting grooves (14) are provided on the selection cylinder (5), and the twisting grooves (14) all correspond to the positions of the body of the twisting cylinder (13).

5. The rapidly replaceable laparoscopic surgical robot arm according to claim 4, characterized in that: The vertical sliding platform (8) includes an integrally formed locking block (801) and an unlocking block (802). The edges of the locking block (801) and the unlocking block (802) on the side close to the selection cylinder (5) are both arc-shaped edges. The arc-shaped edges of the locking block (801) and the unlocking block (802) on the side away from each other are both in contact with the side wall of the selection cylinder (5). A card slot is provided between the arc-shaped edge of the locking block (801) and the unlocking block (802) on the side close to each other and the inner side wall of the selection cylinder (5). The shape of the plurality of card slots corresponds to the shape of the extrusion block (10).

6. The rapidly replaceable laparoscopic surgical robot arm according to claim 5, characterized in that: A push plate (18) is connected to the extrusion groove (9) in a circumferential sliding manner along the selection cylinder (5). A plurality of first springs (19) are provided between the push plate (18) and the extrusion groove (9). Both ends of the first springs (19) are fixedly connected to the side wall of the extrusion groove (9) and the side wall of the push plate (18). The side of the push plate (18) away from the extrusion groove (9) is in contact with the extrusion block (10). A second spring (20) is provided on the top of the extrusion block (10). Both ends of the second spring (20) are fixedly connected to the extrusion block (10) and the extrusion groove (9).

7. The rapidly replaceable laparoscopic surgical robot arm according to claim 1, characterized in that: The curve endpoints presented by the cam groove (21) include an upper endpoint (23) and a lower endpoint (24), the upper endpoint (23) corresponds to the position where the locking block (801) and the unlocking block (802) are close to each other, and the lower endpoint (24) corresponds to the gap position between adjacent vertical sliding platforms (8).

8. The rapidly replaceable laparoscopic surgical robot arm according to claim 2, characterized in that: A positioning laser transmitter (25) is fixedly connected to one end of the guide shaft (4) away from the mechanical arm (1), an optical receiving component is provided outside the positioning laser transmitter (25), and the optical receiving component signal is connected to a control system, and the control system is connected to the mechanical arm (1) signal.

9. The rapidly replaceable laparoscopic surgical robot arm according to claim 8, characterized in that: A plurality of buffer grooves (26) are respectively located at the sliding connection positions between each vertical sliding platform (8) and the buffer cylinder (27) on the outside of the buffer cylinder (27), and shock-absorbing sheets are fixedly connected in the buffer grooves (26).

10. The rapidly replaceable laparoscopic surgical robot arm according to claim 1, characterized in that: The outer side wall of the selection cylinder (5) is engraved with an arrow mark (12) corresponding to the position of the extrusion groove (9).

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