Mechanical arm and diagnosis and treatment device

Abstract

The embodiment of the invention provides a mechanical arm and a diagnosis and treatment device. The mechanical arm (100) is used for enabling a clamping opening (200) to be at different rotating angles. The mechanical arm comprises a rotating piece (10), a guiding piece (20), a first linkage piece (31) and a second linkage piece (32). The rotating piece is fixedly connected with the clamping opening; a first groove (11) extending in the first spiral direction and a second groove (12) extending in the second spiral direction are symmetrically formed in the side wall of the rotating part. The guide piece is provided with a first linear rail (21) and a second linear rail (22) which extend in the axial direction of the rotating piece; the first linkage piece is inserted into the first groove and the first linear rail and can move in the extending direction of the first groove; the second linkage piece is inserted into the second groove and the second linear rail and can move in the extending direction of the second groove; when the first linkage piece moves towards the first axial end of the mechanical arm along the first linear rail, the rotating piece is driven to rotate around the axis of the rotating piece in the third direction. Or when the second linkage piece moves towards the first axial end of the mechanical arm along the second linear track, the rotating piece is driven to rotate around the axis of the rotating piece in the fourth direction, so that the clamping opening is located at different rotating angles, the rotating response speed of the clamping opening is increased, and the operation sensitivity of the surgical instrument is enhanced.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a robotic arm and a diagnostic and treatment device. Background Art

[0002] There is a growing demand for medical robots to perform precise surgical procedures within narrow cavities, such as the abdominal and thoracic cavities. Medical robots typically consist of a robotic arm and an end effector. The distal end of the robotic arm is equipped with a clamp for securing surgical instruments such as suture needles. Because suture needles must penetrate and exit tissue for surgical procedures, the robotic arm's rotational performance is particularly important, as its rotational accuracy directly impacts the reliability and safety of the surgical procedure.

[0003] In the related art, the proximal end of the robotic arm is driven to rotate, thereby driving the end effector to rotate.

[0004] However, when the robotic arm enters the body cavity through the working channel of the flexible endoscope, its outer surface produces continuous friction with the inner wall of the endoscope tube, which significantly reduces the rotational response speed of the end effector and affects the operational sensitivity of the surgical instrument. Summary of the Invention

[0005] The embodiments of the present application provide a robotic arm and a diagnostic and treatment device, which enable the clamp to be at different rotation angles to improve the rotation response speed of the clamp and enhance the operational sensitivity of the surgical instrument.

[0006] An embodiment of the present application provides a robotic arm for enabling a jaw to rotate at different angles, characterized by comprising:

[0007] The rotating member is fixedly connected to the clamping mouth; the side wall of the rotating member is symmetrically provided with a first groove extending along the first spiral direction and a second groove extending along the second spiral direction;

[0008] A guide member, wherein the rotating member is sleeved on the guide member, and the guide member is provided with a first linear track and a second linear track extending along the axial direction of the rotating member;

[0009] A first linkage member is inserted into the first slot and the first linear track and is movable along an extension direction of the first slot;

[0010] The second linkage member is inserted into the second slot and the second linear track and is movable along the extension direction of the second slot; when the first linkage member is driven to move along the first linear track toward the first axial end of the robotic arm, the first linkage member drives the rotating member to rotate along the third direction around the axis of the rotating member; or

[0011] When the second linkage member is driven to move along the second linear track toward the first axial end of the robotic arm, the second linkage member drives the rotating member to rotate along a fourth direction around the axis of the rotating member so that the clamp is at different rotation angles, wherein the third direction is opposite to the fourth direction.

[0012] In a feasible implementation, the rotating member is formed with a positioning surface, and the positioning surface is configured as an inner wall of the rotating member extending along the circumference of the rotating member;

[0013] The robotic arm also includes an end ring, which is coaxially sleeved in the rotating part and axially abuts against the positioning surface; the guide part and the clamping mouth respectively abut against the opposite ends of the end ring along the axial direction of the end ring.

[0014] In a feasible implementation, the end ring is formed with an abutment portion, the abutment portion is constructed such that the proximal end surface of the end ring is recessed inward, and the distal end of the guide member abuts against the abutment portion.

[0015] In a feasible implementation, a first dimension of the first groove and the second groove along the axial direction of the rotating member matches a rotation angle range of the rotating member;

[0016] The second dimensions of the first groove and the second groove along the circumferential direction of the rotating member match the rotation angle range of the rotating member.

[0017] In one feasible implementation, the robotic arm further includes:

[0018] A first sliding shaft is connected to the first linkage member and is connected to the guide member so as to move along the axial direction of the guide member;

[0019] A first tendon is connected to the proximal end of the first sliding shaft; when the first tendon is tightened, the first sliding shaft and the first linkage member are driven to move along the first linear track toward the first tendon;

[0020] A second sliding shaft is connected to the second linkage member and is connected to the guide member so as to move along the axial direction of the guide member;

[0021] The second tendon is connected to the proximal end of the second sliding shaft; when the second tendon is tightened, it drives the second sliding shaft and the second linkage member to move along the second linear track toward the second tendon.

[0022] In one feasible implementation, the robotic arm further includes:

[0023] a first pressing block, the first pressing block being connected to the proximal end of the first sliding shaft, and the first tendon being fixedly connected to the first sliding shaft via the first pressing block;

[0024] The second pressing block is connected to the proximal end of the second sliding shaft, and the second tendon is fixedly connected to the second sliding shaft through the second pressing block.

[0025] In a feasible implementation, a first mounting groove and a first mounting hole are provided at the proximal end of the first sliding shaft, the first mounting groove being formed by an inward depression of the side wall of the first sliding shaft, the first mounting hole extending along the axial direction of the first sliding shaft and connected to the first mounting groove; the first pressing block is provided in the first mounting groove, the first tendon passes through the first mounting hole and extends into the first pressing block to be fixedly connected to the first pressing block; and / or,

[0026] A second mounting groove and a second mounting hole are provided at the proximal end of the second sliding shaft. The second mounting groove is formed by an inward depression of the side wall of the second sliding shaft. The second mounting hole extends along the axial direction of the second sliding shaft and is connected to the second mounting groove; the second pressure block is connected to the second mounting groove, and the second tendon extends through the second mounting hole into the second pressure block to be fixedly connected to the second pressure block.

[0027] In a feasible implementation, the guide member is provided with a first guide hole and a second guide hole extending axially along the guide member, and the first sliding shaft is moved through the first guide hole and inserted into the guide member; the second sliding shaft is moved through the second guide hole and inserted into the guide member.

[0028] In a feasible implementation, the first sliding shaft is provided with a first connecting hole extending radially along the first sliding shaft and a first fixing hole extending axially along the first sliding shaft; the first fixing hole is connected to the first connecting hole, the first linkage member is inserted into the first connecting hole, and the fastener is passed through the first fixing hole and abuts against the first linkage member, so as to realize the fixed connection between the first linkage member and the first sliding shaft; and / or,

[0029] The second sliding shaft is provided with a second connecting hole extending radially along the second sliding shaft and a second fixing hole extending axially along the second sliding shaft; the second fixing hole is connected to the second connecting hole, the second linkage part is inserted into the second connecting hole, and the fastener is passed through the second fixing hole and abuts against the second linkage part to realize the fixed connection between the second linkage part and the second sliding shaft.

[0030] In a feasible implementation, a first limiting portion is formed at one end of the first linkage member, the first limiting portion abuts against the outer wall of the rotating member, and a radial dimension of the first limiting portion is greater than a transverse dimension of the first groove;

[0031] A second limiting portion is formed at one end of the second linkage member. The second limiting portion abuts against the outer wall of the rotating member, and a radial dimension of the second limiting portion is greater than a transverse dimension of the second groove.

[0032] In a feasible implementation, the robotic arm also includes a shell, which is axially fixedly connected to the guide member, and the shell has a through cavity extending axially along the shell, and the through cavity is used to provide sliding space for the first sliding shaft and the first tendon, as well as the second sliding shaft and the second tendon.

[0033] In a feasible implementation, the robotic arm further includes a flexible shaft, which is axially connected to the shell; the first tendon and the second tendon extend into the flexible shaft through the through cavity.

[0034] An embodiment of the present application also provides a diagnostic and treatment device, including a clamp, a surgical instrument, and the aforementioned robotic arm, wherein the distal end of the robotic arm is connected to the surgical instrument through the clamp to drive the surgical instrument to different rotation angles.

[0035] In a robotic arm and a diagnostic and treatment device provided by an embodiment of the present application, a rotating member is fixedly connected to a clamping jaw to achieve synchronous rotation of the rotating member and the clamping jaw. A guide member is introduced, and two sets of steering structures are symmetrically arranged on the rotating member and the guide member (the first steering structure includes a first groove, a first linear track and a first linkage member, and the second steering structure includes a second groove, a second linear track and a second linkage member). Specifically, the first linkage member is driven to move along the first linear track toward the first axial end of the robotic arm. Through the dual constraints of the first linear track and the first groove on the first linkage member, the axial force of the first linkage member along the first linear track is converted into a rotational torque on the rotating member, forcing the rotating member to rotate around its own axis in a third direction; at the same time, the dual constraints of the second linear track and the second groove on the second linkage member are utilized to unload the first rotational torque of the rotating member to the second linkage member, that is, to convert it into a second axial force for the second linkage member to move in the opposite direction along the second linear track. It can be obtained that the two sets of steering structures arranged symmetrically achieve the unloading of the first rotational torque on the rotating member to the second linkage member, avoiding the tendency of the rotating member to form radial deformation and expansion after being subjected to the first rotational torque. The working principle and effect of "driving the second linkage to move along the second linear track toward the first axial end of the robotic arm" are similar and will not be described in detail here. In this way, when the robotic arm enters the body cavity through the flexible endoscope working channel, the rotating member will not undergo radial expansion and deformation due to the force, thereby avoiding continuous friction with the endoscope tube wall. The rotational response speed of the clamp is improved, and the operational sensitivity of the surgical instrument is enhanced. In addition, through the linkage design of the rotating member and the guide member, the rotational movement of the clamp is directly driven by the rotating structure, without the need to be driven by the overall shaft system of the robotic arm, which significantly improves the rotational response speed of the clamp, reduces the rotation delay, and enhances the operational sensitivity of the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the assembly structure of a robotic arm and a surgical instrument provided in an embodiment of the present application;

[0037] Figure 2 is a schematic cross-sectional structural diagram of a robotic arm provided in an embodiment of the present application;

[0038] Figure 3 This is a schematic structural diagram of a rotating part in a robotic arm provided by an embodiment of the present application;

[0039] Figure 4 This is a schematic structural diagram of a mid-end ring of a robotic arm provided in an embodiment of the present application;

[0040] Figure 5 yes Figure 3 A schematic structural perspective diagram of a rotating member from one viewing angle;

[0041] Figure 6 yes Figure 3 A schematic structural diagram of the rotating member from another perspective;

[0042] Figure 7 This is a schematic structural diagram of a sliding shaft in a robotic arm provided in an embodiment of the present application;

[0043] Figure 8 yes Figure 7 A schematic structural diagram of the sliding shaft at another angle shown;

[0044] Figure 9 This is a schematic structural diagram of a guide member in a robotic arm provided in an embodiment of the present application;

[0045] Figure 10 yes Figure 9 A schematic structural diagram of the guide member at another angle;

[0046] Figure 11 This is a schematic structural diagram of a linkage component in a robotic arm provided in an embodiment of the present application;

[0047] Figure 12 yes Figure 9 A schematic structural diagram of the linkage shown from one perspective;

[0048] Figure 13 This is a schematic structural diagram of a housing in a robotic arm provided in an embodiment of the present application;

[0049] Figure 14 yes Figure 13 A schematic structural diagram of the housing from another angle;

[0050] Figure 15 This is a schematic structural diagram of a flexible shaft in a robotic arm provided in an embodiment of the present application;

[0051] Figure 16 This is a partial schematic diagram of the linkage member in the middle position in the embodiment of the present application;

[0052] Figure 17 yes Figure 16 A schematic diagram of the structure of the B1 perspective in the state shown;

[0053] Figure 18 yes Figure 16 A schematic diagram of the structure of the B2 perspective in the state shown;

[0054] Figure 19 This is a partial schematic diagram of the state in which the rotating member is at the clockwise limit position in the embodiment of the present application;

[0055] Figure 20 yes Figure 19 A schematic diagram of the structure of the B1 perspective in the state shown;

[0056] Figure 21 yes Figure 19 A schematic diagram of the structure of the B2 perspective in the state shown;

[0057] Figure 22 This is a partial schematic diagram of the state in which the rotating member is in the counterclockwise extreme position in the embodiment of the present application;

[0058] Figure 23 yes Figure 12 A schematic diagram of the structure of the B1 perspective in the state shown;

[0059] Figure 24 yes Figure 22 Schematic diagram of the structure of the B2 perspective in the shown state.

[0060] Description of reference numerals:

[0061] 10-rotating member; 20-guide member; 31-first linkage member; 32-second linkage member; 200-clamp; 11-first groove; 12-second groove; 21-first linear track; 22-second linear track; 13-positioning surface; 40-end ring; 101-first portion; 102-second portion; 41-abutting portion; 51-first sliding shaft; 52-second sliding shaft; 511-first mounting groove; 512-first mounting hole; 521-second mounting groove; 522-second mounting hole; 23 -first guide hole; 24 -second guide hole; 513 -first connecting hole; 514 -first fixing hole; 523 -second connecting hole; 524 -second fixing hole; 312 -first limiting portion; 322 -second limiting portion; 314 -first matching portion; 315 -second matching portion; 324 -third matching portion; 325 -fourth matching portion; 60 -housing; 61 -first clamping portion; 62 -second clamping portion; 63 -aligning portion; 65 -first limiting hole; 66 -second limiting hole; 70 -flexible shaft;

[0062] T1-first spiral direction; T2-second spiral direction; T3-third direction; T4-fourth direction; d1-first dimension. DETAILED DESCRIPTION

[0063] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0064] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "inside" and "outside" is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Unless otherwise specified, the "proximal end" in this embodiment can be used to indicate the end of the component away from the clamp, and the "distal end" can be used to indicate the end of the component close to the clamp.

[0065] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0066] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0067] In the field of medical device technology, medical robots have become a core tool for improving surgical precision and safety. For example, during abdominal surgery, the surgeon inserts a flexible surgical arm through an incision on the patient's body surface. The surgical instruments carried by the flexible arm must perform delicate operations within the complex abdominal environment, such as flipping, retracting, and fine-tuning the angle. A core component of these surgical instruments is the clamp—an openable and retractable gripping mechanism commonly used to secure suture needles, grasp tissue, or manipulate tools such as surgical scissors. For example, when operating a suture needle, the surgeon uses the clamp to precisely control the needle tip's puncture angle and force. This is especially true when suturing within a narrow pelvic cavity or near blood vessels. The needle must repeatedly penetrate and exit the tissue to achieve precise sutures. The robotic arm's rotational performance directly determines the needle tip's puncture angle, force, and trajectory control accuracy. Even slight jitter or angular deviation of the instrument can cause tissue damage.

[0068] Traditional robotic arms rely on a proximal motor to rotate the proximal joint, which in turn drives the distal jaw. However, when the robotic arm enters a body cavity through the working channel of a flexible endoscope, significant frictional resistance is generated along the entire longitudinal direction between the outer wall of the robotic arm and the inner wall of the endoscope, especially along curved paths. This frictional resistance, in turn, reduces the rotational response speed of the distal end during the proximal rotational motion, affecting the operational sensitivity of the surgical instrument.

[0069] Analysis shows that the significant frictional resistance between the outer wall of the robotic arm and the inner wall of the endoscope is primarily due to the following reasons: As the proximal motor's torque is transmitted to the distal jaw through the transmission assembly, shear stress causes the transmission component to warp in its cross section, resulting in a tendency for radial expansion. Simultaneously, the constraints of the endoscope channel restrict the free expansion of the transmission component. The radial force generated by this radial expansion acts on the endoscope tube wall and is converted into contact pressure, generating significant frictional resistance that affects the distal end's rotational response speed and the surgical instrument's operational sensitivity.

[0070] In view of the above problems, an embodiment of the present application provides a robotic arm for making the clamp at different rotation angles. The clamp here is an openable and closable clamping mechanism that can clamp and fix suture needles, grasp tissues, or manipulate surgical instruments such as surgical scissors.

[0071] The structures of the robotic arm and the diagnosis and treatment device in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0072] Figure 1 This is a schematic diagram of the assembly structure of a robotic arm and a surgical instrument provided in an embodiment of the present application; Figure 2 is a schematic cross-sectional structural diagram of a robotic arm provided in an embodiment of the present application; Figure 3 This is a schematic diagram of the structure of a rotating part in a robotic arm provided by an embodiment of the present application. Figures 1 to 3As shown, the robotic arm 100 includes a rotating member 10, a guide member 20, a first linkage member 31, and a second linkage member 32. The rotating member 10 is fixedly connected to the clamping jaw 200 to ensure synchronous movement. In other words, when the rotating member 10 rotates along its own axis, the clamping jaw 200 will simultaneously complete the same rotation angle.

[0073] The rotating member 10 is sleeved on the guide member 20. The sidewall of the rotating member 10 is symmetrically provided with a first groove 11 extending along the first spiral direction T1 and a second groove 12 extending along the second spiral direction T2. ​​The guide member 20 is provided with a first linear track 21 and a second linear track 22 extending along the axial direction of the rotating member 10.

[0074] The first linkage member 31 is inserted into the first slot 11 and the first linear track 21, and the first linkage member 31 can move along the extension direction of the first slot 11. When the first linkage member 31 is driven to move along the first linear track 21 toward the first axial end of the robot arm 100, due to the dual constraint effect of the first slot 11 and the first linear track 21 on the first linkage member 31, the rotating member 10 is forced to move around its own axis along the third direction T3 (reference Figures 19 to 21 At this point, the jaw 200 rotates synchronously with the rotating member 10, enabling angular adjustment of the jaw 200 in the third direction T3. Simultaneously, the second linkage member 32 is constrained by both the second linear track 22 and the second slot 12. As the rotating member 10 rotates about its axis in the third direction T3, the second linkage member 32 is forced to move in the opposite direction along the second linear track 22.

[0075] The second linkage member 32 is inserted into the second slot 12 and the second linear track 22, and the second linkage member 32 can move along the extension direction of the second slot 12. When the second linkage member 32 is driven to move along the second linear track 22 toward the first axial end of the robot arm 100, due to the dual constraint effect of the second slot 12 and the second linear track 22 on the second linkage member 32, the rotating member 10 is forced to move around its own axis along the fourth direction T4 (see Figures 22 to 24 The first linking member 31 is constrained by both the first linear track 21 and the first slot 11. When the rotating member 10 rotates about its axis in the fourth direction T4, the first linking member 31 is forced to move in the opposite direction along the first linear track 21. The third direction T3 is opposite to the fourth direction T4.

[0076] The axial direction t of the robot arm 100 can be referred to Figure 2 In the direction t.

[0077] Through the above scheme, the rotating member 10 is fixedly connected to the clamping jaw 200, thereby achieving synchronous rotation of the rotating member 10 and the clamping jaw 200. A guide member 20 is introduced, and two sets of steering structures are symmetrically arranged on the rotating member 10 and the guide member 20 (the first steering structure includes a first slot 11, a first linear track 21 and a first linkage member 31, and the second steering structure includes a second slot 12, a second linear track 22 and a second linkage member 32). Specifically, the first linkage member 31 is driven to move along the first linear track 21 toward the first axial end of the robotic arm 100. Through the dual constraints of the first linear track 21 and the first slot 11 on the first linkage member 31, the axial force of the first linkage member 31 along the first linear track 21 is converted into a rotational torque on the rotating member 10, forcing the rotating member 10 to rotate about its own axis in the third direction T3. At the same time, through the dual constraints of the second linear track 22 and the second slot 12 on the second linkage member 32, the first rotational torque of the rotating member 10 is unloaded to the second linkage member 32, that is, converted into a second axial force for the second linkage member 32 to move in the opposite direction along the second linear track 22. Thus, the two symmetrically arranged steering structures unload the first torque on the rotating member 10 to the second linkage member 32, thereby preventing the rotating member 10 from undergoing radial deformation and expansion after being subjected to the first torque. The operation and effects of "driving the second linkage member 32 to move along the second linear track 22 toward the first axial end of the robotic arm 100" are similar and will not be further elaborated here. As a result, when the robotic arm 100 enters the body cavity through the flexible endoscope working channel, the rotating member 100 will not undergo radial expansion and deformation due to the force applied, thereby avoiding continuous friction with the endoscope tube wall. This improves the rotational response speed of the clamp and enhances the operational sensitivity of the surgical instrument. Furthermore, through the linkage design of the rotating member 10 and the guide member 20, the rotational movement of the clamp 200 is directly driven by the rotating structure, without the need for rotational drive through the entire shaft system of the robotic arm 100. This significantly improves the rotational response speed of the clamp 200, reduces rotational delay, and enhances the operational sensitivity of the surgical instrument.

[0078] In some embodiments, the clamp 200 and the rotating member 10 can be welded and fixed. It is understood that welding the clamp 200 and the rotating member 10 is only an example of a fixed connection between the clamp 200 and the rotating member 10. The clamp 200 and the rotating member 10 can also be fixedly connected by bonding, threading, etc., and the embodiments of the present application are not limited to this.

[0079] In some examples, the distal end of the rotating member 10 is sleeved on the proximal end of the clamping opening 200 , and the sleeved portion is fixed by welding, that is, the inner wall of the rotating member 10 and the outer wall of the clamping opening 200 are connected and fixed by solder.

[0080] In some embodiments, the rotating member 10 and the clamping opening 200 can be plugged and fixed. The distal end of the rotating member 10 is provided with a plug-in portion 103. The plug-in portion 103 can be configured as a distal end surface portion of the rotating member 10 that is recessed inward along the axial direction of the rotating member 10. It is understood that the proximal end of the clamping opening 200 is provided with a plug-in structure (not shown) that matches the plug-in structure 103, and the plug-in portion 103 is plugged into the plug-in structure to achieve plug-in fixation of the rotating member 10 and the clamping opening 200.

[0081] In some embodiments, the first linear track 21 and the second linear track 22 can be formed by hollowing out the sidewall of the guide member 20. In other embodiments, the first linear track 21 and the second linear track 22 can be formed by extending the sidewall of the guide member 20 outward or inward. Accordingly, the first linkage member 31 is disposed through the first linear track 21, and the second linkage member 32 is disposed through the second linear track 22.

[0082] In order to illustrate an embodiment of the relationship between the third direction T3 and the fourth direction T4, the clockwise and counterclockwise directions mentioned below are described from the perspective of viewing from the proximal end of the robotic arm 100 to the distal end of the robotic arm 100.

[0083] In some embodiments, the first axial end of the robotic arm 100 may be a proximal end. Specifically, when the first linkage member 31 is driven to move toward the proximal end along the first linear track 21, the first linkage member 31 drives the rotating member 10 to rotate about the axis of the rotating member 10 in a third direction T3. When the second linkage member 32 is driven to move toward the proximal end along the second linear track 22, the second linkage member 32 drives the rotating member 10 to rotate about the axis of the rotating member 10 in a fourth direction T4.

[0084] In some examples, if the extending direction of the first slot 11 is clockwise and the extending direction of the second slot 12 is counterclockwise from the proximal end to the distal end of the rotating member 10, then the third direction T3 is clockwise and the fourth direction T4 is counterclockwise (see Figures 16 to 24 shown).

[0085] In some examples, if the first slot 11 extends counterclockwise and the second slot 12 extends clockwise from the proximal end to the distal end of the rotating member 10 , then the third direction T3 is counterclockwise and the fourth direction T4 is clockwise.

[0086] In some embodiments, the first axial end of the robotic arm 100 is the distal end. Specifically, when the first linkage member 31 is driven to move distally along the first linear track 21, the first linkage member 31 drives the rotating member 10 to rotate about the axis of the rotating member 10 in a third direction T3. When the second linkage member 32 is driven to move distally along the second linear track 22, the second linkage member 32 drives the rotating member 10 to rotate about the axis of the rotating member 10 in a fourth direction T4.

[0087] In some examples, if the first slot 11 extends clockwise and the second slot 12 extends counterclockwise from the proximal end to the distal end of the rotating member 10 , then the third direction T3 is counterclockwise and the fourth direction T4 is clockwise.

[0088] In some examples, if the first slot 11 extends counterclockwise and the second slot 12 extends clockwise from the proximal end to the distal end of the rotating member 10 , then the third direction T3 is clockwise and the fourth direction T4 is counterclockwise.

[0089] Figure 4 This is a schematic diagram of the structure of a middle end ring of a robotic arm provided by an embodiment of the present application. Figure 3 and Figure 4 As shown, in order to isolate the relative motion between the guide member 20 and the rotating member 10 and improve transmission accuracy, in some embodiments, the rotating member 10 is formed with a positioning surface 13. The positioning surface 13 is configured as an inner wall of the rotating member 10 extending along the circumference of the rotating member 10. The robot arm 100 also includes an end ring 40, which is coaxially sleeved within the rotating member 10 and axially abuts the positioning surface 13. The guide member 20 and the clamping jaw 200 respectively abut opposite ends of the end ring 40 along its own axial direction. In this way, the end ring 40 serves as an intermediate supporting structure to realize the axial positioning between the rotating member 10 and the guide member 20. The rotating member 10 and the guide member 20 will not move along the axial direction of the rotating member 10. The relative position relationship between the groove (the first groove 11 or the second groove 12) and the linear track in the axial direction of the rotating member 10 is stable, and the lifting linkage member (the first linkage member 31 or the second linkage member 32) moves along the linear track (the first linear track 21 or the second linear track 22). The stable cooperation between the groove (the first groove 11 or the second groove 12) and the linear track is utilized to achieve the rotation accuracy of the rotating member 10.

[0090] In some embodiments, the rotating member 10 includes an axially arranged first portion 101 and a second portion 102 , wherein the inner diameter of the first portion 101 is smaller than that of the second portion 102 , so as to form a positioning surface 13 at the connection between the first portion 101 and the second portion 102 .

[0091] In some examples, the end ring 40 is located in the first part 101, and there is a gap between the outer wall of the end ring 40 and the inner wall of the first part 101 to reduce the friction between the first part 101 and the end ring 40 when the rotating part 10 rotates, thereby maintaining the guide part 20 in a relatively stationary state and improving the rotation accuracy of the rotating part 10.

[0092] In some embodiments, the first portion 101 is used to accommodate the proximal end of the clamp 200 and to securely connect the rotating member 10 to the clamp 200. The second portion 102 is used to define a first groove 11 and a second groove 12. Specifically, the first groove 11 and the second groove 12 are symmetrically disposed on the sidewall of the second portion 102.

[0093] In some embodiments, the guide member 20 can be abutted against the end ring 40 in the following manner: the end ring 40 is arranged in the radial direction of the rotating member 10, and protrudes from the inner side of the positioning surface 13. The distal end of the guide member 20 abuts against the protruding portion, and at least part of the side wall of the guide member 20 contacts the inner wall of the rotating member 10 corresponding to the positioning surface 13, thereby realizing axial and radial positioning of the guide member 20, and the assembly is simple and easy to operate.

[0094] In some examples, the inner diameter of the end ring 40 may be configured to be smaller than the inner diameter of the positioning surface 13 , so that the end ring 40 protrudes from the inner side of the positioning surface 13 in the radial direction of the rotating member 10 .

[0095] In order to prevent the contact friction between the guide member 20 and the rotating member 10 during relative rotation, Figure 4 As shown, in some embodiments, a gap is provided between the inner wall of the rotating member 10 and the outer wall of the guide member 20, and the outer wall of the guide member 20 does not contact the inner wall of the rotating member 10, thereby preventing friction loss between the rotating member 10 and the guide member 20 during rotation and improving transmission accuracy.

[0096] In some embodiments, a gap can be configured between the inner wall of the rotating member 10 and the outer wall of the guide member 20 in the following manner: the outer diameter of the guide member 20 is configured to be smaller than the inner diameter of the rotating member 10, and the first linkage member 31 is formed with two recesses along its own circumference (not shown), and a convex portion is formed between the two recesses. The first linkage member 31 is passed through the rotating member 10 and the guide member 20, so that the side wall of the rotating member 10 and the side wall of the guide member 20 are respectively embedded in a recess, and the convex portion corresponds to the aforementioned gap, so that there is no contact friction between the inner wall of the rotating member 10 and the outer wall of the guide member 20, thereby improving the transmission efficiency.

[0097] In some embodiments, the end ring 40 is formed with an abutment portion 41. The abutment portion 41 is configured such that the proximal end surface of the end ring 40 is recessed inward, and the distal end of the guide member 20 abuts against the abutment portion 41. That is, the distal end surface of the guide member 20 abuts against the bottom wall of the abutment portion 41, and the distal side wall of the guide member 20 abuts against the side wall of the abutment portion 41. In this way, the abutment portion 41 radially limits the guide member 20, preventing the outer wall of the guide member 20 from contacting the inner wall of the rotating member 10, thereby preventing contact friction between the guide member 20 and the rotating member 10 during relative rotation, thereby further improving rotation accuracy.

[0098] In some embodiments, the outer wall of the end ring 40 also abuts against the inner wall of the rotating member 10, so that in the radial direction of the rotating member 10, the end ring 40 abuts between the guide member 20 and the rotating member 10, radially limiting the guide member 20 and the rotating member 10, further preventing the guide member 20 and the rotating member 10 from radially moving and contacting each other, and further improving the rotation accuracy.

[0099] In some examples, one of the inner wall of the abutment portion 41 and the outer wall of the distal end of the guide member 20 is constructed as an inclined surface, and the other is constructed as a straight surface, so that when the abutment portion 41 abuts against the guide member 20, a line contact is formed between the inclined surface and the straight surface, thereby improving the concentricity of the guide member 20 and the end ring 40, thereby ensuring that the rotating member 10 rotates around its own axis.

[0100] It should be noted that the straight surface can be understood as the axial radial position along the abutment portion 41 or the guide member 20 remains unchanged; the inclined surface can be understood as the axial radial position along the abutment portion 41 or the guide member 20 gradually increases or decreases.

[0101] Figure 5 yes Figure 3 A schematic structural perspective diagram of a rotating member from one viewing angle; Figure 6 yes Figure 3 The structural diagram of the rotating part from another perspective is shown. Figure 5 As shown, the first groove 11 and the second groove 12 have a first dimension d1 along the axial direction of the rotating member 10. Figure 6 As shown, the proximal limit position of the first groove 11 corresponds to position c1, and the distal limit position of the first groove 11 corresponds to position c2; the proximal limit position of the second groove 12 corresponds to position c3, and the distal limit position of the second groove 12 corresponds to position c4. That is, the first groove 11 is located between c1 and c2 (including c1 and c2), and the second groove 12 is located between c3 and c4 (including c3 and c4).

[0102] It can be understood that the rotation angle range of the rotating member 10 is equal to the angle of rotation of the two extreme positions of the first linkage member 31 moving along the first groove 11 relative to the axis of the rotating member 10 (refer to Figure 6 The angle corresponding to the angle a1 in the figure), and because the first steering structure and the second steering structure are symmetrically arranged, the angles of the two extreme positions of the first linkage member 31 moving along the first groove 11 relative to the axis of the rotating member 10 (reference Figure 6 The angle corresponding to the angle a1 in the figure is equal to the angle of rotation of the two extreme positions of the second linkage member 32 moving along the second groove 12 relative to the axis of the rotating member 10 (reference Figure 6 The angle corresponding to angle a2 in ).

[0103] Combine Figure 5 and Figure 6In order to flexibly adapt to different application scenarios and different rotation range requirements of the clamp 200, in some embodiments, the first dimension d1 of the first groove 11 and the second groove 12 along the axial direction of the rotating member 10 and the rotation angle range of the rotating member 10 (refer to Figure 6 ). It can be understood that, under the condition that the first spiral direction T1 and the second spiral direction T2 remain unchanged, when the first dimension d1 of the first groove 11 and the second groove 12 increases, the movable stroke of the linkage member (the first linkage member 31 or the second linkage member 32) increases, and the rotatable range of the rotating member 10 becomes larger. For example, when the rotation angle range of the rotating member 10 is required to be larger (corresponding to the angle a1 or the angle a2), the first dimension d1 is configured to be larger; when the rotation angle range of the rotating member 10 is required to be smaller (corresponding to the angle a1 or the angle a2), the first dimension d1 is configured to be smaller. Through the above scheme, the first dimension d1 of the first groove 11 and the second groove 12 can be configured accordingly based on the different rotation range requirements of the clamp 200, thereby improving the versatility of the robotic arm 100.

[0104] It should be noted that the extension dimension of the first linear rail 21 matches the first dimension d1 of the first slot 11, that is, the extension dimension of the first linear rail 21 is configured to achieve: when the first linkage member 31 is located at the extreme position at one end of the first linear rail 21, it is also located at the extreme position at one end of the first slot 11; when the first linkage member 31 is located at the extreme position at the other end of the first linear rail 21, it is also located at the extreme position at the other end of the first slot 11.

[0105] Similarly, the extension dimension of the second linear track 22 matches the first dimension d1 of the second slot 12 . The technical solution of the second linear track 22 can refer to the implementation of the first linear track 21 , and will not be repeated here.

[0106] In some embodiments, to flexibly accommodate the varying sensitivity requirements of the jaws 200 in various application scenarios, a first dimension d1 of the first and second grooves 11, 12 along the axial direction of the rotating member 10 is negatively correlated with the rotational sensitivity of the rotating member 10. It is understood that, assuming the rotational angle range of the rotating member 10 (corresponding to angle a1 or angle a2) remains unchanged, the larger the first dimension d1 of the first and second grooves 11, 12, and the greater the inclination of the first and second grooves 11, 12 (the greater the distance between the two extreme positions of the first groove 11 along the axial direction of the rotating member 10), the lower the rotational sensitivity of the rotating member 10. Lower rotational sensitivity can be understood as follows: when the first linkage member 31 moves the same displacement along the first groove 11, the smaller the rotation angle of the rotating member 10, the lower the sensitivity. In this case, the greater the inclination, the lower the friction between the first linkage member 31 and the sidewalls of the first groove 11, and between the second linkage member 32 and the sidewalls of the second groove 12. This reduces the angular loss of the rotation transmitted from the linkage member (first linkage member 31 or second linkage member 32) to the rotating member 10, resulting in higher transmission efficiency. In this way, the first size d1 can be flexibly determined based on the requirements of transmission efficiency and sensitivity, thereby improving the applicability of the robot arm 100.

[0107] In some embodiments, in order to flexibly adapt to different rotation range requirements of the clamp 200 in different spaces, the second dimension of the first slot 11 and the second slot 12 along the circumference of the rotating member 10 matches the rotation angle range of the rotating member 10. It can be understood that when the first dimension d1 of the first slot 11 and the second slot 12 remains unchanged, when the second dimension is increased (angle a1 and angle a2 increase), the movable stroke of the first linkage member 31 or the second linkage member 32 increases, and the rotation angle range of the rotating member 10 is larger. For example, when the rotation angle range of the rotating member 10 is required to be larger, the second dimension is configured to be larger; when the rotation angle range of the rotating member 10 is required to be smaller, the second dimension is configured to be smaller. Through the above solution, the second dimensions of the first slot 11 and the second slot 12 can be configured accordingly based on the different rotation angle requirements of the clamp 200, thereby improving the versatility of the robotic arm 100. Furthermore, with the first dimension d1 of the first and second slots 11, 12 remaining unchanged, the smaller the second dimension, the greater the inclination of the first and second slots 11, 12 (the smaller the distance between the two extreme positions of the first slot 11 in the circumferential direction of the rotating member 10), and the lower the rotational sensitivity. Simultaneously, the friction between the first linkage 31 and the sidewalls of the first slot 11, and between the second linkage 32 and the second slot 12, decreases. This reduces the angular loss of the linkage (first linkage 31 or second linkage 32) transmitted to the rotating member 10, and increases the transmission efficiency. This allows the second dimension to be flexibly determined based on the requirements for transmission efficiency and sensitivity, thereby improving the applicability of the robotic arm 100.

[0108] It should be noted that in actual applications, the first dimension d1, the second dimension and the degree of inclination of the first groove 11 and the second groove 12 can be configured respectively according to comprehensive parameters such as the surgical space, sensitivity requirements, transmission efficiency, load size, and channel size of the endoscope of the surgical instrument, so that the robotic arm 100 is suitable for different application scenarios.

[0109] In some embodiments, the robotic arm 100 may include a driving structure such as a motor, and the driving structure is transmission-connected to the first linkage 31 or the second linkage 32, thereby driving the first linkage 31 to move along the first linear track 21 toward the axial first end of the robotic arm 100, or the second linkage 32 to move along the second linear track 22 toward the axial first end of the robotic arm 100.

[0110] In some implementations, the proximal and distal ends of the robotic arm are connected by tendons. The core of this design is to guide the tendons through a series of channels, ultimately connecting them to the distal end (which can be understood as a clamp). However, in this design, the channels through which the tendons pass contain multiple sharp bends. These sharp bends increase the contact pressure between the tendons and the inner wall of the channels, causing significant friction. Over time, this can lead to fatigue damage to the tendons and even premature breakage, compromising the reliability and service life of the robotic arm.

[0111] Figure 7 1 is a schematic structural diagram of a sliding shaft (a first sliding shaft or a second sliding shaft) in a robotic arm provided in an embodiment of the present application; Figure 8 yes Figure 7 The structural diagram of the sliding shaft at another angle is shown in FIG. Figure 7 and Figure 8 As shown, in order to improve transmission accuracy, in some embodiments, the robotic arm 100 further includes a first sliding shaft 51 and a first tendon, as well as a second sliding shaft 52 and a second tendon. The first sliding shaft 51 is connected to the first linkage 31 and is connected to the guide member 20 along the axial movement of the guide member 20; the first tendon is connected to the proximal end of the first sliding shaft 51. When the first tendon is tightened, the first sliding shaft 51 and the first linkage 31 are driven to move along the first linear track 21 toward the first tendon. The second sliding shaft 52 is connected to the second linkage 32 and is connected to the guide member 20 along the axial movement of the guide member 20; the second tendon is connected to the proximal end of the second sliding shaft 52. When the second tendon is tightened, the second sliding shaft 52 and the second linkage 32 are driven to move along the second linear track 22 toward the second tendon.

[0112] Here, when the first tendon is tightened, the first sliding shaft 51 moves axially along the guide member 20 toward the first tendon, driving the first linkage member 31 to move along the first linear track 21 toward the proximal end of the robotic arm 100, thereby achieving angular adjustment of the rotating member 10 along the third direction T3. Simultaneously, the second linkage member 32, constrained by the second slot 12 and the second linear track 22, moves in the opposite direction, loosening the second tendon and facilitating subsequent angular adjustment of the rotating member 10 along the fourth direction T4 by tightening the second tendon.

[0113] When the second tendon is tightened, the second sliding shaft 52 moves axially along the guide member 20 toward the second tendon, driving the second linkage member 32 to move along the second linear track 22 toward the proximal end of the robotic arm 100, thereby achieving angular adjustment of the rotating member 10 along the fourth direction T4. Simultaneously, the first linkage member 31, constrained by both the first slot 11 and the first linear track 21, moves in the opposite direction, loosening the first tendon and facilitating subsequent angular adjustment of the rotating member 10 along the third direction T3 by tightening the first tendon.

[0114] Through the above scheme, the first sliding shaft 51 and the first tendon cooperate to realize the axial force transmission to the first linkage member 31, and the second sliding shaft 52 and the second tendon cooperate to realize the axial force transmission to the second linkage member 32. The transmission of torque can be retained only in the shaft section corresponding to the rotating member 10, and the redundant rotational torque can be unloaded by using two sets of symmetrically arranged steering structures. The rotating member 10 will not have the tendency to expand and deform radially due to the force, thereby avoiding continuous friction with the endoscope tube wall. The rotation response speed of the clamp 200 is improved, and the operational sensitivity of the surgical instrument is enhanced.

[0115] At the same time, the first tendon and the second tendon are tightened and loosened to realize the linkage between the rotating member 10 and the guide member 20, so as to drive the rotation of the clamp 200. Based on the characteristics of the tendon itself with high transmission precision, the rotation sensitivity of the clamp 200 can be improved, and the operational sensitivity and accuracy of the surgical instrument can be enhanced. At this time, the first tendon is transmitted to the first linkage member 31 through the first sliding shaft 51, and the second tendon is transmitted to the second linkage member 32 through the second sliding shaft 52, so that the first tendon and the second tendon extend along the axial direction of the rotating member 10, preventing the first tendon and the second tendon from rubbing against the inner wall of the guide member 20, and preventing the first linkage member 31 from swinging and causing the first tendon to wear, and the second linkage member 32 from swinging and causing the second tendon to wear, further improving the transmission precision and also improving the service life of the first tendon and the second tendon.

[0116] Figure 9 This is a schematic structural diagram of a guide member in a robotic arm provided in an embodiment of the present application; Figure 10 yes Figure 9 The structural diagram of the guide member at another angle is shown. Figure 9 and Figure 10 As shown, in order to achieve a fixed connection between the first tendon and the first sliding shaft 51, in some embodiments, the robot arm 100 further includes a first pressure block and a second pressure block. The first pressure block is connected to the proximal end of the first sliding shaft 51, and the first tendon is fixedly connected to the first sliding shaft 51 via the first pressure block. The second pressure block is connected to the proximal end of the second sliding shaft 52, and the second tendon is fixedly connected to the second sliding shaft 52 via the second pressure block. This can avoid the risk of the first or second tendon becoming loose or slipping during use, ensuring a secure connection.

[0117] In some embodiments, the first tendon partially extends into the first pressure block, and the two are then securely connected by crimping; similarly, the second tendon partially extends into the second pressure block, and the two are then securely connected by crimping.

[0118] In some embodiments, the first pressure block can be connected to the first sliding shaft 51 by bolt connection, welding or bonding; the second pressure block can be connected to the second sliding shaft 52 by bolt connection, welding or bonding. The embodiments of the present application do not limit the way in which the first pressure block is connected to the first sliding shaft 51 and the second pressure block is connected to the second sliding shaft 52.

[0119] To simplify the structure, in some embodiments, the first pressing block can be connected to the proximal end surface of the first sliding shaft 51, with the first tendon extending axially along the first sliding shaft 51 into the first pressing block, and then the first tendon is pressed against the first pressing block using a crimping process. The second pressing block can be connected to the proximal end surface of the second sliding shaft 52, with the second tendon extending axially along the second sliding shaft 52 into the second pressing block, and then the second tendon is pressed against the second pressing block using a crimping process.

[0120] See also Figure 8 To achieve a more compact structure, in some embodiments, a first mounting groove 511 and a first mounting hole 512 are provided at the proximal end of the first sliding shaft 51. The first mounting groove 511 is formed by an inward depression in the sidewall of the first sliding shaft 51, and the first mounting hole 512 extends axially along the first sliding shaft 51 and communicates with the first mounting groove 511. A first pressure block is disposed within the first mounting groove 511, and a first tendon extends through the first mounting hole 512 into the first pressure block to be fixedly connected to the first pressure block. This positioning of the first pressure block within the first sliding shaft 51 shortens the axial dimension of the robotic arm 100, resulting in a more compact structure.

[0121] The proximal end of the second sliding shaft 52 is provided with a second mounting groove 521 and a second mounting hole 522. The second mounting groove 521 is formed by an inward depression in the sidewall of the second sliding shaft 52. The second mounting hole 522 extends axially along the second sliding shaft 52 and connects to the second mounting groove 521. The second pressure block is disposed within the second mounting groove 521. The second tendon extends through the second mounting hole 522 and into the second pressure block, thereby being fixedly connected to the second pressure block. This positioning of the second pressure block within the second sliding shaft 52 shortens the axial dimension of the robotic arm 100, making the structure more compact.

[0122] Furthermore, through the above solution, the first mounting hole 512 can axially locate the first tendon, preventing the first tendon from swinging and rubbing against the inner wall of the second sliding shaft 52 and other structures, which can affect its lifespan. The second mounting hole 522 can also axially locate the second tendon, preventing the second tendon from swinging and rubbing against other structures, which can affect its lifespan.

[0123] See also Figure 9 and Figure 10 To guide the first sliding shaft 51 and the second sliding shaft 52, in some embodiments, the guide member 20 is provided with a first guide hole 23 and a second guide hole 24 extending axially along the guide member 20. The first sliding shaft 51 is movable and inserted into the guide member 20 through the first guide hole 23, and the second sliding shaft 52 is movable and inserted into the guide member 20 through the second guide hole 24. In this way, the first sliding shaft 51 slides along the extension direction of the first guide hole 23, improving the accuracy of transmitting the axial force of the first tendon to the first linkage member 31 via the first sliding shaft 51. The second sliding shaft 52 slides along the extension direction of the second guide hole 24, improving the accuracy of transmitting the axial force of the second tendon to the second linkage member 32 via the second sliding shaft 52.

[0124] It can be understood that the radial position of the first guide hole 23 in the guide member 20 is consistent with the radial position of the first sliding shaft 51 , and the radial position of the second guide hole 24 in the guide member 20 is consistent with the radial position of the second sliding shaft 52 .

[0125] In order to achieve synchronous movement of the first linkage member 31 and the first sliding shaft 51 , and synchronous movement of the second linkage member 32 and the second sliding shaft 52 , in some embodiments, the first linkage member 31 is fixedly connected to the first sliding shaft 51 , and the second linkage member 32 is fixedly connected to the second sliding shaft 52 .

[0126] In some examples, the first linkage member 31 can be fixedly connected to the first sliding shaft 51, and the second linkage member 32 can be fixedly connected to the second sliding shaft 52 by the following methods:

[0127] See also Figure 8The first sliding shaft 51 is provided with a first connecting hole 513 extending in its radial direction and a first fixing hole 514 extending in its axial direction. The first fixing hole 514 is connected to the first connecting hole 513. The first linkage member 31 is inserted into the first connecting hole 513 and a fastener is inserted through the first fixing hole 514 and abuts against the first linkage member 31, thereby achieving a fixed connection between the first linkage member 31 and the first sliding shaft 51. In this way, the first connecting hole 513 and the fastener are used to achieve bidirectional position limiting of the first linkage member 31, preventing the first linkage member 31 from loosening, thereby improving the synchronization of the movement of the two and enhancing transmission accuracy.

[0128] The second sliding shaft 52 is provided with a second connecting hole 523 extending radially thereof and a second fixing hole 524 extending axially thereof. The second fixing hole 524 communicates with the second connecting hole 523. The second linkage member 32 is inserted into the second connecting hole 523 and, after being passed through the second fixing hole 524, abuts against the second linkage member 32, thereby securing the second linkage member 32 to the second sliding shaft 52. In this manner, the second connecting hole 523 and the fastener provide bidirectional positional restraint for the second linkage member 32, preventing loosening of the second linkage member 32 and improving movement reliability. This, in turn, enhances synchronization of movement between the two and improves transmission accuracy.

[0129] Figure 11 This is a schematic structural diagram of a linkage component in a robotic arm provided in an embodiment of the present application; Figure 12 yes Figure 9 A structural diagram of the linkage shown in FIG. Figure 11 and Figure 12 As shown, in order to axially position the first linkage member 31 or the second linkage member 32, in some embodiments, a first limiting portion 312 is formed at one end of the first linkage member 31. The first limiting portion 312 abuts against the outer wall of the rotating member 10. The radial dimension of the first limiting portion 312 is greater than the transverse dimension of the first groove 11, thereby achieving axial positioning of the first linkage member 31. A second limiting portion 322 is formed at one end of the second linkage member 32. The second limiting portion 322 abuts against the outer wall of the rotating member 10. The radial dimension of the second limiting portion 322 is greater than the transverse dimension of the second groove 12.

[0130] The radial dimension of the first limiting portion 312 or the second limiting portion 322 is the dimension parallel or approximately parallel to the axial direction of the rotating member 10 ; the transverse dimension of the first groove 11 or the second groove 12 is the distance between the relative inner walls of the first limiting portion 312 or the second limiting portion 322 along the circumference of the rotating member 10 .

[0131] In some embodiments, the first linkage member 31 further includes a first mating portion 314 and a second mating portion 315. The second mating portion 315, the first mating portion 314, and the first limiting portion 312 are connected along the axial direction of the first linkage member 31. The first mating portion 314 is configured to mate with the first slot 11, and the axial diameter of the first mating portion 314 matches the lateral dimension of the first slot 11. The second mating portion 315 is configured to mate with the first linear track 21, and the axial diameter of the first mating portion 314 matches the lateral dimension of the first linear track 21.

[0132] In some examples, the axial diameter of the first matching portion 314 is consistent with the transverse dimension of the first slot 11 , so that the outer wall of the first matching portion 314 contacts the inner wall of the first slot 11 without any transmission gap, thereby improving transmission accuracy.

[0133] In some examples, the axial diameter of the first matching portion 314 is loosely matched with the transverse dimension of the first slot 11 to facilitate installation.

[0134] In some examples, the technical solution for matching the size of the second matching portion 315 with the first linear track 21 can refer to the implementation of the first matching portion 314 and the first slot 11, and will not be repeated here.

[0135] In some embodiments, the second linkage member 32 further includes a third mating portion 324 and a fourth mating portion 325. The fourth mating portion 325, the third mating portion 324, and the second limiting portion 322 are connected along the axial direction of the second linkage member 32. The third mating portion 324 is configured to mate with the second slot 12, and the axial diameter of the third mating portion 324 matches the lateral dimension of the second slot 12. The fourth mating portion 325 is configured to mate with the second linear track 22, and the axial diameter of the fourth mating portion 325 matches the lateral dimension of the second linear track 22.

[0136] In some examples, the axial diameter of the third matching portion 324 is consistent with the transverse dimension of the second slot 12 , so that the outer wall of the third matching portion 324 contacts the inner wall of the second slot 12 without any transmission gap, thereby improving transmission accuracy.

[0137] In some examples, the axial diameter of the third matching portion 324 is loosely matched with the transverse dimension of the second slot 12 to facilitate installation.

[0138] In some examples, the technical solution for matching the size of the fourth matching portion 325 with the second linear track 22 can refer to the implementation of the third matching portion 324 and the second slot 12, and will not be repeated here.

[0139] Figure 13 This is a schematic structural diagram of a housing in a robotic arm provided in an embodiment of the present application; Figure 14 yes Figure 13 The schematic diagram of the structure of the shell from another angle is shown. Figure 13and Figure 14 As shown, in order to provide sliding space for the first sliding shaft 51 and the second sliding shaft 52, in some embodiments, the robotic arm 100 also includes a shell 60, which is axially fixedly connected to the guide member 20, and the shell 60 has a through cavity extending along its own axial direction, and the through cavity is used to provide sliding space for the first sliding shaft 51 and the first tendon, as well as the second sliding shaft 52 and the second tendon.

[0140] Since the transmission principles of the first steering structure and the second steering structure are similar, the following describes the size configuration of the housing 60 using the first linkage member 31 as an example:

[0141] In some embodiments, the axial dimension of the through cavity matches the axial movement distance of the first linkage member 31 along the rotating member 10 . In other words, the axial dimension of the through cavity matches the first dimension d1 of the first slot 11 .

[0142] In some examples, the axial dimension of the through cavity is consistent with the axial movement distance of the first linkage member 31 along the rotating member 10 , so that the first sliding shaft 51 can move in the through cavity.

[0143] In some examples, the axial dimension of the through cavity is larger than the axial movement distance of the first linkage member 31 along the rotating member 10 , which can provide a partial safety distance for accommodating the axial displacement of the first sliding shaft 51 caused by the transmission clearance of other structural parts.

[0144] In some embodiments, a first clamping portion 61 is formed at the distal end of the shell 60, and a second clamping portion 62 is formed at the proximal end of the guide member 20. The shell 60 and the guide member 20 are axially fixedly connected by the engagement of the first clamping portion 61 and the second clamping portion 62.

[0145] In some examples, the first engaging portion 61 is configured as at least a portion of the distal end surface of the housing 60 convexly extending axially outward from the housing 60, and the second engaging portion 62 is configured as at least a portion of the proximal end surface of the rotating member 10 concavely extending axially inward from the rotating member 10. Accordingly, the first engaging portion 61 engages with the second engaging portion 62. It will be appreciated that the shapes and sizes of the first engaging portion 61 and the second engaging portion 62 match.

[0146] In some examples, the first clamping portion 61 is configured as an elliptical plate, and the second clamping portion 62 is also configured as an elliptical plate. Accordingly, the elliptical plates of the two are of the same size to reduce the gap at the connection between the housing 60 and the rotating member 10 after axial connection.

[0147] In some examples, the first clamping portion 61 is configured as a sawtooth structure, and the second clamping portion 62 is also configured as a sawtooth structure. Accordingly, the sawtooth structures of the two cooperate to reduce the gap at the connection between the housing 60 and the rotating member 10 after the axial connection.

[0148] In some embodiments, a positioning portion 63 is further formed at the distal end of the shell 60, and the positioning portion 63 is used to be inserted into the proximal end of the rotating part 10 to facilitate the alignment of the first clamping portion 61 and the second clamping portion 62, and the positioning portion 63 can cover the connection between the first clamping portion 61 and the second clamping portion 62 from the inner side of the rotating part 10, thereby avoiding the presence of a connection gap between the shell 60 and the rotating part 10, and preventing impurities from entering the shell 60 and causing transmission failure.

[0149] In some examples, the alignment portion 63 is constructed to extend outward along the axial direction of the shell 60 from the inner side of the distal end surface of the shell 60. At this time, the first clamping portion 61 is located on the outside of the alignment portion 63, so that when the alignment portion 63 is inserted into the proximal end of the rotating part 10, the first clamping portion 61 and the second clamping portion 62 are aligned and clamped, thereby realizing an axially fixed connection between the shell 60 and the rotating part 10.

[0150] See also Figure 14 To improve the guidance of the first and second tendon lines within the through-cavity, in some embodiments, a first limiting hole 65 and a second limiting hole 66 are formed at the proximal end of the housing 60. The extension direction of the first limiting hole 65 coincides with, or approximately coincides with, the extension direction of the first guide hole 23; the extension direction of the second limiting hole 66 coincides with, or approximately coincides with, the extension direction of the second guide hole 24. The first tendon line passes through the first limiting hole 65, and the second tendon line passes through the second limiting hole 66, thereby improving the accuracy of axial force transmission by the first or second tendon line.

[0151] Figure 15 This is a schematic diagram of the structure of a flexible shaft in a robotic arm provided by an embodiment of the present application. Figure 15 As shown, to enhance the adaptability of the robotic arm 100 in flexible environments, in some embodiments, the robotic arm 100 further includes a flexible shaft 70, which is axially connected to the housing 60. Specifically, the housing 60 is connected between the flexible shaft 70 and the rotating member 10. Accordingly, after the first or second tendon passes through the flexible shaft 70, the proximal end of the first tendon is connected to the drive structure, and the proximal end of the second tendon is connected to the drive structure. Accordingly, the drive structure can drive the first or second tendon to tighten.

[0152] In some embodiments, the distal end of the flexible shaft 70 is crimped with a threaded joint, which has an external thread. The proximal inner wall of the shell 60 has an internal thread, and the flexible shaft 70 is fixedly connected to the shell 60 by threading the internal thread and the external thread.

[0153] In some embodiments, the flexible shaft 70 has two axially symmetrical channels therein, and the two channels are used to pass the first tendon and the second tendon respectively.

[0154] Next, Figure 1 or Figure 2The structure shown in FIG. 1 is that the first groove 11 and the second groove 12 extend in a clockwise direction from the proximal end to the distal end of the rotating member 10, the third direction T3 is a clockwise direction, and the fourth direction T4 is a counterclockwise direction. Figures 16 to 24 The overall working process of the robotic arm 100 is described.

[0155] Figure 16 This is a partial schematic diagram of the linkage member in the middle position in the embodiment of the present application; Figure 17 yes Figure 16 A schematic diagram of the structure of the B1 perspective in the state shown; Figure 18 yes Figure 16 The structural diagram of the B2 perspective in the state shown. Figures 16 to 18 As shown, the first linkage member 31 is located in the middle of the first slot 11 , and the second linkage member 32 is located in the middle of the second slot 12 . It is assumed that the robotic arm 100 is in an initial state at this time.

[0156] It is understandable that, in practical applications, the initial state of the robotic arm 100 can be flexibly changed, that is, the first linkage member 31 can be located at any position of the first slot 11 .

[0157] Figure 19 This is a partial schematic diagram of the state in which the rotating member is at the clockwise limit position in the embodiment of the present application; Figure 20 yes Figure 19 A schematic diagram of the structure of the B1 perspective in the state shown; Figure 21 yes Figure 19 The structural diagram of the B2 perspective in the state shown. Figures 19 to 21 As shown, the first tendon is tightened by the driving structure, driving the first sliding shaft 51 and the first linkage 31 to the proximal end (see Figure 19 or Figure 21 Due to the dual restraint effect of the first slot 11 and the first linear track 21 on the first linkage member 31, the rotating member 10 is forced to rotate clockwise around its own axis (reference Figures 19 to 21 The second linking member 32 rotates in the third direction (T3) of the axis of rotation. At this point, the jaw 200 rotates synchronously with the rotating member 10, achieving clockwise angular adjustment of the jaw 200. Simultaneously, the second linking member 32 is constrained by both the second linear track 22 and the second slot 12. As the rotating member 10 rotates clockwise about its axis, the second linking member 32 is forced to move in the opposite direction along the second linear track 22.

[0158] When the first linkage member 31 moves to the extreme position C1 near the first slot 11 (refer to Figure 6 ), the clamp 200 rotates to the clockwise limit position, at which time the second linkage member 32 moves in the reverse direction to the limit position C4 at the far end of the second slot 12 (reference Figure 6 ).

[0159] Figure 22 This is a partial schematic diagram of the state in which the rotating member is in the counterclockwise extreme position in the embodiment of the present application; Figure 23 yes Figure 12 A schematic diagram of the structure of the B1 perspective in the state shown; Figure 24 yes Figure 22 The structural diagram of the B2 perspective in the state shown. Figures 22 to 24 As shown, the second tendon is tightened by the driving structure, driving the second sliding shaft 52 and the second linkage 32 to the proximal end (see Figure 22 or Figure 23 Due to the dual restraint effect of the second groove 12 and the second linear track 22 on the second linkage member 32, the rotating member 10 is forced to rotate counterclockwise around its own axis (reference Figures 22 to 24 The first linking member 31 is then rotated in the fourth direction T4 (in the fourth direction T4) to adjust the angle of the clamping jaw 200 in the counterclockwise direction. Simultaneously, the first linkage member 31 is constrained by both the first linear track 21 and the first slot 11. When the rotating member 10 rotates counterclockwise about its own axis, the first linkage member 31 is forced to move in the opposite direction along the first linear track 21.

[0160] When the second linkage member 32 moves to the extreme position C3 (reference Figure 6 ), the clamp 200 rotates to the counterclockwise limit position. At this time, the first linkage member 31 is located at the limit position C2 at the far end of the first slot 11 (reference Figure 6 ).

[0161] It should be noted that the above-mentioned clockwise and counterclockwise are both described relative to the perspective of the rotating member 10 toward the clamping opening 200 .

[0162] Based on the same concept, an embodiment of the present application also provides a diagnostic and treatment device, including a clamp 200, a surgical instrument, and a robotic arm 100 of any of the aforementioned embodiments. The distal end of the robotic arm 100 is connected to the surgical instrument through the clamp 200 to drive the surgical instrument to different rotation angles.

[0163] It should be noted that the embodiment of the diagnostic and treatment device is conceived corresponding to the aforementioned robotic arm 100, and has corresponding technical effects as the aforementioned robotic arm 100. The technical features and implementation methods not recorded in this embodiment can refer to the technical solutions of the aforementioned robotic arm 100 and will not be repeated here.

[0164] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on the several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the scope of protection of the present application.

[0165] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A robotic arm for positioning a jaw (200) at different rotation angles, characterized in that: The robotic arm comprises: A rotating member (10) is fixedly connected to the clamping opening (200); a side wall of the rotating member (10) is symmetrically provided with a first groove (11) extending along a first spiral direction and a second groove (12) extending along a second spiral direction; A guide member (20), wherein the rotating member (10) is sleeved on the guide member (20), and the guide member (20) is provided with a first linear track (21) and a second linear track (22) extending along the axial direction of the rotating member (10); A first linkage member (31) is inserted into the first slot (11) and the first linear track (21), and is movable along the extension direction of the first slot (11); The second linkage member (32) is inserted into the second slot (12) and the second linear track (22), and is movable along the extension direction of the second slot (12); when the first linkage member (31) is driven to move along the first linear track (21) toward the first axial end of the robotic arm, the first linkage member (31) drives the rotating member (10) to rotate along the axis of the rotating member (10) in a third direction; or, When the second linkage member (32) is driven to move along the second linear track (22) toward the first axial end of the robotic arm, the second linkage member (32) drives the rotating member (10) to rotate along a fourth direction around the axis of the rotating member (10), so that the clamping jaw (200) is at a different rotation angle, wherein the third direction is opposite to the fourth direction.

2. The robotic arm according to claim 1, wherein: The rotating member (10) is formed with a positioning surface (13), and the positioning surface (13) is formed by extending the inner wall of the rotating member (10) along the circumference of the rotating member (10); The robotic arm further comprises an end ring (40), which is coaxially sleeved in the rotating member (10) and axially abuts against the positioning surface (13); the guide member (20) and the clamping opening (200) respectively abut against opposite ends of the end ring (40) along the axial direction of the end ring (40).

3. The robotic arm according to claim 2, wherein: The end ring (40) is formed with an abutment portion (41), which is formed by an inward depression of the proximal end surface of the end ring (40), and the distal end of the guide member (20) abuts against the abutment portion (41).

4. The robotic arm according to any one of claims 1 to 3, characterized in that: A first dimension of the first groove (11) and the second groove (12) along the axial direction of the rotating member (10) matches the rotation angle range of the rotating member (10); The second dimensions of the first groove (11) and the second groove (12) along the circumference of the rotating member (10) match the rotation angle range of the rotating member (10).

5. The robotic arm according to any one of claims 1 to 3, characterized in that: The robotic arm further comprises: A first sliding shaft (51) is connected to the first linkage member (31) and is connected to the guide member (20) by moving along the axial direction of the guide member (20); A first tendon is connected to the proximal end of the first sliding shaft (51); when the first tendon is tightened, it drives the first sliding shaft (51) and the first linkage member (31) to move along the first linear track (21) toward the first tendon; A second sliding shaft (52) is connected to the second linkage member (32) and is connected to the guide member (20) by moving along the axial direction of the guide member (20); The second tendon is connected to the proximal end of the second sliding shaft (52); when the second tendon is tightened, it drives the second sliding shaft (52) and the second linkage member (32) to move along the second linear track (22) toward the second tendon.

6. The robotic arm according to claim 5, characterized in that: The robotic arm further comprises: a first pressing block, the first pressing block being connected to the proximal end of the first sliding shaft (51), the first tendon being fixedly connected to the first sliding shaft (51) via the first pressing block; A second pressing block is connected to the proximal end of the second sliding shaft (52), and the second tendon is fixedly connected to the second sliding shaft (52) through the second pressing block.

7. The robotic arm according to claim 6, wherein: A first mounting groove (511) and a first mounting hole (512) are provided at the proximal end of the first sliding shaft (51), the first mounting groove (511) being formed by an inward depression of the side wall of the first sliding shaft (51), the first mounting hole (512) extending along the axial direction of the first sliding shaft (51) and connected to the first mounting groove (511); the first pressing block is provided in the first mounting groove (511), the first tendon passes through the first mounting hole (512) and extends into the first pressing block to be fixedly connected to the first pressing block; and / or, A second mounting groove (521) and a second mounting hole (522) are provided at the proximal end of the second sliding shaft (52), the second mounting groove (521) being formed by an inward depression of the side wall of the second sliding shaft (52), the second mounting hole (522) extending along the axial direction of the second sliding shaft (52) and connected to the second mounting groove (521); the second pressure block is connected to the second mounting groove (521), and the second tendon extends through the second mounting hole (522) into the second pressure block to be fixedly connected to the second pressure block.

8. The robotic arm according to claim 5, wherein: The guide member (20) is provided with a first guide hole (23) and a second guide hole (24) extending axially along the guide member (20); the first sliding shaft (51) is moved and inserted into the guide member (20) through the first guide hole (23); and the second sliding shaft (52) is moved and inserted into the guide member (20) through the second guide hole (24).

9. The robotic arm according to claim 5, characterized in that: The first sliding shaft (51) is provided with a first connecting hole (513) extending radially along the first sliding shaft (51) and a first fixing hole (514) extending axially along the first sliding shaft (51); the first fixing hole (514) is connected to the first connecting hole (513), the first linkage member (31) is inserted into the first connecting hole (513), and a fastener is passed through the first fixing hole (514) and then abuts against the first linkage member (31), so as to realize the fixed connection between the first linkage member (31) and the first sliding shaft (51); and / or, The second sliding shaft (52) is provided with a second connecting hole (523) extending radially along the second sliding shaft (52) and a second fixing hole (524) extending axially along the second sliding shaft (52); the second fixing hole (524) is connected to the second connecting hole (523), the second linkage member (32) is inserted into the second connecting hole (523), and a fastener is passed through the second fixing hole (524) and then abuts against the second linkage member (32), so as to realize the fixed connection between the second linkage member (32) and the second sliding shaft (52).

10. The robotic arm according to claim 9, wherein: A first limiting portion (312) is formed at one end of the first linkage member (31), the first limiting portion (312) abuts against the outer wall of the rotating member (10), and the radial dimension of the first limiting portion (312) is greater than the transverse dimension of the first groove (11); A second limiting portion (322) is formed at one end of the second linkage member (32), the second limiting portion (322) abuts against the outer wall of the rotating member (10), and the radial dimension of the second limiting portion (322) is greater than the transverse dimension of the second groove (12).

11. The robotic arm according to claim 5, characterized in that: The robotic arm also includes a shell (60), which is axially fixedly connected to the guide member (20), and the shell (60) has a through cavity extending axially along the shell (60), and the through cavity is used to provide sliding space for the first sliding shaft (51) and the first tendon, and the second sliding shaft (52) and the second tendon.

12. The robotic arm according to claim 11, wherein: The robotic arm further comprises a flexible shaft (70), wherein the flexible shaft (70) is axially connected to the housing (60); the first tendon line and the second tendon line extend into the flexible shaft (70) through the through cavity.

13. A diagnostic and treatment device, characterized in that: It comprises a clamp (200), a surgical instrument, and a robotic arm according to any one of claims 1 to 12, wherein the distal end of the robotic arm is connected to the surgical instrument through the clamp (200) to drive the surgical instrument to different rotation angles.

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