Telescopic joint and surgical robot

Abstract

The invention provides a telescopic joint and a surgical robot. The telescopic joint comprises a fixed arm, a movable arm and a transmission assembly. The fixing arm is suitable for being connected with the stand column through a rotating joint. A first cavity formed by extending in the first direction is formed in the fixed arm. The movable arm is movably nested and connected to the fixed arm in a first direction. The inside of the movable arm has a second cavity formed by extending in the first direction. The second cavity communicates with the first cavity. The transmission assembly is located in a space jointly formed by the first cavity and the second cavity. One end of the transmission assembly is fixedly arranged relative to one of the fixed arm and the movable arm in the first direction. The other end of the transmission assembly is movably disposed in the first direction relative to the other of the fixed arm and the movable arm. According to the telescopic joint, miniaturization and light weight of the telescopic joint can be achieved.

Description

Technical Field

[0001] The present application generally relates to the technical field of medical devices, and more specifically to a telescopic joint and a surgical robot. Background Art

[0002] Surgical robots are increasingly being used. Safety, as one of the most important indicators of a surgical robot's product success, must be given top priority. Surgical robots incorporate telescopic joints. Three to four surgical arms are typically suspended from the front end of these joints, with the total load potentially exceeding 100 kg. This places stringent demands on the joint's lightweight structure and strong supporting rigidity. A telescopic joint typically consists of a fixed portion, a movable portion, and a transmission assembly. The fixed and movable portions are connected in a nested fashion. One end of the transmission assembly is connected to the fixed portion, and the other end is connected to the movable portion. The transmission assembly is designed to transmit power between the fixed and movable portions, enabling the movable portion to move linearly relative to the fixed portion. The transmission assembly is typically located within the gap between the nested fixed and movable portions. This can easily lead to oversizing of the telescopic joint and hinders lightweight design. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] To at least partially solve the above problems, the present application provides a telescopic joint in a first aspect, comprising:

[0005] A fixed arm, the fixed arm being adapted to be connected to the column via a rotary joint, the fixed arm having a first cavity extending along a first direction;

[0006] a movable arm, the movable arm being movably nested and connected to the fixed arm along a first direction, the movable arm having a second cavity formed inside thereof extending along the first direction, the second cavity being connected to the first cavity; and

[0007] A transmission assembly, wherein the transmission assembly is located in a space jointly formed by the first cavity and the second cavity, one end of the transmission assembly is fixedly arranged relative to one of the fixed arm and the movable arm along a first direction, and the other end of the transmission assembly is movably arranged relative to the other of the fixed arm and the movable arm along the first direction.

[0008] According to the telescopic joint of the first aspect of the present application, the movable arm is nested and connected to the fixed arm, and the transmission assembly is arranged in the space formed by the first cavity and the second cavity. The ends of the transmission assembly are respectively connected to the fixed arm and the movable arm. This can reduce the space occupied by the transmission assembly in the fixed arm and the movable arm, thereby facilitating a reduction in the size of the telescopic joint and further contributing to the lightweighting of the telescopic joint. The movable arm is nested within the fixed arm, thereby avoiding the risk of the movable arm directly falling and improving the safety of the system.

[0009] Optionally, the fixed arm is sleeved on the outside of the movable arm.

[0010] Optionally, the transmission assembly includes:

[0011] a lead screw rotatably arranged around its own axis parallel to the first direction,

[0012] One end of the lead screw is fixedly disposed relative to one of the fixed arm and the movable arm along the first direction, and the other end of the lead screw is movably disposed relative to the other of the fixed arm and the movable arm along the first direction; and

[0013] a nut, the nut being threadably engaged with the lead screw, the nut being fixedly disposed relative to the other of the fixed arm and the movable arm,

[0014] The telescopic joint further comprises:

[0015] A drive assembly is transmission-connected to the lead screw and is fixed relative to one of the fixed arm and the movable arm that is not fixed relative to the nut.

[0016] Optionally, the telescopic joint includes:

[0017] a first guide rail, the first guide rail being located outside the lead screw and the nut in a direction perpendicular to the first direction, the first guide rail extending along the first direction, and the first guide rail being fixed to one of the fixed arm and the movable arm;

[0018] A first slider is slidably connected to the first guide rail along the first direction, and the first slider is fixed to the other of the fixed arm and the movable arm.

[0019] Optionally, the telescopic joint includes two groups of the first guide rails and two groups of the first sliding blocks, the two groups of the first guide rails are respectively located on both sides of the lead screw, and the two groups of the first sliding blocks are respectively arranged corresponding to the two groups of the first guide rails.

[0020] Optionally, the fixed arm is sleeved on the outside of the movable arm;

[0021] The first guide rail is fixed to the fixed arm, and the first slider is fixed to the movable arm.

[0022] Optionally, the fixed arm includes:

[0023] a first body, the first body comprising a first groove adapted to accommodate the movable arm, the opening of the first groove facing upward, and the movable arm accommodated in the first groove does not exceed the top of the first body in a height direction; and

[0024] a first top cover detachably connected to the top of the first body at the first groove to form the first cavity,

[0025] Wherein, the first guide rail, the driving assembly and one end of the lead screw are connected to the inner bottom of the first body.

[0026] Optionally, the first groove passes through both ends of the first body along the first direction.

[0027] The fixed arm further comprises:

[0028] An end cover is detachably connected to an end portion of the first body where the drive assembly is provided.

[0029] Optionally, a first through hole is formed at the bottom of the first body, and in a plane perpendicular to the height direction, the orthographic projection of the first through hole is staggered with the orthographic projection of the first guide rail, and the first through hole is at least suitable for passing cables.

[0030] Optionally, the drive assembly is located in the first cavity and connected to the fixed arm, one end of the lead screw is located in the first cavity and fixedly arranged relative to the fixed arm along the first direction, the other end of the lead screw is located in the second cavity and movably arranged relative to the movable arm along the first direction, and the nut is fixedly arranged relative to the movable arm.

[0031] Optionally, the telescopic joint includes:

[0032] a second guide rail, the second guide rail extending along the first direction and disposed in the second cavity, the second guide rail being fixed to the movable arm so as to move along the first direction with the movable arm;

[0033] A second slider is slidably connected to the second guide rail along the first direction, and the second slider is fixed relative to the lead screw along the first direction.

[0034] Optionally, the telescopic joint includes:

[0035] a first support member fixed to the fixed arm, the first support member being connected to one end of the lead screw via a bearing; and

[0036] A second support member is fixed to the second slider, and the second support member is connected to the other end of the lead screw through another bearing.

[0037] Optionally, the movable arm comprises:

[0038] a second body, the second body comprising a second groove, the opening of the second groove facing upward; and

[0039] a second top cover detachably connected to the top of the second body at the second groove to form the second cavity,

[0040] The second guide rail, the second slider and the second support member are all located in the second groove, the second guide rail is connected to the bottom of the second body, and the second support member does not exceed the top of the second body in the height direction.

[0041] Optionally, the second body further includes a third slot, a second via, a third via and a connecting hole, the third slot extending along the first direction, and the opening of the third slot facing outward along the second direction, the second direction being perpendicular to the first direction and the height direction, the second via is located at one end of the second body close to the drive component and connected to the third slot, the third via and the connecting hole are located at one end of the second body away from the drive component, the third via is connected to the third slot and the connecting hole, and the connecting hole passes through the second body along the height direction.

[0042] Optionally, the movable arm further comprises:

[0043] a side cover detachably connected to the second body at the third groove to cover the third groove; and / or

[0044] A third top cover is detachably connected to the top of the second body at the connecting hole to cover the top opening of the connecting hole.

[0045] Optionally, the driving assembly includes:

[0046] a first motor; and

[0047] A planetary reducer comprising a power input part and a power output part, wherein the transmission ratio between the power input part and the power output part is greater than 1, the power input part is transmission-connected to the first motor shaft of the first motor, and the power output part is transmission-connected to the lead screw.

[0048] Optionally, the telescopic joint includes:

[0049] A brake assembly includes a first brake member and a second brake member that can be engaged and disengaged relative to each other, the first brake member is connected to the first motor housing of the first motor, the second brake member is connected to the first motor shaft of the first motor, and the first brake member and the second brake member provide braking torque to the first motor shaft of the first motor when engaged.

[0050] Optionally, the telescopic joint includes:

[0051] A first rotary encoder includes a first encoding portion and a second encoding portion, wherein the first encoding portion is fixedly arranged relative to the first motor housing of the first motor, and the second encoding portion is fixedly arranged relative to the first motor shaft of the first motor. The first encoding portion generates an induction signal when the second encoding portion rotates along with the first motor shaft of the first motor to detect the angular displacement of the first motor shaft of the first motor.

[0052] Optionally, the telescopic joint includes:

[0053] A linear displacement detection component, the linear displacement detection component includes a first detection part and a second detection part, the first detection part is fixed relative to the fixed arm, the second detection part is fixed relative to the movable arm, and the first detection part and the second detection part are correspondingly arranged along the first direction, the first detection part is suitable for generating an induction signal when the second detection part moves along the first direction with the movable arm to detect the linear displacement of the movable arm.

[0054] Optionally, the telescopic joint includes:

[0055] A drag chain is suitable for passing cables, one end of the drag chain along its own length direction is fixed to the fixed arm, and the other end of the drag chain along its own length direction is fixed to the movable arm.

[0056] A second aspect of the present application provides a surgical robot, comprising:

[0057] base;

[0058] A column connected to the upper portion of the base and extending in a height direction;

[0059] a rotary joint comprising a fixed portion and a rotatable portion capable of rotating relative to each other about a first rotation axis, the first rotation axis being parallel to the height direction, the fixed portion being connected to a top end of the column;

[0060] In the telescopic joint described above, the fixed arm is connected to the rotatable portion of the rotary joint; and

[0061] A surgical arm assembly is connected to the movable arm.

[0062] According to the second aspect of the present application, the surgical robot can achieve a reduction in size and weight by applying the above-mentioned telescopic joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0064] Figure 1 is a schematic diagram of a surgical robot according to a preferred embodiment of the present application;

[0065] Figure 2 is a schematic diagram of a robotic arm system according to a preferred embodiment of the present application;

[0066] Figure 3 for Figure 2 Schematic diagram of the robotic arm system shown;

[0067] Figure 4 for Figure 2 A front view of the telescopic joint and the rotary joint in the assembled state, wherein the movable arm is in the retracted state;

[0068] Figure 5 For the Figure 4 A sectional view taken along line AA in FIG.

[0069] Figure 6 for Figure 2 A top view of the telescopic joint and the rotary joint in the assembled state, wherein the movable arm is in the retracted state;

[0070] Figure 7 For the Figure 6 A sectional view taken along line BB in FIG. 2 , wherein the revolute joint is omitted;

[0071] Figure 8 for Figure 7 An enlarged view of part I in FIG.

[0072] Figure 9 for Figure 7 An enlarged view of part II;

[0073] Figure 10 For the Figure 6 Another cross-sectional view taken along line BB in FIG.

[0074] Figure 11 for Figure 10 An enlarged view of part III;

[0075] Figure 12 for Figure 2 A front view of the telescopic joint in FIG, wherein the movable arm is in the extended state;

[0076] Figure 13 for Figure 12 A top view of

[0077] Figure 14 For the Figure 13 a cross-sectional view taken along line CC in FIG; and

[0078] Figure 15 for Figure 2 、 Figures 4 to 7 、 Figure 10 ,as well as Figures 12 to 14 A perspective view of the second body of the movable arm is shown.

[0079] Description of reference numerals:

[0080] 1: Surgical robot 2: Imaging system

[0081] 3: Control system 10: Robotic arm system

[0082] 11: Base 12: Handle

[0083] 13: Column 14: Fixed column

[0084] 15: Lifting column 16: Orientation unit

[0085] 17: Load arm 18: Setting arm

[0086] 19: Operating arm 20: Holding arm

[0087] 21: Surgical arm device 200: telescopic joint

[0088] 210: Fixed arm 210a: First cavity

[0089] 211: First body 211a: First groove

[0090] 211b: first via hole 212: first top cover

[0091] 213: End cover 220: Movable arm

[0092] 220a: Second cavity 221: Second body

[0093] 221a: Second slot 221b: Third slot

[0094] 221c: second via hole 221d: third via hole

[0095] 221e: Connection hole 222: Second top cover

[0096] 223: Side cover 225: Third top cover

[0097] 230: Transmission assembly 231: Screw

[0098] 232: Nut 240: Drive assembly

[0099] 241: First motor 241a: First motor shaft

[0100] 241b: First motor housing 242: Planetary reducer

[0101] 243: Coupling 251: First guide rail

[0102] 252: First slider 253: Second guide rail

[0103] 254: Second slider 255: First support member

[0104] 256: Second support 257: Drag chain

[0105] 262: First rotary encoder 262a: First encoder

[0106] 262b: Second encoder 262c: Code wheel fixing part

[0107] 262d: Encoder cover 262e: Encoder mounting plate

[0108] 263: Linear displacement detection component 263a: First detection unit

[0109] 263b: Second detection unit 266: Drive control panel assembly

[0110] 500: Rotational joint 510: Fixed part

[0111] 511: Outer ring mounting cover 512: Outer ring mounting seat

[0112] 520: Rotatable part 521: Inner ring mounting cover

[0113] 522: Inner ring mounting seat 530: Crossed roller bearing

[0114] 540: Second motor 541: Second motor shaft

[0115] 543: Second motor housing 550: Second rotary encoder

[0116] 560: Motor mounting plate 570: RV reducer

[0117] 571: Input gear 572: Speed ​​reduction output shaft

[0118] 573: Output connecting plate AX1: First rotation axis

[0119] AX2: Second rotation axis AX3: Third rotation axis

[0120] D1: first direction D2: second direction

[0121] D3: Height direction DETAILED DESCRIPTION

[0122] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, some technical features well known in the art are not described to avoid confusion with the present application embodiments.

[0123] In order to fully understand the embodiments of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art.

[0124] It should be understood that the terminology used herein is intended only to describe specific embodiments and is not intended to limit the present application. The singular forms "a," "an," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0125] Ordinal numbers such as "first" and "second" used in this application are merely identifiers and do not convey any other meaning, such as a specific order. Furthermore, for example, the term "first component" itself does not imply the existence of a "second component," nor does the term "second component" itself imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "back," "left," "right," "inner," "outer," and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0126] The terms "distal" and "proximal" are used in this application as directional terms, which are commonly used in the field of interventional medical devices. "Distal" refers to the end away from the operator during surgery, while "proximal" refers to the end closer to the operator during surgery. In a teleoperated surgical robotic system, the "operator" refers to the patient-side robot that holds and actuates the surgical instruments.

[0127] The terms "parallel" / "perpendicular" and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (for example, a relationship that differs from absolute parallel / perpendicular by -5° to +5°), which can have equivalent effects.

[0128] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings illustrate representative embodiments of the present application and do not limit the present application.

[0129] Now, refer to Figures 1 to 15 Exemplary embodiments according to the present application are described in more detail.

[0130] The surgical robot 1 according to an embodiment of the present application can be remotely controlled to perform surgery. The surgical robot 1 can also be referred to as a medical system or medical robot. The surgical robot 1 may include a control system 3, an imaging system 2, and a robotic arm system 10, which can communicate with each other.

[0131] Control system 3 is also known as the doctor's console or control device. It includes a display unit for displaying surgical instruments or the endoscopic environment, control mechanisms for the doctor to operate, and armrests. The display unit has an observation window for the doctor to observe. The control mechanisms are configured to perform various actions corresponding to the movements of the surgical instruments or endoscope. The armrests are used to support the doctor's arms. In addition, the doctor's console has other control switches that are easily accessible or pressed by hands or feet to perform various functions and complete human-computer interaction.

[0132] The imaging system 2 includes a display screen, an endoscope controller, system electronic equipment, an image processor, etc. Thus, the patient's internal organs can be presented to the operator more clearly.

[0133] See Figure 1 and Figure 2The robotic arm system 10, also known as the patient-side robotic arm system 10, is positioned adjacent to the patient. The robotic arm system 10 is equipped with an end-effector assembly at its distal end for performing various surgical procedures on the patient. The robotic arm comprises several connecting arms, with adjacent connecting arms connected by joints and capable of relative movement with specific degrees of freedom. This allows the distal end of the robotic arm to achieve multiple degrees of freedom (e.g., seven degrees of freedom, with varying degrees of freedom depending on the instrument). The end-effector assembly can include tools for surgical procedures such as tissue cutting, such as hooks, spatulas, electrocautery devices, clamps, scissors, and vascular occluders, as well as endoscopic lenses for image acquisition. The robotic arm system 10 can include at least one robotic arm. In other words, the end-effector assembly can include instruments such as surgical instruments or endoscopes. Furthermore, a surgical instrument can include a backend mechanism, a main circuit extending from the backend mechanism to the front end, and an end effector with a wrist mechanism located at the front end of the main circuit. Typically, an instrument driver drives the movement of the backend mechanism through multiple cables in the main circuit, thereby driving the wrist mechanism. During surgery, part of the main channel and wrist mechanism of the surgical instrument are passed through the chest, abdominal wall and other tissues to replace human hands for surgery.

[0134] In one example, reference Figure 2 and Figure 3The robotic arm system 10 may include a base 11, a column 13, a telescopic beam, an orienting portion 16, a load arm 17, and a robotic arm mounted on the load arm 17. Specifically, casters are provided at the bottom of the base 11 to enable the robotic arm system 10 to be moved as needed. A column 13 is provided at the top of the base 11. The column 13 may include a fixed column 14 and a lifting column 15. The lifting column 15 is movably mounted to the fixed column 14 in the height direction D3. The telescopic beam is mounted on the top of the lifting column 15 via a rotary joint 500, so that the telescopic beam can rotate relative to the column 13 about a first rotation axis AX1 parallel to the height direction D3. The telescopic beam may be referred to as a telescopic joint 200, a telescopic arm, a telescopic cross arm, or a telescopic cantilever. For ease of description, the telescopic beam will be collectively referred to as the telescopic joint 200 below. The load arm 17 is mounted at the end of the telescopic joint 200 via the orienting portion 16. The orienting portion 16 is located at the end of the telescopic joint 200 and is fixed relative to the telescopic joint 200. The load arm 17 can rotate relative to the orienting portion 16 about a second rotation axis AX2 parallel to the first rotation axis AX1. Rotating the load arm 17 about the orienting portion 16 changes its orientation to suit the surgical position. There may be multiple load arms 17. The rotation centers of these multiple load arms 17 may be the same. The load arm 17 typically suspends at least two robotic arms, which are arranged side by side along the length of the load arm 17. The orienting portion 16 is the supporting component of the load arm 17, and the entire weight of the load arm 17, and essentially the entire weight of the robotic arms, is borne by the orienting portion 16. During use, the lifting column 15 moves in the height direction D3 relative to the fixed column 14, changing the position of the telescopic beam in the height direction D3. The telescopic joint 200 is configured to extend and retract linearly in the horizontal direction to change its length, thereby changing the horizontal position of the load arm 17 relative to the column 13. The load arm 17 rotates relative to the telescopic joint 200 about the second rotation axis AX2 via the orienting unit 16, thereby changing the position of each robotic arm in a circumferential direction centered on the second rotation axis AX2. A handle 12 may also be provided on the base 11. The handle 12 can be used by the operator to assist in moving the base 11.

[0135] In some cases, a single robotic arm may include a setup arm 18, a manipulator arm 19, and a gripper arm 20. The setup arm 18 is connected to the payload arm 17 and is movable relative to the payload arm 17 in the direction in which the payload arm 17 extends. The minimum radius of rotation of all setup arms 18 about their rotation centers is the same. The maximum radius of rotation of all setup arms 18 about their rotation centers is the same. The setup arm 18 may be configured to be telescopic along its length to change its length. The length direction of the setup arm 18 may, for example, be parallel to the height direction D3. A rotational joint is provided between the setup arm 18 and the manipulator arm 19 to achieve a pivotable connection. The gripper arm 20 is mounted on the end of the manipulator arm 19 away from the setup arm 18. The end effector assembly is detachably mounted on the gripper arm 20. The gripper arm 20 may also be referred to as an instrument support frame or an instrument arm. The gripper arm 20 may also be provided with an instrument drive device to drive the end effector assembly to perform actions such as insertion, clamping, hooking, shearing, and shoveling. Before operating the robotic arm system 10 for surgery, the setup arm 18 must be manipulated to position the robotic arm 20 to a desired position, and then the setup arm 18 must be locked. During surgery, the operation is performed remotely using the operating arm 19, while the adjacent links of the setup arm 18 remain locked to prevent relative rotation between them. During surgery, portions of the surgical instrument's main circuit and wrist mechanism are passed through tissues such as the chest and abdominal wall, replacing manual intervention.

[0136] In some application scenarios, the robotic arm can be configured to mechanically move around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is defined as the port for accessing the patient's abdominal cavity during surgery. During the procedure, the robotic arm is manipulated so that the robotic arm 20 drives the end effector to achieve pitch, yaw, insertion, and rotation. During this movement, the longitudinal axis of the end effector always passes through the RCM point to prevent the end effector from causing non-surgical damage to the patient's abdominal incision.

[0137] In related art, telescopic joints generally include a fixed portion, a movable portion, and a transmission assembly. The fixed and movable portions are connected in a nested manner. One end of the transmission assembly is connected to the fixed portion, and the other end is connected to the movable portion. The transmission assembly is suitable for transmitting power between the fixed and movable portions to enable the movable portion to move linearly relative to the fixed portion. The transmission assembly is generally disposed within the gap between the nested connection of the fixed and movable portions. This can easily lead to an oversized telescopic joint and hinder its lightweighting.

[0138] In order to overcome or improve at least one of the above problems, the present invention provides a telescopic joint and a surgical robot. Figures 1 to 15The surgical robot of the embodiment of the present application is described in detail. The improvement of the surgical robot in the present application may involve the structural improvement of the telescopic joint.

[0139] See Figures 2 to 15 According to an embodiment of the present application, a telescopic joint may include a fixed arm 210, a movable arm 220, and a transmission assembly 230. The fixed arm 210 is adapted to be connected to the column 13 via a rotary joint 500. The fixed arm 210 has a first cavity 210a extending along a first direction D1. The movable arm 220 is movably nested and connected to the fixed arm 210 along the first direction D1. The movable arm 220 has a second cavity 220a extending along the first direction D1. The second cavity 220a is connected to the first cavity 210a in the first direction D1. The transmission assembly 230 is located within the space formed by the first cavity 210a and the second cavity 220a. One end of the transmission assembly 230 is fixedly disposed relative to one of the fixed arm 210 and the movable arm 220 along the first direction D1. The other end of the transmission assembly 230 is movably disposed relative to the other of the fixed arm 210 and the movable arm 220 along the first direction D1.

[0140] According to the telescopic joint 200 of the present application, since the movable arm 220 is nested and connected to the fixed arm 210, and the transmission assembly 230 is arranged in the space formed by the first cavity 210a and the second cavity 220a, the two ends of the transmission assembly 230 are respectively connected to the fixed arm 210 and the movable arm 220. This can reduce the space occupied by the transmission assembly 230 in the fixed arm 210 and the movable arm 220, thereby facilitating the reduction of the size of the telescopic joint 200 and further contributing to the lightweighting of the telescopic joint 200. The movable arm 220 is nested in the fixed arm 210, avoiding the risk of the movable arm 220 directly falling, thereby improving the safety of the robotic arm system and even the surgical robot.

[0141] See Figures 2 to 7 、 Figure 10 ,as well as Figures 12 to 15 For example, the fixed arm 210 is sleeved on the outside of the movable arm 220. By arranging the fixed arm 210 outside the movable arm 220, the fixed arm 210 can be used to support the movable arm 220, thereby enhancing the supporting rigidity of the telescopic joint 200 and improving the safety of the surgical robot 1 using the telescopic joint 200.

[0142] See Figure 5 、 Figure 7 、 Figure 9 、 Figure 10 as well as Figure 14For example, the transmission assembly 230 may include a screw 231 and a nut 232. The screw 231 is rotatably arranged about its own axis. The axis of the screw 231 is parallel to the first direction D1. One end of the screw 231 is fixedly arranged relative to one of the fixed arm 210 and the movable arm 220 along the first direction D1. The other end of the screw 231 is movably arranged relative to the other of the fixed arm 210 and the movable arm 220 along the first direction D1. The nut 232 is screwedly engaged with the screw 231. The nut 232 is fixedly arranged relative to the other of the fixed arm 210 and the movable arm 220. Here, the other of the fixed arm 210 and the movable arm 220 can be understood as the one of the fixed arm 210 and the movable arm 220 that is movable in the first direction D1 relative to the screw 231. The telescopic joint 200 may also include a drive assembly 240. The drive assembly 240 is transmission-connected to the screw 231. The drive assembly 240 is fixed relative to the fixed arm 210 or the movable arm 220 that is not fixed relative to the nut 232. The drive assembly 240's power is transmitted by a screw 231 / nut 232 mechanism consisting of a screw 231 and a nut 232, thereby causing the fixed arm 210 or the movable arm 220 that is movable relative to the screw 231 in the first direction D1 to move in the first direction D1. This simplifies the structure of the transmission assembly 230. Furthermore, because the screw 231 and the nut 232 can be mutually restrained in the first direction D1, after the nut 232 moves to a certain position relative to the screw 231 in the first direction D1, the movable arm 220 and the fixed arm 210 are prevented from having any offset or clearance in the first direction D1. This facilitates precise control of the displacement of the movable arm 220 relative to the fixed arm 210 in the first direction D1.

[0143] exist Figure 5 、 Figure 7 、 Figure 9 、 Figure 10 as well as Figure 14 In the example shown, one end of the lead screw 231 is connected to the fixed arm 210 . The other end of the lead screw 231 is movably connected to the movable arm 220 in the first direction D1 . A nut 232 is fixed to the movable arm 220 .

[0144] Optionally, the lead screw 231 may be a ball screw 231 or a trapezoidal lead screw 231 .

[0145] Continue reading Figure 5 、 Figure 7 、 Figure 9 、 Figure 10 as well as Figure 14For example, the telescopic joint 200 may include a first guide rail 251 and a first slider 252. The first guide rail 251 is located outside the lead screw 231 and the nut 232 in a direction perpendicular to the first direction D1. The first guide rail 251 extends along the first direction D1. The first guide rail 251 is fixed to one of the fixed arm 210 and the movable arm 220. The first slider 252 is slidably connected to the first guide rail 251 along the first direction D1. The first slider 252 is fixed to the other of the fixed arm 210 and the movable arm 220. By arranging the first guide rail 251 outside the lead screw 231 and the nut 232, the first guide rail 251 and the first slider 252 are prevented from overlapping with the lead screw 231 and the nut 232, thereby preventing the first guide rail 251 and the first slider 252 from occupying a large area in the local area. This reduces the impact of the first guide rail 251, the first slider 252, the lead screw, and the nut 232 on the volume of the telescopic joint 200, while also facilitating the support rigidity of the telescopic joint 200.

[0146] Furthermore, the telescopic joint 200 may include two sets of first guide rails 251 and two sets of first sliders 252. The two sets of first guide rails 251 are located on either side of the lead screw 231. The two sets of first sliders 252 are each arranged corresponding to the two sets of first guide rails 251. By arranging the positions of the two sets of first guide rails 251 and the two sets of first sliders 252 relative to the lead screw 231 in this way, the layout of the transmission assembly 230 is made more compact and reasonable, further reducing the impact of the lead screw 231 and nut 232 mechanism on the overall size. At the same time, the force applied to the connection structure between the fixed arm 210 and the movable arm 220 on either side of the lead screw is more balanced, thereby helping to improve the support rigidity of the telescopic joint 200.

[0147] Optionally, the two groups of first guide rails 251 are symmetrically arranged on both sides of the lead screw 231 along the second direction D2. Correspondingly, the two groups of first sliding blocks 252 are symmetrically arranged on both sides of the lead screw 231 along the second direction D2.

[0148] In the illustrated example, each set of first guide rails 251 includes one first guide rail, and each set of first sliders 252 includes two first sliders.

[0149] In other examples not shown, each set of first guide rails 251 may include two or more first guide rails 251. Each set of first sliders 252 may include two or more first sliders 252.

[0150] Furthermore, the fixed arm 210 is mounted outside the movable arm 220. The first guide rail 251 is fixed to the fixed arm 210. The first slider 252 is fixed to the movable arm 220. With the fixed arm 210 outside the movable arm 220, by fixing the first guide rail 251 to the fixed arm 210, the supporting performance of the fixed arm 210 for supporting the movable arm 220 can be further improved, thereby further increasing the supporting rigidity of the telescopic joint 200.

[0151] See also Figure 5 、 Figure 7 、 Figure 9 、 Figure 10 as well as Figure 14 For example, the fixed arm 210 may include a first body 211 and a first top cover 212. The first body 211 includes a first slot 211a adapted to accommodate the movable arm 220. The opening of the first slot 211a faces upward. The movable arm 220 accommodated in the first slot 211a does not extend beyond the top of the first body 211 along the height direction D3. The first top cover 212 is detachably connected to the top of the first body 211 at the first slot 211a to form a first cavity 210a. The first guide rail 251, the drive assembly 240, and one end of the lead screw 231 are connected to the inner bottom of the first body 211. By configuring the fixed arm 210 to include the first body 211 and the first top cover 212, and by detaching the first top cover 212 from the first body 211, it is convenient to install, remove, and maintain structures such as the drive assembly 240 and the transmission assembly 230 within the first slot 211a of the first body 211.

[0152] Optionally, the first guide rail 251 is fixed to the inner bottom of the first slot 211 a . The first slider 252 is fixed to the lower portion of the movable arm 220 , for example, the outer bottom of the movable arm 220 .

[0153] See also Figure 5 、 Figure 7 、 Figure 9 、 Figure 10 as well as Figure 14 For example, the first groove 211a passes through both ends of the first body 211 along the first direction D1. The fixed arm 210 may further include an end cap 213. The end cap 213 is detachably connected to the end of the first body 211 at one end where the driving assembly 240 is provided. The movable arm 220 is extendably provided at the other end of the first body 211 along the first direction D1. By setting the first groove 211a to pass through both ends of the first body 211 in the first direction D1 and detachably installing the end cap 213 at one end of the first body 211, it is convenient to perform repair, maintenance, and other operations on the structure at one end of the first body 211 when the end cap 213 is opened.

[0154] Furthermore, a first through hole 211b is provided at the bottom of the first body 211. In a plane perpendicular to the height direction D3, the orthographic projection of the first through hole 211b is staggered with the orthographic projection of the first guide rail 251. The first through hole 211b is at least suitable for passing cables. By providing the first through hole 211b at the bottom of the first body 211, when the first body 211 is connected to the column 13, the first through hole 211b can be arranged in alignment with the column 13, thereby facilitating the passing of cables between the column 13 and the first body 211. By staggering the first through hole 211b and the first guide rail 251, it is possible to prevent the telescopic joint 200 from interfering with the cables when the entire body rotates relative to the column 13, thereby protecting the cables.

[0155] See Figure 5 、 Figures 7 to 9 、 Figure 10 as well as Figure 14 For example, the drive assembly 240 is located in the first cavity 210a and is connected to the fixed arm 210. One end of the lead screw 231 is located in the first cavity 210a and is fixed relative to the fixed arm 210 along the first direction D1. The other end of the lead screw 231 is located in the second cavity 220a and is movably disposed relative to the movable arm 220 along the first direction D1. The nut 232 is fixed relative to the movable arm 220. By disposing the drive device in the first cavity 210a and connecting it to the fixed arm 210, the weight of the movable arm 220 can be reduced, the stability of the operation of the drive assembly 240 can be ensured, and maintenance of the drive assembly 240 can be facilitated.

[0156] Continue reading Figure 5 、 Figure 7 、 Figure 9 、 Figure 10 as well as Figure 14 For example, the telescopic joint 200 may include a second guide rail 253 and a second slider 254. The second guide rail 253 extends along the first direction D1 and is arranged in the second cavity 220a. The second guide rail 253 is fixed to the movable arm 220 so as to move along the first direction D1 with the movable arm 220. The second slider 254 is slidably connected to the second guide rail 253 along the first direction D1. The second slider 254 is fixed relative to the lead screw 231 along the first direction D1. By providing the second guide rail 253 and the second slider 254 between the movable arm 220 and the lead screw 231, the relative movement direction of the movable arm 220 and the lead screw 231 can be guided, and the resistance of the movable arm 220 to the movement of the lead screw 231 in the first direction D1 can be reduced.

[0157] Furthermore, the telescopic joint 200 may include a first support member 255 and a second support member 256. The first support member 255 is fixed to the fixed arm 210. The first support member 255 is connected to one end of the lead screw 231 via a bearing. The second support member 256 is fixed to the second slider 254. The second support member 256 is connected to the other end of the lead screw 231 via another bearing. Here, the first support member 255 is connected to one end of the lead screw 231 via a bearing to support one end of the lead screw 231 and reduce the resistance to rotation of the lead screw 231 relative to the fixed arm 210. Simultaneously, the second support member 256 is connected to the other end of the lead screw 231 via another bearing to support the other end of the lead screw 231 and reduce the resistance to rotation of the lead screw 231 relative to the movable arm 220. The technical measures provided in this embodiment can reduce the impact of the transmission assembly 230 on the support rigidity of the telescopic joint 200, thereby helping the telescopic joint 200 achieve better support performance.

[0158] Optionally, the first support member 255 and the second support member 256 can each be configured as a bearing seat or a combination of a bearing seat and other connecting members.

[0159] See Figure 5 、 Figure 7 、 Figure 9 、 Figure 10 as well as Figure 14 For example, the movable arm 220 may include a second body 221 and a second top cover 222. The second body 221 may include a second slot 221a. The second slot 221a opens upward. The second top cover 222 is removably connected to the top of the second body 221 at the second slot 221a to form a second cavity 220a. The second guide rail 253, the second slider 254, and the second support member 256 are all located in the second slot 221a. The second guide rail 253 is connected to the bottom of the second body 221. The second support member 256 does not extend beyond the top of the second body 221 in the height direction D3. By configuring the movable arm 220 to include the second body 221 and the second top cover 222, with the second body 221 including the second slot 221a opening upward, the second guide rail 253, the second slider 254, the second support member 256, and other components of the movable arm 220 can be easily installed, removed, and maintained when the second top cover 222 is removed or not installed. Moreover, since the second top cover 222 is located on the upper part of the second body 221, it can be understood that the movable arm 220 here mainly uses the second body 221 located below the second top cover 222 as a bearing structure, and the structural strength of the second body 221 can be stronger than the second top cover 222, so the movable arm 220 can ensure the supporting rigidity of the movable arm 220 while meeting the requirements of easy disassembly and maintenance.

[0160] Furthermore, the second body 221 may also include a third slot 221b, a second via 221c, a third via 221d, and a connecting hole 221e. The third slot 221b extends along the first direction D1. The opening of the third slot 221b faces outward along the second direction D2. The second direction D2 is perpendicular to the first direction D1 and the height direction D3. That is, the third slot 221b is located on the side of the second body 221 facing outward along the second direction D2. The second via 221c is located at the end of the second body 221 near the drive assembly 240 and connects to the third slot 221b. The third via 221d and the connecting hole 221e are located at the end of the second body 221 away from the drive assembly 240. The third via 221d connects to the third slot 221b and the connecting hole 221e. The connecting hole 221e penetrates the second body 221 along the height direction D3. The second via 221c and the third via 221d are used to pass cables. Third slot 221b accommodates the portion of cable located between second through-hole 221c and third through-hole 221d. Connection hole 221e is suitable for mounting orienting portion 16. The technical approach of this embodiment facilitates routing cables between orienting portion 16 and fixed arm 210, or between orienting portion 16 and column 13, via movable arm 220.

[0161] Furthermore, the movable arm 220 may also include at least one of a side cover 223 and a third top cover 225. The side cover 223 is removably connected to the second body 221 at the third slot 221b using fasteners such as screws to cover the third slot 221b. The side cover 223 covers the third slot 221b, thereby protecting components, devices, or components such as cables located therein. When the side cover 223 is removed, access to the third slot 221b for maintenance and other operations is facilitated. The third top cover 225 is removably connected to the top of the second body 221 at the connection hole 221e using fasteners such as screws to cover the top opening of the connection hole 221e. The third top cover 225 provides a cover over the top of the connection hole 221e, providing dust protection and enhancing aesthetics. With the third top cover 225 removed or not installed, installation, commissioning, disassembly, and maintenance of the orienting unit 16 are facilitated.

[0162] In some other examples, the third top cover 225 can be provided as an integral piece with the second body 221. That is, the connecting hole 221e is a blind hole with its opening facing downward.

[0163] See Figure 5 、 Figures 7 to 9 、 Figure 10 as well as Figure 14For example, the drive assembly 240 may include a first motor 241 and a planetary reducer 570. The planetary reducer 570 may include a power input part and a power output part. The transmission ratio of the power input part and the power output part is greater than 1. The power input part is transmission-connected to the first motor shaft 241a of the first motor 241. The power output part is transmission-connected to the lead screw 231. By configuring the drive assembly 240 to have a first motor 241 and a planetary reducer 570, power can be provided by the first motor 241, and torque can be increased by the planetary reducer 570, so that the telescopic joint 200 can be driven to change length more stably when the movable arm 220 of the telescopic joint 200 is mounted with a structure such as a robotic arm.

[0164] In addition, the telescopic joint 200 may further include a brake assembly (not shown). The brake assembly may include a first brake member (not shown) and a second brake member (not shown) that can engage and disengage relative to each other. The first brake member is connected to the housing of the planetary reducer 570. The second brake member is connected to the output portion of the planetary reducer 570. The first brake member and the second brake member provide braking torque to the lead screw 231 when engaged. By providing the brake assembly, the telescopic joint 200 can be better maintained at a corresponding length, thereby ensuring that the robotic arm suspended on the telescopic joint 200 is applied to the surgical operation in a more stable posture, thereby improving the safety of the surgical operation.

[0165] Optionally, the first motor shaft 241 a may be connected to the input end of the planetary reducer 570 via a coupling 243 . The output end of the planetary reducer 570 may be connected to the lead screw 231 via a coupling 243 .

[0166] See Figure 8 In addition, the telescopic joint 200 may also include a first rotary encoder 262. The first rotary encoder 262 may include a first encoder portion 262a and a second encoder portion 262b. The first encoder portion 262a is fixedly mounted relative to the first motor housing 241b of the first motor 241. The second encoder portion 262b is fixedly mounted relative to the first motor shaft 241a of the first motor 241. When the first encoder portion 262a and the second encoder portion 262b rotate with the first motor shaft 241a of the first motor 241, they generate a sensing signal to detect the angular displacement of the first motor shaft 241a of the first motor 241. When the transmission assembly 230 relies on the first motor 241 to provide rotational power, the first rotary encoder 262 is provided to detect the signal generated by the rotation of the first motor shaft 241a, thereby obtaining the angular displacement of the first motor shaft 241a of the first motor 241 and calculating the change in the dimension of the telescopic joint 200 in the first direction D1. The technical approach of this embodiment facilitates precise control of the length of the telescopic joint 200.

[0167] Optionally, the first rotary encoder 262 may be a Hall encoder or a photoelectric encoder.

[0168] exist Figure 8 In the example shown, the first rotary encoder 262 is a Hall encoder. The Hall encoder includes a magnet and a Hall element. The magnet is arranged on a Hall code disk or is configured as a Hall code disk. The Hall code disk is fixedly connected to the first motor shaft 241a via a code disk fixing member 262c, and the Hall code disk and the first motor shaft 241a are coaxial. The telescopic joint 200 may also include an encoder cover 262d and an encoder mounting plate 262e. The Hall element is fixed to the first motor housing 241b or the fixed arm 210 via an encoder mounting portion. The encoder cover 262d can be detachably connected to the encoder mounting plate 262e. The encoder cover 262d and the encoder mounting plate 262e enclose a space to accommodate the Hall encoder. When the encoder cover 262d is removed, the Hall encoder can be exposed, allowing for repair and maintenance operations on the Hall encoder. When the encoder cover 262d is installed, the Hall encoder can be covered to achieve dust protection and other protective purposes.

[0169] In some examples, a standard servo motor integrated with a rotary encoder and a brake assembly may be used to replace the aforementioned drive assembly 240 .

[0170] See Figure 5 、 Figure 7 、 Figure 9 、 Figure 10 as well as Figure 14 In addition, the telescopic joint 200 may further include a linear displacement detection component 263. The linear displacement detection component 263 may include a first detection portion 263a and a second detection portion 263b. The first detection portion 263a is fixedly arranged relative to the fixed arm 210. The second detection portion 263b is fixedly arranged relative to the movable arm 220. The first detection portion 263a and the second detection portion 263b are correspondingly arranged along the first direction D1. The first detection portion 263a is suitable for generating an induction signal when the second detection portion 263b moves along the first direction D1 with the movable arm 220, so as to detect the linear displacement of the movable arm 220. By providing the linear displacement detection component 263, the displacement of the movable arm 220 relative to the fixed arm 210 in the first direction D1 can be detected, thereby facilitating the precise control of the length of the telescopic joint 200.

[0171] Optionally, the linear displacement detection assembly 263 may be a wire-drawing sensor assembly, wherein the first detection portion 263a may be configured as a wire-drawing sensor, and the second detection portion 263b may be configured as a wire-drawing encoder sheet metal.

[0172] In the case where telescopic joint 200 is equipped with both first rotary encoder 262 and linear displacement detection assembly 263, the results obtained by analyzing the information detected by first rotary encoder 262 can be compared with the results obtained by analyzing the information detected by linear displacement detection assembly 263 to verify whether telescopic joint 200 has reached the desired length. Furthermore, first rotary encoder 262 and linear displacement detection assembly 263 can be designed to be redundant, allowing them to detect whether each other has failed, and allowing the other to perform the corresponding detection function in the event of a failure.

[0173] Continue reading Figure 5 、 Figure 7 、 Figure 9 、 Figure 10 as well as Figure 14 In addition, the telescopic joint 200 may also include a drag chain 257. The drag chain 257 is suitable for routing cables. One end of the drag chain 257 along its length is fixed to the fixed arm 210. The other end of the drag chain 257 along its length is fixed to the movable arm 220. The addition of the drag chain 257 facilitates cable routing along the drag chain 257. The drag chain 257 also allows for adaptive displacement and deformation of the movable arm 220 as it moves relative to the fixed arm 210, thereby protecting the cables.

[0174] See also Figure 5 、 Figure 7 、 Figure 9 、 Figure 10 as well as Figure 14 In addition, the telescopic joint 200 may further include a drive control board assembly 266. The drive control board assembly 266 is electrically connected to the first motor 241 to control the rotation speed of the first motor 241 and record the position of the first rotary encoder 262. The drive board assembly here may be, for example, a drive control PCBA circuit board that integrates a control chip such as a microcontroller unit (MCU) and some circuit structures.

[0175] The telescopic joint 200 of the embodiment of the present application adopts a method of nesting the inner and outer tubes to avoid the risk of the movable arm directly falling when the supporting structure fails, thereby improving the safety of the surgical robot 1. The telescopic joint 200 of the embodiment of the present application adopts a screw 231 instead of a synchronous belt in the transmission assembly 230, which can improve the transmission stiffness. The telescopic joint 200 of the embodiment of the present application arranges the screw 231 in the movable arm 220 instead of the gap between the movable arm 220 and the fixed arm 210, which not only reduces the size of the fixed arm 210 located on the outside, but also helps to reduce the weight of the surgical robot 1 using the telescopic joint 200. In the event of damage to the drive assembly 240, the transmission assembly 230, etc., it is also possible to replace and maintain parts by disassembling the first top cover 212 or the end cover 213 of the fixed arm 210, making the operation easier.

[0176] The present application also provides a surgical robot 1. The surgical robot 1 may include a base 11, a column 13, a rotary joint 500, the above-mentioned telescopic joint 200, and a surgical arm device 21. The column 13 is connected to the upper part of the base 11 and extends along the height direction D3. The rotary joint 500 may include a fixed part 510 and a rotatable part 520 that can rotate relative to each other around a first rotation axis AX1. The first rotation axis AX1 is parallel to the height direction D3. The fixed part 510 is connected to the top of the column 13. The fixed arm 210 is connected to the rotatable part 520 of the rotary joint 500. The surgical arm device 21 is connected to the movable arm 220. The surgical arm device 21 here may include an orientation part 16, a load arm 17, a setting arm 18, an operating arm 19, and a holding arm 20.

[0177] According to the surgical robot 1 of the present application, by applying the above-mentioned telescopic joint 200, it is possible to improve the safety of the surgical robot 1, achieve miniaturization and lightweight structure, enhance the transmission stiffness of the robot, and effectively simplify the subsequent parts replacement and maintenance work.

[0178] RV reducers are generally used in the rotary joints of industrial robots. In this type of rotary joint, the pinion housing or planetary carrier of the RV reducer serves as the power output end, and the RV pinion serves as the power input end. Moreover, this type of rotary joint relies solely on the main bearing of the reducer for support between the two parts of the rotary joint, causing the reducer to be subjected to both bending moment and torque. Compared with industrial robots, the movement speed of the rotary joints of surgical robots is lower, and the requirements for anti-overturning ability are relatively high. In the design of the rotary joints of surgical robots, if a smaller-sized RV reducer is used, the rotary joint is supported only by a pair of angular contact bearings of the reducer itself, and the load-bearing capacity is very limited. In the design of the rotary joints of surgical robots, if the size of the RV reducer is blindly increased, the size and weight of the joint will increase sharply, which is not conducive to the lightweighting of the rotary joint.

[0179] In order to overcome or improve at least one of the above problems, the present invention provides a rotary joint and a surgical robot located between the column and the telescopic joint. Figures 1 to 15 The surgical robot of the embodiment of the present application is described in detail. The improvement of the surgical robot in the present application may involve the structural improvement of the above-mentioned rotary joint.

[0180] The rotary joint 500 for the surgical robot 1 according to an embodiment of the present application may include a fixed portion 510, a rotatable portion 520 and a supporting portion. The fixed portion 510 is suitable for being connected to the column 13 of the surgical robot 1. The rotatable portion 520 is suitable for being connected to the telescopic joint 200 of the surgical robot 1. The rotatable portion 520 is rotatably arranged around the first rotation axis AX1 relative to the telescopic joint 200. The supporting portion includes an inner ring and an outer ring that can rotate relative to each other. The inner ring is connected to the rotatable portion 520, and the outer ring is connected to the fixed portion 510. The supporting portion here can be understood as a bearing.

[0181] According to the rotary joint 500 of the present application, a support portion is provided between the fixed portion 510 and the rotatable portion 520, and is connected to the rotatable portion 520 via the inner ring of the support portion, and is connected to the fixed portion 510 via the outer ring of the support portion, so that the support portion can be used to withstand bending moments and torques between the fixed portion 510 and the rotatable portion 520. The use of the rotary joint 500 of the present application reduces the requirements for the selection of the reducer 570, thereby facilitating the miniaturization and lightweighting of the rotary joint 500 and improving the support rigidity of the rotary joint 500, thereby facilitating the satisfaction of the surgical robot 1 with respect to the rotary joint 500, such as high overturning rigidity and low transmission torque.

[0182] Optionally, the support portion is a cross roller bearing 530. Here, the cross roller bearing 530 can be used to withstand greater torque and bending moment to obtain better supporting performance.

[0183] See Figures 2 to 4 、 Figure 10 as well as Figure 11 In addition, the rotary joint 500 may further include a second motor 540. A second motor housing 543 of the second motor 540 is fixedly mounted relative to the fixed portion 510. A second motor shaft 541 of the second motor 540 is transmission-connected to the rotatable portion 520. The provision of the second motor 540 enables the rotary joint 500 to function as an active joint. When the second motor 540 is activated, active control of the rotation of the telescopic joint 200 relative to the column 13 can be achieved.

[0184] Continue reading Figures 2 to 4 、 Figure 10 as well as Figure 11For example, a portion of the fixed portion 510 corresponding to the first rotation axis AX1 is formed with an accommodation space. The rotary joint 500 may further include a reducer 570 accommodated in the accommodation space. The reducer 570 may include an input gear 571 and a reduction output shaft 572. The input gear 571 is coaxial with and fixedly connected to the second motor shaft 541 of the second motor 540. The axis of the input gear 571 is parallel to the first rotation axis AX1. The axis of the input gear 571 can be, for example, recorded as the third rotation axis AX3. The reduction output shaft 572 is fixedly arranged relative to the rotatable portion 520. The transmission ratio of the input gear 571 and the reduction output shaft 572 is greater than 1. When the second motor 540 is started, power is transmitted through the reducer 570 to achieve deceleration and torque increase, thereby enabling the telescopic joint 200 to be controlled to rotate more stably and improving the transmission rigidity and load-bearing performance of the rotary joint 500.

[0185] Optionally, the reducer 570 may be an RV reducer 570. Using the RV reducer 570 for transmission can meet the requirements of high overturning rigidity and low transmission torque in the joints of the surgical robot 1, and can improve the joint rigidity.

[0186] See also Figures 2 to 4 、 Figure 10 as well as Figure 11 For example, the reduction output shaft 572 can be configured as a hollow shaft. The interior of the reduction output shaft 572 is suitable for threading cables. That is, by configuring the reduction output shaft 572 as a hollow structure, threading and routing cables inside the reduction output shaft 572 is facilitated.

[0187] Optionally, see Figure 10 and Figure 11 The rotary joint 500 may include an output connecting plate 573. The output connecting plate 573 is fixed to the end of the reduction output shaft 572. The output connecting plate 573 may have another wire hole, which is connected to the interior of the reduction output shaft 572 to facilitate the installation of cables.

[0188] See Figure 10 and Figure 11 In addition, the rotary joint 500 may further include a second rotary encoder 550. The second rotary encoder 550 includes two parts that can rotate relative to each other. One part of the second rotary encoder 550 is fixed relative to the reduction output shaft 572. The other part of the second rotary encoder 550 is fixed relative to the fixed part 510. The second rotary encoder 550 is suitable for detecting the angular displacement of the reduction output shaft 572 relative to the fixed part 510. Here, the second rotary encoder 550 is provided to detect the relative rotation angle of the fixed part 510 and the second rotatable part, thereby facilitating the precise control of the rotation angle of the rotary joint 500 according to the user's input operation.

[0189] Optionally, the second rotary encoder 550 may be a photoelectric encoder or a Hall encoder.

[0190] In other examples, another rotary encoder can be provided at the second motor 540, for example, at the tail of the second motor shaft 541, to detect the rotation angle of the second motor shaft 541 of the second motor 540. After processing by a certain algorithm, the rotation angle of the second motor shaft 541 can be converted into the rotation angle of the reduction output shaft 572. Accordingly, the other rotary encoder and the second rotary encoder 550 are mutually redundant, capable of monitoring each other for faults, and can also detect the rotation angle of the rotary joint 500 when one of them fails.

[0191] See Figure 10 and Figure 11 For example, the fixed portion 510 may include an outer ring mounting cover 511 and an outer ring mounting seat 512. The outer ring mounting seat 512 is detachably connected to the outer ring mounting cover 511. The outer ring mounting seat 512 is connected to the outer ring mounting cover 511 to form a first positioning groove. The first positioning groove is suitable for accommodating at least a portion of the outer ring of the support portion. The outer ring of the support portion, accommodated in the first positioning groove, is axially and radially constrained and engaged with the fixed portion 510. The axial direction is parallel to the first rotation axis AX1. The outer ring mounting cover 511 and the outer ring mounting seat 512 cooperate to constrain and accommodate the outer ring of the support portion, and can also transmit forces axially and radially between the outer ring of the support portion and the fixed portion 510.

[0192] Continue reading Figure 10 and Figure 11 Furthermore, the reduction output shaft 572 of the reducer 570 is configured as a hollow shaft. The rotary joint 500 may also include a motor mounting plate 560. The motor mounting plate 560 is connected to the end of the outer ring mounting base 512 axially away from the outer ring mounting cover 511. In other words, the motor mounting plate 560 is positioned axially farther from the rotatable portion 520. The motor mounting plate 560 includes cable holes corresponding to the reduction output shaft 572. The second motor 540 is located on the side of the motor mounting plate 560 axially away from the outer ring mounting cover 511 and is connected to the motor mounting plate 560. When the second motor 540 is mounted to the motor mounting plate 560, the center of gravity of the rotary joint 500 is lowered, thereby improving the stability of the surgical robot 1 during rotation of the rotary joint 500. Furthermore, the provision of cable holes in the motor mounting plate 560 facilitates routing cables between the column 13 and the rotary joint 500.

[0193] See also Figure 10 and Figure 11For example, the rotatable portion 520 may include an inner ring mounting cover 521 and an inner ring mounting seat 522. The inner ring mounting seat 522 is detachably connected to the inner ring mounting cover 521. The inner ring mounting seat 522 is connected to the inner ring mounting cover 521 to form a second positioning groove. The second positioning groove is suitable for accommodating at least a portion of the inner ring. The inner ring accommodated in the second positioning groove is axially and radially limited to the rotatable portion 520. The axial direction is parallel to the first rotation axis AX1. The inner ring mounting cover 521 and the inner ring mounting seat 522 cooperate with each other to limit and accommodate the inner ring of the support portion, and can also transmit forces between the inner ring of the support portion and the rotatable portion 520 in the axial and radial directions.

[0194] According to the rotary joint 500 of the embodiment of the present application, by arranging a support portion between the fixed portion 510 and the rotatable portion 520, and in particular by using a cross roller bearing 530 as a support portion, it is achieved that the support portion bears bending moment and torque at the rotary joint 500, so that the reducer 570, for example, the RV reducer 570 only bears torque but not bending moment, and thus the reducer 570 is only a motion transmission component, which can effectively solve the problem of torque mismatch in the rotary joint 500 under the working conditions of the combination of bending moment and torque in the application of the surgical robot 1 in the industry. Compared with the rotary joint 500 that only uses the RV reducer 570, the rotary joint 500 of the embodiment of the present application balances the ability to resist bending and torsion, and can reduce the size and weight of the rotary joint 500. The rotary joint 500 of the embodiment of the present application is convenient for realizing hollow wiring. The rotary joint 500 of the embodiment of the present application is convenient for inspection and maintenance.

[0195] The rotary joint 500 of the present embodiment can be produced, manufactured, and sold as a separate component. Furthermore, the second motor 540, reducer 570, fixed portion 510, and rotatable portion 520 of the rotary joint 500 can also be produced, manufactured, and sold separately. Without affecting the support portion, the drive and transmission components can be easily maintained by removing the outer and inner ring mounting covers 511 and 521.

[0196] The present application also provides a surgical robot 1. The surgical robot 1 may include a base 11, a column 13, the aforementioned rotary joint 500, and a telescopic joint 200. The column 13 is connected to the upper portion of the base 11. The rotary joint 500 may include a fixed portion 510 and a rotatable portion 520. The fixed portion 510 is connected to the column 13. The telescopic joint 200 is connected to the rotatable portion 520.

[0197] According to the surgical robot 1 of the present application, by arranging the above-mentioned rotary joint 500 between the column 13 and the telescopic joint 200, bending moment and torque can be transmitted between the column 13 and the telescopic joint 200, so that the reducer 570 only bears torque, thereby reducing the requirements for the selection of the reducer 570, and thus being conducive to achieving the lightweight of the surgical robot 1 and the support rigidity at the rotary joint 500, and can meet the requirements of the surgical robot 1 for high overturning rigidity, low transmission torque, etc. of the rotary joint 500.

[0198] For example, the telescopic joint 200 may include a fixed arm 210 and a movable arm 220. The movable arm 220 is movably connected relative to the fixed arm 210. The fixed arm 210 is connected to the rotatable portion 520. When the rotatable portion 520 rotates relative to the fixed portion 510, the entire telescopic joint 200 can be driven to rotate via the fixed arm 210.

[0199] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this document can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate component. Features described in this document in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0200] The present application has been described through the above embodiments, but it should be understood that the above embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. Those skilled in the art will appreciate that many more variations and modifications may be made based on the teachings of this application, and all of these variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A telescopic joint, characterized in that: The telescopic joint comprises: A fixed arm, the fixed arm being adapted to be connected to the column via a rotary joint, the fixed arm having a first cavity extending along a first direction; a movable arm, the movable arm being movably nested and connected to the fixed arm along a first direction, the movable arm having a second cavity formed inside thereof extending along the first direction, the second cavity being connected to the first cavity; and A transmission assembly, wherein the transmission assembly is located in a space jointly formed by the first cavity and the second cavity, one end of the transmission assembly is fixedly arranged relative to one of the fixed arm and the movable arm along a first direction, and the other end of the transmission assembly is movably arranged relative to the other of the fixed arm and the movable arm along the first direction.

2. The telescopic joint according to claim 1, characterized in that: The fixed arm is sleeved on the outside of the movable arm.

3. The telescopic joint according to claim 1, characterized in that: The transmission assembly comprises: a lead screw rotatably arranged around its own axis parallel to the first direction, One end of the lead screw is fixedly disposed relative to one of the fixed arm and the movable arm along the first direction, and the other end of the lead screw is movably disposed relative to the other of the fixed arm and the movable arm along the first direction; and a nut, the nut being threadably engaged with the lead screw, the nut being fixedly disposed relative to the other of the fixed arm and the movable arm, The telescopic joint further comprises: A drive assembly is transmission-connected to the lead screw and is fixed relative to one of the fixed arm and the movable arm that is not fixed relative to the nut.

4. The telescopic joint according to claim 3, characterized in that: The telescopic joint comprises: a first guide rail, the first guide rail being located outside the lead screw and the nut in a direction perpendicular to the first direction, the first guide rail extending along the first direction, and the first guide rail being fixed to one of the fixed arm and the movable arm; A first slider is slidably connected to the first guide rail along the first direction, and the first slider is fixed to the other of the fixed arm and the movable arm.

5. The telescopic joint according to claim 4, characterized in that: The telescopic joint includes two groups of the first guide rails and two groups of the first sliding blocks. The two groups of the first guide rails are respectively located on both sides of the lead screw, and the two groups of the first sliding blocks are respectively arranged corresponding to the two groups of the first guide rails.

6. The telescopic joint according to claim 4, characterized in that: The fixed arm is sleeved on the outside of the movable arm; The first guide rail is fixed to the fixed arm, and the first slider is fixed to the movable arm.

7. The telescopic joint according to claim 6, characterized in that: The fixed arm comprises: a first body, the first body comprising a first groove adapted to accommodate the movable arm, the opening of the first groove facing upward, and the movable arm accommodated in the first groove does not exceed the top of the first body in a height direction; and a first top cover detachably connected to the top of the first body at the first groove to form the first cavity, Wherein, the first guide rail, the driving assembly and one end of the lead screw are connected to the inner bottom of the first body.

8. The telescopic joint according to claim 7, characterized in that: The first groove passes through both ends of the first body along the first direction, The fixed arm further comprises: An end cover is detachably connected to an end portion of the first body where the drive assembly is provided.

9. The telescopic joint according to claim 8, characterized in that: A first through hole is formed at the bottom of the first body. In a plane perpendicular to the height direction, the orthographic projection of the first through hole is staggered with the orthographic projection of the first guide rail. The first through hole is at least suitable for passing cables.

10. The telescopic joint according to any one of claims 6 to 9, characterized in that: The drive assembly is located in the first cavity and connected to the fixed arm, one end of the lead screw is located in the first cavity and is fixed relative to the fixed arm along the first direction, the other end of the lead screw is located in the second cavity and is movably arranged relative to the movable arm along the first direction, and the nut is fixed relative to the movable arm.

11. The telescopic joint according to claim 10, characterized in that: The telescopic joint comprises: a second guide rail, the second guide rail extending along the first direction and disposed in the second cavity, the second guide rail being fixed to the movable arm so as to move along the first direction with the movable arm; A second slider is slidably connected to the second guide rail along the first direction, and the second slider is fixed relative to the lead screw along the first direction.

12. The telescopic joint according to claim 11, characterized in that: The telescopic joint comprises: a first support member fixed to the fixed arm, the first support member being connected to one end of the lead screw via a bearing; and A second support member is fixed to the second slider, and the second support member is connected to the other end of the lead screw through another bearing.

13. The telescopic joint according to claim 12, characterized in that: The movable arm comprises: a second body, the second body comprising a second groove, the opening of the second groove facing upward; and a second top cover detachably connected to the top of the second body at the second groove to form the second cavity, The second guide rail, the second slider and the second support member are all located in the second groove, the second guide rail is connected to the bottom of the second body, and the second support member does not exceed the top of the second body in the height direction.

14. The telescopic joint according to claim 13, characterized in that: The second body also includes a third groove, a second via hole, a third via hole and a connecting hole. The third groove extends along the first direction, and the opening of the third groove faces outward along the second direction. The second direction is perpendicular to the first direction and the height direction. The second via hole is located at an end of the second body close to the driving component and is connected to the third groove. The third via hole and the connecting hole are located at an end of the second body away from the driving component. The third via hole is connected to the third groove and the connecting hole. The connecting hole passes through the second body along the height direction.

15. The telescopic joint according to claim 14, characterized in that: The movable arm further comprises: a side cover detachably connected to the second body at the third groove to cover the third groove; and / or A third top cover is detachably connected to the top of the second body at the connecting hole to cover the top opening of the connecting hole.

16. The telescopic joint according to any one of claims 3 to 9, characterized in that: The drive assembly includes: a first motor; and A planetary reducer comprising a power input part and a power output part, wherein the transmission ratio between the power input part and the power output part is greater than 1, the power input part is transmission-connected to the first motor shaft of the first motor, and the power output part is transmission-connected to the lead screw.

17. The telescopic joint according to claim 16, characterized in that: The telescopic joint comprises: A brake assembly includes a first brake member and a second brake member that can be engaged and disengaged relative to each other, the first brake member is connected to the first motor housing of the first motor, the second brake member is connected to the first motor shaft of the first motor, and the first brake member and the second brake member provide braking torque to the first motor shaft of the first motor when engaged.

18. The telescopic joint according to claim 16, characterized in that: The telescopic joint comprises: A first rotary encoder includes a first encoding portion and a second encoding portion, wherein the first encoding portion is fixedly arranged relative to the first motor housing of the first motor, and the second encoding portion is fixedly arranged relative to the first motor shaft of the first motor. The first encoding portion generates an induction signal when the second encoding portion rotates along with the first motor shaft of the first motor to detect the angular displacement of the first motor shaft of the first motor.

19. The telescopic joint according to any one of claims 1 to 9, characterized in that: The telescopic joint comprises: A linear displacement detection component, the linear displacement detection component includes a first detection part and a second detection part, the first detection part is fixed relative to the fixed arm, the second detection part is fixed relative to the movable arm, and the first detection part and the second detection part are correspondingly arranged along the first direction, the first detection part is suitable for generating an induction signal when the second detection part moves along the first direction with the movable arm to detect the linear displacement of the movable arm.

20. The telescopic joint according to any one of claims 1 to 9, characterized in that The telescopic joint comprises: A drag chain is suitable for passing cables, one end of the drag chain along its own length direction is fixed to the fixed arm, and the other end of the drag chain along its own length direction is fixed to the movable arm.

21. A surgical robot, characterized in that: The surgical robot comprises: base; A column connected to the upper portion of the base and extending in a height direction; a rotary joint comprising a fixed portion and a rotatable portion capable of rotating relative to each other about a first rotation axis, the first rotation axis being parallel to the height direction, the fixed portion being connected to a top end of the column; The telescopic joint according to any one of claims 1 to 20, wherein the fixed arm is connected to the rotatable part of the rotary joint; and A surgical arm assembly is connected to the movable arm.

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