A linear motion component, a robotic arm, a robotic arm system, and a surgical robot.

Abstract

A linear motion assembly, a robotic arm, a robotic arm system, and a surgical robot are disclosed. The linear motion assembly includes a transmission device, a first linear motion part, a guide structure, a second linear motion part, and a connecting device. The transmission device is used to connect to a drive device. The first linear motion part is disposed on the transmission device and configured to move along a reference direction under the drive of the drive device. The guide structure is spaced apart from the transmission device and extends along the reference direction. The second linear motion part is disposed on the guide structure and is movable along the reference direction. The connecting device is fixedly connected to the first linear motion part and movably connected to the second linear motion part. According to the linear motion assembly of this application, the transmission error between the first linear motion part and the transmission device, as well as the micro-deformation of the transmission device itself, can be compensated through the movable connection between the connecting device and the second linear motion part.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to a linear motion component, a robotic arm, a robotic arm system, and a surgical robot. Background Technology

[0002] To achieve linear motion of components, a guide rail and slider, along with a lead screw and nut, are typically used. However, the guide rail and slider, and the lead screw and nut, are usually rigidly connected. When they are not parallel, problems such as poor operation or even jamming can easily occur.

[0003] Therefore, there is a need for a linear motion component, a robotic arm, a robotic arm system, and a surgical robot to at least partially solve the above problems. Summary of the Invention

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

[0005] To at least partially solve the above problems, a first aspect of this application provides a linear motion assembly, the linear motion assembly comprising:

[0006] A transmission device, which is used to connect to a drive device;

[0007] A first linear moving part is disposed on the transmission device and configured to move along a reference direction under the drive of the driving device;

[0008] A guide structure, which is spaced apart from the transmission device and extends along the reference direction;

[0009] A second linear moving part, which is disposed in the guide structure and is movable along the reference direction; and

[0010] A connecting device is fixedly connected to the first linear moving part and movably connected to the second linear moving part.

[0011] According to the linear motion assembly of this application, the transmission error between the first linear motion part and the transmission device, as well as the micro-deformation of the transmission device itself, can be compensated through the movable connection between the connecting device and the second linear motion part.

[0012] Optionally, the connecting device includes a ball seat portion and a ball head portion, wherein one of the ball seat portion and the ball head portion is fixedly disposed relative to the first linear moving portion, and the other of the ball seat portion and the ball head portion is fixedly disposed relative to the second linear moving portion. According to the above arrangement, utilizing the omnidirectional wobble characteristic of the ball joint bearing, the movement deviation of the first linear moving portion in various directions can be compensated, making the movement of the second linear moving portion smoother.

[0013] Optionally, the connecting device includes a connecting rod fixedly connected to the ball head. The connecting rod extends along the central axis of the ball head. The ball seat portion is fixedly connected to one of the first linear moving portion and the second linear moving portion, and the connecting rod is fixedly connected to the other of the first and second linear moving portions. This configuration can compensate for the offset rotation angle of the first linear moving portion.

[0014] Optionally, the connecting device includes a ball seat portion and a ball head portion, wherein the ball seat portion is fixedly disposed relative to one of the first linear moving portion and the second linear moving portion, and the ball head portion is movably disposed relative to the other of the first linear moving portion and the second linear moving portion. This allows for simultaneous compensation of the offset rotation angle of the first linear moving portion and the bending deformation of the transmission device.

[0015] Optionally, the connecting device includes a connecting rod that extends through the ball head along the central axis of the ball head and is telescopically movable relative to the ball head.

[0016] Optionally, the connecting rod includes a distal end and a proximal end, the distal end being fixedly disposed with one of the first linear moving part and the second linear moving part, and the proximal end being connected to the ball head;

[0017] The linear motion assembly further includes an elastic element connected between the proximal end of the connecting rod and the ball seat portion. According to this design, the preload of the elastic element and the extension / retraction of the connecting rod can jointly compensate for the offset of the first linear motion portion and the distance change between the first and second linear motion portions, preventing the movement of the second linear motion portion from becoming stuck.

[0018] Optionally, the proximal end includes a protrusion extending beyond the ball head, and the elastic element is connected between the protrusion and the ball seat portion.

[0019] Optionally, the linear motion assembly further includes an additional elastic element connected between the connecting rod and the ball seat portion, and the additional elastic element is located on the side of the ball head facing the distal end.

[0020] Optionally, the elastic element is constructed as a disc spring.

[0021] Optionally, the protrusion is provided with a limiting member, the radial dimension of which is larger than the radial dimension of the connecting rod. According to this solution, the connecting rod can be prevented from detaching from the ball head.

[0022] Optionally, the transmission device is configured as a lead screw, and the first linear moving part is configured as a lead screw nut; and / or

[0023] The guide structure is constructed as a slide rail, and the second linear moving part is constructed as a slider.

[0024] A second aspect of this application provides a robotic arm that includes the linear motion component described in the first aspect above.

[0025] A third aspect of this application provides a robotic arm system, the robotic arm system comprising:

[0026] The linear motion component described in the first aspect above, and / or

[0027] The weapon-holding arm described in the second aspect above.

[0028] The robotic arm system according to this application has similar technical effects to the linear motion component described in the first aspect and / or the holding arm described in the second aspect.

[0029] A fourth aspect of this application provides a surgical robot, the surgical robot including the robotic arm system described in the third aspect above.

[0030] The surgical robot according to this application has similar technical effects to the robotic arm system described in the third aspect above. Attached Figure Description

[0031] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the invention and their descriptions to explain the principles of the invention.

[0032] In the attached image:

[0033] Figure 1 This is a schematic diagram of a linear motion component according to one embodiment of this application;

[0034] Figure 2 This is a cross-sectional schematic diagram of a linear motion component according to one embodiment of this application;

[0035] Figure 3 This is a cross-sectional schematic diagram from another perspective of a linear motion component according to one embodiment of this application.

[0036] Figure 4This is a schematic diagram showing the rotational offset of the first linear moving part of a linear moving assembly according to one embodiment of this application;

[0037] Figure 5 This is another schematic diagram showing the rotational offset of the first linear moving part of a linear moving assembly according to one embodiment of this application;

[0038] Figure 6 This is a schematic diagram showing the extension and retraction offset of the second linear moving part of a linear moving assembly according to one embodiment of this application;

[0039] Figure 7 This is another schematic diagram showing the extension and retraction offset of the second linear moving part of a linear moving assembly according to one embodiment of this application;

[0040] Figure 8 A schematic diagram of a robotic arm system according to one embodiment of this application; and

[0041] Figure 9 This is a schematic diagram of a surgical robotic system according to one embodiment of this application.

[0042] Explanation of reference numerals in the attached figures:

[0043] 1: Surgical robot system; 20: Doctor's console

[0044] 30: Imaging system; 10: Robotic arm system

[0045] 11: Base 12: Handle

[0046] 13: Column 14: Robotic Arm

[0047] 15: Adjusting arm section 16: Operating arm section

[0048] 17: Connecting arm 100 / 200: Linear movement assembly

[0049] 101: Drive unit; 110: First linear moving part

[0050] 110: Lead screw nut; 120: Second linear moving part

[0051] 120: Slider; 130: Guide structure

[0052] 130: Slide rail; 140: Transmission device

[0053] 140: Lead screw; 150: Connecting device

[0054] 151: Ball seat 152: Ball head

[0055] 153 / 253: Connecting rod E1: Proximal end

[0056] E2: Distal end 254: Protrusion

[0057] 255: Limiting component; 260: Elastic component

[0058] D1: Reference Direction Detailed Implementation

[0059] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0060] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0061] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not 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 herein are for illustrative purposes only and are not intended to be limiting.

[0062] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0063] This application provides a surgical robot system 1, see [link to previous document]. Figure 9 The surgical robot system 1 according to the embodiments of this application is a robot that can be remotely operated to complete surgery. It may include a control system (also called a doctor's console 20), a robotic arm system 10 (patient-side robotic arm system 10), and an imaging system 30.

[0064] The control system includes a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the doctor's operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's console 20 also has other control switches that are easily accessible by hand or foot for various functions and human-computer interaction.

[0065] The imaging system 30 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0066] Another aspect of this application provides a robotic arm 14. (Reference) Figure 8 The patient-side robotic arm system 10 includes several robotic arms 14 as described in this application. Each robotic arm 14 has several connecting arms 17 or links, with adjacent connecting arms 17 moving relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm 14 to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the instrument). A holding arm is located at the end joint of the robotic arm 14, and an instrument actuator is mounted on the holding arm. Surgical instruments or endoscopes are detachably mounted on the instrument actuator.

[0067] Surgical instruments consist of three parts: a rear-end mechanism, a main cable extending from the rear-end mechanism to the front-end mechanism, and an end effector including a wrist mechanism at the front of the main cable. Typically, an instrument actuator drives the movement of the rear-end mechanism through multiple cables in the main cable, thereby actuating the wrist mechanism. During surgery, portions of the main cable and wrist mechanism of the surgical instrument are passed through tissues such as the chest and abdominal wall, replacing the human hand in the surgical procedure.

[0068] More specifically, the patient-side robotic arm system 10 includes a movable base 11 and a column 13, on which the robotic arm 14 can move up and down. Figure 8 The diagram shows only one robotic arm 14. A handle 12 can also be installed on the base 11, allowing the operator to assist in moving the base 11. The lifting and lowering of the robotic arm 14 on the column 13 can be driven by a lifting device.

[0069] The robotic arm 14 typically includes an adjusting arm portion 15 and an operating arm portion 16. The end of the operating arm portion 16 is used to mount a holding arm (also called an instrument manipulator arm), which is used to mount surgical instruments or endoscopes. The holding arm may also be equipped with an instrument drive device 101 to drive the surgical instruments to perform insertion, clamping, and other actions. Before operating the robot to perform surgery, the adjusting arm portion 15 needs to be operated to move the surgical instruments mounted at the end of the operating arm portion 16 to the designated position. During surgery, the operating arm portion 16 is remotely controlled to perform surgical operations, while the joints of the adjusting arm portion 15 are kept locked to prevent relative movement between the linkages or connecting arms 17 of the adjusting arm portion 15 during the operation.

[0070] The robotic arm system 10 described above may include the linear motion component provided in another aspect of this application. As an optional implementation, refer to... Figure 1 and Figure 2 The linear motion assembly 100 / 200 of this application can be applied to a surgical arm to enable surgical instruments or endoscopes to move in a straight line. The linear motion assembly 100 / 200 includes a transmission device 140, a first linear motion part 110, a guide structure 130, a second linear motion part 120, and a connecting device 150.

[0071] The transmission device 140 is used to connect with the drive device 101. A first linear moving part 110 is disposed on the transmission device 140 and configured to move along a reference direction D1 under the drive of the drive device 101. A guide structure 130 is spaced apart from the transmission device 140 and extends along the reference direction D1. A second linear moving part 120 is disposed on the guide structure 130 and is movable along the reference direction D1. A connecting device 150 is fixedly connected to the first linear moving part 110 and movably connected to the second linear moving part 120.

[0072] According to the linear motion assembly 100 / 200 of this application, the transmission error between the first linear motion part 110 and the transmission device 140, as well as the micro-deformation of the transmission device 140 itself, can be compensated through the movable connection between the connecting device 150 and the second linear motion part 120.

[0073] The linear motion component described above takes a lead screw drive mechanism as an example. The transmission device 140 can be constructed as a lead screw 140, the first linear motion part 110 can be constructed as a lead screw nut 110, the guide structure 130 can be constructed as a slide rail 130, and the second linear motion part 120 can be constructed as a slider 120.

[0074] The lead screw 140 may be deformed, causing deviations in the lead screw nut 110 during movement. For example, the lead screw 140 itself may be uneven due to storage or processing; or elastic deformation may occur during rotation. In particular, when the lead screw 140 is used in a robotic arm as described in this application, the lead screw nut 110 requires a long stroke to meet usage requirements. This results in a high length-to-diameter ratio for the lead screw 140, leading to poor rigidity and making it prone to elastic deformation during use.

[0075] In this application, the connecting device 150 is fixedly connected to the first linear moving part 110, and the connecting device 150 is movably connected to the second linear moving part 120. In other words, the connecting device 150 is fixedly connected to the lead screw nut 110 and movably connected to the slider 120. Thus, during operation, the movement of the connecting device 150 can eliminate or compensate for the deformation of the lead screw 140, making the linear movement smooth.

[0076] The following will combine Figures 3 to 6 Two more specific implementations of this application are described in more detail below.

[0077] First Implementation Method

[0078] As an optional implementation method, refer to Figure 3 , Figure 4 and Figure 5 The connecting device 150 of the linear motion assembly 100 may include a ball joint bearing. By utilizing the omnidirectional wobble of the ball joint bearing, the movement deviation of the first linear motion part 110 in various directions can be compensated, making the movement of the second linear motion part 120 smoother.

[0079] Specifically, as one implementation, the connecting device 150 includes a ball seat portion 151 and a ball head portion 152, which cooperate to form the aforementioned ball joint bearing. One of the ball seat portion 151 and the ball head portion 152 is fixedly disposed relative to the first linear moving portion 110, and the other of the ball seat portion 151 and the ball head portion 152 is fixedly disposed relative to the second linear moving portion 120.

[0080] Optionally, the connecting device 150 further includes a connecting rod 153. The connecting rod 153 extends along the central axis of the ball head 152 and is fixedly connected to the ball head 152. In this embodiment, the ball seat portion 151 is fixedly connected to one of the first linear moving portion 110 and the second linear moving portion 120, and the connecting rod 153 is fixedly connected to the other of the first linear moving portion 110 and the second linear moving portion 120. According to the above arrangement, the offset rotation angle of the first linear moving portion 110 can be compensated. Specifically, since the thread track of the lead screw 140 may be unevenly machined, the lead screw nut 110 may be offset relative to the rotation axis of the lead screw 140 at different positions (offset in the rotation direction), such as... Figure 4 The rightward shift shown Figure 5 The leftward offset shown is compensated for by the omnidirectional yaw of the ball joint bearing, which maintains the smooth movement of the slider 120 on the slide rail 130.

[0081] More specifically, in Figures 3-5 In the illustrated embodiment, the ball seat portion 151 is fixedly disposed on the second linear moving portion 120, the connecting rod 153 is fixedly connected to the first linear moving portion 110, and the connecting rod 153 is also fixedly connected to the ball head 152. The connecting rod 153 includes a distal end E2 and a proximal end E1, with the proximal end E1 fixedly connected to the ball head 152 and the distal end E2 fixedly connected to the first linear moving portion 110.

[0082] Second Implementation Method

[0083] The second embodiment of this application is a variation of the first embodiment. Except for the connecting rod 253, the linear motion assembly 200 and connecting device 150 of the second embodiment have a structure and / or construction similar to those of the linear motion assembly 100 and connecting device 150 of the first preferred embodiment. Therefore, elements having substantially the same function as those in the first embodiment will be given the same designations herein, and for the sake of brevity, will not be described in detail and / or illustrated further.

[0084] As another implementation form, refer to Figure 6 and Figure 7 The connecting device 150 also includes a ball bearing consisting of a ball seat portion 151 and a ball head portion 152. However, unlike the above... Figures 3-5 In this embodiment, the ball seat portion 151 is fixedly disposed relative to one of the first linear moving portion 110 and the second linear moving portion 120, while the ball head portion 152 is movably disposed relative to the other of the first linear moving portion 110 and the second linear moving portion 120 at a variable distance. This allows for simultaneous compensation of the offset rotation angle of the first linear moving portion 110 and the bending deformation of the transmission device 140.

[0085] Specifically, in addition to the case where the screw nut 110 has an offset angle relative to the rotation center of the screw 140 as described in the first embodiment, bending deformation may also occur when the screw 140 is too long, causing radial movement of the screw nut 110 relative to the screw 140 when it moves on the screw 140. The variable distance between the ball head 152 and the other of the first linear moving part 110 and the second linear moving part 120 can compensate for this radial offset, further ensuring smooth operation of the slider 120 on the slide rail 130.

[0086] Continue to refer to Figure 6 and Figure 7 The connecting device 150 includes a connecting rod 253, which is disposed through the ball head 152 along the central axis of the ball head 152, and the connecting rod 253 is also capable of telescopic movement relative to the ball head 152. The distal end E2 of the connecting rod 253 is fixedly disposed with one of the first linear moving part 110 and the second linear moving part 120, while the proximal end E1 is telescopically connected to the ball head 152.

[0087] The proximal end E1 includes a protrusion 254 extending beyond the ball head 152. The protrusion 254 is provided with a limiting member 255, the radial dimension of which is larger than the radial dimension of the connecting rod 253. According to this design, the connecting rod 253 can be prevented from detaching from the ball head 152.

[0088] In a preferred embodiment, the linear motion assembly 100 further includes an elastic element 260 connected between the proximal end E1 of the connecting rod 253 and the ball seat portion 151. More specifically, the elastic element 260 is connected between the protrusion 254 and the ball seat portion 151. Preferably, the elastic element 260 is constructed as a disc spring.

[0089] According to this solution, the pre-tightening of the elastic element 260 and the extension and retraction of the connecting rod 253 can jointly compensate for the offset of the first linear moving part 110 and the change in distance between the first linear moving part 110 and the second linear moving part 120, so that the movement of the second linear moving part 120 will not get stuck.

[0090] exist Figure 6 and Figure 7 In the illustrated embodiment, the elastic element 260 is located on the side of the ball head 152 facing the proximal end E1. In an embodiment not shown, the linear motion assembly 100 further includes an additional elastic element connected between the connecting rod 253 and the ball seat portion 151, and the additional elastic element is located on the side of the ball head 152 facing the distal end E2. Thus, the double elastic preload provides better compensation for distance variations between the first linear motion portion 110 and the second linear motion portion 120.

[0091] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0092] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. This application is not limited to the above embodiments. Many variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A linear motion component, characterized in that, The linear motion component includes: A transmission device, which is used to connect to a drive device; A first linear moving part is disposed on the transmission device and configured to move along a reference direction under the drive of the driving device; A guide structure, which is spaced apart from the transmission device and extends along the reference direction; A second linear moving part, which is disposed in the guide structure and is movable along the reference direction; and A connecting device is fixedly connected to the first linear moving part and movably connected to the second linear moving part.

2. The linear motion component according to claim 1, characterized in that, The connecting device includes a ball seat portion and a ball head portion, wherein one of the ball seat portion and the ball head portion is fixedly disposed relative to the first linear moving portion, and the other of the ball seat portion and the ball head portion is fixedly disposed relative to the second linear moving portion.

3. The linear motion component according to claim 2, characterized in that, The connecting device includes a connecting rod, which is fixedly connected to the ball head. The connecting rod extends along the central axis of the ball head. The ball seat is fixedly connected to one of the first linear moving part and the second linear moving part, and the connecting rod is fixedly connected to the other of the first linear moving part and the second linear moving part.

4. The linear motion component according to claim 1, characterized in that, The connecting device includes a ball seat portion and a ball head portion, wherein the ball seat portion is fixedly disposed relative to one of the first linear moving portion and the second linear moving portion, and the ball head portion is movably disposed relative to the other of the first linear moving portion and the second linear moving portion at a variable distance.

5. The linear motion component according to claim 4, characterized in that, The connecting device includes a connecting rod that passes through the ball head along the central axis of the ball head and is telescopically movable relative to the ball head.

6. The linear motion component according to claim 5, characterized in that, The connecting rod includes a distal end and a proximal end, the distal end being fixedly disposed with one of the first linear moving part and the second linear moving part, and the proximal end being connected to the ball head; The linear motion assembly also includes an elastic element connected between the proximal end of the connecting rod and the ball seat portion.

7. The linear motion component according to claim 6, characterized in that, The proximal end includes a protrusion extending beyond the ball head, and the elastic element connects the protrusion and the ball seat portion.

8. The linear motion component according to claim 7, characterized in that, The linear motion assembly further includes an additional elastic element connected between the connecting rod and the ball seat portion, and the additional elastic element is located on the side of the ball head facing the distal end.

9. The linear motion component according to claim 6, characterized in that, The elastic element is constructed as a disc spring.

10. The linear motion component according to claim 7, characterized in that, The protrusion is provided with a limiting member, the radial dimension of which is greater than the radial dimension of the connecting rod.

11. The linear motion component according to any one of claims 1-10, characterized in that, The transmission device is constructed as a lead screw, and the first linear moving part is constructed as a lead screw nut; and / or The guide structure is constructed as a slide rail, and the second linear moving part is constructed as a slider.

12. A robotic arm, characterized in that, The robotic arm includes a linear motion component according to any one of claims 1-11.

13. A robotic arm system, characterized in that, The robotic arm system includes: The linear motion component according to any one of claims 1-11, or The mechanical arm according to claim 12.

14. A surgical robot, characterized in that, The surgical robot includes the robotic arm system according to claim 13.

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