robotic arms, patient-side operating equipment, and robotic surgical systems

Abstract

This application provides a robotic arm, a patient-side manipulation device, and a robotic surgical system. The robotic arm includes a mounting base, an offset link, and an operating arm. The offset link is rotatably connected to the mounting base about a first rotation axis, and the proximal end of the operating arm is rotatably connected to the offset link about a second rotation axis. A holding arm is provided at the distal end of the operating arm, and the operating arm can drive the holding arm to rotate about a deflection axis and a pitch axis. The first rotation axis, the second rotation axis, the deflection axis, and the pitch axis intersect at a telecentric point, the position of which remains constant relative to the mounting base. Furthermore, clockwise rotation of the offset link about the first rotation axis can drive counterclockwise rotation of the operating arm about the second rotation axis, and / or, counterclockwise rotation of the offset link about the first rotation axis can drive clockwise rotation of the operating arm about the second rotation axis. In this application, by adding redundant joints and constraining them through mechanical structures, the movement of these redundant joints is decoupled from the movement of the operating arm.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to a robotic arm, patient-side operating equipment, and robotic surgical system. Background Technology

[0002] Robotic surgical systems are used in modern surgery. The robotic arm is an important component of a robotic surgical system. The distal end of the robotic arm holds surgical instruments to perform surgical procedures.

[0003] Before surgery, it is often necessary to adjust the distal end of the robotic arm to the surgical area and adjust its posture to ensure that the surgical instruments have a suitable initial orientation. However, due to structural limitations and interference from other robotic arms or medical devices, the range of adjustment for the robotic arm's position and posture is limited.

[0004] During surgery, the robotic arm moves to drive the surgical instruments. During this process, motion interference can easily occur between robotic arms or between a robotic arm and other medical instruments, which limits the range of motion of the robotic arm, reduces the flexibility of the surgical robot, and fails to meet the needs of special surgical scenarios.

[0005] Therefore, there is a need to provide a robotic arm, a patient-side operating device, and a robotic surgical system to at least partially solve the above problems. Summary of the Invention

[0006] 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.

[0007] To at least partially solve the above problems, the first aspect of this application provides a robotic arm, comprising:

[0008] Mounting base;

[0009] An offset link, rotatably connected to the mounting base about a first rotation axis; and

[0010] An operating arm, the proximal end of which is rotatably connected to the offset link about a second rotation axis, and the distal end of which is provided with a surgical instrument holding arm for mounting surgical instruments, the operating arm being capable of driving the surgical instrument holding arm to rotate about a deflection axis and a pitch axis; wherein...

[0011] The first rotation axis, the second rotation axis, the yaw axis, and the pitch axis intersect at a telecentric point, the position of which remains constant relative to the mounting base; and

[0012] The offset link rotating clockwise around the first rotation axis can drive the operating arm to rotate counterclockwise around the second rotation axis, and / or, the offset link rotating counterclockwise around the first rotation axis can drive the operating arm to rotate clockwise around the second rotation axis.

[0013] Optionally, the offset link further includes:

[0014] A housing that is rotatable relative to the mounting base about the first rotation axis;

[0015] A first transmission mechanism, comprising:

[0016] A first rotating member, fixed relative to the mounting base and rotatable relative to the housing about a first rotation axis; and

[0017] A second rotating component, connected to the operating arm and rotatable relative to the housing about the third rotation axis, wherein the fourth rotation axis is parallel to the first rotation axis; and

[0018] A transmission component connects the first rotating component and the second rotating component, such that the first rotating component and the second rotating component are driven by the transmission component.

[0019] Optionally, the first rotating member is configured as a first rotating wheel, the second rotating member is configured as a second rotating wheel, and the transmission member is configured as a flexible transmission member, wherein the flexible transmission member connects the first rotating wheel and the second rotating wheel.

[0020] Optionally, both the first and second rotating wheels have teeth on their outer periphery, and the flexible transmission component is constructed as a chain or toothed synchronous belt capable of meshing with the teeth.

[0021] Optionally, the flexible transmission element includes:

[0022] A first transmission belt, the two ends of which are respectively connected to the first pulley and the second pulley, and the first transmission belt is wound around the outer periphery of the first pulley and the second pulley; and

[0023] A second transmission belt, the two ends of which are respectively connected to the first and second pulleys, and the second transmission belt is wound around the outer periphery of the first and second pulleys; wherein

[0024] The first transmission belt and the second transmission belt are wound in opposite directions on the first pulley;

[0025] The first transmission belt and the second transmission belt are wound in opposite directions on the second pulley.

[0026] Optionally, the transmission component is configured as a connecting rod, with its two ends rotatably connected to the first rotating component and the second rotating component, respectively. The connection position of the connecting rod with the first rotating component is offset from the first rotation axis, and the connection position of the connecting rod with the second rotating component is offset from the third rotation axis.

[0027] Optionally, the biasing link further includes a second transmission mechanism, which connects the second rotating member and the operating arm, such that the rotation of the second wheel around the third rotation axis can drive the operating arm to rotate around the second rotation axis.

[0028] Optionally, the second transmission mechanism includes at least one of a universal joint, a bevel gear pair, and a worm gear pair.

[0029] Optionally, the second transmission mechanism includes a universal joint, the universal joint comprising:

[0030] A first connector, which is fixed to the second rotating component;

[0031] A second connector, the second connector being fixed to the proximal end of the operating arm; and

[0032] A cross shaft, comprising a first shaft and a second shaft perpendicular to each other, wherein the first shaft is rotatably connected to the first connector and the second shaft is rotatably connected to the second connector.

[0033] Optionally, the manipulator arm includes:

[0034] A deflection joint, the deflection joint being connected to the offset link; and

[0035] A parallelogram linkage mechanism is provided, which is connected to the deflection joint. The parallelogram linkage mechanism includes at least two connecting arms, which are rotatable relative to each other. The holding arm is connected to the parallelogram linkage mechanism.

[0036] Optionally, the angle α between the first rotation axis and the second rotation axis is between 10° and 30°.

[0037] Optionally, the deflection axis is collinear with the second rotation axis.

[0038] A second aspect of this application provides a patient-side manipulation device, including an adjustment mechanism and at least one of the aforementioned robotic arms, the robotic arms being connected to the adjustment mechanism, the adjustment mechanism including at least one joint for adjusting the position and / or orientation of the robotic arms.

[0039] A third aspect of this application provides a robotic surgical system, including a doctor's console and the aforementioned patient-side operating device, wherein the patient-side operating device is capable of communicating with the doctor's console.

[0040] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description

[0041] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0042] Figure 1 This is a schematic diagram of a surgical robot according to a preferred embodiment of this application;

[0043] Figure 2 This is a schematic diagram of a robotic arm system according to a preferred embodiment of this application;

[0044] Figure 3 This is a three-dimensional schematic diagram of a robotic arm according to a preferred embodiment of this application;

[0045] Figure 4 This is a top view schematic diagram of a robotic arm according to a preferred embodiment of this application;

[0046] Figure 5 This is a schematic diagram of the main body of a robotic arm according to a preferred embodiment of this application;

[0047] Figure 6 An exploded view of the main body of the robotic arm according to a preferred embodiment of this application;

[0048] Figure 7 This is a side view of a robotic arm according to a preferred embodiment of this application;

[0049] Figure 8 This is a cross-sectional schematic diagram of an offset link according to a preferred embodiment of this application;

[0050] Figure 9 This is a perspective view of the wheel and transmission component according to a preferred embodiment of this application;

[0051] Figure 10 This is a three-dimensional exploded view of a universal joint according to a preferred embodiment of this application.

[0052] Explanation of reference numerals in the attached figures

[0053] 1: Doctor's Control Panel

[0054] 2: Robotic arm system

[0055] 3: Imaging System

[0056] 4: Base

[0057] 5: Columns

[0058] 6: Robotic arm

[0059] 10: Mounting bracket

[0060] 110: Drive components

[0061] 20: Offset Link

[0062] 201: First Shell

[0063] 202: Second shell

[0064] 210: First rotating component

[0065] 211: First Rotating Wheel

[0066] 212: Connector

[0067] 220: Second rotating component

[0068] 221: Second Rotating Wheel

[0069] 222: First Connector

[0070] 2221: First Ontology Department

[0071] 2222: First rotating shaft section

[0072] 2223: First fork section

[0073] 2224: First mounting hole

[0074] 223: Second connector

[0075] 2231: Second Body Section

[0076] 2232: Second rotating shaft section

[0077] 2233: Second fork section

[0078] 2234: Second mounting hole

[0079] 224: Cross shaft

[0080] 2241: First Axis

[0081] 2242: Second Axis

[0082] 230: Bearing

[0083] 240: Transmission components

[0084] 241: First transmission belt

[0085] 242: Second transmission belt

[0086] 250: Limiting groove

[0087] 251: Gap

[0088] 252: Limiting part

[0089] 30: Operating arm

[0090] 31: Deflection Mechanism

[0091] 32: Parallelogram Linkage Mechanism

[0092] 321: First connecting arm

[0093] 322: Second connecting arm

[0094] 33: Redundant connecting arm

[0095] 34: Weapon-holding arm

[0096] AX1: First axis of rotation

[0097] AX2: Second axis of rotation

[0098] YAX: Deflection axis

[0099] PAX: Pitch axis

[0100] AX3: Third axis of rotation

[0101] AX4: Fourth axis of rotation

[0102] AX5: Fifth axis of rotation

[0103] RCM: Telecentric Point Detailed Implementation

[0104] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may 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 embodiments of this application.

[0105] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0106] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0107] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0108] The terms "distal" and "proximal" used in this application are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during the procedure, while "proximal" refers to the end closest to the operator. In a master-slave remote-controlled medical system, the operator can be understood as someone operating the device.

[0109] The terms “parallel” / “perpendicular” and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by a range of -5° to +5°), and have equivalent effects.

[0110] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0111] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0112] Reference Figure 1 The surgical robot according to the embodiments of this application is a robot that can be remotely operated to complete surgery, which may include a doctor's console 1 (also called a control system), a robotic arm system 2 (patient-side robotic arm system) and an imaging system 3.

[0113] The doctor's control console 1 is the main operating device, featuring a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 1 also has other control switches that are easily accessible by hand or foot for various functional operations and human-computer interaction.

[0114] The imaging system 3 includes a display screen, endoscope controller, system electronics, and image processor. The imaging system 3 can be set up independently, integrated into the doctor's console 1, or integrated into the robotic arm system 2.

[0115] The robotic arm system 2 is a slave operating device and may include at least one robotic arm 6. The robotic arm 6 has several connecting arms, and adjacent connecting arms move relative to each other with specific degrees of freedom, so that the end of the robotic arm 6 can achieve multiple degrees of freedom (such as 7 degrees of freedom, which may vary depending on the surgical instrument). The end of the robotic arm 6 is used to hold surgical instruments or endoscopes.

[0116] Reference Figure 2 The robotic arm system 2 includes a base 4, a column 5 mounted on the base 4, and at least one robotic arm 6 that can be raised and lowered relative to the base 4 mounted on the column 5. A handle may also be mounted on the base 4, allowing the operator to assist in moving the base 4.

[0117] The robotic arm 6 typically includes an adjusting arm section and a manipulating arm section. The distal segment of the manipulating arm section is the instrument-holding arm, used to mount surgical instruments or endoscopes. The instrument-holding arm may also be equipped with an instrument drive mechanism to drive the surgical instruments to perform insertion, clamping, and other actions. Before operating the robot to perform surgery, the adjusting arm section needs to be operated to move the instrument-holding arm to the designated position, and then the joints of the adjusting arm section are locked. During surgery, the manipulating arm section is remotely controlled to perform surgical operations, while the joints of the adjusting arm section remain locked to prevent relative movement between the connecting arms of the adjusting arm section during the operation.

[0118] The manipulator arm moves to drive the surgical instrument arm to move around the remote center of motion (RCM). Manipulating the manipulator arm 30 enables the surgical instrument arm to perform pitch and yaw movements around the RCM. During the operation, the surgical instrument must always pass through the RCM point to avoid non-surgical damage to the patient's abdominal incision.

[0119] The surgical arm is also equipped with a cannula, which is used to insert into a small hole (i.e., port) in the human body. Surgical instruments pass through the cannula to enter the abdominal or thoracic cavity to perform surgical operations. Therefore, the RCM point is usually set on the cannula.

[0120] The inventors discovered that when multiple robotic arms are configured on the robotic arm system 2 to perform multi-port laparoscopic surgery, the ports for entering the ward are typically located around the ward for ease of surgical operation. Consequently, surgical instruments are also relatively concentrated around the ward, resulting in a small distance between the robotic arms. This limits the preoperative adjustability and intraoperative mobility of the robotic arms. Furthermore, other medical devices, such as monitors and anesthesia injection equipment, are usually located near the patient, which may further restrict the adjustability and mobility of the robotic arms. Moreover, collisions between robotic arms or between a robotic arm and other medical devices during surgery can affect surgical precision and reduce surgical safety.

[0121] The robotic arm provided in this application can improve or overcome one or more of the above-mentioned problems, avoiding interference during the preoperative adjustment process or during the surgical procedure.

[0122] Reference Figures 1-8 This application provides a robotic arm, including a mounting base 10, an offset link 20, and an operating arm 30. The mounting base 10 is mounted to the distal end of the operating arm. The offset link 20 is rotatably connected to the mounting base 10 about a first rotation axis AX1. The proximal end of the operating arm 30 is rotatably connected to the offset link 20 about a second rotation axis AX2. A surgical instrument holding arm 34 is provided at the distal end of the operating arm 30. The surgical instrument holding arm 34 is used to hold surgical instruments. The operating arm 30 can drive the surgical instrument holding arm 34 to rotate about a deflection axis YAX and a pitch axis PAX. The first rotation axis AX1, the second rotation axis AX2, the deflection axis YAX, and the pitch axis PAX intersect at a telecentric point RCM, and the position of the telecentric point RCM relative to the mounting base 10 remains unchanged.

[0123] Generally speaking, the first rotation axis AX1 is not collinear with the second rotation axis AX2, the yaw axis YAX, and the pitch axis PAX.

[0124] In some examples, the angle α between the first rotation axis AX1 and the second rotation axis AX2 can be between 10° and 30°, optionally between 10° and 20°, optionally between 10° and 15°, and optionally 13°.

[0125] In some cases, the angle α between the first rotation axis AX1 and the second rotation axis AX2 remains constant during the movement of the robotic arm.

[0126] In some cases, the yaw axis YAX and the pitch axis PAX are perpendicular.

[0127] In some cases, the angle between the yaw axis YAX and the pitch axis PAX remains constant during the movement of the robotic arm.

[0128] In the example illustrated in this application, such as Figures 4 to 6 As shown, the deflection axis YAX and the second rotation axis AX2 are collinear to simplify the structural design and control scheme. However, it is understood that the deflection axis YAX and the second rotation axis AX2 may not be collinear.

[0129] The offset link 20 adds a redundant degree of freedom to the distal gripper arm 34 of the robotic arm, improving the flexibility of the robotic arm. Therefore, the gripper arm 34 can drive the surgical instrument to deflect around the deflection axis YAX, pitch around the pitch axis PAX, and offset around the first rotation axis AX1.

[0130] In this application, when the robotic arm is biased, the second rotation axis AX2 swings in a conical shape around the first rotation axis AX1. This can be understood as the set of motion trajectories of the second rotation axis AX2 after rotating around the first rotation axis AX1 once forming a cone, where the first rotation axis AX1 is the axis of the cone and the second rotation axis AX2 is the generatrix of the cone.

[0131] Yaw and pitch movements are fundamental requirements for ensuring the operation of surgical instruments, while offset movements increase the range of motion of surgical instruments and improve surgical flexibility while preventing interference from the robotic arm. For example, in some applications, when information from sensors on the robotic arm predicts an impending collision, the offset linkage 20 can be driven to rotate clockwise or counterclockwise around the first rotation axis AX1 to offset the operating arm to a safe area in a timely manner, avoiding a collision. Furthermore, since the first rotation axis AX1 passes through the RCM point, the surgical instrument will not deviate from the RCM point during offset movements, thus preventing the surgical instrument from pulling on the incision during offset movements and ensuring surgical safety.

[0132] Generally, the three degrees of freedom of rotation, pitch, and offset are driven independently of each other. However, the inventors discovered that the offset motion of the robotic arm causes changes in the rotation and / or pitch angles of the surgical instruments, with a particularly significant impact on the rotation angle. This can potentially cause unnecessary surgical injuries and affect the range of motion of the surgical instruments. Therefore, it is necessary to compensate for or partially compensate for the changes in rotation and / or pitch angles caused by the offset motion in order to eliminate or reduce this effect.

[0133] Therefore, in this application, the offset link 20 can rotate clockwise around the first rotation axis AX1 to drive the operating arm 30 to rotate counterclockwise around the second rotation axis AX2, and / or, the offset link 20 can rotate counterclockwise around the first rotation axis AX1 to drive the operating arm 30 to rotate clockwise around the second rotation axis AX2.

[0134] In some applications, when information from sensors on the robotic arm predicts an impending collision, the bias link 20 can be driven to rotate clockwise or counterclockwise around the first rotation axis AX1 to bias the manipulator to a safe area and avoid a collision. Simultaneously, the clockwise or counterclockwise rotation of the bias link 20 can cause the manipulator 30 to rotate clockwise or counterclockwise around the second rotation axis AX2, thereby compensating for or partially compensating for changes in the deflection and / or pitch angles of the surgical instruments caused by the movement of the bias link 20. This eliminates or reduces the posture deviation of the surgical instruments caused by the movement of the bias link 20, ensuring the range of motion of the surgical instruments.

[0135] By designing this scheme, redundant degrees of freedom are added to the existing pitch and yaw motions of the robotic arm, thereby avoiding interference between the arms. Furthermore, the transmission between the offset link 20 and the manipulator 30 reduces the impact of this redundant degree of freedom on the manipulator 30's posture, ensuring the range of motion of the surgical instruments. Therefore, the surgical robot of this application exhibits high flexibility, is suitable for high-load environments, and can meet the needs of various surgical scenarios.

[0136] In some examples, deflection motion can be achieved through mechanical constraints. Specifically, the biasing link 20 includes a transmission mechanism. The biasing link 20 is transmitted to the operating arm 30 via the transmission mechanism, such that clockwise rotation of the biasing link 20 about the first rotation axis AX1 can drive the operating arm 30 to rotate counterclockwise about the second rotation axis AX2, and / or, counterclockwise rotation of the biasing link 20 about the first rotation axis AX1 can drive the operating arm 30 to rotate clockwise about the second rotation axis AX2.

[0137] In some examples not shown, the deflection motion can also be achieved through software control. That is, the bias link 20 may not have a transmission mechanism; instead, an additional drive device is installed at the connection between the bias link 20 and the operating arm 30 to drive the operating arm 30 to rotate around the second rotation axis AX2. In some applications, when the bias link 20 rotates clockwise or counterclockwise, the change in the deflection and pitch angle of the surgical instrument caused by the bias motion is calculated based on information fed back from sensors on the robotic arm or surgical instrument. Based on this change, the amount of rotation required to drive the operating arm 30 around the second rotation axis AX2 clockwise or counterclockwise is calculated, and the drive device is controlled based on this rotation amount.

[0138] The following describes the optional implementation methods of the offset link 20 in the mechanical constraint scheme.

[0139] like Figures 6 to 8As shown, the offset link 20 includes a housing and a first transmission mechanism. The first transmission mechanism includes a first rotating member 210, a second rotating member 220, and a transmission member 240. The housing is rotatable relative to the mounting base 10 about a first rotation axis AX1. The first transmission mechanism can be housed within the cavity of the housing. Optionally, the transmission method of the first transmission mechanism includes, but is not limited to, belt drive, gear drive, chain drive, and linkage drive.

[0140] Mounting base 10 is provided with a drive element 110, and the housing of the biasing link 20 is connected to the output end of the drive element 110 so that it can rotate around the first rotation axis AX1 under the drive of the drive element 110. Optionally, the drive element 110 is a motor.

[0141] The housing includes a first housing 201, a second housing 202, and a third housing 203 connected between the first housing 201 and the second housing 202. The first housing 201, the third housing 203, and the second housing 202 are sequentially connected to accommodate the first rotating member 210, the second rotating member 220, and the transmission member 240. The first housing 201 provides space for the first rotating member 210 to be accommodated and move. Optionally, the first housing 201 can be constructed as a hollow cylinder-like structure. The first housing 201 has an opening and a bottom surface that are oppositely arranged. The central axes of the opening and the bottom surface of the first housing 201 are collinear or parallel, and optionally both are collinear with the first rotation axis AX1. The opening of the first housing 201 is connected to the output end of the drive member 110. The second housing 202 provides space for the second rotating member 220 to be accommodated and moved. Optionally, the second housing 202 is constructed as a hollow cylinder-like structure. The second housing 202 has an opening and a bottom surface that are oppositely arranged. The central axes of the opening and the bottom surface of the second housing 202 intersect or are not parallel. The central axis of the bottom surface of the second housing 202 is parallel to the central axis of the bottom surface of the first housing 201, and the central axis of the opening of the second housing 202 is collinear with the second rotation axis AX2. The third housing 203 is constructed as a rod-shaped hollow structure.

[0142] The first rotating member 210 is fixed relative to the mounting base 10 and rotatable relative to the housing about the first rotation axis AX1. Optionally, the first rotating member 210 can be fixed to the mounting base 10 by a connector 212. The first end of the connector 212 is fixedly connected to the mounting base 10, the second end of the connector 212 is fixedly connected to the first rotating member 210, and the connector 212 passes through the drive member 110.

[0143] The second rotating member 220 is connected to the operating arm 30 and is rotatable relative to the housing about a third rotation axis AX3. The third rotation axis AX3 is parallel to the first rotation axis AX1. Optionally, the second rotating member 220 can be connected to the operating arm 30 via a second transmission mechanism, the optional implementation of which will be described below.

[0144] The transmission component 240 connects the first rotating component 210 and the second rotating component 220, so that the first rotating component 210 and the second rotating component 220 are driven by the transmission component 240. Optionally, the transmission component 240 may include a flexible transmission component, such as a transmission belt, a synchronous belt, or a chain, or it may include a rigid transmission component, such as a connecting rod or a gear.

[0145] Optionally, via the transmission member 240, the first rotating member 210 and the second rotating member 220 rotate synchronously relative to the housing, or in other words, they have the same angular velocity. In some applications, when the housing of the offset link 20 rotates relative to the mounting base 10 about the first rotation axis AX1, since the first rotating member 210 is relatively fixed to the mounting base 10, it can be considered that the first rotating member 210 rotates about the housing of the offset link 20. Simultaneously, since the first rotating member 210 and the second rotating member 220 maintain synchronous rotation relative to the housing through the transmission member 240, the movement of the second rotating member 220 is a translational motion relative to the mounting base 10 along the circumference about the first rotation axis AX1, without rotating about the third rotation axis AX3. In short, the movement of the second rotating member 220 is a revolution around the first rotation axis AX1, but not a rotation about the third rotation axis AX3. The operating arm 30 moves under the drive of the second rotating member 220, thereby minimizing the impact of the movement of the offset link 20 on the attitude of the operating arm 30.

[0146] In some examples, the transmission member 240 can be configured as a flexible transmission member 240, which connects the first rotating member 210 and the second rotating member 220 respectively. Accordingly, the first rotating member 210 can be configured as a first wheel 211, and the second rotating member 220 can be configured as a second wheel 221. Exemplarily, when the housing of the biasing link 20 rotates about the first rotation axis AX1 relative to the mounting base 10, the position of the second wheel 221 relative to the first wheel 211 changes, causing a change in the winding position of the flexible transmission member 240 between the first wheel 211 and the second wheel 221. Therefore, it can be considered that the first wheel 211 and the second wheel 221 are driven by the flexible transmission member 240. Optionally, the first wheel 211 and the second wheel 221 have the same diameter, so that they can be kept rotating synchronously by the flexible transmission member 240.

[0147] In the examples illustrated in this application, such as Figure 9As shown, the flexible transmission component 240 includes a first transmission belt 241 and a second transmission belt 242. The two ends of the first transmission belt 241 are connected to a first rotating wheel 211 and a second rotating wheel 221, respectively. Optionally, both the first rotating wheel 211 and the second rotating wheel 221 are cylindrical. The first transmission belt 241 is wound around the outer periphery of the first rotating wheel 211 and the second rotating wheel 221. The second transmission belt 242 is wound around the outer periphery of the first rotating wheel 211 and the second rotating wheel 221. The two ends of the first transmission belt 241 and the second transmission belt 242 are fixedly connected to the first rotating wheel 211 and the second rotating wheel 221, respectively, or connected by a limiting structure, so that the ends of the transmission belts are relatively fixed to the rotating wheels. This allows the first rotating wheel 211 and the second rotating wheel 221 to move in tandem by changing the amount of winding of the transmission belts on the rotating wheels, preventing relative slippage between the transmission belts and the rotating wheels during transmission and ensuring precise transmission. Specifically, the first transmission belt 241 and the second transmission belt 242 are wound in opposite directions on the first rotating wheel 211, and the first transmission belt 241 and the second transmission belt 242 are wound in opposite directions on the second rotating wheel 221, thereby realizing transmission in two opposite rotational directions.

[0148] Optionally, the first transmission belt 241 and / or the second transmission belt 242 are steel belts. Steel belts are low in cost, can withstand greater tensile force, have high stability and rigidity, and can maintain small expansion and contraction and deformation during transmission, which is conducive to achieving stable and reliable transmission performance and ensuring transmission accuracy.

[0149] Optionally, the first pulley 211 and the second pulley 221 are each provided with a limiting structure, which is used to fixally connect to the end of the first transmission belt 241 or the end of the second transmission belt 242. The limiting structure can ensure that the end of the transmission belt is securely connected to the pulley, preventing it from loosening or falling off during transmission. The limiting structure can also achieve tensioning of the transmission belt, thereby improving the reliability and stability of the transmission system.

[0150] For example, the limiting structure includes a limiting groove 250 and a notch 251. The limiting groove 250 is recessed inward along the axial direction from the bottom surface of the cylindrical wheel, and the notch 251 connects from the limiting groove 250 to the side of the cylindrical wheel. The end of the first transmission belt 241 or the end of the second transmission belt 242 is fixed in the limiting groove 250. The limiting groove 250 and the notch 251 ensure accurate positioning of the transmission belt end. In addition, the limiting structure increases the connection strength between the transmission belt and the rotating wheel, allowing the first transmission mechanism to withstand greater tension without connection failure due to excessive tension. Therefore, it can be used in high-load and high-intensity transmission environments.

[0151] Optionally, the end of the first transmission belt 241 and / or the end of the second transmission belt 242 forms a limiting part 252, which engages with the limiting groove 250. The transmission belt end with the limiting part 252 can more easily engage with the limiting groove 250, making the installation and maintenance process simpler and improving operating efficiency.

[0152] For example, the limiting groove 250 is constructed with a smaller cross-sectional area at the side opening of the cylindrical wheel and a larger cross-sectional area at the bottom. The cross-section of the limiting part 252 is larger than the cross-section of the limiting groove 250 at the side opening of the cylindrical wheel, and the limiting part 252 is engaged within the limiting groove 250. The transmission belt is fixed to the limiting part 252 within the limiting groove 250 and extends out from the notch 251. Since the limiting part 252 is confined within the limiting groove 250, it will not be pulled out of the limiting groove when the transmission belt is subjected to tension, thereby achieving the fixation of the transmission belt and the wheel.

[0153] In some examples not shown, the outer periphery of both the first wheel 211 and the second wheel 221 is provided with teeth, and the flexible transmission member 240 is constructed as a chain or toothed synchronous belt capable of meshing with the teeth. The flexible transmission member 240 is arranged in a closed loop around the outer periphery of the first wheel 211 and the second wheel 221, without the need for additional limiting structures and limiting parts.

[0154] In some examples not shown, the transmission member 240 can also be constructed as a rigid transmission member. For example, a rigid transmission member includes at least one connecting rod, the two ends of which are rotatably connected to a first rotating member 210 and a second rotating member 220, respectively. The connection position of the connecting rod to the first rotating member 210 is offset from the first rotation axis AX1, and the connection position of the connecting rod to the second rotating member 220 is offset from the third rotation axis AX3. Further, the distance by which the connection position of the connecting rod to the first rotating member 210 is offset from the first rotation axis AX1 is equal to the distance by which the connection position of the connecting rod to the second rotating member 220 is offset from the third rotation axis AX3, such that the connecting rod, the first rotating member 210, and the second rotating member 220 constitute a parallelogram linkage mechanism, thereby maintaining synchronous rotation through the connecting rod.

[0155] Because there is a certain angle between the first rotation axis AX1 and the second rotation axis AX2 in the offset link 20, and also a certain angle between the third rotation axis AX3 and the second rotation axis AX2, a second transmission mechanism is provided between the second rotating member 220 and the operating arm 30 to connect and transmit power so that the rotation of the second rotating member 220 around the third rotation axis AX3 can drive the rotation of the operating arm 30 around the second rotation axis AX2. The second transmission mechanism may include at least one of a universal joint, a bevel gear pair, and a worm gear pair.

[0156] In one example, such as Figure 6 , Figure 8 and Figure 10 As shown, the second transmission mechanism includes a universal joint. Specifically, the universal joint includes a first connector 222, a second connector 223, and a cross shaft 224. The first connector 222 is fixed to the second rotating member 220. The second connector 223 is fixed to the proximal end of the operating arm 30. The cross shaft 224 includes an intersecting first shaft 2241 and a second shaft 2242. The first shaft 2241 is rotatably connected to the first connector 222, and the second shaft 2242 is rotatably connected to the second connector 223. When the first connector 222 rotates, the cross shaft 224 rotates with the first connector 222 about a third rotation axis AX3, and simultaneously rotates relative to the first connector 222 about an axis perpendicular to the third rotation axis AX3, and simultaneously rotates relative to the second connector 223 about an axis perpendicular to the second rotation axis AX2, thereby transmitting power between the first connector 222 and the second connector 223.

[0157] The first connector 222 includes a first body portion 2221, a first rotating shaft portion 2222, and a first fork portion 2223. The first body portion 2221 has a first side and a second side facing away from each other. The first rotating shaft portion 2222 is disposed on the first side and is fixedly connected to the second rotating wheel 221. The first fork portion 2223 is disposed on the second side and has a first mounting hole 2224. Both ends of the first shaft 2241 pass through the first mounting hole 2224 and are rotatably connected to the first mounting hole 2224.

[0158] The second connector 223 includes a second body portion 2231, a second rotating shaft portion 2232, and a second fork portion 2233. The second body portion 2231 has a third side and a fourth side facing each other. The second fork portion 2233 is disposed on the third side and has a second mounting hole 2234. Both ends of the second shaft 2242 pass through the second mounting hole 2234, and the second shaft 2242 is rotatably connected to the second mounting hole 2234. The second rotating shaft portion 2232 is disposed on the fourth side and is fixedly connected to the proximal end of the operating arm 30. The second side of the first connector 222 is disposed opposite to the third side of the second connector 223.

[0159] The universal joint in this embodiment has a relatively simple overall structure, occupies little space, is easy to manufacture and maintain, and has high reliability.

[0160] Reference Figure 6 and Figure 10In some embodiments of this application, the second joint 223 is connected to the offset connecting rod 20 via a bearing 230. The outer ring of the bearing 230 is fixedly connected to the offset connecting rod 20, and the inner ring of the bearing 230 is fixedly connected to the second rotating shaft portion 2232. The bearing 230 ensures a stable connection between the universal joint and the offset connecting rod 20, providing better support for the relative rotation between the operating arm 30 and the offset connecting rod 20. Optionally, the bearing 230 is a crossed roller bearing 230. The crossed roller bearing 230 can withstand large radial and axial loads in different directions, improving the load-bearing capacity of the overall connecting component. The crossed roller bearing 230 also has high rotational accuracy and stability, ensuring stability during rotation and improving overall working accuracy.

[0161] Mechanical constraints are achieved by using a first transmission mechanism and a second transmission mechanism. Compared with software control, mechanical constraints are more stable and reliable, and are less susceptible to electromagnetic interference or circuit failures.

[0162] In one example, refer to Figures 3 to 6 The manipulator arm 30 includes a deflection joint 31 and a parallelogram linkage 32. The deflection joint 31 is connected to the offset link 20. The parallelogram linkage 32 is connected to the deflection joint 31. The manipulator arm 34 is connected to the parallelogram linkage 32. The deflection joint provides the manipulator arm 34 with a degree of freedom of rotation about the deflection axis YAX, and the parallelogram linkage 32 provides the manipulator arm 34 with a degree of freedom of rotation about the pitch axis PAX.

[0163] Optionally, the operating arm 30 is provided with a deflection drive device (not shown) for driving the deflection joint 31 to move.

[0164] Optionally, the operating arm 30 is provided with a yaw drive device (not shown) for driving the parallelogram linkage mechanism 32 to move.

[0165] The parallelogram linkage mechanism 32 includes at least two connecting arms, which are capable of relative rotation. The connecting arms of the parallelogram linkage mechanism 32 are linked together to transmit the power of the yaw drive device located at the near end of the parallelogram linkage mechanism 32 and convert it into the pitch motion of the holding arm 34 located at the far end of the parallelogram linkage mechanism 32.

[0166] Specifically, in the example shown in this application, the parallelogram linkage mechanism 32 includes a first connecting arm 321, a second connecting arm 322, and a transmission device. The first connecting arm 321 is rotatable relative to the deflection joint 31 about a sixth rotation axis AX6. A redundant connecting arm 33 is provided between the first connecting arm 321 and the deflection joint 31. The first end of the redundant connecting arm 33 is fixed to the deflection joint 31. The first end of the first connecting arm 321 is pivotally connected to the second end of the redundant connecting arm 33 about a fourth rotation axis AX4. The first end of the second connecting arm 322 is pivotally connected to the second end of the first connecting arm 321 about a fifth rotation axis AX5. The holding arm 34 is pivotally connected to the second end of the second connecting arm 322 about a sixth rotation axis AX6. The fourth rotation axis AX4, the fifth rotation axis AX5, and the sixth rotation axis AX6 are parallel to each other. The first connecting arm 321, the second connecting arm 322, and the holding arm 34 are driven by the transmission device to achieve parallelogram motion.

[0167] like Figure 5 As shown, under the action of the transmission device, the first connecting arm 321, the second connecting arm 322, and the holding arm 34 can be linked together, so that the line connecting the fourth rotation axis AX4 and the fifth rotation axis AX5, and the line connecting the sixth rotation axis AX6 and the pitch axis PAX, form two adjacent sides of a parallelogram. The intersection of the two sides is the first vertex of the parallelogram, and the second vertex, which is diagonally opposite to the first vertex, is the centroid RCM. During the movement of the operating arm 30, the parallelogram linkage mechanism 32 can always maintain the parallelogram shape. Through the movement of the parallelogram linkage mechanism 32, the holding arm 34 pitches around the third rotation axis AX3.

[0168] In this application, since the deflection, pitch and offset movements of the robotic arm are driven independently of each other, the specific implementation of the manipulator 30 does not affect the offset movement of the robotic arm, that is, the manipulator 30 is not limited to the above implementation.

[0169] The surgical arm 34 may also be equipped with a drive device (not shown) for driving the surgical instruments to perform actions such as insertion and rotation, as well as for driving the end effector of the surgical instruments to perform actions such as pitching, yawing, and clamping.

[0170] 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. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein 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.

[0171] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more 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 robotic arm, characterized in that, include: Mounting base; An offset link is rotatably connected to the mounting base about a first rotation axis. The offset link includes a housing, a first rotating member, a second rotating member, and a transmission member. The housing is rotatable relative to the mounting base about the first rotation axis. The first rotating member is fixed relative to the mounting base and rotatable relative to the housing about the first rotation axis. The second rotating member is rotatable relative to the housing about a third rotation axis, which is parallel to the first rotation axis. The transmission member connects the first rotating member and the second rotating member. and An operating arm, the proximal end of which is rotatably connected to the offset link about a second rotation axis, the operating arm including a deflection joint and a parallelogram linkage mechanism, the deflection joint being connected to the offset link, the parallelogram linkage mechanism being connected to the deflection joint, the parallelogram linkage mechanism including at least two connecting arms, adjacent connecting arms being rotatable relative to each other, the distal end of the parallelogram linkage mechanism being connected to a holding arm, the holding arm being used to mount surgical instruments, the operating arm being able to drive the holding arm to rotate about the deflection axis and about the pitch axis; wherein. The offset link further includes a second transmission mechanism, which connects the second rotating member and the operating arm, such that the rotation of the second rotating member around the third rotation axis can drive the operating arm to rotate around the second rotation axis. The first rotation axis, the second rotation axis, the yaw axis, and the pitch axis intersect at a telecentric point, and the position of the telecentric point relative to the mounting base remains unchanged. and The offset link rotating clockwise around the first rotation axis can drive the operating arm to rotate counterclockwise around the second rotation axis, and / or, the offset link rotating counterclockwise around the first rotation axis can drive the operating arm to rotate clockwise around the second rotation axis.

2. The robotic arm according to claim 1, characterized in that, The first rotating component is constructed as a first rotating wheel, the second rotating component is constructed as a second rotating wheel, and the transmission component is constructed as a flexible transmission component, which connects the first rotating wheel and the second rotating wheel.

3. The robotic arm according to claim 2, characterized in that, Both the first and second rotating wheels have teeth on their outer circumferences, and the flexible transmission component is constructed as a chain or toothed synchronous belt that can mesh with the teeth.

4. The robotic arm according to claim 2, characterized in that, The flexible transmission component includes: A first transmission belt, the two ends of which are respectively connected to the first pulley and the second pulley, and the first transmission belt is wound around the outer periphery of the first pulley and the second pulley; and A second transmission belt, the two ends of which are respectively connected to the first and second pulleys, and the second transmission belt is wound around the outer periphery of the first and second pulleys; wherein The first transmission belt and the second transmission belt are wound in opposite directions on the first pulley; The first transmission belt and the second transmission belt are wound in opposite directions on the second pulley.

5. The robotic arm according to claim 1, characterized in that, The transmission component is constructed as a connecting rod, with its two ends rotatably connected to the first rotating component and the second rotating component, respectively. The connection position of the connecting rod with the first rotating component is offset from the first rotation axis, and the connection position of the connecting rod with the second rotating component is offset from the third rotation axis.

6. The robotic arm according to claim 1, characterized in that, The second transmission mechanism includes at least one of a universal joint, a bevel gear pair, and a worm gear pair.

7. The robotic arm according to claim 1, characterized in that, The second transmission mechanism includes a universal joint, the universal joint comprising: A first connector, which is fixed to the second rotating component; A second connector, the second connector being fixed to the proximal end of the operating arm; and A cross shaft, comprising a first shaft and a second shaft perpendicular to each other, wherein the first shaft is rotatably connected to the first connector and the second shaft is rotatably connected to the second connector.

8. The robotic arm according to any one of claims 1 to 7, characterized in that, The angle α between the first rotation axis and the second rotation axis is between 10° and 30°.

9. The robotic arm according to any one of claims 1 to 7, characterized in that, The deflection axis is collinear with the second rotation axis.

10. A patient-side operating device, characterized in that, It includes an adjustment mechanism and at least one robotic arm according to any one of claims 1 to 9, the robotic arm being connected to the adjustment mechanism, the adjustment mechanism including at least one joint for adjusting the position and / or orientation of the robotic arm.

11. A robotic surgical system, characterized in that, It includes a doctor's console and a patient-side operating device according to claim 10, wherein the patient-side operating device is capable of communicating with the doctor's console.

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