Remote movement mechanism and surgical robot

Abstract

The invention relates to a remote movement mechanism and a surgical robot. The remote movement mechanism comprises a tail end joint, a supporting structural part and a wire harness. The tail end joint comprises a shell and a tail end steel wheel arranged in a containing cavity formed by the shell. The tail end steel wheel is rotationally connected to the cavity wall of the containing cavity, a first through hole penetrating in the first direction is formed in the tail end steel wheel, and the first direction is parallel to the axial direction of the tail end steel wheel; the supporting structural part comprises a body, a first supporting plate and a second supporting plate, the first supporting plate and the second supporting plate are connected to the body and oppositely arranged, the body is used for being connected with the linear driving mechanism, and the second supporting plate is arranged outside the shell; the first supporting plate extends into the containing cavity and is located at one end, in the first direction, of the tail end steel wheel, the first supporting plate and the second supporting plate are both connected to the tail end steel wheel, a second through hole communicated with the first through hole is formed in the second supporting plate, and the wire harness sequentially penetrates through the first through hole and the second through hole from the interior of the containing cavity and then enters the linear driving mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to a remote motion mechanism and a surgical robot. BACKGROUND

[0002] With the development of minimally invasive surgical techniques, surgical robots are increasingly widely used in laparoscopic surgeries. In such surgeries, the surgical robot needs to operate through a hole on the patient's body, and the core is to use the hole as a remote center of motion (RCM) to realize the pitching and yawing movements of the surgical instrument around the hole, so as to reduce the damage to the surrounding tissues of the patient.

[0003] To realize the RCM, the multiple links of the slave arm of the surgical robot away from the base end form a special structure (such as a solid parallelogram or a virtual parallelogram) to realize the RCM, and this part of the link can be called an RCM mechanism. The end joint of the RCM mechanism as the key part of connecting the RCM mechanism and the linear drive needs to meet two core requirements: one is to ensure the connection rigidity with the linear drive to avoid shaking of the surgical instrument during movement; the other is to realize smooth wiring of the wire harness to prevent damage of the wire harness during movement.

[0004] In related technologies, in order to enhance the connection rigidity, a double-sided support structure is often used, but this way causes the wire harness to be able to only be wired on the outside, which is easy to be damaged due to the swing during joint rotation, and the steel belt is exposed in a large area, which has a safety hazard; and the single-sided support structure used to realize smooth wiring will weaken the connection rigidity, causing the end to shake, which affects the surgical precision and safety. SUMMARY

[0005] Therefore, it is necessary to provide a remote motion mechanism and a surgical robot which can simultaneously solve the problems of insufficient connection rigidity and poor wire harness safety.

[0006] The present application provides a remote motion mechanism, which comprises an end joint, a support structure and a wire harness.

[0007] The end joint comprises an outer shell and an end steel wheel arranged in a receiving cavity formed by the outer shell; the end steel wheel is rotationally connected to the cavity wall of the receiving cavity, and a first through hole penetrating in a first direction is arranged on the end steel wheel, the first direction being parallel to the axial direction of the end steel wheel.

[0008] The support structure comprises a body, a first support plate and a second support plate connected to the body and arranged oppositely, and the body is used to connect a linear drive mechanism.

[0009] The second support plate is arranged outside the shell; the first support plate extends into the accommodating cavity and is located at one end of the terminal steel wheel along the first direction, and the first support plate and the second support plate are both connected to the terminal steel wheel, the second support plate is provided with a second through hole in communication with the first through hole, and the wire harness sequentially passes through the first through hole and the second through hole from the accommodating cavity and then enters the linear driving mechanism.

[0010] In one of the embodiments, the terminal joint further comprises a mounting member, the mounting member comprises a connecting plate and an arc-shaped plate, the connecting plate is connected to an end of the terminal steel wheel and extends along a radial direction of the terminal steel wheel, and the arc-shaped plate is connected to the connecting plate and extends away from the terminal steel wheel along the first direction.

[0011] The first support plate is provided with an arc-shaped groove at one end thereof away from the body along a second direction, wherein the second direction is parallel to a radial direction of the terminal steel wheel, the first support plate is attached to and connected to the connecting plate, and a groove wall of the arc-shaped groove is attached to the arc-shaped plate.

[0012] In one of the embodiments, the side edges of the body arranged along the first direction are connected to the linear driving mechanism through a plurality of locking members.

[0013] The first support plate and / or the second support plate are provided with the locking members on both sides thereof along a third direction, and the second direction, the third direction and the first direction are perpendicular to each other.

[0014] In one of the embodiments, the terminal joint further comprises a first bearing and a second bearing arranged in the accommodating cavity and located at both ends of the terminal steel wheel along the first direction, the second bearing is located between the terminal steel wheel and the second support plate, and both ends of the terminal steel wheel along the first direction are rotatably connected to the shell through the first bearing and the second bearing, respectively.

[0015] The wire harness sequentially passes through the first bearing, the first through hole, the second bearing and the second through hole and then enters the linear driving mechanism.

[0016] In one of the embodiments, one end of the terminal steel wheel away from the first bearing along the first direction is provided with a second rotating shaft, an outer ring of the second bearing is tightly fitted to a cavity wall of the accommodating cavity, and an inner ring of the second bearing is sleeved and locked on the second rotating shaft.

[0017] In one of the embodiments, the end joint further comprises a flange plate embedded in the shell and connected to the inner ring of the second bearing, the flange plate is arranged on the side of the second bearing away from the end steel wheel, the flange plate is provided with a third through hole, and the wire harness sequentially passes through the second bearing and the third through hole and then enters the second through hole.

[0018] In one of the embodiments, the remote motion mechanism further comprises a shell cover connected to the shell, the shell cover covers the second support plate and the flange plate.

[0019] In one of the embodiments, the end joint further comprises a bearing fixing plate arranged in the accommodating cavity, the bearing fixing plate is connected to the cavity wall of the accommodating cavity, the bearing fixing plate is provided with a first rotating shaft, the first bearing sleeve is arranged on the first rotating shaft and locked, and the embedded end of the end steel wheel along the first direction.

[0020] In one of the embodiments, the shell comprises a cover body and a shell body connected to each other, and the cover body and the shell body surround to form the accommodating cavity.

[0021] The application also provides a surgical robot comprising a linear driving mechanism and the remote motion mechanism.

[0022] The remote motion mechanism, the first support plate and the second support plate of the support structure are oppositely arranged, and the first support plate is located at one end of the end steel wheel along the first direction, that is, the first support plate and the second support plate are respectively connected to the two ends of the end steel wheel along the first direction to form a double-sided support structure. The first support plate extends into the accommodating cavity of the shell, and the second support plate is located outside the shell. The double-sided support layout can provide stable support and connection from both sides of the end steel wheel, enhance the connection rigidity between the end joint and the support structure and the linear driving mechanism, avoid the shaking of the surgical instrument in the movement process due to insufficient connection rigidity, and ensure the operation precision. The first through hole is arranged on the end steel wheel, the second through hole is arranged on the second support plate, the first through hole and the second through hole are communicated, and the wire harness sequentially passes through the first through hole and the second through hole in the accommodating cavity of the shell and then enters the linear driving mechanism.

[0023] Compared with the existing double-sided support structure, the wire harness path of the application is arranged in the mechanism, avoiding the problem that the wire harness is exposed outside and easily damaged due to joint rotation swing when the double-sided support structure is arranged. Moreover, the first support plate of the application extends into the accommodating cavity of the shell, and the second support plate is located outside the shell. Only one gap is arranged on the shell, compared with the double-sided gap, one gap is saved, and the exposed part of the internal steel belt is reduced.

[0024] Compared with the existing single-side support structure, the application solves the problem of sacrificing the connection rigidity of the single-side support structure for wiring. At the same time, the wiring of the wire harness in the closed space reduces the friction and interference with the external structure, prolongs the service life of the wire harness, and improves the safety and reliability of the mechanism operation. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 A structure schematic diagram of a surgical robot is provided for an embodiment of the application.

[0026] Figure 2 A structure schematic diagram of an end joint is provided for an embodiment of the application.

[0027] Figure 3 An exploded view of an end joint is provided for an embodiment of the application.

[0028] Figure 4 A partial sectional view of an end joint is provided for an embodiment of the application.

[0029] Figure 5 A structure schematic diagram of a wire harness passing through a bearing fixing plate is provided for an embodiment of the application.

[0030] Figure 6 A structure schematic diagram of a wire harness passing through a second support plate is provided for an embodiment of the application.

[0031] Figure 7 A structure schematic diagram of an end steel wheel is provided for an embodiment of the application.

[0032] Figure 8 A structure schematic diagram of a support structure part is provided for an embodiment of the application.

[0033] REFERENCE SIGNS:

[0034] 100, remote motion mechanism;

[0035] 200, end joint; 210, outer shell; 211, cover; 212, shell; 220, end steel wheel; 221, first through hole; 230, first bearing; 240, second bearing; 250, bearing fixing plate; 260, flange plate; 270, mounting part; 271, connecting plate; 272, arc-shaped plate; 280, first steel belt; 290, second steel belt;

[0036] 300, support structure part; 310, body; 320, first support plate; 321, arc-shaped groove; 330, second support plate; 331, second through hole;

[0037] 400, linear driving mechanism;

[0038] 500, outer shell cover;

[0039] 600. Locking components;

[0040] 700. Wiring harness. Detailed Implementation

[0041] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0042] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0043] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0045] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0047] This application provides a remote motion mechanism 100, such as Figures 1 to 8 As shown, the remote motion mechanism 100 includes an end joint 200, a support structure 300, and a wiring harness 700.

[0048] The end joint 200 includes a housing 210 and an end steel wheel 220 disposed in the receiving cavity formed by the housing 210; the end steel wheel 220 is rotatably connected to the cavity wall of the receiving cavity, and the end steel wheel 220 is provided with a first through hole 221 extending along a first direction, the first direction being parallel to the axial direction of the end steel wheel 220;

[0049] The support structure 300 includes: a body 310, and a first support plate 320 and a second support plate 330 connected to the body 310 and disposed opposite to each other. The body 310 is used to connect the linear drive mechanism 400.

[0050] The second support plate 330 is located outside the outer shell 210; the first support plate 320 extends into the receiving cavity and is located at one end of the end steel wheel 220 along the first direction. Both the first support plate 320 and the second support plate 330 are connected to the end steel wheel 220. The second support plate 330 is provided with a second through hole 331 that communicates with the first through hole 221. The wire harness 700 passes through the first through hole 221 and the second through hole 331 in sequence from the receiving cavity and then enters the linear drive mechanism 400.

[0051] In the aforementioned remote motion mechanism 100, the first support plate 320 and the second support plate 330 of the support structure 300 are arranged opposite to each other, with the first support plate 320 located at one end of the end steel wheel 220 along the first direction. That is, the first support plate 320 and the second support plate 330 are respectively connected to the two ends of the end steel wheel 220 along the first direction, forming a double-sided support structure. The first support plate 320 extends into the receiving cavity of the outer shell 210, and the second support plate 330 is located outside the outer shell 210. The double-sided support layout can provide stable support and connection from both sides of the end steel wheel 220, enhancing the connection rigidity between the end joint 200 and the support structure 300 and the linear drive mechanism 400, avoiding vibration of the surgical instrument during movement due to insufficient connection rigidity, and ensuring operational accuracy. A first through hole 221 is provided on the end steel wheel 220, and a second through hole 331 is provided on the second support plate 330. The first through hole 221 and the second through hole 331 are connected. The wire harness 700 passes through the first through hole 221 and the second through hole 331 in sequence from the receiving cavity of the outer shell 210 and then enters the linear drive mechanism 400.

[0052] Compared to existing double-sided support structures, this application places the wiring path of the wire harness 700 inside the mechanism, avoiding the problem of the wire harness 700 being exposed on the outside and easily damaged by joint rotation and swing when a double-sided support structure is used. Moreover, in this application, the first support plate 320 extends into the receiving cavity of the outer shell 210, and the second support plate 330 is located outside the outer shell 210. Only one notch is opened on the outer shell 210, which eliminates one notch compared to double-sided notches, reducing the exposed portion of the internal steel strip.

[0053] Compared to existing single-sided support structures, this application solves the drawback of sacrificing connection rigidity for wiring. Meanwhile, the wiring harness 700 is routed within an enclosed space, reducing friction and interference with external structures, extending the service life of the wiring harness 700, and improving the safety and reliability of the mechanism's operation.

[0054] In one embodiment, such as Figure 3 , Figure 4 as well as Figure 7As shown, the end joint 200 also includes a first bearing 230 and a second bearing 240 disposed within the receiving cavity and located at both ends of the end steel wheel 220 along the first direction. The second bearing 240 is located between the end steel wheel 220 and the second support plate 330. The two ends of the end steel wheel 220 along the first direction are rotatably engaged with the outer shell 210 through the first bearing 230 and the second bearing 240, respectively. The wiring harness 700 passes sequentially through the first bearing 230, the first through hole 221, the second bearing 240, and the second through hole 331 before entering the linear drive mechanism 400. By setting the first bearing 230 and the second bearing 240, the end steel wheel 220 rotatably engages with the cavity wall of the receiving cavity of the outer shell 210 through the first bearing 230 and the second bearing 240, reducing jamming or abnormal noise during movement and ensuring the surgical robot can operate with precision.

[0055] Moreover, the first bearing 230 and the second bearing 240 provide support from both ends of the end steel wheel 220 along the first direction, respectively, and transfer the rotational load of the end steel wheel 220 to the cavity wall of the housing 210 through the bearings, thereby avoiding the local stress concentration phenomenon that may occur when the end steel wheel 220 directly contacts the cavity wall.

[0056] The wire harness 700 passes sequentially through the first bearing 230, the first through hole 221, the second bearing 240, and the second through hole 331, forming a constraint on the wire path. This ensures that the wire harness 700 remains within the central channel of the through hole and the bearing when the end steel wheel 220 rotates, preventing direct friction between the wire harness 700 and the inner wall or cavity wall of the through hole caused by the rotation of the end steel wheel 220. This reduces the risk of wear on the wire harness 700, extends its service life, and improves the safety of the mechanism's operation.

[0057] In one embodiment, such as Figures 3 to 5 as well as Figure 7 As shown, the end joint 200 also includes a bearing fixing plate 250 disposed within the receiving cavity. The bearing fixing plate 250 is connected to the cavity wall of the receiving cavity. A first rotating shaft is disposed on the bearing fixing plate 250. A first bearing 230 is sleeved and locked onto the first rotating shaft and embedded at one end of the end steel wheel 220 along a first direction. Connecting the bearing fixing plate 250 to the cavity wall of the receiving cavity provides a stable mounting base for the first rotating shaft. The first bearing 230 being sleeved and locked onto the first rotating shaft and embedded at the end of the end steel wheel 220 forms a rigid connection of "cavity wall - bearing fixing plate 250 - first rotating shaft - first bearing 230 - end steel wheel 220". This avoids axial or radial displacement of the first bearing 230 during the rotation of the end steel wheel 220, ensures the relative positional accuracy between the first bearing 230, the end steel wheel 220, and the housing 210, guarantees the coaxiality of the end joint 200 during rotation, and reduces shaking caused by bearing loosening.

[0058] Furthermore, the bearing fixing plate 250 is directly connected to the cavity wall, which can distribute the force transmitted through the first bearing 230 when the end steel wheel 220 rotates to the outer shell 210, thus avoiding the force from concentrating on a certain local structure.

[0059] In one embodiment, such as Figures 3 to 7 As shown, the end of the end steel wheel 220, located away from the first bearing 230 along the first direction, has a second rotating shaft. The outer ring of the second bearing 240 is tightly fitted with the cavity wall of the receiving cavity, and the inner ring of the second bearing 240 is fitted and locked to the second rotating shaft. The end steel wheel 220 is locked to the inner ring of the second bearing 240 via the second rotating shaft, and the outer ring of the second bearing 240 is tightly fitted with the cavity wall of the receiving cavity, forming a rigid connection of "end steel wheel 220 - second rotating shaft - inner ring of second bearing 240 - outer ring of second bearing 240 - cavity wall of receiving cavity". This provides stable rotational support for the end of the end steel wheel 220 away from the first bearing 230, and together with the first bearing 230, forms a symmetrical support structure at both ends, improving the deformation resistance of the end steel wheel 220 during rotation and reducing swaying caused by uneven force on one side.

[0060] Furthermore, the inner ring of the second bearing 240 is locked to the second rotating shaft, thereby keeping the position of the channel through which the wire harness 700 passes fixed relative to the first through hole 221 of the end steel wheel 220. This prevents relative displacement between the inner ring of the second bearing 240 and the first through hole 221 when the end steel wheel 220 rotates, ensuring that the wire harness 700 is always in a stable channel when passing through the second bearing 240 and the first through hole 221. This reduces friction between the wire harness 700 and the channel wall and improves wiring safety.

[0061] In this embodiment, the end steel wheel 220 and the second rotating shaft are integrally machined.

[0062] In other embodiments, the end steel wheel 220 and the second shaft can also be locked in place by a connector.

[0063] In one embodiment, such as Figures 3 to 7As shown, the end joint 200 also includes a flange 260 embedded in the housing 210 and connected to the inner ring of the second bearing 240. The flange 260 is located on the side of the second bearing 240 away from the end steel wheel 220. The flange 260 has a third through hole. The wire harness 700 passes through the second bearing 240 and the third through hole in sequence and then enters the second through hole 331. The flange 260 is embedded in the housing 210 and connected to the inner ring of the second bearing 240. At the same time, it is located on the side of the second bearing 240 away from the end steel wheel 220, forming an axial limit on the inner ring of the second bearing 240. This effectively prevents the inner ring of the second bearing 240 from displacing or loosening in the first direction (the axial direction of the end steel wheel 220) during the rotation of the end steel wheel 220. This ensures the stable locking state between the inner ring of the second bearing 240 and the second rotating shaft, guarantees the support rigidity when the end steel wheel 220 rotates, and avoids rotation jamming or accuracy deviation caused by the displacement of the bearing inner ring.

[0064] The third through hole on the flange 260 is connected to the central channel of the second bearing 240 and the second through hole 331 of the second support plate 330, so that after the wire harness 700 passes through the second bearing 240, it is further constrained and guided by the third through hole, ensuring that the wire harness 700 runs along the preset path when the end steel wheel 220 rotates, reducing friction with the inner ring of the bearing or the inner wall of the housing 210, and further protecting the wire harness 700 from damage.

[0065] Furthermore, the flange 260 connects to the inner ring of the second bearing 240 and is embedded and fixed to the housing 210. This allows the axial force borne by the inner ring of the second bearing 240 to be transmitted to the housing 210 through the flange 260, avoiding the concentration of force at the contact point between the second bearing 240 and the second shaft. This reduces the risk of wear and deformation of the second shaft or the inner ring of the bearing due to excessive force over a long period of time.

[0066] In one embodiment, such as Figure 4 As shown, the remote motion mechanism 100 also includes a housing cover 500 connected to the housing 210. The housing cover 500 covers the second support plate 330 and the flange 260. The housing cover 500 is connected to the housing 210 and covers the second support plate 330 and the flange 260, sealing off the second support plate 330, the flange 260 and their connecting parts that were originally exposed to the outside of the housing 210. This prevents external dust, liquid or other debris from entering the mating area of ​​the second support plate 330 and the flange 260, avoiding the accumulation of impurities that may affect the smooth passage of the wiring harness 700 through the second through hole 331 and the third through hole, and also preventing structural damage caused by collisions with external objects.

[0067] In one embodiment, such as Figures 3 to 7As shown, the outer shell 210 includes a cover 211 and a housing 212 connected together, forming a receiving cavity. The outer shell 210 is formed by splicing the cover 211 and the housing 212 together to form the receiving cavity. The split structure facilitates the pre-installation of internal components such as the end steel wheel 220, the first bearing 230, and the second bearing 240 in the housing 212 during the assembly stage, and then the overall enclosure is completed by connecting the cover 211 and the housing 212. This avoids the limitation of the assembly space of the internal components by the integral outer shell 210 and reduces the assembly difficulty.

[0068] In this embodiment, as Figures 3 to 7 As shown, the arrangement direction of the cover 211 and the shell 212 is parallel to the first direction. The space ratio of the cover 211 and the shell 212 can be flexibly allocated according to the size distribution of components such as the end steel wheel 220 and the first support plate 320 along the first direction, so that the layout of the internal components in the accommodating cavity is more compact.

[0069] In this embodiment, the bearing fixing plate 250 is connected to the cover 211, and the outer cover 500 is connected to the housing 212.

[0070] In one embodiment, such as Figure 3 and Figure 5 As shown, the end joint 200 also includes a first steel belt 280 and a second steel belt 290. One end of the first steel belt 280 and the second steel belt 290 is fixed to the outer circumferential surface of the end steel wheel 220. By pulling and releasing the first steel belt 280 and the second steel belt 290, the end steel wheel 220 is driven to rotate in both directions.

[0071] In this embodiment, the axial dimension of the end steel wheel 220 is greater than the sum of the axial dimensions of the first steel belt 280 and the second steel belt 290, so that the first steel belt 280 and the second steel belt 290 are connected to the end of the end steel wheel 220 and arranged in the first direction.

[0072] In one embodiment, such as Figures 3 to 7 As shown, the end joint 200 also includes a mounting member 270, which includes a connecting plate 271 and an arcuate plate 272. The connecting plate 271 is connected to the end of the end steel wheel 220 and extends radially along the end steel wheel 220. The arcuate plate 272 is connected to the connecting plate 271 and extends in a first direction toward the side opposite to the end steel wheel 220.

[0073] The first support plate 320 has an arc-shaped groove 321 at one end away from the body 310 along the second direction, wherein the second direction is parallel to the radial direction of the end steel wheel 220, the first support plate 320 is attached to and connected to the connecting plate 271, and the groove wall of the arc-shaped groove 321 is attached to the arc plate 272.

[0074] The first support plate 320 is connected to the connecting plate 271 of the connector, increasing the contact area between the two, and also increasing the contact area between the end joint 200 and the support structure 300. This allows for more even transmission of force and torque, preventing loosening of the connection or deformation of components due to localized stress concentration. Simultaneously, the groove wall of the arc-shaped groove 321 fits against the arc-shaped plate 272, forming a surface-to-surface auxiliary support. This strengthens the connection rigidity between the first support plate 320 and the end steel wheel 220, making the support structure 300's support of the end steel wheel 220 more stable. This reduces the relative displacement of the end joint 200 during rotation, ensuring the overall structural stability of the remote motion mechanism 100.

[0075] Moreover, the mating surfaces of the connecting plate 271 and the first support plate 320, and the mating surfaces of the arc plate 272 and the arc groove 321, can serve as positioning references during the assembly process. The relative positions of the first support plate 320 and the end steel wheel 220 can be quickly determined through the "surface mating" method, reducing the adjustment steps during assembly and improving production assembly efficiency and consistency.

[0076] In one embodiment, such as Figures 3 to 7 As shown, the sides of the body 310 arranged along the first direction are connected to the linear drive mechanism 400 by multiple locking elements 600; the first support plate 320 and / or the second support plate 330 are provided with locking elements 600 on both sides along the third direction, and the second direction, the third direction, and the first direction are perpendicular to each other. The sides of the body 310 along the first direction are connected to the linear drive mechanism 400 by multiple locking elements 600. The distribution of multiple locking elements 600 expands the connection point from a single position to multiple points of fixation along the first direction, which disperses the connection stress between the body 310 and the linear drive mechanism 400, enhances the overall connection rigidity between the support structure 300 and the linear drive mechanism 400, and avoids loosening of the connection due to excessive force at a single point.

[0077] Furthermore, the remote motion mechanism 100 needs to achieve multi-directional movements such as pitch and yaw during surgery, and the forces in each direction are transmitted to the support plate and the main body 310 through the end steel wheel 220. Since the three directions are perpendicular to each other, the locking members 600 distributed along the first and third directions form multi-point fixation in three-dimensional space, which can balance the forces in different directions and ensure that the mechanism can maintain structural stability under complex motion conditions, avoiding component damage or decreased motion accuracy due to force imbalance.

[0078] This application also provides a surgical robot, including a linear drive mechanism 400 and a remote motion mechanism 100 as described above. Through the aforementioned structural design, the remote motion mechanism 100 enables smooth and precise rotation of the end joint 200. When the linear drive mechanism 400 cooperates with the remote motion mechanism 100, power transmission is more direct and stable, effectively preventing vibration or deviation of surgical instruments during movement, ensuring the positioning accuracy of the surgical robot in delicate operations such as surgery, and reducing surgical risks caused by mechanical errors. Furthermore, the concealed wiring harness 700 design of the remote motion mechanism 100 avoids exposing the wiring harness 700, reducing the probability of wiring harness 700 failure.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A remote motion mechanism, characterized in that, The remote motion mechanism (100) includes an end joint (200), a support structure (300), and a wiring harness (700); The end joint (200) includes a housing (210) and an end steel wheel (220) disposed in a receiving cavity formed by the housing (210); the end steel wheel (220) is rotatably connected to the cavity wall of the receiving cavity, and the end steel wheel (220) is provided with a first through hole (221) extending along a first direction, the first direction being parallel to the axial direction of the end steel wheel (220); The support structure (300) includes: a body (310), and a first support plate (320) and a second support plate (330) connected to the body (310) and disposed opposite to each other. The body (310) is used to connect the linear drive mechanism (400). The second support plate (330) is disposed outside the outer shell (210); the first support plate (320) extends into the receiving cavity and is located at one end of the end steel wheel (220) along the first direction. The first support plate (320) and the second support plate (330) are both connected to the end steel wheel (220). The second support plate (330) is provided with a second through hole (331) communicating with the first through hole (221). The wire harness (700) passes through the first through hole (221) and the second through hole (331) in sequence from the receiving cavity and then enters the linear drive mechanism (400).

2. The remote motion mechanism according to claim 1, characterized in that, The end joint (200) further includes a mounting member (270), which includes a connecting plate (271) and an arcuate plate (272). The connecting plate (271) is connected to the end of the end steel wheel (220) and extends radially along the end steel wheel (220). The arcuate plate (272) is connected to the connecting plate (271) and extends in the first direction away from the end steel wheel (220). The first support plate (320) has an arc-shaped groove (321) at one end away from the body (310) along the second direction, wherein the second direction is parallel to the radial direction of the end steel wheel (220), the first support plate (320) is attached to and connected to the connecting plate (271), and the groove wall of the arc-shaped groove (321) is attached to the arc-shaped plate (272).

3. The remote motion mechanism according to claim 2, characterized in that, The sides of the body (310) arranged along the first direction are connected to the linear drive mechanism (400) by a plurality of locking elements (600); The locking member (600) is provided on both sides of the first support plate (320) and / or the second support plate (330) along the third direction, and the second direction, the third direction and the first direction are perpendicular to each other.

4. The remote motion mechanism according to claim 1, characterized in that, The end joint (200) further includes a first bearing (230) and a second bearing (240) disposed within the receiving cavity and located at both ends of the end steel wheel (220) along the first direction. The second bearing (240) is located between the end steel wheel (220) and the second support plate (330). The two ends of the end steel wheel (220) along the first direction are rotatably engaged with the outer shell (210) through the first bearing (230) and the second bearing (240) respectively. The wire harness (700) passes sequentially through the first bearing (230), the first through hole (221), the second bearing (240), and the second through hole (331) before entering the linear drive mechanism (400).

5. The remote motion mechanism according to claim 4, characterized in that, The end steel wheel (220) is provided with a second rotating shaft at one end away from the first bearing (230) along the first direction. The outer ring of the second bearing (240) is tightly fitted with the cavity wall of the receiving cavity, and the inner ring of the second bearing (240) is sleeved and locked to the second rotating shaft.

6. The remote motion mechanism according to claim 5, characterized in that, The end joint (200) also includes a flange (260) embedded in the housing (210) and connected to the inner ring of the second bearing (240). The flange (260) is located on the side of the second bearing (240) away from the end steel wheel (220). The flange (260) is provided with a third through hole. The wire harness (700) passes through the second bearing (240) and the third through hole in sequence and then enters the second through hole (331).

7. The remote motion mechanism according to claim 6, characterized in that, The remote motion mechanism also includes a housing cover (500) connected to the housing (210), the housing cover (500) covering the second support plate (330) and the flange (260).

8. The remote motion mechanism according to claim 4, characterized in that, The end joint (200) also includes a bearing fixing plate (250) disposed in the receiving cavity. The bearing fixing plate (250) is connected to the cavity wall of the receiving cavity. A first rotating shaft is disposed on the bearing fixing plate (250). The first bearing (230) is sleeved and locked to the first rotating shaft and embedded in one end of the end steel wheel (220) along the first direction.

9. The remote motion mechanism according to claim 1, characterized in that, The outer casing (210) includes a cover (211) and a housing (212) connected to each other, the cover (211) and the housing (212) enclosing the receiving cavity.

10. A surgical robot, characterized in that, It includes a linear drive mechanism (400) and a remote motion mechanism as described in any one of claims 1-9.

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