robotic arms and assistive medical systems

Abstract

This application discloses a robotic arm and an assistive medical system. The robotic arm includes a rotary drive module, a first arm, a transmission assembly, a linear drive module, and a driven component. The first arm is rotatable relative to the rotary drive module around a first rotation axis under the drive of the rotary drive module. The first arm includes a first end and a second end of the first arm arranged opposite in length, with the first end closer to the first rotation axis than the second end. An internal cavity is formed inside the first arm. The transmission assembly is disposed within the internal cavity of the first arm, and at least a portion of the transmission assembly is linearly movable relative to the first arm along its length. The linear drive module is disposed at the first end of the first arm and connected to the transmission assembly, for driving the transmission assembly to move linearly along the length of the first arm. The driven component is used to mount external components and is disposed in the portion of the transmission assembly capable of linearly moving relative to the first arm along its length.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to a robotic arm and an auxiliary medical system having the same. Background Technology

[0002] Surgical robot arms typically consist of a manipulator arm and a surgical instrument arm. The surgical instrument arm is used to mount surgical instruments. It is connected to the manipulator arm and is rotatable relative to it, allowing the surgical instruments to be adjusted to the appropriate position. In existing designs, the rotational inertia of the rotary linear drive module of the surgical robot manipulator arm is relatively large. This increases the load on the rotary drive module, reduces the rotational control precision of the surgical instrument arm, and poses certain safety hazards.

[0003] Therefore, a robotic arm is needed to at least partially solve the above problems. Summary of the Invention

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

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

[0006] Rotary drive module;

[0007] A first arm is connected to the rotary drive module so that it can rotate relative to the rotary drive module about a first rotation axis under the drive of the rotary drive module. The first arm includes a first end and a second end of the first arm arranged in opposite directions along the length, wherein the first end of the first arm is closer to the first rotation axis than the second end of the first arm. An inner cavity is formed inside the first arm.

[0008] A transmission assembly is disposed in the cavity of the first arm, the robotic arm being configured such that at least a portion of the transmission assembly is linearly movable relative to the first arm along the length direction of the first arm;

[0009] A linear drive module, disposed at a first end of the first arm and connected to the transmission assembly, is used to drive at least a portion of the transmission assembly to move linearly along the length direction of the first arm; and

[0010] A driven component for mounting external elements is disposed in at least a portion of the transmission assembly to move synchronously and linearly relative to the first arm along the length direction of the first arm with at least a portion of the transmission assembly.

[0011] According to this application, the linear drive module is disposed at the first end of the first arm, thereby being close to the first rotation axis, and the rotational inertia applied to the rotary drive module is small.

[0012] Optionally, the first arm includes a body and a module bracket, the body having the inner cavity, the module bracket being located in the inner cavity, and the linear drive module being fixedly mounted on the module bracket.

[0013] Optionally, the linear drive module includes a motor and a brake, both of which are fixedly mounted on the module bracket.

[0014] Optionally,

[0015] The robotic arm also includes a main control board, a first circuit board, and electrical connection components.

[0016] The main control board is located on the outside of the main body and near the second end of the first arm.

[0017] The first circuit board is mounted on the module bracket.

[0018] The electrical connection assembly includes at least one flexible circuit board, the electrical connection assembly extends along the length direction of the first arm, one end of the electrical connection assembly is connected to the first circuit board, and the other end is connected to the main control board.

[0019] Optionally, one end of at least one of the flexible circuit boards is connected to the first circuit board, and the other end extends to the outside of the body and is connected to the main control board. The portion of the at least one flexible circuit board in the cavity of the body extends along the length direction of the first arm.

[0020] Optionally, at least one side of the at least one flexible circuit board is provided with a reinforcing sheet, which is bonded to the flexible circuit board or connected by fasteners.

[0021] Optionally, the reinforcing sheet is provided on both sides of the at least one flexible circuit board.

[0022] Optionally, the width of the reinforcing sheet is greater than the width of the flexible circuit board.

[0023] Optionally, the two reinforcing pieces are connected to each other at their edges.

[0024] Optionally,

[0025] The electrical connection assembly includes a plurality of the flexible circuit boards.

[0026] The electrical connection assembly also includes an adapter plate.

[0027] Multiple flexible circuit boards are electrically connected via an adapter board.

[0028] Optionally,

[0029] The body includes a reinforcing rib that extends along the length of the first arm, and the flexible circuit board is fixed to the reinforcing rib.

[0030] Optionally, the side of the body is provided with an opening, the opening allowing communication between the inner cavity of the body and the outer side of the body.

[0031] The electrical connection assembly includes a first flexible circuit board and a second flexible circuit board, the first flexible circuit board passing through the opening to connect the first circuit board and the adapter board, and the second flexible circuit board connecting the adapter board and the main control board.

[0032] Optionally, the first flexible circuit board is configured in an L-shape, or the first flexible circuit board is folded to extend through the opening to the outside of the body.

[0033] Optionally, the transmission assembly includes:

[0034] A lead screw, extending along the length of the first arm, is connected to the output shaft of the motor and rotates under the drive of the motor; and

[0035] A lead screw nut, which is matched with and connected to the lead screw, and the driven component is connected to the lead screw nut.

[0036] Optionally, the output shaft is constructed as a hollow shaft.

[0037] Optionally, the brake includes a brake rotor connected to the output shaft.

[0038] Optionally, the linear drive module further includes an encoder, the output signal of which is used to characterize the rotation angle of the output shaft.

[0039] Optionally, the driven component is used to mount a surgical instrument, with the first end of the first arm facing the end of the surgical instrument that contacts the human body.

[0040] Optionally,

[0041] The robotic arm further includes a fourth arm, the proximal end of which is connected to the rotary drive module to rotate about the first rotation axis under the drive of the rotary drive module, wherein the first rotation axis is the axis of the fourth arm.

[0042] The first arm is connected to the distal end of the fourth arm.

[0043] Optionally, the robotic arm further includes:

[0044] A third arm, the first end of which is connected to the distal end of the fourth arm and is rotatable relative to the fourth arm about a second axis of rotation; and

[0045] The second arm has a first end connected to the second end of the third arm and is rotatable relative to the third arm about a third rotation axis;

[0046] The first arm is connected to the second end of the second arm and is rotatable relative to the second arm about a fourth rotation axis. The second rotation axis, the third rotation axis, and the fourth rotation axis are parallel to each other but not parallel to the first rotation axis.

[0047] The robotic arm is configured such that when the third arm rotates relative to the fourth arm, the relative angle between the first arm and the third arm remains unchanged.

[0048] Optionally, the second rotation axis, the third rotation axis, and the fourth rotation axis are perpendicular to the first rotation axis.

[0049] Optionally, the robotic arm is configured such that when the third arm rotates relative to the fourth arm, the relative angle between the second arm and the fourth arm remains unchanged.

[0050] A second aspect of this application provides an assistive medical system comprising a robotic arm according to any one of the first aspects described above. Attached Figure Description

[0051] The following drawings, which are incorporated herein by reference as part of this application, are provided for understanding the application. The drawings illustrate representative embodiments of the application and are used to explain the principles of the application, not to limit it.

[0052] In the attached image:

[0053] Figure 1 This is a top view schematic diagram of an auxiliary medical system according to a specific embodiment of this application;

[0054] Figure 2 for Figure 1 A side view of the robotic arm system in the diagram;

[0055] Figure 3 and Figure 4 for Figure 2 A side view of the robotic arm in the diagram;

[0056] Figure 5 for Figure 2 A cross-sectional view of the first arm;

[0057] Figure 6 for Figure 5 A cross-sectional view of the drive module in the diagram;

[0058] Figure 7 and Figure 8 for Figure 5 A partial sectional view of the first arm shown;

[0059] Figure 9 for Figure 5 An exploded three-dimensional diagram of a portion of the electrical connection component.

[0060] Explanation of reference numerals in the attached figures:

[0061] 11: First Arm

[0062] 12: Second Arm

[0063] 13: Third Arm

[0064] 14: Fourth Arm:

[0065] 21: Ontology

[0066] 21A: Inner cavity

[0067] 21B: Second Space

[0068] 22: Outer cover

[0069] 23: First sidewall

[0070] 24: First Opening

[0071] 25: Main control board

[0072] 26: Pivot

[0073] 27: First end of the first arm

[0074] 28: Second end of the first arm

[0075] 30: Linear drive module

[0076] 31: Module bracket

[0077] 32: Electric motor

[0078] 33: Brake

[0079] 34: Encoder

[0080] 35: Motor output shaft

[0081] 36: First circuit board

[0082] 40: Transmission components

[0083] 41: Lead screw

[0084] 50: Electrical connection components

[0085] 51: Flexible circuit board

[0086] 52: Enhanced tablets

[0087] 53: First Enhanced Patch

[0088] 54: Second Enhanced Plate

[0089] 55: First flexible circuit board

[0090] 57: First end of the first flexible circuit board

[0091] 58: Second end of the first flexible circuit board

[0092] 110: Robotic Arm

[0093] 111: Surgical Instruments

[0094] 111: End effector

[0095] 112: Shaft

[0096] 113: Rear-end transmission device

[0097] 120: Robotic arm support

[0098] 130: Rotary drive module

[0099] 200: Assisted Medical Systems

[0100] 210: Control System

[0101] 220: Robotic Arm System

[0102] 230: Imaging System

[0103] DL: Length direction of the first arm

[0104] P: RCM point

[0105] PA1: First axis of rotation

[0106] PA2: Second axis of rotation

[0107] PA3: Third axis of rotation

[0108] PA4: Fourth rotation axis Detailed Implementation

[0109] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0110] To fully understand this application, a detailed description will be provided in the following description. 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. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other embodiments.

[0111] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” The use of words such as “first,” “second,” and “third” does not indicate any order and can be interpreted as names.

[0112] It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0113] 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.

[0114] 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.

[0115] This application provides a robotic arm and an assistive medical system (e.g., a surgical robot) having the same.

[0116] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0117] The surgical robot 200 according to an embodiment of this application is a robot capable of remotely controlling surgery. See also Figure 1 The surgical robot 200 may include a control system 210 (also known as a doctor's console 210), a robotic arm system 220 (also known as a patient-side robotic arm system 220), and an imaging system 230 (also known as an endoscope system 230).

[0118] The control system 210 includes a display unit for showing the surgical instrument 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 console 210 also has other control switches that are easily accessible by hand or foot for various functions and human-computer interaction.

[0119] The imaging system 230 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0120] See Figure 2 The robotic arm system 220 may include at least one robotic arm 100, which has several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the surgical instrument). The end effector of the robotic arm 100 is provided with a holding arm 11, on which surgical instruments 110 are detachably mounted. The surgical instruments 110 may be instruments for performing surgical operations, such as electrocautery devices, clamps, vascular occluders, etc., or cameras for acquiring images of the surgical area, such as endoscopes, etc., or other surgical instruments.

[0121] The surgical instrument 110 includes, from proximal to distal, a rear-end drive 113, a shaft 112, and an end effector 111. The rear-end drive 113 is connected to a drive device inside the surgical arm 11. The rear-end drive 113 can be connected to the end effector 111 via a push-pull rod, line, rope, belt, or other transmission component. The shaft 112 is connected between the rear-end drive 113 and the end effector 111 to separate the rear-end drive 113 and the end effector 111 and to support the end effector 111. The end effector 111 can be a cutting tool for surgical operations such as cutting tissue, such as a hook, shovel, clamp, or scissors, or it can be an endoscope lens for image acquisition.

[0122] The robotic arm 100 can be configured to move mechanically around a remote center of motion (RCM). For example, in interventional surgery, the RCM point P (see...) Figure 3 and Figure 4The surgical instrument 110 is defined as the port that enters the patient's body during surgery (or the incision on the patient's body for inserting the end effector 111). During the surgery, the robotic arm 100 is manipulated so that the holding arm 11 drives the surgical instrument 110 to perform pitching, deflection, insertion and rotation movements. During the movement, the longitudinal axis of the surgical instrument 110 always passes through the RCM point P to avoid non-surgical damage to the patient's incision caused by the surgical instrument 110.

[0123] like Figure 2 , Figure 3 and Figure 4 As shown, the robotic arm system 220 includes a robotic arm support 120 for fixed placement beside the operating table, and a robotic arm 100 is mounted to the robotic arm support 120. The robotic arm 100 includes a rotary drive module 130, and a holding arm 11 is connected to the rotary drive module 130 so that it can rotate relative to the rotary drive module 130 (i.e., the robotic arm support 120) about a first rotation axis PA1 under the drive of the rotary drive module 130. The holding arm 11 is also referred to as the first arm 11.

[0124] Specifically, the robotic arm 100 further includes, for example, a manipulator arm 14, also referred to as a fourth arm 14. The proximal end of the fourth arm 14 is connected to a rotary drive module 130, allowing it to rotate relative to the rotary drive module 130 (i.e., the robotic arm support 120) about a first rotation axis PA1 under the drive of the rotary drive module 130. A first arm 11 is connected to the distal end of the fourth arm 14, thereby rotating synchronously with the fourth arm 14 about the first rotation axis PA1. The first rotation axis PA1 is, for example, the axis of the fourth arm 14. In other words, the fourth arm 14 is rotatable about its own axis PA1.

[0125] The robotic arm 100 may further include a third arm 13 and a second arm 12. The first end of the third arm 13 is connected to the distal end of the fourth arm 14 and is rotatable relative to the fourth arm 14 about a second rotation axis PA2. The first end of the second arm 12 is connected to the second end of the third arm 13 and is rotatable relative to the third arm 13 about a third rotation axis PA3. The first arm 11 is connected to the second end of the second arm 12 and is rotatable relative to the second arm 12 about a fourth rotation axis PA4. The second rotation axis PA2, the third rotation axis PA3, and the fourth rotation axis PA4 are parallel and not parallel to the first rotation axis PA1. Therefore, the robotic arm 100 has multiple degrees of freedom, allowing for flexible adjustment of the position and angle of the holding arm 11, that is, adjusting the position and angle of the surgical instrument 110.

[0126] Preferably, the second rotation axis PA2, the third rotation axis PA3 and the fourth rotation axis PA4 are perpendicular to the first rotation axis PA1, thereby simplifying the design of the robotic arm 100.

[0127] The fourth arm 14, the first arm 11, the third arm 13, and the second arm 12 are all connecting arms of the robotic arm 100. Preferably, in an ideal situation where the dimensions of each connecting arm are not considered, the axes of each connecting arm are in the same plane, or in other words, each connecting arm extends in the same plane.

[0128] Preferably, refer to Figure 3 and Figure 4 The robotic arm 100 is configured such that when the third arm 13 rotates relative to the fourth arm 14, the relative angle between the first arm 11 and the third arm 13 remains unchanged (e.g., the angle between the length directions of the first arm 11 and the third arm 13 remains unchanged). This makes it easier to control the pitch angle of the first arm 11. Furthermore, the robotic arm 100 is configured such that when the third arm 13 rotates relative to the fourth arm 14, the relative angle between the second arm 12 and the fourth arm 14 remains unchanged (e.g., the angle between the length directions of the second arm 12 and the fourth arm 14 remains unchanged), thereby achieving the aforementioned RCM motion effect. That is, when the third arm 13 rotates relative to the fourth arm 14, the second arm 12 simultaneously rotates relative to the third arm 13, and the first arm 11 simultaneously rotates relative to the second arm 12. The rotation drive module 130 drives the parallelogram mechanism to achieve the aforementioned RCM motion effect. The second rotation axis PA2, the third rotation axis PA3, the fourth rotation axis PA4, and the RCM point P are located at the four vertices of the parallelogram, respectively. The first rotation axis PA1 coincides with the side of the parallelogram located between the second rotation axis PA2 and the RCM point P. The position of the RCM point P remains unchanged or substantially unchanged relative to the robotic arm support 120.

[0129] Understandably, the position of the first rotation axis PA1 remains constant relative to the robotic arm support 120. The first arm 11 includes a first end portion 27 and a second end portion 28 arranged in opposite directions along its length, wherein the first end portion 27 is closer to the first rotation axis PA1 than the second end portion 28, or in other words, the first end portion 27 is closer to the RCM point P than the second end portion 28. The RCM point P is the intersection of the first rotation axis PA1 and the longitudinal axis of the end effector 111. Therefore, the first end portion 27 is closer to the end effector 111 than the second end portion 28, or in other words, the first end portion 27 faces the end of the surgical instrument 110 that contacts the human body.

[0130] See Figure 5The first arm 11 is provided with a pivot seat 26 for connecting the second end of the second arm 12. The position of the pivot seat 26 is approximately the position of the fourth rotation axis PA4, or in other words, the position of the pivot seat 26 defines the position of the fourth rotation axis PA4. The distance between the first end 27 of the first arm and the pivot seat 26 is closer than the distance between the second end 28 of the first arm and the pivot seat 26, or the pivot seat 26 can be as close as possible to the first end 27 of the first arm, so that the side of the parallelogram structure located between the fourth rotation axis PA4 and the RCM point P is shorter.

[0131] like Figure 5 As shown, the robotic arm 100 may further include a transmission assembly 40, a linear drive module 30, and a driven component (not shown). The transmission assembly 40 is disposed on the first arm 11. The first arm 11 has a length direction DL that is not parallel to the first axis of rotation PA1. The robotic arm 100 is configured such that at least a portion of the transmission assembly 40 is linearly movable relative to the first arm 11 along the length direction DL. The linear drive module 30 is disposed at the first end 27 of the first arm (see reference). Figure 3 and Figure 4 The driven component is connected to the transmission assembly 40 for driving at least a portion of the transmission assembly 40 to move linearly along the length direction DL of the first arm 11. An external element can be connected to the driven component. The driven component is disposed in the portion of the transmission assembly 40 that can move linearly along the length direction DL of the first arm 11, so as to move synchronously with that portion relative to the first arm 11 along the length direction DL of the first arm 11. The driven component is used, for example, to mount a surgical instrument 110, so that the linear drive module 30 can drive the surgical instrument 110 to move linearly along the length direction DL of the first arm 11, for example, for inserting or removing an end effector 111 into or from the human body. Typically, the longitudinal direction of the end effector 111 coincides with the length direction DL of the first arm 11.

[0132] The first arm 11 includes, for example, a body 21 and an outer cover 22. The body 21 is box-shaped, and the outer cover 22 is fitted onto the body 21. The body 21 is generally an elongated cuboid with a length direction DL. A pivot seat 26 is disposed on the body 21 and is located near the first end 27 of the first arm. An inner cavity 21A is defined inside the body 21. A gap space, a second space 21B, is provided between the outer cover 22 and the body 21. A first sidewall 23 separates the inner cavity 21A and the second space 21B in the body 21. The first arm 11 also includes a module support 31, which is fixedly disposed at the first end 27 of the first arm. A linear drive module 30 is fixedly disposed on the module support 31. The module support 31 is disposed in the inner cavity 21A located at the first end 27 of the first arm.

[0133] Specifically, such as Figure 6As shown, the module support 31 serves as the outer frame of the linear drive module 30. The linear drive module 30 includes a motor 32. The motor 32 is fixedly mounted on the module support 31. The transmission assembly 40 includes a lead screw 41 and a lead screw nut (not shown). The lead screw 41 extends along the length direction DL of the first arm 11. The lead screw nut is matched with and connected to the lead screw 41. The driven component is connected to the lead screw nut. The output shaft 35 of the motor 32 is connected to one end of the lead screw 41 for driving the lead screw 41 to rotate. When the lead screw 41 rotates, the lead screw nut cannot rotate under the action of the limiting structure and can only move linearly along the lead screw 41, thereby driving the driven component and the surgical instrument 110 to move linearly.

[0134] To maximize the linear movement range of the surgical instrument 110, the lead screw 41 occupies almost the entire length of the body 21. The linear drive module 30 is positioned at the first end 27 of the first arm, which helps reduce the rotational inertia of the holding arm 11. The linear drive module 30 uses a module support 31 as its outer frame, allowing all components of the linear drive module 30 to be pre-installed onto the module support 31, after which the linear drive module 30 can be disassembled and reassembled as a whole.

[0135] The linear drive module 30 may also include a brake 33. The brake 33 is mounted on the module bracket 31 and is used to brake the output shaft 35. The brake 33 is, for example, configured as an electrically excited type brake, with its rotor connected to the output shaft 35 of the motor 32. When the brake 33 is energized, its armature releases pressure on the rotor, allowing the rotor to rotate freely, and thus the output shaft 35 of the motor 32 can rotate freely. When the brake 33 is de-energized, the armature, under the action of a bias spring, presses against the rotor, preventing the rotor from rotating freely. The brake 33 is in a holding state, braking the output shaft 35 of the motor 32.

[0136] The linear drive module 30 may also include an encoder 34, the output signal of which is used to characterize the rotation angle of the output shaft 35.

[0137] With the linear drive module 30 fully encapsulated, its performance can be pre-tested, and it can only be installed on the first arm 11 when its performance is qualified. This can improve the fault tolerance of the assembly and obtain higher assembly efficiency.

[0138] Preferably, the output shaft 35 is constructed as a hollow shaft, which makes the connection between the output shaft 35 and the lead screw 41 more convenient.

[0139] The motor 32, brake 33, and encoder 34 of the linear drive module 30 are all electrical components, and these electrical components all operate under the control of the control system 210. In order to realize the electrical connection between the linear drive module 30 and the control system 210, the linear drive module 30 also includes a first circuit board 36, the first arm 11 is also provided with a main control board 25, and the robotic arm 100 also includes an electrical connection assembly 50 to electrically connect the first circuit board 36 and the main control board 25.

[0140] For example, the first circuit board 36 is mounted on the module bracket 31. All interfaces of the electrical components of the linear drive module 30 are located on the first circuit board 36. The main control board 25 is used for electrical connection to the control system 210. To fully utilize the internal space of the body 21, the main control board 25 and the first circuit board 36 are arranged along the length direction DL of the first arm 11. The electrical connection assembly 50 extends along the length direction DL of the first arm 11, with one end connected to the first circuit board 36 and the other end connected to the main control board 25. Thus, the control system 210 is electrically connected to the linear drive module 30 through the main control board 25, the electrical connection assembly 50, and the first circuit board 36.

[0141] The first circuit board 36 can be a single circuit board or composed of multiple sub-circuit boards, wherein each sub-circuit board is located close to each electrical component of the linear drive module 30 to facilitate connection with that electrical component.

[0142] like Figure 7 As shown, the electrical connection assembly 50 includes, for example, at least one flexible printed circuit board (FPC) 51. The flexible printed circuit board 51 is used to implement electrical connections. The flexible printed circuit board 51 features high wiring density, light weight, thinness, and small interface, saving space and solving the problem of complex wiring. The electrical connection assembly 50 may include multiple flexible printed circuit boards 51, and may also include an adapter plate (not shown), through which the multiple flexible printed circuit boards 51 are electrically connected. Thus, in locations where it is difficult to install the flexible printed circuit boards 51, the electrical connection function can be achieved through the adapter plate. To accommodate the shape of the first arm 11, the flexible printed circuit board 51 is also generally elongated.

[0143] like Figure 5As shown, to ensure the end effector 111 can be operated easily and without interference, the main control board 25 (which requires a cable to communicate with the control system 210) is kept as far away from the end effector 111 as possible. The linear drive module 30 is located at the end of the body 21 near the end effector 111, and the pivot 26 is located near this end. For connection with the second arm 12, the pivot 26 is mounted on the outside of the body 21. Understandably, a corresponding rotating structure needs to be installed at the pivot 26 to achieve rotation. Therefore, routing the electrical connection assembly 50 from the outside of the body 21 is somewhat difficult; it is preferable to route it within the internal space of the body 21, and more preferably, to use a flexible circuit board for routing.

[0144] like Figure 5 and Figure 7 As shown, the main control board 25 is disposed in the second space 21B, while the first circuit board 36 is disposed in the inner cavity 21A along with the linear drive module 30. The module bracket 31 and the main control board 25 are respectively disposed on both sides of the first sidewall 23. The first sidewall 23 poses certain difficulties for the arrangement of the flexible circuit board 51. Therefore, as Figure 8 As shown, the first sidewall 23 has a first opening 24. An adapter plate is disposed in the second space 21B, meaning the adapter plate and the main control board 25 are located on the same side of the first sidewall 23. The electrical connection assembly 50 includes, for example, a first flexible circuit board 55 and a second flexible circuit board (not shown). A first end 57 of the first flexible circuit board 55 is connected to the first circuit board 36, and a second end 58 of the first flexible circuit board 55 passes through the first opening 24 to connect to the adapter plate. One end of the second flexible circuit board is connected to the adapter plate, and the other end is connected to the main control board 25.

[0145] like Figure 9 As shown, in order to pass through the first opening 24, the second end 58 of the first flexible circuit board 55 is turned (e.g., turned 90 degrees), making the first flexible circuit board 55 L-shaped. Thus, before the turn, the first flexible circuit board 55 extends along the length of the first arm 11, generally parallel to the lead screw 41. After the turn, the first flexible circuit board 55 can pass through the first opening 24 to extend from one side of the first sidewall 23 to the other. Of course, the first flexible circuit board 55 can also be turned by folding the elongated flexible board.

[0146] Because the flexible circuit board 51 passes through the inner cavity 21A of the first arm 11, and the inner cavity 21A contains moving transmission components and moving parts, these components may come into contact with or touch the flexible circuit board 51, leading to wear on the flexible circuit board 51. Therefore, as Figure 7As shown, preferably, at least one side (e.g., the side facing the moving part) of at least one flexible circuit board 51 is provided with a reinforcing sheet 52. The reinforcing sheet 52 can be bonded to the flexible circuit board 51 or connected by fasteners. The reinforcing sheet 52 is a component with a certain rigidity and strength, used to support and protect the flexible circuit board 51. The reinforcing sheet 52 can be, for example, a plastic sheet or a metal sheet (e.g., a steel sheet). The width of the reinforcing sheet 52 is not less than the width of the flexible circuit board 51, thereby completely supporting the flexible circuit board 51. Preferably, at least one side of each flexible circuit board 51 is provided with a reinforcing sheet 52.

[0147] Preferably, at least one flexible circuit board 51 has reinforcing sheets 52 on both sides. For example, such as Figure 9 As shown, a first reinforcing piece 53 and a second reinforcing piece 54 are respectively provided on both sides of the first flexible circuit board 55. The width of the two reinforcing pieces 52 is greater than the width of the flexible circuit board 51, so that the two reinforcing pieces 52 can be connected to each other at their edges. For example, the edge of the reinforcing piece 52 is provided with a connecting hole 59, which is located outside the flexible circuit board 51. Fasteners can pass through the corresponding connecting holes 59 of the two reinforcing pieces 52 to connect them, thereby making the connection between the reinforcing pieces 52 and the flexible circuit board 51 more secure. The reinforcing piece 52 on one side can prevent grease from the lead screw 41 from falling and affecting the performance of the flexible circuit board 51, and the reinforcing piece 52 on the other side can prevent burrs from the parts from scratching the flexible circuit board 51 when the wire module screws are fixed. Preferably, a reinforcing piece 52 is provided on both sides of each flexible circuit board 51.

[0148] Preferably, to enhance the strength of the body 21, reinforcing ribs are provided in the inner cavity 21A. The reinforcing ribs extend along the length direction DL of the first arm 11. Alternatively, the reinforcing ribs are arranged in a grid pattern on the entire inner wall of the body 21. The reinforcing sheet 52 can be fixed to the reinforcing ribs by fasteners to prevent the flexible circuit board 51 and the reinforcing sheet 52 from swaying in the inner cavity 21A of the inner body 21.

[0149] like Figure 6 and Figure 9 As shown, the flexible circuit board 51 (e.g., the first flexible circuit board 55) needs to be bent in certain areas to accommodate the installation space. Reinforcing tabs are not required at the bending points of the FPC because reinforcement would worsen the bending performance, and this section does not require reinforcement.

[0150] The first flexible circuit board 55 is pre-secured to the linear drive module 30 by a reinforcing piece 52. After the linear drive module 30 has been tested, it is installed onto the first arm 11. The second end 58 of the first flexible circuit board 55 passes through the first opening 24 and connects to the adapter plate. The second flexible circuit board can be secured to the first sidewall 23 by its reinforcing piece 52. Alternatively, the second flexible circuit board can be directly bonded to the first sidewall 23 without the reinforcing piece 52.

[0151] The processes and steps described in all the preferred embodiments above are merely examples. Unless adverse effects occur, various processing operations can be performed in a different order than those described above. The order of steps in the above process can also be added, combined, or deleted according to actual needs.

[0152] In understanding the scope of this application, the term "comprising" and its derivatives, as used herein, are intended to be open-ended terms that specify the presence of a described feature, element, component, group, whole, and / or step, but do not exclude the presence of other undescribed features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "comprising," "having," and their derivatives.

[0153] The term "attached" or "joined" as used herein includes: a construction in which one element is directly fixed to another element by fixing it directly to another element; a construction in which one element is indirectly fixed to another element by fixing it to an intermediate member, which in turn is fixed to another element; and a construction in which one element is integral with another element, that is, one element is substantially part of another element. This definition also applies to words with similar meanings, such as "connect," "joint," "couple," "install," "adhere," "fix," and their derivatives. Finally, degree terms such as "substantially," "approximately," and "approximately" as used herein indicate the amount of deviation from which modifications to the terminology do not significantly alter the final result.

[0154] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0155] 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. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application.

Claims

1. A robotic arm, characterized in that, include: Rotary drive module; A first arm is connected to the rotary drive module and is rotatable relative to the rotary drive module about a first rotation axis under the drive of the rotary drive module. The first arm includes a first end and a second end of the first arm arranged in opposite directions along the length, wherein the first end of the first arm is closer to the first rotation axis than the second end of the first arm. The first arm includes a body and a module support. The body has an inner cavity, and the module support is located in the inner cavity. A reinforcing rib is provided in the inner cavity and extends along the length direction of the first arm. An opening is provided on the side of the body, and the opening allows the inner cavity of the body to communicate with the outer side of the body. A transmission assembly is disposed in the cavity of the first arm, the robotic arm being configured such that at least a portion of the transmission assembly is linearly movable relative to the first arm along the length direction of the first arm; A linear drive module is disposed at a first end of the first arm and connected to the transmission assembly for driving at least a portion of the transmission assembly to move linearly along the length direction of the first arm. The linear drive module includes a first circuit board and is fixedly disposed on the module bracket. The first circuit board is disposed on the module bracket. and A driven component for mounting external elements is disposed in at least a portion of the transmission assembly to move synchronously and linearly relative to the first arm along the length direction of the first arm with at least a portion of the transmission assembly. The main control board is located on the outside of the main body and near the second end of the first arm, and is used for electrical connection to the control system; and An electrical connection assembly includes a first flexible circuit board, a second flexible circuit board, and an adapter plate. The adapter plate is located on the outside of the main body. The first flexible circuit board is L-shaped, or the first flexible circuit board is folded to extend through the opening to the outside of the main body to connect the first circuit board and the adapter plate. The second flexible circuit board connects the adapter plate and the main control board. Reinforcing plates are provided on both sides of the first flexible circuit board. The width of the reinforcing plates is greater than the width of the first flexible circuit board. The two reinforcing plates are connected to each other at the edges. The first flexible circuit board is fixed to the reinforcing rib by the reinforcing plates.

2. The robotic arm according to claim 1, characterized in that, The linear drive module includes a motor and a brake, both of which are fixedly mounted on the module bracket.

3. The robotic arm according to claim 1, characterized in that, The electrical connection assembly extends along the length of the first arm.

4. The robotic arm according to claim 2, characterized in that, The transmission assembly includes: A lead screw, extending along the length of the first arm, is connected to the output shaft of the motor and rotates under the drive of the motor; and A lead screw nut, which is matched with and connected to the lead screw, and the driven component is connected to the lead screw nut.

5. The robotic arm according to claim 4, characterized in that, The output shaft is constructed as a hollow shaft.

6. The robotic arm according to claim 4, characterized in that, The brake includes a brake rotor, which is connected to the output shaft.

7. The robotic arm according to claim 4, characterized in that, The linear drive module also includes an encoder, the output signal of which is used to characterize the rotation angle of the output shaft.

8. The robotic arm according to claim 1, characterized in that, The driven component is used to mount surgical instruments, with the first end of the first arm facing the end of the surgical instrument that contacts the human body.

9. The robotic arm according to any one of claims 1 to 8, characterized in that, The robotic arm further includes a fourth arm, the proximal end of which is connected to the rotary drive module to rotate about the first rotation axis under the drive of the rotary drive module, wherein the first rotation axis is the axis of the fourth arm. The first arm is connected to the distal end of the fourth arm.

10. The robotic arm according to claim 9, characterized in that, The robotic arm also includes: A third arm, the first end of which is connected to the distal end of the fourth arm and is rotatable relative to the fourth arm about a second axis of rotation; and The second arm has a first end connected to the second end of the third arm and is rotatable relative to the third arm about a third rotation axis; The first arm is connected to the second end of the second arm and is rotatable relative to the second arm about a fourth rotation axis. The second rotation axis, the third rotation axis, and the fourth rotation axis are parallel to each other but not parallel to the first rotation axis. The robotic arm is configured such that when the third arm rotates relative to the fourth arm, the relative angle between the first arm and the third arm remains unchanged.

11. The robotic arm according to claim 10, characterized in that, The second rotation axis, the third rotation axis, and the fourth rotation axis are perpendicular to the first rotation axis.

12. The robotic arm according to claim 10, characterized in that, The robotic arm is configured such that when the third arm rotates relative to the fourth arm, the relative angle between the second arm and the fourth arm remains unchanged.

13. An auxiliary medical system, characterized in that, Includes the robotic arm according to any one of claims 1 to 12.

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