Joint structure, mechanical arm and auxiliary medical system

Abstract

The invention discloses a joint structure, a mechanical arm and an auxiliary medical system. The joint structure is used for assisting a mechanical arm of a medical system. The joint structure comprises a first connecting rod, a second connecting rod and a driving assembly. The first connecting rod is connected to a mechanical arm. The second link is rotatably connected to the first link for mounting a surgical actuator. The driving assembly is arranged on the first connecting rod and used for driving the second connecting rod to rotate relative to the first connecting rod. The driving assembly comprises a motor and a rigid transmission mechanism. The motor is arranged on the first connecting rod and used for providing driving force. The input end of the rigid transmission mechanism is connected with an output shaft of the motor to rotate under driving of the motor, and the output end of the rigid transmission mechanism is connected with the second connecting rod to rotate synchronously with the second connecting rod. According to the rigid transmission mechanism, the transmission sensitivity and accuracy can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical instruments, in particular to a joint structure for a surgical robot, and a mechanical arm and an auxiliary medical system having the joint structure. BACKGROUND

[0002] A surgical robot is a robot that can be remotely controlled to complete surgery, which includes three components: a doctor's console, a patient-side mechanical arm system and an imaging system. The patient-side mechanical arm system includes a plurality of mechanical arms, each of which has a plurality of jointed arms. Adjacent two jointed arms are relatively movable in a specific degree of freedom, so that the end of the mechanical arm can achieve multi-degree-of-freedom movement. A surgical instrument or an endoscope is installed at the end of the mechanical arm, which replaces the human hand to perform surgery by passing through the chest, abdominal wall and other tissues. The mechanical arm is manipulated to enable the surgical instrument to perform pitching motion. In the prior art, a flexible transmission mechanism is generally used to achieve end pitching motion. However, in the case of high-torque driving, the flexible transmission mechanism needs to overcome its own elongation before it can start to pitch, which may result in driving backlash and insensitivity. This problem is also more obvious in the case of bidirectional rotation.

[0003] Therefore, there is a need for a joint structure to at least partially solve the above problems. SUMMARY

[0004] A series of concepts in simplified form are introduced in the summary section, which will be further described in detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and essential technical features of the claimed technical solutions, nor to determine the protection scope of the claimed technical solutions.

[0005] To at least partially solve the above problems, the first aspect of the present application provides a joint structure for a mechanical arm of an auxiliary medical system, which comprises:

[0006] a first connecting rod for connecting to the mechanical arm;

[0007] a second connecting rod rotatably connected to the first connecting rod for mounting a surgical instrument;

[0008] a driving assembly arranged in the first connecting rod for driving the second connecting rod to rotate relative to the first connecting rod,

[0009] the driving assembly comprises:

[0010] a motor arranged in the first connecting rod for providing driving force, and

[0011] A rigid transmission mechanism, an input end of the rigid transmission mechanism being connected to an output shaft of the motor to rotate under driving of the motor, an output end of the rigid transmission mechanism being connected to the second connecting rod to rotate synchronously with the second connecting rod.

[0012] Optionally, the rigid transmission mechanism comprises:

[0013] a first rotating part connected to the output shaft of the motor to rotate under driving of the motor; and

[0014] a second rotating part connected to the first rotating part to rotate under driving of the first rotating part,

[0015] wherein an axis of rotation of the first rotating part and an axis of rotation of the second rotating part intersect, and the second connecting rod is connected to the second rotating part to rotate synchronously with the second rotating part.

[0016] Optionally, the driving assembly further comprises a speed reducer, the speed reducer being arranged on the first connecting rod, an input end of the speed reducer being connected to the output shaft of the motor, and an output end of the speed reducer being connected to the first rotating part.

[0017] Optionally, the driving assembly further comprises a shaft coupling, one end of the shaft coupling being connected to the speed reducer, and the other end of the shaft coupling being connected to the axis of rotation of the first rotating part.

[0018] Optionally,

[0019] the first rotating part comprises a first bevel gear, an oil seal being arranged between a hub of the first bevel gear and an axis of rotation of the first bevel gear; and / or

[0020] the second rotating part comprises a second bevel gear, an oil seal being arranged between a hub of the second bevel gear and an axis of rotation of the second bevel gear.

[0021] Optionally, the joint structure further comprises:

[0022] a first angle sensor configured to detect a rotation angle of the output shaft of the motor; and

[0023] a second angle sensor configured to detect a rotation angle of the second rotating part.

[0024] Optionally, at least one of the first angle sensor and the second angle sensor is configured as an encoder.

[0025] Optionally, the joint structure further comprises a force sensor, one end of the force sensor being connected to the second rotating part, and the other end of the force sensor being connected to the second connecting rod.

[0026] Optionally, the rotation shaft of the second rotation part has oppositely arranged rotation shaft first end and rotation shaft second end, the second angle sensor is connected to the rotation shaft first end, and the force sensor is connected to the rotation shaft second end.

[0027] Optionally,

[0028] The assembling surface of the hub of the first rotation part is provided with a gasket for adjusting the axial position of the first rotation part; and / or

[0029] The assembling surface of the hub of the second rotation part is provided with a gasket for adjusting the axial position of the second rotation part.

[0030] Optionally,

[0031] The hub of the first rotation part is provided with a bearing between the rotation shaft of the first rotation part; and / or

[0032] The hub of the second rotation part is provided with a bearing between the rotation shaft of the second rotation part.

[0033] Optionally, the driving assembly further comprises a gear box, the gear box is connected to the first connecting rod, and the second rotation part is arranged in the gear box.

[0034] Optionally,

[0035] The first connecting rod is configured to have a hollow structure, the hollow structure is in communication with the internal space of the gear box, and at least part of the motor and the first rotation part is arranged in the hollow structure; and / or

[0036] The hollow structure and the internal space of the gear box form a mounting space, and a sealing ring is arranged between the hub of the first rotation part and / or the hub of the second rotation part and the inner wall of the mounting space.

[0037] Optionally, the rotation axis of the first rotation part is perpendicular to the rotation axis of the second rotation part.

[0038] Optionally,

[0039] The motor is configured as a servo motor; and / or

[0040] The joint structure further comprises a brake, and the brake is arranged on the first connecting rod for braking the motor.

[0041] Optionally,

[0042] The joint structure further comprises a limiting block arranged on the first connecting rod, and configured to contact the second connecting rod when the second connecting rod rotates to a certain angle relative to the first connecting rod, so as to block the second connecting rod from continuing to rotate.

[0043] The second aspect of the present application provides a mechanical arm, comprising:

[0044] a bracket; and

[0045] The joint structure according to any one of the technical solutions of the first aspect, wherein the first connecting rod is connected to the bracket.

[0046] The third aspect of the present application provides an auxiliary medical system, comprising the mechanical arm according to the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0047] The following drawings of the present application are hereby incorporated into the present application as part of the present application for the purpose of understanding the present application. The drawings of the present application show representative embodiments of the present application, which are used to explain the principles of the present application, but not to limit the present application.

[0048] In the drawings:

[0049] Figure 1 is a schematic view of a mechanical arm according to an embodiment of the present application;

[0050] Figure 2 is a schematic view of a joint structure according to an embodiment of the present application;

[0051] Figure 3 is Figure 2 is a schematic view of a joint structure, wherein part of the shell is omitted to show the internal structure;

[0052] Figure 4 is Figure 2 is a schematic view of the internal structure of the joint structure;

[0053] Figure 5 is Figure 2 is another schematic view of the joint structure;

[0054] Figure 6 is Figure 2 is another schematic view of the joint structure, wherein the second connecting rod rotates relative to the first connecting rod in the first rotation direction;

[0055] Figure 7 is Figure 2 is another schematic view of the joint structure, wherein the second connecting rod rotates relative to the first connecting rod in the second rotation direction.

[0056] Figure 8FIG. 6 is a schematic view of a surgery performed by an assisted medical system according to an embodiment of the present application, in which a single-arm robot is in a uterus lifting position;

[0057] Figure 9 FIG. 7 is a schematic view of a surgery performed by an assisted medical system according to an embodiment of the present application, in which a single-arm robot is in a laparoscopic instrument position; and

[0058] Figure 10 FIG. 8 is a schematic view of a surgery performed by a plurality of assisted medical systems according to an embodiment of the present application.

[0059] BRIEF DESCRIPTION OF THE DRAWINGS

[0060] 10: first link

[0061] 11: hollow structure

[0062] 12: outer wall

[0063] 13: limit block

[0064] 20: second link

[0065] 30: drive assembly

[0066] 31: motor

[0067] 32: speed reducer

[0068] 33: coupling

[0069] 34: first gasket

[0070] 35: first rotating portion

[0071] 36: first bearing

[0072] 37: first hub

[0073] 38: first rotating shaft

[0074] 39: first sealing ring

[0075] 40: rigid transmission mechanism

[0076] 41: gear box

[0077] 42: box wall

[0078] 43: first oil seal

[0079] 44: second oil seal

[0080] 45: brake

[0081] 46: force sensor

[0082] 47: first angle sensor

[0083] 48: second angle sensor

[0084] 51: first end of rotation shaft

[0085] 52: second end of rotation shaft

[0086] 55: second rotation part

[0087] 56: second bearing

[0088] 57: second wheel hub

[0089] 58: second rotation shaft

[0090] 90: surgical effector

[0091] 100: surgical robot

[0092] 110: first mechanical arm / single-arm mechanical arm

[0093] 111: support

[0094] 112: connecting arm

[0095] 118: joint structure

[0096] 120: multi-arm mechanical arm

[0097] PA1: first rotation axis

[0098] PA2: second rotation axis DETAILED DESCRIPTION

[0099] In the following description, numerous specific details are given to provide a thorough understanding of the application. However, it will be apparent to one of ordinary skill in the art that the application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail to avoid obscuring aspects of the application.

[0100] For a thorough understanding of the application, reference is made to the following description taken in conjunction with the accompanying drawings. It is apparent that the application can be practiced without one or more of the specific details set forth herein. Certain terminology is used in the description for the purpose of reference only and is not intended to be limiting.

[0101] The ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and have no other meaning, such as a particular order, etc. Also, for example, the term "first component" does not by itself imply the existence of a "second component", nor does the term "second component" by itself imply the existence of a "first component". The use of the words "first", "second", and "third", etc. does not connote any order, and these words are used merely as identifiers.

[0102] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer", and similar terms used herein are for illustrative purposes only and are not limiting.

[0103] In the present document, "equal", "same", and the like are not limited in a strict mathematical and / or geometrical sense, but also include tolerances that can be understood by a person skilled in the art and that are allowed for manufacturing or use.

[0104] Unless otherwise indicated, numerical ranges herein are inclusive of the recited two endpoints in their entirety.

[0105] The present application provides a joint structure, a mechanical arm having the joint structure, and an assisted medical system (e.g., a surgical robot) having the mechanical arm.

[0106] Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings.

[0107] In some devices (such as industrial robots, medical robots, etc.), various joints are usually provided to provide certain degrees of freedom of movement for the end effector of the device to perform translational, rotational, and other actions. The surgical robot according to the embodiments of the present application is a robot that can be remotely operated to complete surgery. The surgical robot can include a surgical console, a mechanical arm system, and a vision system.

[0108] Among them, the surgical console is the core part of the surgical robot, and the surgeon remotely controls the surgical robot by operating the console. The console is usually equipped with a high-definition display screen, which allows the doctor to observe the image of the surgical area in real time. The console is also equipped with various operation buttons and handles, which can accurately control the movement of the robot and the movement of the surgical instrument, and complete human-computer interaction.

[0109] The vision system is the "eyes" of the surgical robot, which can transmit the real-time image of the surgical area to the display screen on the surgical console, allowing the doctor to clearly see the situation of the surgical area. The vision system usually includes a camera and an image transmission device, the camera is used to capture the image of the surgical area, and the image transmission device transmits the image to the console in real time.

[0110] The mechanical arm system is generally a surgical cart equipped with a mechanical arm, and is an important component of a surgical robot. The mechanical arm is the core mechanical structure of the surgical cart, and is used to hold a surgical instrument at the patient side to perform surgical operations. Therefore, the mechanical arm system is also called a patient-side manipulating device. The mechanical arm system can include at least one mechanical arm having a plurality of jointed arms. Adjacent two jointed arms are relatively movable in a specific degree of freedom, so that the end of the mechanical arm can achieve multi-degree-of-freedom movement. The end of the mechanical arm is provided with a holding arm, and a surgical instrument is detachably mounted on the holding arm. The surgical instrument can be replaced and used according to the needs of the surgery. The surgical instrument can be an instrument for performing surgical operations, such as an electric cauter, a clamp, a blood vessel occluder, etc. It can also be a camera for image acquisition in the surgical area, such as an endoscope, etc. It can also be other auxiliary surgical instruments, such as a uterine manipulator, etc. A sleeve can be provided on the holding arm, and the sleeve is operatively mounted to the holding arm. The surgical instrument enters the human body through the sleeve, so the sleeve has a certain supporting effect on the shaft of the surgical instrument. In the initial stage of the surgery, the position of the sleeve relative to the human body is first determined, that is, the position of the surgical instrument entering the human body is first determined, and then the holding mechanism is dragged to be connected with the sleeve.

[0111] The movement of the jointed arms of the mechanical arm can be achieved by mechanical or software control, so that the mechanical arm drives the surgical instrument at the end to achieve pitching, yawing and insertion movement. In the prior art, a flexible transmission mechanism (using wire, synchronous belt, steel belt, etc.) is generally used to achieve the pitching movement (i.e. tilting) of the surgical instrument. In addition to reducing the inertia of the end, it can also achieve parallel mechanical arm swinging, which is suitable for various surgical environments. However, due to the material strain problem of the flexible transmission mechanism itself, in the case of high torque driving requirement (such as uterine manipulation surgery, etc.), some undesirable situations may easily occur, such as backlash, lack of sensitivity, etc. This problem also becomes more obvious in bidirectional rotation. Generally, in order to reduce the backlash problem caused by the elongation of the flexible transmission mechanism, a pretensioning measure is usually used to reduce the degree of this problem, but this will also cause the problems of increased wear, material fatigue and reduced life. The reduction of life will also indirectly increase the maintenance cost, and in addition, the flexible transmission mechanism has certain difficulty in maintenance, assembly and adjustment, which increases the additional labor cost.

[0112] Based on this, the application provides a joint structure, which is further described below in combination with specific structural drawings.

[0113] As Figure 1As shown, the first mechanical arm 110 comprises a support 111 and an end joint structure 118, for example. The support 111 comprises a connecting arm 112, which can be adjusted in position, such as height and angle, relative to the operating bed, for example. The joint structure 118 is arranged on the connecting arm 112 for mounting the surgical implement. The joint structure 118 is configured to comprise a rotating joint of rotating dimension for adjusting the pitch angle of the surgical implement. Specifically, as shown, the joint structure 118 comprises a first link 10, a second link 20 and a driving assembly 30. The first link 10 is used to connect to the support 111 of the mechanical arm 110, such as the connecting arm 112. The second link 20 is rotatably connected to the first link 10 for mounting the surgical implement 90. When the second link 20 rotates relative to the first link 10, the second link 20 drives the surgical implement 90 to rotate, achieving the pitch adjustment of the surgical implement 90. Preferably, the second link 20 rotates relative to the first link 10 about a second rotation axis extending in the horizontal direction. The driving assembly 30 is arranged on the first link 10 for driving the second link 20 to rotate relative to the first link 10. Figures 1 to 4 As shown, the joint structure 118 comprises a first link 10, a second link 20 and a driving assembly 30. The first link 10 is used to connect to the support 111 of the mechanical arm 110, such as the connecting arm 112. The second link 20 is rotatably connected to the first link 10 for mounting the surgical implement 90. When the second link 20 rotates relative to the first link 10, the second link 20 drives the surgical implement 90 to rotate, achieving the pitch adjustment of the surgical implement 90. Preferably, the second link 20 rotates relative to the first link 10 about a second rotation axis extending in the horizontal direction. The driving assembly 30 is arranged on the first link 10 for driving the second link 20 to rotate relative to the first link 10.

[0114] The driving assembly 30 can comprise a motor 31 and a rigid transmission mechanism 40. The motor 31 is arranged on the first link 10 for providing driving force for rotating the second link 20. It can be understood that the motor 31 is controlled by the master operating device (surgical control console). The input end of the rigid transmission mechanism 40 is connected with the output shaft of the motor 31 to rotate under the driving of the motor 31. The output end of the rigid transmission mechanism 40 is connected with the second link 20 to rotate synchronously with the second link 20. That is, the rigid transmission mechanism 40 is used to transmit the driving force of the motor 31 to the second link 20 to rotate the second link 20 relative to the first link 10. The rigid transmission mechanism 40 is a rigid component and hardly deforms, which can overcome the material strain of the flexible transmission mechanism, so that the transmission is sensitive and accurate.

[0115] The rigid transmission mechanism 40 comprises a first rotating part 35 and a second rotating part 55, for example. The first rotating part 35 is connected with the output shaft of the motor 31 to rotate under the driving of the motor 31. The second rotating part 55 is connected with the first rotating part 35 to rotate under the driving of the first rotating part 35. The rotation axis PA1 of the first rotating part 35 and the rotation axis PA2 of the second rotating part 55 intersect. The second link 20 is connected to the second rotating part 55 to rotate synchronously with the second rotating part 55. Thus, the driving assembly 30 is compact in structure, the joint motion is simple, and the joint structure 118 can be designed to only the part of the second link 20 contacting the patient, which is easier to ensure the safety of the surgical process. By using the high-rigidity gear transmission mechanism, the present application reduces the backlash caused by using the relatively flexible transmission mechanism and increases the accuracy of the surgical robot.

[0116] The first rotating part 35 can comprise a bevel gear or a bevel gear. The second rotating part 55 can also comprise a bevel gear or a bevel gear. The gear of the first rotating part 35 meshes with the gear of the second rotating part 55.

[0117] Specifically, the first connecting rod 10 is configured as a hollow tube, for example, a hollow structure 11 enclosed by an outer wall 12. The driving assembly 30 further comprises a gear box 41 connected to the first connecting rod 10 (specifically, the outer wall 12). The hollow structure 11 communicates with the internal space of the gear box 41 to form a mounting space. The outer wall 12 of the first connecting rod 10 and the box wall of the gear box 41 constitute the shell of the mounting space. The outer wall 12 of the first connecting rod 10 and the box wall of the gear box 41 also constitute the shell of the joint structure 118. The motor 31, the first rotating part 35 and the second rotating part 55 are all arranged in the mounting space. The box wall of the gear box 41 has an opening, and the second rotating shaft 58 of the second rotating part 55 is exposed from the opening to be connected to the second connecting rod 20.

[0118] The first rotating part 35 has a first rotating shaft 38. The axis of the first rotating shaft 38 is a first rotating axis PA1. The motor 31 drives the first rotating part 35 to rotate around the first rotating axis PA1. The axis of the second rotating shaft 58 is a second rotating axis PA2. The first rotating part 35 drives the second rotating part 55 to rotate around the second rotating axis PA2. The first rotating part 35 and the second rotating part 55 cooperate to change the power rotating axis PA1 to the rotating axis PA2 to drive the second connecting rod 20 to perform the lifting rotation movement. The change from the rotating axis PA1 to the rotating axis PA2 has high transmission efficiency and stable transmission ratio. Preferably, the first rotating axis PA1 is perpendicular to the second rotating axis PA2.

[0119] The first rotating part 35 and the second rotating part 55 each comprise a 45-degree bevel gear. Alternatively, the first rotating part 35 and the second rotating part 55 each comprise a bevel gear. The teeth of the bevel gear can be straight teeth, arc teeth, quasi-double curved teeth, etc. The gear surfaces are coated with lubricating grease to reduce the friction coefficient and noise during movement. The gear ratio of the gear of the first rotating part 35 to the gear of the second rotating part 55 can be 1:1 or 1:X (X≥1).

[0120] In order to further reduce the volume of the joint structure 118, preferably, the first connecting rod 10 and the gear box 41 are perpendicular to each other, at least part of the motor 31 and the first rotating part 35 are arranged in the hollow structure 11 of the first connecting rod 10, and the second rotating part 55 is arranged in the gear box. A main control board can be arranged in the mounting space, and the motor 31 is electrically connected to the main control board, so as to be electrically connected to the main operating device through the main control board.

[0121] The drive assembly 30 comprises a first hub 37 corresponding to the first rotating part 35. The first hub 37 is at least partially located in the hollow structure 11 and is sleeved on the outer periphery of the first rotating shaft 38. A first bearing 36 is arranged between the first hub 37 and the first rotating shaft 38, so that the first rotating shaft 38 can stably rotate in the first hub 37. A first sealing ring 39 is arranged between the assembly surface of the first hub 37 and the inner wall of the mounting space, to prevent oil leakage and to avoid the entry of foreign matter into the mounting space.

[0122] Similarly, the drive assembly 30 comprises a second hub 57 corresponding to the second rotating part 55. The second hub 57 is arranged in the gear box 41 and is sleeved on the outer periphery of the first rotating shaft 38. A second bearing 56 is arranged between the second hub 57 and the second rotating shaft 58, so that the second rotating shaft 58 can stably rotate in the second hub 57. A sealing ring is also arranged between the assembly surface of the second hub 57 and the inner wall of the mounting space.

[0123] The bearings 36 and 56 are, for example, angular contact bearings, which can simultaneously provide axial support and radial support to the rotating parts 35 and 55.

[0124] A first gasket 34 is arranged at the assembly surface of the first hub 37, for adjusting the axial position of the first rotating part 35. Similarly, a second gasket is arranged at the assembly surface of the second hub 57, for adjusting the axial position of the second rotating part 55. Thus, the gears of the first rotating part 35 and the gears of the second rotating part 55 can have a suitable degree of engagement, to reduce the rotational backlash, prevent excessive engagement, and reduce the machining requirements of the gears and the production cost. Since tooth surface wear is inevitable, preferably, one of the first rotating part 35 and the second rotating part 55 is configured as a sacrificial gear, for example, is made of a relatively easy-to-wear material, to facilitate future maintenance and reduce maintenance costs.

[0125] Preferably, the drive assembly 30 further comprises a speed reducer 32. The speed reducer 32 is arranged in the hollow structure 11 of the first connecting rod 10. The input end of the speed reducer 32 is connected to the output shaft of the motor 31, and the output end of the speed reducer 32 is connected to the rotating shaft 38 of the first rotating part 35. The motor 31 can be configured as a servo motor. The speed reducer 32 is correspondingly configured as a servo speed reducer. The high-efficiency servo speed reducer 32 converts the high rotational speed and small torque output by the servo motor 31 into low rotational speed and high torque, and the low rotational speed and high torque output by the servo speed reducer 32 drives the first rotating part 35. The servo speed reducer 32 can be a high-efficiency planetary gear box or a speed reducer box that allows reverse driving through harmonic transmission, etc. The servo speed reducer 32 preferably has a relatively low rotational backlash. The high-gear-ratio servo speed reducer 32 can reduce the influence of the rotational inertia of the second connecting rod 20, thereby reducing the power requirement and size requirement of the servo motor 31.

[0126] Preferably, the driving assembly 30 further comprises a coupling 33, one end of which is connected to the speed reducer 32 and the other end of which is connected to the rotating shaft 38 of the first rotating part 35. Thus, the motor 31 is connected to the first rotating part 35 through the coupling 33. The coupling 33 is, for example, diaphragm type, has high torque rigidity, allows certain radial, angular, and axial deviations, reduces the positioning requirements between the motor 31 and the first rotating part 35, and reduces the processing and production costs of the components and the maintenance costs caused by the service life reduction and positioning deviations while maintaining precise driving. At the same time, the coupling 33 can separate the motor 31 and the first rotating part 35, allowing the first rotating part 35 to have a sealed structure. For example, a first oil seal 43 is arranged between the hub 37 of the first rotating part 35 and the rotating shaft 38 of the first rotating part 35. The first oil seal 43 is also arranged between the coupling 33 and the first rotating part 35. The oil seal can effectively seal the installation space, prevent foreign matter from entering the installation space, and prevent oil leakage from the installation space, thereby improving the service life of the joint structure 118.

[0127] The joint structure 118 further comprises a brake 45 arranged in the hollow structure 11 of the first connecting rod 10 for braking the motor 31. It can be understood that the brake 45 is electrically connected to the main operating device through the main control board, and thus is controlled by the main operating device. The brake 45, for example, acts on the output shaft of the motor 31 to prevent the output shaft 31 from rotating. When the second connecting rod 20 needs to be rotated to a suitable position, the main operating device stops the motor 31 from working on one hand and brakes the inertial rotation of the output shaft of the motor 31 through the brake 45 on the other hand, so that the output shaft of the motor 31 is kept at the position at the moment when the motor 31 stops working, thereby keeping the first rotating part 35 and the second rotating part 55 at the corresponding positions, i.e., keeping the second connecting rod 20 at the corresponding suitable position.

[0128] The joint structure 118 further comprises a first angle sensor 47 and a second angle sensor 48. The first angle sensor 47 is used to detect the rotation angle of the output shaft of the motor 31. The second angle sensor 48 is used to detect the rotation angle of the second rotating part 55. The first angle sensor 47 and / or the second angle sensor 48 are, for example, configured as encoders. The first angle sensor 47 and the second angle sensor 48 are, for example, electrically connected to the main operating device through the main control board, so that the main operating device can collect the rotation information of the motor 31 and the second rotating part 55 at the same time and comprehensively analyze them to ensure that the position information of the motor 31 and the second rotating part 55 is consistent and corresponding, thereby improving the safety of the product. At the same time, the main operating device can determine the rotation angle of the second connecting rod 20 according to the readings of the two angle sensors. The present application uses the cooperation of the first angle sensor 47 and the second angle sensor 48 to confirm the rotation state of the second connecting rod 20, thereby improving the safety of the surgical robot.

[0129] Preferably, the joint structure 118 further includes a force sensor 46, one end of which is connected to the second rotating part 55, and the other end is connected to the second connecting rod 20. The force sensor 46 can be electrically connected to the main operating device via the main control board. Thus, when the second rotating part 55 drives the second connecting rod 20, the force sensor 46 directly converts the torque used to drive the second connecting rod 20 into electrical information and transmits it to the main operating device, thereby enabling closed-loop control or providing tactile feedback to the system. This application reduces the inaccuracy of force sensor readings caused by using a relatively flexible transmission mechanism by using a high-rigidity gear transmission mechanism, increasing the accuracy of force feedback during surgery, thereby improving the user experience and safety of the surgical robot.

[0130] Specifically, the rotation shaft 58 of the second rotating part 55 has a first end 51 and a second end 52 of the rotation shaft arranged opposite to each other. The gear teeth of the second rotating part 55 are arranged axially between the first end 51 and the second end 52 of the rotation shaft 55. A second angle sensor 48 is connected to the first end 51 of the rotation shaft. A force sensor 46 is connected to the second end 52 of the rotation shaft. A second hub 57 is fitted onto the outer circumference of the first end 51 of the rotation shaft. The second hub 57 is connected to the first end 51 of the rotation shaft via a second bearing 56. A sealing ring is provided between the assembly surface of the second hub 57 and the inner surface of the gearbox 41. A second oil seal 44 is provided at the first end 51 of the rotation shaft, between the second hub 57 and the second rotating shaft 58. The second oil seal 44 is also equivalent to being provided between the first end 51 of the rotation shaft and the second angle sensor 48. A third oil seal is provided at the second end 52 of the rotation shaft, between the inner wall of the gearbox 41 and the second rotating shaft 58. The third oil seal is also equivalent to being provided between the second end 52 of the rotation shaft and the force sensor 46.

[0131] like Figures 5 to 7 As shown, the joint structure 118 also includes a limiting block 13, which is disposed on the first link 10. The limiting block 13 contacts the second link 20 when it rotates relative to the first link 10 to a certain angle, thus preventing the second link 20 from continuing to rotate. For example, the limiting block 13 is disposed on the outer surface of the outer wall 12. When the second link 20 rotates clockwise or counterclockwise around the second rotation axis PA2, the limiting block 13 will interfere with the second link 20 when it rotates to a certain angle, preventing the second link 20 from continuing to rotate. Therefore, the limiting block 13 restricts the maximum rotation angle of the second link 20, avoiding excessive rotation and ensuring the safety of the surgery.

[0132] The brake 45 is configured as an electrically excited brake, for example. The rotor of the brake 45 is connected to the output shaft of the motor 31. When the brake 45 is powered, the armature of the brake 45 releases the pressure on the rotor, so that the rotor can rotate freely, and the output shaft of the motor 31 can rotate freely. When the brake 45 is de-powered, the armature of the brake 45 presses against the rotor under the action of a biasing spring, so that the rotor cannot rotate freely, and the brake 45 is in a holding state, braking the output shaft of the motor 31.

[0133] The joint structure 118 has a driving state, which is a state in which the joint structure 118 operates under the control of the master operating device. In the driving state, the brake 45 releases the holding state, so that the output shaft of the motor 31 is in a freely rotatable state. The servo motor 31 converts the output power of the master control board into torque to drive the output shaft thereof. The first angle sensor 47 sends the rotation position information of the output shaft of the servo motor 31 to the system for closed-loop control. The high-efficiency servo reducer 32 converts the high-speed small torque output by the servo motor 31 into low-speed high torque. The low-speed high torque output by the servo reducer 32 drives the first rotating part 35. The first rotating part 35 cooperates with the second rotating part 55 to change the power rotation axis PA1 to the rotation axis PA2 to drive the second link 20 to perform a lifting rotation movement. The second angle sensor 48 sends the rotation position information of the second rotating part 55 to the system for closed-loop control. The force sensor 46 between the second rotating part 55 and the second link 20 sends the output torque information to the system for closed-loop control or provides tactile feedback to the system. After the driving state ends, the brake 45 activates the holding state to lock the output shaft of the servo motor 31.

[0134] The joint structure 118 also has a passive driving state, which is a state in which the joint structure 118 operates under artificial control without being controlled by the master operating device. For example, when the user considers that the master operating device is not ideal for control, the second link 20 can be placed in a more ideal position through artificial control. In the passive driving state, the brake 45 releases the holding state, so that the output shaft of the motor 31 is in a freely rotatable state. The user rotates one end of the second link 20 by using manual force to drive the second link 20 to rotate. The high-efficiency servo reducer 32 and the two bevel gears allow reverse driving. The first angle sensor 47, the second angle sensor 48, and the force sensor 46 send corresponding information to the system for closed-loop control. In this state, the servo motor 31 can also provide a reverse torque to assist the user in passive driving. The motor 31 itself can be configured to rotate under manual driving. In this state, since the motor 31 can assist in driving, the user can generally use a smaller torque to perform passive driving.

[0135] The joint structure 118 also has an emergency reverse state in case of power failure, which is a state in which the joint structure 118 cannot be controlled by the master operating device and can only be operated manually in case of sudden power failure. When the power fails during the operation, the master operating device cannot control the joint structure 118, at which time the second connecting rod 20 must be manually operated in order to ensure safety. In this state, due to power failure, the brake 45 is in a holding state (or locked state), and the rotor thereof is in a state of relative non-free rotation. Therefore, the output shaft of the motor 31 is also relatively non-rotatable under the action of the rotor of the brake 45. In this state, the user still uses manual force to rotate one end of the second connecting rod 20 to drive the second connecting rod 20 to rotate. The servo reducer 32 and the two rotating parts allow reverse driving. It can be understood that, compared to the passive driving state, a larger torque is usually required for reverse driving at this time. The inventor reasonably selects the brake 45 during design to enable it to maintain the usual holding requirements while being forcibly driven by a larger manual reverse driving force. Manual forced driving usually only wears out the friction plate of the brake 45 and does not cause damage to other structures. The friction plate of the brake 45 needs to be included in the life test to calculate the life of the friction plate that allows manual forced driving. It should be noted that the emergency reverse state in case of power failure is not a common mode of operation, but is only used as an additional safety measure.

[0136] As shown in Figures 8 to 10 The application also provides an auxiliary medical system, such as a surgical robot 100, which includes a master operating device including a first mechanical arm 110.

[0137] It can be understood that the joint structure provided by the application can be applied to the uterine manipulation operation described above and can also be applied to situations that require high torque driving, such as laparoscopic surgery. In addition, the joint structure provided by the application can be applied to a single-arm mechanical arm or a multi-arm mechanical arm according to different surgical procedures and environmental requirements. In particular, it is suitable for application to a single-arm mechanical arm. Exemplarily, see Figures 8 to 10 In the single-arm mechanical arm 110, the instrument operating arm can include the second connecting rod of the joint structure described above, and the connecting arm can include the first connecting rod of the joint structure described above, so as to realize the lifting movement or the pitching movement of the instrument operating arm. Therefore, by using a single-arm mechanical arm (or a single-arm robot) having a joint structure as described in the application, the occupied space is small, the movement range is large, and the driving part of large mass is away from the patient, so that the lifting operation can be safely and reliably completed.

[0138] In a common application scenario, the master operating device usually adopts a multi-mechanical arm configuration, and generally 3 to 4 mechanical arms are provided on one operating table, such as Figure 8 and Figure 9The single-arm robot 110 and the multi-arm robot 120 are shown. For some more complex procedures, in order to obtain a larger surgical operating space, it is necessary to perform surgery from different positions in the abdominal cavity of the human body, and the span between these positions is large. The robot needs to be placed on different sides of the patient's body, that is, at least two bedside operating devices are needed.

[0139] For example, referring to Figure 8 , the single-arm robot 110 with the above-mentioned joint structure can be used in combination with the multi-arm robot 120 to complete the relevant surgery by using the uterus lifting and positioning of the single-arm robot 110. Or, referring to Figure 9 , the single-arm robot 110 with the above-mentioned joint structure can be used in combination with the multi-arm robot 120 to complete the relevant surgery by using the laparoscopic positioning of the single-arm robot 110. Or, referring to Figure 10 , the relevant surgical operations can also be completed by using multiple single-arm robots 110 in combination.

[0140] The processes and steps described in all the preferred embodiments described above are only examples. Unless an adverse effect occurs, various processing operations can be performed in a different order from the above-described processes. The order of the steps of the above-described processes can also be added, combined or deleted according to actual needs.

[0141] In understanding the scope of the present application, the term "comprising" and its derivatives, as used herein, are intended to be open-ended terms that specify the presence of the stated features, elements, components, groups, integers, and / or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and / or steps. The use of the term "comprising" also includes the use of the term "including" and variants thereof, such as "include", "has", "have", and the like.

[0142] The term "attached" or "attach" used herein includes a configuration in which an element is directly fixed to another element by fixing the element to the other element, a configuration in which an element is indirectly fixed to another element by fixing the element to an intermediate member which is in turn fixed to the other element, and a configuration in which one element is integral with another element, i.e., one element is essentially a part of another element. This definition also applies to words with similar meanings, such as "connected", "coupled", "engaged", "fixed", "bonded", "secured", and derivatives thereof. Finally, the degree terms such as "substantially", "approximately" and "about" used herein indicate an amount of deviation from the stated term such that the end result is not significantly changed.

[0143] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The features described in one embodiment can be applied to another embodiment, mutatis mutandis, unless that embodiment is inherently incompatible with the other embodiment.

[0144] The application has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of illustration and description, and are not intended to limit the application to the scope of the described embodiments. Furthermore, those skilled in the art can understand that the application is not limited to the above embodiments, and more various modifications and changes can be made according to the teachings of the application, which all fall within the scope of the application claimed.

Claims

1. A joint structure for assisting a mechanical arm of a medical system, characterized by, The joint structure comprises: a first link for connecting to the mechanical arm; a second link rotatably connected to the first link for mounting a surgical manipulator; and a driving assembly arranged in the first link for driving the second link to rotate relative to the first link, the driving assembly comprising: a motor arranged in the first link for providing driving force, and a rigid transmission mechanism, an input end of the rigid transmission mechanism being connected to an output shaft of the motor to rotate under the driving of the motor, and an output end of the rigid transmission mechanism being connected to the second link to rotate synchronously with the second link. The rigid transmission mechanism comprises:

2. The joint structure according to claim 1, characterized in that, a first rotating part connected to the output shaft of the motor to rotate under the driving of the motor, and a second rotating part connected to the first rotating part to rotate under the driving of the first rotating part, wherein an axis of rotation of the first rotating part and an axis of rotation of the second rotating part intersect, and the second link is connected to the second rotating part to rotate synchronously with the second rotating part. The driving assembly further comprises a speed reducer arranged in the first link, an input end of the speed reducer being connected to the output shaft of the motor, and an output end of the speed reducer being connected to the first rotating part.

3. The joint structure of claim 2, wherein The driving assembly further comprises a shaft coupling, one end of the shaft coupling being connected to the speed reducer, and the other end of the shaft coupling being connected to the axis of rotation of the first rotating part.

4. The joint structure according to claim 3, characterized in that 5. The joint structure according to claim 2, wherein the first rotating part comprises a first bevel gear, and an oil seal is arranged between a hub of the first bevel gear and an axis of rotation of the first bevel gear; and / or the second rotating part comprises a second bevel gear, and an oil seal is arranged between a hub of the second bevel gear and an axis of rotation of the second bevel gear. The joint structure further comprises:

6. The joint structure of claim 2, wherein a first angle sensor for detecting a rotation angle of the output shaft of the motor; and a second angle sensor for detecting a rotation angle of the second rotating part. At least one of the first angle sensor and the second angle sensor is configured as an encoder.

7. The joint structure of claim 6, wherein The joint structure further comprises a force sensor, one end of the force sensor being connected to the second rotating part, and the other end of the force sensor being connected to the second link.

8. The joint structure of claim 6, wherein The axis of rotation of the second rotating part has oppositely arranged first and second ends of the axis of rotation, the second angle sensor being connected to the first end of the axis of rotation, and the force sensor being connected to the second end of the axis of rotation.

9. The joint structure of claim 8, wherein, 10. The joint structure according to claim 2, wherein a gasket is arranged at an assembly surface of the hub of the first rotating part for adjusting an axial position of the first rotating part; and / or a gasket is arranged at an assembly surface of the hub of the second rotating part for adjusting an axial position of the second rotating part.

11. The joint structure according to claim 10, wherein a bearing is arranged between the hub of the first rotating part and the axis of rotation of the first rotating part; and / or a bearing is arranged between the hub of the second rotating part and the axis of rotation of the second rotating part. ​ 12. The joint structure of claim 2, wherein The driving assembly further comprises a gear box connected to the first connecting rod, and the second rotating part is arranged in the gear box.

13. The joint structure according to claim 12, characterized in that, the first connecting rod is configured to have a hollow structure, the hollow structure being in communication with an internal space of the gear box, wherein at least part of the motor and the first rotating part are arranged in the hollow structure; and / or the hollow structure forms a mounting space with the internal space of the gear box, and a sealing ring is arranged between a hub of the first rotating part and / or a hub of the second rotating part and an inner wall of the mounting space.

14. The joint structure of claim 2, wherein the rotating axis of the first rotating part is perpendicular to the rotating axis of the second rotating part.

15. The joint structure according to claim 1, characterized in that, the motor is configured as a servo motor; and / or the joint structure further comprises a brake arranged on the first connecting rod for braking the motor.

16. The joint structure according to any one of claims 1 to 15, characterized in that, the joint structure further comprises a limiting block arranged on the first connecting rod for contacting the second connecting rod when the second connecting rod rotates to a certain angle relative to the first connecting rod, so as to block the second connecting rod from continuing to rotate.

17. A robot arm, characterized in that comprising: a bracket; and the joint structure according to any one of claims 1 to 16, wherein the first connecting rod is connected to the bracket.

18. An auxiliary medical system, characterized by comprising the mechanical arm according to claim 17.

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