Surgical robot and flexible mechanical arm thereof

Abstract

The invention relates to the technical field of surgical mechanical arms, and discloses a surgical robot and a flexible mechanical arm thereof. The clamping assembly is located on the machine body and comprises a clamping piece, and an adjusting piece is arranged on one side of the clamping piece; a lifting groove is formed in the machine body, the clamping piece comprises a clamping plate arranged in the lifting groove in a sliding mode, a guide column is fixed to the machine body, a guide groove corresponding to the guide column is formed in the clamping plate, and a first spring is fixed to one side of the clamping plate. The mechanical arm has the beneficial effects that the two clamping plates are arranged to directly clamp the edge of a bed board, the mechanical arm can adapt to bed boards made of any materials and different in thickness, the clamping plates are pushed to achieve large-range distance adjustment and rapidly adapt to the size of the bed board, and then the fine adjustment assembly is rotated to complete tight attachment, so that the mounting efficiency of the mechanical arm and the bed board is improved; and the workload of medical staff in the operation preparation stage is reduced.

Description

Technical Field

[0001] This invention relates to the field of surgical robotic arm technology, and in particular to a surgical robot and its flexible robotic arm. Background Technology

[0002] In the field of surgery, surgical robot-assisted systems have become important tools for improving surgical precision and reducing the workload of doctors. Among them, the flexible robotic arm, as the core of endoscope support and positioning, directly affects the safety and efficiency of surgery due to its fixation stability. The bottom housing of the robotic arm has pre-set locking protrusions or grooves that match the corresponding locking structure on the operating table. After the locking force is applied by rotating the bolts, the friction between the housing and the table is used to achieve fixation. This fixation method relies entirely on the pre-set locking structure of the operating table. For operating tables without corresponding locking features, it is impossible to fix the robotic arm, thus limiting the applicable scenarios. At the same time, the bolts need to be rotated multiple times to tighten, which affects the installation efficiency. Summary of the Invention

[0003] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0004] In view of the problems existing in the above and / or existing surgical robots and their flexible robotic arms, the present invention is proposed.

[0005] Therefore, the problem that this invention aims to solve is that the existing endoscopic robotic arm fixation method relies on the pre-set locking structure of the operating table, which is cumbersome to operate and has poor adaptability.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a surgical robot and its flexible robotic arm, which includes a main body component, including a body; A clamping assembly, located on the machine body, includes a clamping member, and an adjusting member is provided on one side of the clamping member; The machine body is provided with a lifting groove, the clamping member includes a clamping plate that is slidably disposed in the lifting groove, a guide post is fixed on the machine body, a guide groove corresponding to the guide post is provided on the clamping plate, a first spring is fixed on one side of the clamping plate, and the other end of the first spring is fixed on the inner wall of the lifting groove.

[0007] In a preferred embodiment of the surgical robot and its flexible robotic arm described in this invention, the adjusting component includes a fixed ring fixed to the body, a rotating sleeve inserted into the fixed ring, a movable column threaded into the rotating sleeve, a connecting plate fixed to one end of the movable column, and a pressing block fixed to one end of the connecting plate.

[0008] As a preferred embodiment of the surgical robot and its flexible robotic arm described in this invention, one side of the compression block is inclined, and one end of the clamping plate is inclined.

[0009] As a preferred embodiment of the surgical robot and its flexible robotic arm described in this invention, the body has a cavity, the movable column and the rotating sleeve are slidable within the cavity, a rectangular block is fixed to the inner wall of the cavity, and a rectangular groove is formed on the movable column.

[0010] As a preferred embodiment of the surgical robot and its flexible robotic arm described in this invention, the clamping assembly further includes a locking member located within the fixed ring. The fixed ring has a moving groove. The locking member includes a locking block slidably disposed within the moving groove. A second spring is fixed to one side of the locking block. The rotating sleeve has multiple locking grooves, which are arranged in a ring shape.

[0011] As a preferred embodiment of the surgical robot and its flexible robotic arm described in this invention, a movable ring is provided on one side of the fixed ring, a push block is fixed on the movable ring, and a force-receiving groove is provided on the locking block, wherein the push block can engage with the force-receiving groove.

[0012] In a preferred embodiment of the surgical robot and its flexible robotic arm described in this invention, a third spring is fixed to one side of the movable ring, and the other end of the third spring is fixed to the fixed ring.

[0013] In a preferred embodiment of the surgical robot and its flexible robotic arm described in this invention, the number of locking blocks is four, and the number of pushing blocks corresponds to the number of locking blocks.

[0014] In a preferred embodiment of the surgical robot and its flexible robotic arm described in this invention, a plurality of friction blocks are fixed on the clamping plate.

[0015] As a preferred embodiment of the surgical robot and its flexible robotic arm described in this invention, the flexible robotic arm is further included.

[0016] The beneficial effects of this invention are as follows: by setting two clamping plates to directly clamp the edge of the bed board, it can be adapted to bed boards of any material and thickness. Pushing the clamping plates can achieve a wide range of spacing adjustment, quickly adapting to the size of the bed board. Then, rotating the fine-tuning component can complete a tight fit, thereby improving the efficiency of the installation of the robotic arm and the bed board and reducing the workload of medical staff in the surgical preparation stage. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a structural diagram of the surgical robot and its flexible robotic arm.

[0018] Figure 2 This is a cross-sectional structural diagram of the surgical robot and its flexible robotic arm.

[0019] Figure 3 This is a side view of the surgical robot and its flexible robotic arm.

[0020] Figure 4 This is a cross-sectional view of the clamping structure of the surgical robot and its flexible robotic arm.

[0021] Figure 5 For surgical robots and their flexible robotic arms Figure 4 Enlarged view of the structure at point A in the middle.

[0022] Figure 6 This is a structural diagram of the rotating sleeve of the surgical robot and its flexible robotic arm. Detailed Implementation

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments. Example

[0026] Reference Figures 1-3This is the first embodiment of the present invention. This embodiment provides a surgical robot and its flexible robotic arm. The surgical robot and its flexible robotic arm include a main body component 100, including a body 101. The body 101 is the foundation of the entire device. The flexible robotic arm 301 is fixed by fixing the body 101 to the operating table. This is the prior art. This solution will not be described in detail here. Moreover, those skilled in the art can clearly understand the working principle.

[0027] The clamping assembly 200 is located on the body 101 and includes a clamping member 201. The clamping member 201 is configured to mount the body 101 on one side of the operating table. An adjusting member 202 is provided on one side of the clamping member 201 to enable the clamping member 201 to adapt to operating tables of different thicknesses.

[0028] The machine body 101 has a lifting groove 101-1. The clamping component 201 includes a clamping plate 2011 that is slidably disposed in the lifting groove 101-1. There are two clamping plates 2011. The two clamping plates 2011 clamp the bed board in the middle. Using the action of friction, the machine body 101 is installed on one side of the operating table. A guide post 2012 is fixed on the machine body 101. The clamping plate 2011 has a guide groove 2011-1 that corresponds to the guide post 2012. The guide post 2012 is inserted into the guide groove 2011-1. At the same time, under the restriction of the inner wall of the lifting groove 101-1 on the clamping plate 2011, it is ensured that the clamping plate 2011 can move smoothly towards the operating table when it approaches it, so as to fit against the operating table.

[0029] A first spring 2013 is fixed to one side of the clamp 2011, and the other end of the first spring 2013 is fixed to the inner wall of the lifting groove 101-1. The first spring 2013 applies a continuous tension to the clamp 2011. When there is no other external force, the distance between the two clamps 2011 is at its maximum, which can meet the fixation requirements of the thicker operating table. The two clamps 2011 continue to move closer to meet the fixation requirements of operating tables of different thicknesses. The first spring 2013 is also used for the reset of the clamp 2011. Example

[0030] Reference Figures 4-6 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0031] Specifically, the adjusting component 202 includes a fixed ring 2021 fixed to the machine body 101, a rotating sleeve 2022 inserted into the fixed ring 2021, the rotating sleeve 2022 being slidable within the fixed ring 2021, a movable column 2023 threadedly connected to the rotating sleeve 2022, a threaded groove provided within the rotating sleeve 2022, and a threaded section provided on the movable column 2023. Through the engagement of the threads, when the rotating sleeve 2022 rotates relative to the movable column 2023, the movable column 2023 is restricted from rotating, thus changing the relative position between the movable column 2023 and the rotating sleeve 2022. The moving column 2023 moves closer to the clamping plate 2011. One end of the pressing block 2025 is fixed with a connecting plate 2024, and one end of the connecting plate 2024 is fixed with the pressing block 2025. There are two pressing blocks 2025 and connecting plates 2024. The connecting plate 2024 is used to connect the pressing block 2025 and the moving column 2023, so that the movement of the moving column 2023 can synchronously drive the pressing block 2025 to move. The pressing block 2025 is set to push the two clamping plates 2011 closer to each other, thereby clamping the operating table board and installing the machine body 101 on the operating table.

[0032] The machine body 101 has through slots corresponding to the extrusion block 2025 and the connecting plate 2024. The two slide in the through slots, which will also prevent the moving column 2023 from rotating.

[0033] Specifically, the compression block 2025 is inclined on one side, and the clamping plate 2011 is inclined at one end. Due to the inclined arrangement, when the rotating sleeve 2022 and the moving column 2023 move towards the clamping plate 2011 at the same time, the compression block 2025 will move synchronously, and its inclined surface will contact the inclined surface of the clamping plate 2011 and compress the inclined surface of the clamping plate 2011, thereby bringing the two clamping plates 2011 closer to each other and fitting them against the operating table board to complete the initial installation.

[0034] Then, rotating the rotating sleeve 2022, with the engagement of the threads, causes the moving column 2023 to move further toward the clamping plate 2011, which in turn drives the pressing block 2025 to continue moving, further pressing the inclined surface of the clamping plate 2011, making the clamping plate 2011 in closer contact with the bed board, thereby locking the position of the clamping plate 2011 and ensuring the stability of the machine body 101 installation.

[0035] Specifically, the body 101 has a chamber 101-2, the movable column 2023 and the rotating sleeve 2022 can slide in the chamber 101-2, the inner wall of the chamber 101-2 is fixed with a rectangular block 2026, the movable column 2023 has a rectangular groove 2023-1, and the rectangular block 2026 is inserted into the rectangular groove 2023-1. Through the arrangement of the two, the movable column 2023 is restricted from rotating synchronously with the rotating sleeve 2022 when the rotating sleeve 2022 rotates, thus affecting the further clamping of the clamping plate 2011.

[0036] Specifically, the clamping assembly 200 also includes a locking member 203 located within the fixing ring 2021. The locking member 203 is configured to lock the relative position of the rotating sleeve 2022 and the fixing ring 2021 during the initial adjustment of the position of the clamping plate 2011, ensuring that the position of the rotating sleeve 2022 will not shift.

[0037] The fixed ring 2021 has a moving groove 2021-1. The locking member 203 includes a locking block 2031 that is slidably disposed in the moving groove 2021-1. A second spring 2032 is fixed on one side of the locking block 2031, and the other end of the second spring 2032 is fixed on the inner wall of the moving groove 2021-1. The second spring 2032 applies a continuous pushing force to the locking block 2031. The rotating sleeve 2022 has a locking groove 2022-1. When the locking block 2031 engages with the locking groove 2022-1, the relative position of the rotating sleeve 2022 and the fixed ring 2021 will be locked, and the rotating sleeve 2022 cannot be pushed to move.

[0038] There are multiple locking slots 2022-1, which are arranged in a ring shape. The ring arrangement prevents the locking block 2031 from getting stuck in the locking slot 2022-1 and affecting the rotation of the rotating sleeve 2022. Example

[0039] Reference Figures 1-6 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0040] Specifically, a movable ring 2033 is provided on one side of the fixed ring 2021, and a push block 2034 is fixed on the movable ring 2033. The movable ring 2033 is used to connect multiple push blocks 2034 so that the push blocks 2034 can move synchronously. A force groove 2031-1 is provided on the locking block 2031, and the push block 2034 can engage with the force groove 2031-1. The push block 2034 is used to release the engagement between the locking block 2031 and the locking groove 2022-1, so that the relative position of the rotating sleeve 2022 and the fixed ring 2021 can be readjusted, thereby pushing the clamping plate 2011 to make a wide range of adjustments and improve the installation efficiency.

[0041] When the push block 2034 moves toward the locking block 2031, the inclined surface of the push block 2034 will press against the force groove 2031-1, thereby compressing the second spring 2032. The locking block 2031 will then separate from the locking groove 2022-1, thus unlocking the position lock of the rotating sleeve 2022.

[0042] Specifically, a third spring 2035 is fixed to one side of the moving ring 2033, and the other end of the third spring 2035 is fixed to the fixed ring 2021. The third spring 2035 is used to support the moving ring 2033. In the absence of other external forces, there is a certain gap between the moving ring 2033 and the fixed ring 2021. The fixed ring 2021 has a through groove corresponding to the push block 2034. The push block 2034 can only slide along the through groove, thereby ensuring the stability of the movement of the moving ring 2033.

[0043] Specifically, there are four locked blocks 2031, and the number of push blocks 2034 corresponds to that.

[0044] Specifically, multiple friction blocks 2014 are fixed on the clamping plate 2011. The friction blocks 2014 are used to increase the friction between the clamping plate 2011 and the operating table board, thereby improving the stability of the installation.

[0045] Specifically, it also includes a flexible robotic arm 301, which consists of multiple segments connected in series. The segments are linked by flexible hinges, allowing for flexible movements such as bending and twisting. An electromagnetic locking component is installed in the channel formed between the segments to lock and unlock the angle. A drive mechanism is installed inside the body 101, which works in conjunction with the electromagnetic locking component. After adjustment, the arm position is locked. When the electromagnet is energized, it generates magnetic force to attract and rigidly fix the armature segment, ensuring that the lens does not shift during surgery and achieving a stabilization effect. When not energized, the segments return to a flexible and movable state for easy adjustment. The flexible robotic arm 301 has three sets of rope-driven robotic arms at its end. One of the robotic arms has an endoscope at its end, which is the "eye" of the surgical robot. It provides the surgeon with a real-time visual image of the surgical area through optical imaging technology, which is a prerequisite for precise operation. The other two robotic arms have snake-shaped surgical robotic arms at their ends. Their biomimetic snake-shaped structure can adapt to complex human cavities or anatomical spaces, making up for the operational limitations of traditional rigid instruments. This is existing technology, and this solution will not elaborate further. Moreover, those skilled in the art can clearly understand the working principle.

[0046] In use, place the machine body 101 close to the operating table side, then press the moving ring 2033. When the push block 2034 moves towards the locking block 2031, the inclined surface of the push block 2034 will squeeze the force groove 2031-1, thus compressing the second spring 2032. The locking block 2031 will separate from the locking groove 2022-1, thereby unlocking the position lock of the rotating sleeve 2022. At this time, pushing the rotating sleeve 2022 can drive the moving column 2023 to move synchronously. The moving column 2023 will drive the squeezing block 2025 to move. The rotating sleeve 2022 and the moving column 2023 will move synchronously. When column 2023 moves towards clamping plate 2011, pressing block 2025 moves synchronously, its inclined surface contacts the inclined surface of clamping plate 2011, and presses the inclined surface of clamping plate 2011, thereby bringing the two clamping plates 2011 closer to each other and fitting them against the operating table. Then, the moving ring 2033 is released, the third spring 2035 drives the moving ring 2033 to reset, and the push block 2034 no longer presses the locking block 2031. At this time, the second spring 2032 drives the locking block 2031 to engage with the locking groove 2022-1, thus completing the initial installation.

[0047] Rotating the rotating sleeve 2022, with the engagement of the thread, causes the moving column 2023 to move further toward the clamping plate 2011, which in turn drives the pressing block 2025 to continue moving, further pressing the inclined surface of the clamping plate 2011, making the clamping plate 2011 in closer contact with the bed board, thereby locking the position of the clamping plate 2011 and ensuring the stability of the machine body 101 installation.

[0048] When it is necessary to separate the body 101 from the operating table, press the moving ring 2033 again to release the position lock of the rotating sleeve 2022, push the rotating sleeve 2022 in the opposite direction to make the two clamps 2011 move away from each other, and then the body 101 can be separated from the operating table. Then rotate the rotating sleeve 2022 slightly in the opposite direction for easy installation and use next time.

[0049] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A surgical robot and a flexible robotic arm thereof, characterized by: The utility model relates to a kind of adjustable clamp, including, Main body assembly (100), including body (101); Clamping assembly (200) is located on the body (101), including clamping piece (201), and one side of the clamping piece (201) is provided with adjusting piece (202); The body (101) is opened and set with lifting groove (101-1), the clamping piece (201) includes clamping plate (2011) slidingly disposed in the lifting groove (101-1), the body (101) is fixed with guide column (2012), the clamping plate (2011) is opened and set with guide slot (2011-1) corresponding with the guide column (2012), one side of the clamping plate (2011) is fixed with first spring (2013), and the other end of the first spring (2013) is fixed on the inner wall of the lifting groove (101-1).

2. The surgical robot and its flexible robotic arm of claim 1, characterized in that: The adjusting piece (202) includes fixed ring (2021) fixed on the body (101), the fixed ring (2021) is inserted with rotating sleeve (2022), the rotating sleeve (2022) is screwed with moving column (2023) in, one end of the moving column (2023) is fixed with connecting plate (2024), one end of the connecting plate (2024) is fixed with extrusion block (2025).

3. The surgical robot and its flexible robotic arm of claim 2, characterized in that: One side of the extrusion block (2025) is inclined, and one end of the clamping plate (2011) is inclined.

4. The surgical robot and its flexible arm as claimed in claim 2 or 3, characterized in that: The body (101) is opened and set with chamber (101-2), and the moving column (2023) and the rotating sleeve (2022) can be slid in the chamber (101-2), the inner wall of the chamber (101-2) is fixed with rectangular block (2026), and the moving column (2023) is opened and set with rectangular slot (2023-1).

5. The surgical robot and its flexible robotic arm of claim 4, characterized in that: The clamping assembly (200) further includes locking piece (203) located in the fixed ring (2021), the fixed ring (2021) is opened and set with moving slot (2021-1), and the locking piece (203) includes locking block (2031) slidingly disposed in the moving slot (2021-1), one side of the locking block (2031) is fixed with second spring (2032), the rotating sleeve (2022) is opened and set with locking slot (2022-1), the number of the locking slot (2022-1) is multiple, and it is annular.

6. The surgical robot and its flexible robotic arm of claim 5, characterized in that: One side of the fixed ring (2021) is provided with moving ring (2033), the moving ring (2033) is fixed with push block (2034), the locking block (2031) is opened and set with stress slot (2031-1), and the push block (2034) can be engaged with the stress slot (2031-1).

7. The surgical robot and its flexible robotic arm of claim 6, characterized in that: One side of the moving ring (2033) is fixed with third spring (2035), and the other end of the third spring (2035) is fixed on the fixed ring (2021).

8. The surgical robot and its flexible arm as claimed in claim 6 or 7, characterized in that: The number of the locking block (2031) is four, and the number of the push block (2034) corresponds.

9. The surgical robot and its flexible robotic arm of claim 8, characterized in that: The clamping plate (2011) is fixed with a plurality of friction blocks (2014).

10. The surgical robot and its flexible robotic arm of claim 9, characterized in that: Further include flexible mechanical arm (301).

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