Surgical mechanical arm and electric control mechanism and control method thereof

Abstract

The invention discloses a surgical mechanical arm and an electric control mechanism and method thereof, and belongs to the field of medical instruments. The electric control mechanism comprises a driving potentiometer, a driving switch, a comparison circuit, a motor and a driven potentiometer. A potential signal of the active potentiometer reflects the position state of a control part of the surgical mechanical arm; the driven potentiometer is arranged on a rotor of the motor, and a potential signal reflects the position state of the actuating part. Two comparators in the comparison circuit compare potential signals based on the output potential of the driving potentiometer and the output potential of the driven potentiometer, and respectively output forward rotation and reverse rotation signals of the motor; the active switch limits the simultaneous presence of at most one comparator in the on state. The control mechanism is simple in structure and high in anti-interference capacity, and the cost of the surgical mechanical arm can be effectively reduced.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, specifically relating to a surgical robotic arm and its electric control mechanism and control method. Background Technology

[0002] With the development of minimally invasive surgical techniques, an increasing number of electrically powered minimally invasive surgical instruments are being used in clinical treatment to improve operational precision and reduce operational difficulty. Currently, electrically powered minimally invasive surgical robotic arms are generally controlled by digital circuits. However, the components involved in digital circuits are generally expensive, sensors are susceptible to electromagnetic interference during analog-to-digital and digital-to-analog conversions, and the control software is complex, making rapid product iteration difficult. Therefore, providing an electrically powered control mechanism for a surgical robotic arm that does not rely on digital circuitry has significant practical value. Summary of the Invention

[0003] The purpose of this invention is to provide an electric control mechanism for a surgical robotic arm, thereby improving the reliability of the electric surgical robotic arm control mechanism. This invention also provides a surgical robotic arm and a control method for the surgical robotic arm.

[0004] According to one embodiment of the present invention, an electric control mechanism for a surgical robotic arm is provided, comprising an active potentiometer, an active switch, a comparator circuit, a motor, and a slave potentiometer, wherein...

[0005] The active potentiometer includes an active part and a fixed part. The active part is connected to the control component of the surgical robotic arm, and the fixed part is fixedly installed on the handle of the surgical robotic arm.

[0006] The active switch is configured as a single-pole double-throw switch. The moving contact of the active switch is located on the active part of the active potentiometer and switches between a first stationary contact and a second stationary contact as the active part moves. When the active part moves in the positive direction of the active potentiometer, the moving contact is connected to the first stationary contact. When the active part moves in the negative direction of the active potentiometer, the moving contact is connected to the second stationary contact.

[0007] The comparison circuit includes a first comparator and a second comparator, which are respectively connected to the active potentiometer and the passive potentiometer. The active potentiometer is connected to a first input terminal, and the passive potentiometer is connected to a second input terminal. When the difference between the potential at the first input terminal and the potential at the second input terminal is positive, the comparison circuit outputs a positive signal; when the difference between the potential at the first input terminal and the potential at the second input terminal is negative, the comparison circuit outputs a negative signal.

[0008] When the moving contact of the active switch is connected to the first stationary contact, the circuit of the first comparator is turned on; when the moving contact of the active switch is connected to the second stationary contact, the circuit of the second comparator is turned on.

[0009] The motor is connected to the comparator circuit signal. When the first comparator outputs a positive signal, the motor rotates forward; when the second comparator outputs a negative signal, the motor rotates in reverse. The rotor of the motor is connected to and can drive the actuating components of the surgical robotic arm.

[0010] The driven potentiometer is mounted on the rotor of the motor. When the motor rotates forward, the potential of the driven potentiometer increases; when the motor rotates in reverse, the potential of the driven potentiometer decreases.

[0011] This control mechanism achieves effective control of the surgical robotic arm through hardware structure design, without involving complex signal conversion processes such as analog-to-digital conversion and digital-to-analog conversion. It has good stability and does not require special control software design. At the same time, it controls the operation by setting the on / off state of the comparator in the active switch comparison circuit to prevent motor vibration from affecting the operation accuracy.

[0012] Furthermore, in some embodiments, a proportional circuit is provided between the active potentiometer and the comparison circuit, the proportional circuit amplifying or reducing the output potential of the active potentiometer.

[0013] Furthermore, in some embodiments, a mechanical zeroing device is also included, which is connected to the active part of the active potentiometer and the rotor of the motor, so as to allow the mechanical zeroing device to move the active part of the active potentiometer and the rotor of the motor to a synchronized position by mechanical drive.

[0014] Furthermore, in some embodiments, a reset circuit is also included, which is disposed between the active potentiometer and the first input terminal; the reset circuit includes a reset switch, which outputs a potential received by the reset circuit when the reset switch is open; and outputs a given reset potential when the reset switch is closed, under which the motor rotor rotates to the zero position.

[0015] Furthermore, in some embodiments, the control component is a control handle or control joystick of the surgical robotic arm, and the actuating component is a joint swing mechanism of the surgical robotic arm; the control component controls the joint swing mechanism to swing.

[0016] Furthermore, in some embodiments, the control component is the blade opening / closing switch of the surgical robotic arm, and the actuating component is the blade opening / closing mechanism of the surgical robotic arm; the blade opening / closing switch controls the blade opening / closing mechanism to perform the blade opening / closing action.

[0017] Furthermore, in some embodiments, the control component is a blade rotation switch of the surgical robotic arm, and the actuating component is a blade rotation mechanism of the surgical robotic arm; the blade rotation switch controls the blade rotation mechanism to rotate around its own axis.

[0018] According to another aspect of the present invention, a surgical robotic arm is provided, the surgical robotic arm including an electric control mechanism, the control mechanism being the surgical robotic arm electric control mechanism provided in any of the foregoing embodiments.

[0019] Furthermore, in some embodiments, the surgical robotic arm also includes a blade, which is configured as an electrosurgical unit or an ultrasonic scalpel.

[0020] According to another embodiment of the present invention, a surgical robotic arm control method is provided for controlling the surgical robotic arm provided in any of the foregoing embodiments. The method includes the following steps: when the active part of the active potentiometer moves in one direction, the motor is restricted to rotating only in one direction. Attached Figure Description

[0021] Figure 1 This is a block diagram of the swing control of a surgical robotic arm in one embodiment;

[0022] Figure 2 This is a flowchart of the swing control of a surgical robotic arm in one embodiment;

[0023] Figure 3 This is a block diagram of the surgical robot's blade opening and closing control in one embodiment;

[0024] Figure 4 This is a flowchart of the surgical robot's blade opening and closing control in one embodiment;

[0025] Figure 5 This is a schematic diagram of the surgical robotic arm structure in one embodiment.

[0026] Meaning of the reference numerals in the attached figures:

[0027] 1-Active potentiometer; 2-Active switch; 21-First stationary contact; 22-Second stationary contact; 3-Comparison circuit; 31-First comparator; 32-Second comparator; 4-Motor drive; 5-Motor; 6-Slave potentiometer; 7-Proportional circuit; 8-Reset circuit; 81-Reset switch; 9-Surgical robotic arm; 91-Handle; 92-Scalpel head opening / closing switch; 93-Control joystick; 94-Reset switch; 95-Rotating pulley; 96-Chassis; 97-Linkage rod; 98-Scalpel head joint; 99-Scalpel head.

[0028] The purpose of the above figures is to provide a detailed description of the invention so that those skilled in the art can understand the technical concept of the invention, and not to limit the invention. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0030] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment herein. The phrase appearing in various places in the specification does not necessarily refer to the same embodiment, nor is it limited to mutually exclusive, independent, or alternative embodiments. Those skilled in the art will understand that the embodiments herein can be combined with other embodiments without causing structural conflicts.

[0031] In this description, unless otherwise explicitly specified and limited, the technical terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to the connection of mechanical structures, the relationship of signal connection, or the fixing and assembly of physical structures. They can be movable connections, fixed connections, or integral parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0032] In this description, terms such as "upper," "lower," "left," "right," "lateral," "longitudinal," "height," "length," and "width," which indicate orientation or positional relationships, are intended to accurately describe the embodiments and simplify the description, rather than limiting the parts or structures involved to have a specific orientation, or to be installed or operated in a specific orientation, and should not be construed as limiting the embodiments in this document.

[0033] In this description, terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating relative importance or limiting the number, specific order, or primary / secondary relationship of the described technical features. In this description, "multiple" means at least two.

[0034] Electric surgical robotic arms offer greater ease of operation, faster response times, and more user-friendly human-machine interaction, leading to their widespread application in minimally invasive surgery. Existing electric surgical robotic arms generally employ a combined hardware and software digital system, using programmable system chips (such as MCUs and FPGAs) along with various sensors and multiple ADCs / DACs to control the robotic arm's execution end. Because existing solutions involve analog-to-digital and digital-to-analog signal conversion, they are susceptible to interference from strong external electromagnetic signals during conversion. For example, the activation of the electrosurgical unit can affect the control system, necessitating isolation between the electrosurgical signal and control signals, increasing the complexity of the device. Furthermore, frequent signal conversion and processing can lead to cumulative overall errors, affecting operational stability. Moreover, digital circuit-based control mechanisms utilize a combination of software and hardware to implement control functions. However, software-related fundamental functions impact product submission and registration, affecting the speed of product iteration and optimization, and extending the product development cycle.

[0035] To address the aforementioned problems in the prior art, one embodiment of the present invention provides an electric control mechanism for a surgical robotic arm, which employs analog circuit-based hardware to achieve accurate electric control of the surgical robotic arm. This mechanism features a simple structure, high reliability, and low cost.

[0036] In one embodiment, such as Figure 1 As shown, the control mechanism for controlling the swing of the surgical robotic arm includes an active potentiometer 1, an active switch 2, a comparator circuit 3, a motor 5, and a slave potentiometer 6.

[0037] The active potentiometer 1 includes an active part and a fixed part. The fixed part is fixedly connected to the handle of the surgical robot arm, and the active part is mounted on the control component of the surgical robot arm and rotates relative to the fixed part as the control component moves. When the active part rotates, the output potential of the active potentiometer changes accordingly. Specifically, depending on the movement of the control component, the active potentiometer 1 adopts different forms. For example, it can adopt a form in which the active part rotates relative to the fixed part, or it can adopt a form in which the active part moves linearly relative to the fixed part. Specifically, the active potentiometer 1 used to control the swing of the surgical robot arm adopts a form in which the active part rotates relative to the fixed part, and its active part is set on the control handle of the surgical robot arm.

[0038] The active switch 2 is a single-pole double-throw switch. The moving contact of the active switch 2 is located on the active part of the active potentiometer 1, and switches between the first stationary contact 21 and the second stationary contact 22 as the active part rotates. When the active part moves in the positive direction of the active potentiometer 1, the moving contact is connected to the first stationary contact 21; when the active part moves in the negative direction of the active potentiometer 1, the moving contact is connected to the second stationary contact 22.

[0039] The comparator circuit 3 includes a first comparator 31 and a second comparator 32. The first input terminal of the first comparator 31 is connected to the active potentiometer 1, and the second input terminal is connected to the driven potentiometer 6. The first input terminal of the second comparator 32 is connected to the active potentiometer 1, and the second input terminal is connected to the driven potentiometer 6. The first comparator 31 and the second comparator 32 can each compare the potentials input to the first and second input terminals and output the comparison result: when the potential difference between the first and second input terminals is positive, the output result is positive; when the potential difference between the first and second input terminals is negative, the output result is also negative. Simultaneously, the on / off state of the first comparator 31 is controlled by the first stationary contact 21 of the active switch 2. When the moving contact is connected to the first stationary contact 21, the first comparator 31 is on and can output the comparison result, while the second comparator 32 is off and cannot output the comparison result. When the moving contact is connected to the second stationary contact 22, the first comparator 31 is off and cannot output the comparison result, while the second comparator 32 is on and can output the comparison result.

[0040] The output of comparator circuit 3 is connected to motor drive 4. Motor drive 4 controls the rotation of motor 5 according to the result output by comparator circuit 3: when the first comparator 31 outputs a positive signal, motor 5 rotates forward; when the second comparator 32 outputs a negative signal, motor 5 rotates in reverse. The rotor of motor 5 is mechanically connected to the actuating parts of the surgical robot arm. The rotation of the rotor of motor 5 drives the actuating parts to perform corresponding movements. Specifically, the rotor of motor 5 can drive the joint swing mechanism of the surgical robot arm, controlling the cutter head of the surgical robot arm to swing radially.

[0041] The driven potentiometer 6 is installed on the rotor of the motor 5. When the motor 5 rotates forward, the potential of the driven potentiometer 6 increases; when the motor 5 rotates in reverse, the potential of the driven potentiometer 6 decreases.

[0042] In this way, when both the active potentiometer 1 and the motor 5 of the surgical robotic arm are in their initial positions, the handle drives the active part of the active potentiometer 1 to rotate forward. The moving contact connects to the first stationary contact 21, the first comparator 31 is turned on, and the second comparator 32 is turned off. The potential at the first input terminal of the first comparator 31 increases, and the first comparator 31 outputs a positive signal. The motor 5 rotates forward, which in turn drives the potential of the driven potentiometer 6 to increase accordingly. The potentials at the first and second input terminals of the first comparator 31 are the same. When the handle starts to rotate in the reverse direction, the moving contact connects to the second stationary contact 22, the second comparator 32 is turned on and outputs a negative signal, and the motor 5 starts to rotate in reverse. If, in a non-initial state, the first comparator 31 is turned on and the potential at the first input terminal of the first comparator 31 is lower than that at the second input terminal, causing the first comparator 31 to output a negative signal, the motor 5 responds. This avoids the problem of continuous vibration of the motor 5 caused by the potentials at the first and second input terminals not being equal due to potentiometer accuracy errors or other interference factors.

[0043] In a preferred embodiment, a proportional circuit 7 is further provided between the active potentiometer 1 and the comparator circuit 3. The proportional circuit 7 can proportionally amplify or proportionally reduce the potential signal output by the active potentiometer 1. Specifically, in this embodiment, the proportional circuit 7 is configured as an amplifier circuit.

[0044] In a preferred embodiment, the electric control mechanism further includes a mechanical zero-adjustment device. The mechanical zero-adjustment device is connected to the active part of the active potentiometer 1 and the rotor of the motor 5. The mechanical zero-adjustment device can move the active part of the active potentiometer 1 and the rotor of the motor 5 to a synchronized position by mechanical drive, for example, to synchronize to the midpoint position of the active potentiometer 1 and the motor 5, so as to eliminate the error between the master and slave potentiometers.

[0045] In a preferred embodiment, the electric control mechanism further includes a reset circuit 8. The reset circuit 8 is disposed between the active potentiometer and the first input terminals of the first comparator 31 and the second comparator 32. The reset circuit 8 includes a reset switch 81. When the reset switch 81 is open, the reset circuit 8 is regarded as a wire, and there is no potential difference between the two ends of the reset circuit 8. When the reset switch 81 is closed, the reset circuit will output a given reset potential, which will drive the rotor of the motor 5 back to the initial position, usually the midpoint position.

[0046] The process of controlling the swing of the surgical robotic arm using the electric control mechanism provided in the above embodiments is as follows: Figure 2 As shown. After the switch is turned on, the handle drives the active part of the active potentiometer 1 to rotate, outputting a main voltage signal. The signal is amplified by the proportional circuit 7 and output to the reset circuit 8. When the reset switch 81 is open, the main voltage signal is output to the comparator circuit 3. The comparator circuit 3 compares the main voltage signal with the slave voltage signal from the slave potentiometer 6 and outputs a pulse signal to the motor drive 4. The motor 5 rotates, changing the potential of the slave potentiometer 6. When the main voltage signal matches the slave voltage signal, the motor 5 stops rotating.

[0047] In another embodiment, the control mechanism for controlling the opening and closing of the surgical robot's blade is as follows: Figure 3As shown. The active part of the active potentiometer 1 is located on the blade opening / closing switch. Depending on the design of the blade opening / closing switch, the active potentiometer 1 can adopt different structures. For example, when the blade opening / closing switch adopts a trigger-type structure, the active potentiometer 1 can adopt a linear motion form where the active part moves relative to the fixed part. In this embodiment, the actuating component of the surgical robotic arm is the blade opening / closing mechanism. The motor 5 drives the movement of the opening / closing mechanism by controlling its forward or reverse rotation, thereby controlling the opening and closing of the blade. When the blade opening / closing switch is activated, the active part of the active potentiometer 1 is driven to move relative to the fixed part, increasing the output potential of the active potentiometer 1. Simultaneously, the moving contact of the active switch connects to the first stationary contact 21, activating the first comparator 31. The first comparator 31 compares the potential signals of the first input terminal and the second input terminal. Since the output potential of the active potentiometer 1 increases, the first comparator 31 outputs a positive signal, and the motor drive 4 instructs the motor 5 to rotate forward, driving the blade to perform a closing motion. When the cutter head opening / closing switch is released, it resets under the action of the spring, the output potential of the active potentiometer 1 decreases, and the moving contact connects to the second stationary contact 22. The second comparator 32 is turned on, compares the potential signals of the first input terminal and the second input terminal, and outputs a negative signal. The motor drive 4 instructs the motor 5 to reverse, driving the cutter head to open. In this embodiment, since the opening angle of the cutter head is directly limited by the physical structure (i.e., the cutter head is fully closed), the reset circuit is omitted.

[0048] The process of controlling the opening and closing of the surgical robot's blade head using the electric control mechanism provided in the above embodiments is as follows: Figure 4 As shown. After the switch is turned on, the blade opening and closing switch drives the active part of the active potentiometer 1 to rotate, outputting a main voltage signal. The signal is amplified by the proportional circuit 7 and output to the comparator circuit 3. The comparator circuit 3 compares the main voltage signal with the slave voltage signal from the slave potentiometer 6 and outputs a pulse signal to the motor drive 4. The motor 5 rotates, causing the potential of the slave potentiometer 6 to change. When the main voltage signal and the slave voltage signal are consistent, the motor 5 stops rotating.

[0049] In other embodiments, the electric control device for the surgical robotic arm provided by the present invention can also be used to control the rotation of the surgical robotic arm's blade. By setting the active part of the active potentiometer 1 on the blade rotation knob, and driving the blade to rotate around its own axis by the motor 5, the rotation of the surgical robotic arm's blade can be controlled by analog circuitry.

[0050] Another embodiment of the present invention provides a surgical robotic arm that employs the surgical robotic arm electric control mechanism provided in any of the foregoing embodiments. In different embodiments, a single function or multiple functions of the surgical robotic arm can be controlled by the surgical robotic arm electric control mechanism provided in the foregoing embodiments. For example, only the joint swing of the surgical robotic arm can be controlled by the electric control mechanism, or the control mechanisms for the joint swing, blade opening and closing, and blade rotation functions of the surgical robotic arm can all be controlled by the electric control mechanism.

[0051] In a preferred embodiment, such as Figure 5 As shown, the surgical robotic arm 9 includes a handle 91, a housing 96, a connecting rod 97, and a blade 99. The handle 91 integrates the control mechanisms for all functions of the surgical robotic arm 9. The housing 96 houses the main control circuitry and motors. The connecting rod 97 transmits power to the blade 99, and the blade 99 is connected to the connecting rod 97 via a blade joint 98. Specifically, the handle 91 is equipped with a trigger-type blade opening / closing switch 92, which controls the opening and closing of the blade 99 by pulling the switch. The handle 91 also includes a control rocker arm 93 and a rotating pulley 95, used to control the swinging of the blade joint 98 and the rotation of the blade 99 around its axis, respectively. All these functions are achieved through the surgical robotic arm control mechanism provided in this embodiment. A reset switch 94 on the handle controls the reset circuit, thereby resetting the control mechanism.

[0052] Because the electric control mechanism of this surgical robotic arm does not require multiple analog-to-digital and digital-to-analog signal conversions and has good anti-interference capabilities, it is particularly suitable for surgical robotic arms equipped with various electric surgical tools (such as electrosurgical knives and ultrasonic scalpels).

[0053] This surgical robotic arm employs an active control method, utilizing the signal difference between an active potentiometer and a driven potentiometer to control the motor's movement. Simultaneously, by incorporating an active switch, when the active potentiometer moves in one direction, the comparator circuit controlling the reverse movement is disconnected, restricting the motor to unidirectional rotation only. This effectively avoids the motor jitter problem caused by potential signal errors in analog circuit control, significantly improving the stability of the surgical robotic arm while simplifying the control structure. Since this control mechanism is entirely hardware-based, no corresponding software adaptation is required during development and iteration, effectively reducing development costs and improving efficiency.

[0054] The purpose of the above embodiments is to provide a further detailed description of the present invention in conjunction with the accompanying drawings, so that those skilled in the art can understand the technical concept of the present invention. Within the scope of the present invention, optimization or equivalent substitution of the technical features involved, as well as combination of implementation methods in different embodiments without causing structural and principle conflicts, all fall within the protection scope of the present invention.

Claims

1. An electric control mechanism for a surgical robotic arm, characterized in that, It includes an active potentiometer, an active switch, a comparator circuit, a motor, and a slave potentiometer, among which, The active potentiometer includes an active part and a fixed part. The active part is connected to the control component of the surgical robotic arm, and the fixed part is fixedly installed on the handle of the surgical robotic arm. The active switch is configured as a single-pole double-throw switch. The moving contact of the active switch is located on the active part of the active potentiometer and switches between a first stationary contact and a second stationary contact as the active part moves. When the active part moves in the positive direction of the active potentiometer, the moving contact is connected to the first stationary contact. When the active part moves in the negative direction of the active potentiometer, the moving contact is connected to the second stationary contact. The comparison circuit includes a first comparator and a second comparator, which are respectively connected to the active potentiometer and the passive potentiometer. The active potentiometer is connected to a first input terminal, and the passive potentiometer is connected to a second input terminal. When the difference between the potential at the first input terminal and the potential at the second input terminal is positive, the comparison circuit outputs a positive signal; when the difference between the potential at the first input terminal and the potential at the second input terminal is negative, the comparison circuit outputs a negative signal. When the moving contact of the active switch is connected to the first stationary contact, the circuit of the first comparator is turned on; when the moving contact of the active switch is connected to the second stationary contact, the circuit of the second comparator is turned on. The motor is connected to the comparator circuit signal. When the first comparator outputs a positive signal, the motor rotates forward; when the second comparator outputs a negative signal, the motor rotates in reverse. The rotor of the motor is connected to and can drive the actuating components of the surgical robotic arm. The driven potentiometer is mounted on the rotor of the motor. When the motor rotates forward, the potential of the driven potentiometer increases; when the motor rotates in reverse, the potential of the driven potentiometer decreases.

2. The surgical robotic arm electric control mechanism according to claim 1, characterized in that, A proportional circuit is also provided between the active potentiometer and the comparison circuit, which amplifies or reduces the output potential of the active potentiometer.

3. The surgical robotic arm electric control mechanism according to claim 1, characterized in that, It also includes a mechanical zeroing device, which connects the active part of the active potentiometer and the rotor of the motor to allow the mechanical zeroing device to move the active part of the active potentiometer and the rotor of the motor to a synchronized position by mechanical drive.

4. The surgical robotic arm electric control mechanism according to claim 1, characterized in that, It also includes a reset circuit, which is disposed between the active potentiometer and the first input terminal; the reset circuit includes a reset switch, and when the reset switch is open, the reset circuit outputs the potential received by the reset circuit; When the reset switch is closed, the reset circuit outputs a given reset potential, and under the reset potential, the motor rotor rotates to the zero position.

5. The surgical robotic arm electric control mechanism according to any one of claims 1 to 4, characterized in that, The control component is the control handle or control joystick of the surgical robotic arm, and the actuating component is the joint swing mechanism of the surgical robotic arm; the control component controls the joint swing mechanism to swing.

6. The surgical robotic arm electric control mechanism according to any one of claims 1 to 4, characterized in that, The control component is the blade opening and closing switch of the surgical robot arm, and the actuating component is the blade opening and closing mechanism of the surgical robot arm; the blade opening and closing switch controls the blade opening and closing mechanism to perform the blade opening and closing action.

7. The surgical robotic arm electric control mechanism according to any one of claims 1 to 4, characterized in that, The control component is the blade rotation switch of the surgical robotic arm, and the actuation component is the blade rotation mechanism of the surgical robotic arm; the blade rotation switch controls the blade rotation mechanism to rotate around its own axis.

8. A surgical robotic arm, characterized in that, The surgical robotic arm includes an electric control mechanism, which is the same as the surgical robotic arm electric control mechanism described in any one of claims 1 to 7.

9. The surgical robotic arm according to claim 8, characterized in that, The surgical robotic arm also includes a blade, which is configured as an electrosurgical unit or an ultrasonic scalpel.

10. A control method for a surgical robotic arm, characterized in that, For controlling the surgical robotic arm as described in claim 8 or 9, the method includes the following step: when the active part of the active potentiometer moves in one direction, the motor is restricted to rotating in only one direction.

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