Continuous robotic arms and variable curvature surgical robots

Abstract

This invention provides a continuous robotic arm and a variable curvature surgical robot, relating to the field of robotics technology. A driving actuator performs linear motion, which is transmitted step-by-step to various joints via multiple links, ultimately reaching the grinding head at the end of the robotic arm. This causes the entire continuous robotic arm to bend, changing the position of the grinding head on the plane. The base joint is connected to the overall driving assembly, enabling the continuous robotic arm to rotate as a whole, thereby adjusting the overall posture and working angle of the arm. The driving actuator is connected to the bending driving assembly, used to drive the continuous robotic arm to bend, achieving fine-tuned local adjustments. The flexible shaft is connected to the grinding head driving assembly, ensuring efficient operation of the grinding head. Through the synergistic effect of these components, the continuous robotic arm can operate with extremely high flexibility and precision in complex anatomical structures, effectively solving the problems of limited operation, difficulty in achieving vertical access, and excessive bone resection associated with traditional instruments.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a continuum robotic arm and a variable curvature surgical robot. Background Technology

[0002] Posterior thoracic decompression is an effective treatment for thoracic spinal cord lesions. Surgeons typically use burrs, wire saws, and bone forceps to move the lesion anteriorly, achieving spinal cord decompression without directly removing ossifying ligaments. However, the complex anatomy of the thoracic spine limits the operational flexibility of conventional burrs. Posterior surgery often requires laminectomy or partial removal of bony structures, which can affect spinal stability. The use of burrs aims to improve instrument flexibility and reduce vertebral resection, but even so, existing burrs still struggle to achieve a vertical approach to minimize the removal of the laminectomy and facet joints.

[0003] The limitations of instrument flexibility are also prominent in other spinal surgeries, such as metastatic tumor resection and spinal internal fixation. Summary of the Invention

[0004] The problem that this invention aims to solve is that existing instruments have limited flexibility and are difficult to meet the requirements of surgeries such as spinal surgery.

[0005] To address the above problems, in a first aspect, the present invention provides a continuous robotic arm, comprising:

[0006] Multiple intermediate joints are stacked and rotated in sequence to form an intermediate joint chain;

[0007] The base joint is rotatably connected to the intermediate joint at one end of the intermediate joint chain;

[0008] The distal joint is rotatably connected to the intermediate joint at the other end of the intermediate joint chain;

[0009] The grinding head is rotatably connected to the end joint; and

[0010] The link starts from the base joint, passes through the intermediate joint, and has its two ends rotatably connected to the two joints adjacent to the intermediate joint.

[0011] The pusher is rotatably connected to one end of another connecting rod, and the other end of the other connecting rod passes through the base joint and is rotatably connected to the intermediate joint at one end of the intermediate joint chain.

[0012] The flexible shaft is connected to the grinding head at one end and passes through the end joint, intermediate joint chain and base joint in sequence at the other end, and is used to connect to the grinding head drive assembly.

[0013] The pusher is used to connect to the bending drive assembly; the base joint is used to connect to the overall drive assembly.

[0014] Optionally, the end joint includes an end base, an end through hole, a mounting hole, a first end connection portion, and a second end connection portion;

[0015] The end through hole is located at the center of the end base and penetrates the end base; one end of the end base is provided with a mounting hole for rotating and mounting the grinding head; the other end of the end base is respectively provided with a first end connecting part and a second end connecting part, and the line connecting the mounting position of the first end connecting part and the center of the end face of the other end of the end base is perpendicular to the line connecting the mounting position of the second end connecting part and the center of the end face of the other end of the end base.

[0016] The first end connection is rotatably connected to the intermediate joint at the other end of the intermediate joint chain; the second end connection is rotatably connected to the corresponding connecting rod.

[0017] Optionally, the base joint includes a base body, a first base connecting part, a second base connecting part, a base receiving groove, a third base connecting part, and a base through hole;

[0018] The base through hole is located at the center of the base body and penetrates the base body; a first base connecting part and a second base connecting part are installed at one end of the base body, and the line connecting the installation position of the first base connecting part and the center of the end face of one end of the base body is perpendicular to the line connecting the installation position of the second base connecting part and the center of the end face of one end of the base body; a third base connecting part is installed at the other end of the base body, and the installation position of the third base connecting part is centrally symmetrical with respect to the installation position of the first base connecting part, with the center of the base body as the reference.

[0019] The base receiving groove penetrates the base body and extends to the third base connection part, for accommodating another connecting rod;

[0020] The first base connecting part is rotatably connected to the corresponding connecting rod; the second base connecting part is rotatably connected to the intermediate joint at one end of the intermediate joint chain.

[0021] Optionally, the intermediate joint includes an intermediate base, a first intermediate connecting part, an intermediate receiving groove, a second intermediate connecting part, a third intermediate connecting part, a fourth intermediate connecting part, and an intermediate through hole;

[0022] The intermediate through hole is located at the center of the intermediate substrate and penetrates the intermediate substrate; a first intermediate connecting part and a third intermediate connecting part are installed at one end of the intermediate substrate, and the line connecting the installation position of the first intermediate connecting part and the center of the end face of one end of the intermediate substrate is perpendicular to the line connecting the installation position of the third intermediate connecting part and the center of the end face of one end of the intermediate substrate.

[0023] The other end of the intermediate base is equipped with a second intermediate connecting part and a fourth intermediate connecting part. The line connecting the installation position of the second intermediate connecting part and the center of the end face of the other end of the intermediate base is perpendicular to the line connecting the installation position of the fourth intermediate connecting part and the center of the end face of the other end of the intermediate base. The installation positions of the first intermediate connecting part and the fourth intermediate connecting part are centrally symmetrical about the center of the intermediate base, and the installation positions of the second intermediate connecting part and the third intermediate connecting part are on the same horizontal plane. The first intermediate connecting part and the fourth intermediate connecting part are rotatably connected to two corresponding connecting rods.

[0024] The intermediate receiving groove penetrates the intermediate base and is used to accommodate the corresponding connecting rod;

[0025] The second intermediate connecting part is rotatably connected to the third intermediate connecting part of the adjacent intermediate joint or the second base connecting part of the base joint, and the third intermediate connecting part is rotatably connected to the second intermediate connecting part of the adjacent intermediate joint or the first end connecting part of the end joint.

[0026] In a second aspect, the present invention provides a variable curvature surgical robot, comprising:

[0027] The continuous robotic arm is the continuous robotic arm described above;

[0028] The drive assembly includes a support assembly, a grinding head drive assembly, an overall drive assembly, and a bending drive assembly, wherein the grinding head drive assembly, the overall drive assembly, and the bending drive assembly are all mounted on the support assembly;

[0029] The grinding head drive assembly is connected to the flexible shaft in the continuous robotic arm and is used to drive the flexible shaft to rotate; the overall drive assembly is connected to the base joint in the continuous robotic arm and is used to drive the continuous robotic arm to rotate as a whole; the bending drive assembly is connected to the pusher in the continuous robotic arm and is used to drive the continuous robotic arm to bend.

[0030] Optionally, the bracket assembly includes a first bracket, and the overall drive assembly includes a rotating cylinder, a first gear, and a second gear; the first gear and the second gear mesh and are rotatably mounted on the first bracket, the rotating cylinder passes through the first bracket and is rotatably mounted on the first bracket, the first gear is connected to one end of the rotating cylinder for driving the rotating cylinder to rotate; the other end of the rotating cylinder is connected to a base joint, and the second gear is used to connect to the output shaft of the first drive source.

[0031] Optionally, the support assembly includes a second support and a mounting base, the first support is connected to the second support, the mounting base is mounted on the second support, the grinding head drive assembly includes a third gear and a fourth gear, the third gear and the fourth gear mesh, the third gear is rotatably mounted on the mounting base, the fourth gear is rotatably mounted on the second support, the third gear is connected to a flexible shaft for driving the flexible shaft to rotate; the fourth gear is used to connect to the output shaft of the second drive source.

[0032] Optionally, the bracket assembly further includes a third bracket connected to the second bracket. The bending drive assembly includes a push rod, a transmission rod, a transmission frame, a ferrule, a rack, and a fifth gear. The fifth gear is rotatably mounted on the third bracket, and the rack is slidably mounted on the third bracket. The fifth gear meshes with the rack. One end of the rack is connected to the transmission frame via the ferrule. The transmission frame passes over the third gear and is connected to the transmission rod. The transmission rod is installed in the clearance groove of the mounting base. One end of the push rod is slidably connected to the transmission rod. The other end of the push rod passes sequentially through the clearance hole on the mounting base, the second bracket, and the overall drive assembly, and is connected to the pusher. The fifth gear is connected to the drive unit.

[0033] Optionally, the transmission rod includes a support portion and an annular portion. The two ends of the annular portion are respectively connected to the transmission frame through the support portion. The annular portion is coaxial with the rotating drum. A sliding groove is provided on the annular portion. One end of the push rod is provided with a protrusion, which is slidably mounted on the sliding groove.

[0034] Optionally, the drive unit includes a drive shaft, a first bevel gear, and a second bevel gear; the drive shaft is rotatably mounted on a third bracket; one end of the drive shaft is connected to the first bevel gear, and the other end is connected to a fifth gear; the second bevel gear meshes with the first bevel gear and is rotatably mounted on the third bracket, and the second bevel gear is used to connect to the output shaft of the third drive source.

[0035] This invention provides a continuous robotic arm and a variable curvature surgical robot. Compared with the prior art, it has the following advantages:

[0036] The drive component moves linearly, and this linear motion is transmitted step-by-step to each joint via multiple linkages, ultimately reaching the grinding head at the end of the robotic arm. This causes the entire continuous robotic arm to bend, changing the grinding head's position on the plane. When the overall drive assembly rotates the entire robotic arm via the base joint, it changes the spatial position of the grinding head, allowing it to change position in three-dimensional space. When the grinding head drive assembly rotates the grinding head via the flexible shaft, the grinding head can perform grinding and cutting operations on the contact areas. During this process, the base joint is connected to the overall drive assembly, driving the continuous robotic arm to rotate as a whole, thereby adjusting the overall posture and working angle of the robotic arm. The drive component is connected to the bending drive assembly to drive the continuous robotic arm to bend, achieving fine local adjustments. The flexible shaft is connected to the grinding head drive assembly to ensure efficient operation of the grinding head. Through the synergistic effect of these components, the continuous robotic arm can operate with extremely high flexibility and precision in complex anatomical structures, effectively solving the problems of limited operation, difficulty in achieving vertical access, and excessive bone resection associated with traditional instruments. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0038] Figure 1 This is a schematic diagram of the structure of a variable curvature surgical robot provided in an embodiment of the present invention;

[0039] Figure 2 An enlarged schematic diagram of a continuum robotic arm provided in an embodiment of the present invention;

[0040] Figure 3 This is another enlarged schematic diagram of a continuous robotic arm provided in an embodiment of the present invention;

[0041] Figure 4 A cross-sectional schematic diagram of a variable curvature surgical robot provided in an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the end joint structure provided in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the end joint from another perspective provided in an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the base joint provided in an embodiment of the present invention;

[0045] Figure 8 This is a schematic diagram of the base joint provided in an embodiment of the present invention from another perspective;

[0046] Figure 9 This is a schematic diagram of the structure of the intermediate joint provided in an embodiment of the present invention;

[0047] Figure 10 Another perspective schematic diagram of the intermediate joint provided in an embodiment of the present invention;

[0048] Figure 11 This is a schematic diagram of the bending of a continuous robotic arm provided in an embodiment of the present invention;

[0049] Figure 12 A schematic diagram illustrating the bending angle evolution of a continuum robotic arm provided in an embodiment of the present invention;

[0050] Figure 13 for Figure 4 Enlarged view of point A in the middle;

[0051] Figure 14 This is a schematic diagram of the structure of the mounting base provided in an embodiment of the present invention;

[0052] Figure 15 A schematic diagram of the assembly structure of the transmission rod and transmission frame provided in an embodiment of the present invention;

[0053] Figure 16 This is a schematic diagram of the push rod provided in an embodiment of the present invention.

[0054] Explanation of reference numerals in the attached figures:

[0055] 11. Grinding head; 12. End joint; 121. End base; 122. End through hole; 123. Mounting hole; 124. First end connection; 125. Second end connection; 13. Intermediate joint; 131. Intermediate base; 132. First intermediate connection; 133. Intermediate receiving groove; 134. Second intermediate connection; 135. Third intermediate connection; 136. Fourth intermediate connection; 137. Intermediate through hole; 14. Base joint; 141. Base base; 142. First base connection; 143. Second base connection; 144. Base receiving groove; 145. Third base connection; 146. Base through hole; 15. 16. Connecting rod; 17. Pushing element; 28. Flexible shaft; 29. ​​First bracket; 20. Rotary drum; 21. Push rod; 22. Snap-fit ​​part; 23. Protrusion; 24. First gear; 25. Second gear; 26. Second bracket; 27. Third bracket; 28. Mounting seat; 29. ​​Clearance hole; 20. Clearance groove; 21. Transmission rod; 22. Support part; 23. Annular part; 24. Slide groove; 35. Third gear; 36. Transmission frame; 37. Extension rod; 38. Locking block; 39. Sleeve; 30. Rack; 31. Transmission shaft; 32. First bevel gear; 33. Second bevel gear; 34. Fourth gear; 35. Fifth gear. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application are described clearly and completely. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] The flexibility and reach of continuum robotic arms in posterior longitudinal ligament ossification surgery are limited by their constant curvature assumption. Some studies assume that the curvature of short segments of the continuum robotic arm is constant, while the curvature of the entire arm is variable. Although this assumption shows great potential as a modeling method for variable curvature structures, continuum robotic arms still cannot achieve effective contact with the environment. Furthermore, due to the inherent compliance of existing robotic arms, it is impossible to achieve "geometrically precise" variable curvature.

[0058] To overcome the dexterity limitations of traditional rigid surgical instruments and flexible continuum robotic arms, this application designs a continuum robotic arm and a variable curvature surgical robot applicable to posterior longitudinal ligament ossification surgery via posterior approach. This continuum robotic arm achieves variable curvature (overcoming the constant curvature limitation of flexible continuum instruments) while satisfying bending capability (overcoming the flexibility limitations of flexible continuum instruments), and also possesses the geometric precision required for surgery (overcoming the flexibility limitations of flexible continuum instruments).

[0059] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0060] like Figures 1-4 As shown in the figure, an embodiment of this application provides a continuous robotic arm, comprising:

[0061] Multiple intermediate joints 13 are stacked and rotated in sequence to form an intermediate joint chain;

[0062] The base joint 14 is rotatably connected to the intermediate joint 13 at one end of the intermediate joint chain.

[0063] The distal joint 12 is rotatably connected to the intermediate joint 13 at the other end of the intermediate joint chain;

[0064] The grinding head 11 is rotatably connected to the end joint 12; and

[0065] Link 15 starts from base joint 14, and passes through intermediate joint 13 with an interval of one intermediate joint 13. Both ends of link 15 are rotatably connected to two joints adjacent to the intermediate joint 13.

[0066] The pusher 16 is rotatably connected to one end of another connecting rod 15, and the other end of the other connecting rod 15 passes through the base joint 14 and is rotatably connected to the intermediate joint 13 at one end of the intermediate joint chain.

[0067] The flexible shaft 17 is connected to the grinding head 11 at one end and passes through the end joint 12, the intermediate joint chain and the base joint 14 in sequence at the other end, and is used to connect to the grinding head drive assembly.

[0068] The pusher 16 is used to connect to the bending drive assembly; the base joint 14 is used to connect to the overall drive assembly.

[0069] Specifically, such as Figure 2 and Figure 3 As shown, five intermediate joints 13 are provided, which are hinged sequentially to form an intermediate joint chain. The two ends of the intermediate joint chain are hinged to the base joint 14 and the end joint 12, respectively. Counting from the base joint 14, the other end of the link 15 hinged to the base joint 14 is hinged to the second intermediate joint 13, the other end of the link 15 hinged to the first intermediate joint 13 is hinged to the third intermediate joint 13, and so on, until the other end of the link 15 hinged to the fourth intermediate joint 13 is hinged to the end joint 12. The other end of the link 15 hinged to the pusher 16 is hinged to the first intermediate joint 13. Figure 3 and Figure 4As shown, a flexible shaft 17 passes through the base joint 14, five intermediate joints 13, and the end joint 12, and connects to a grinding head 11 mounted on the end joint 12. The grinding head 11's main function is to perform grinding, cutting, or removal operations, and it typically requires high-speed rotation to achieve this function. One end of the flexible shaft 17 is fixedly connected to the grinding head 11 via a key connection, threaded connection, or welding. The other end of the flexible shaft 17 extends out of the base joint 14 and connects to an external grinding head drive assembly (e.g., a motor) to transmit rotational power. Because the continuous robotic arm bends, the flexible shaft 17 passing through it has a certain bending capacity and elastic recovery capability. When the continuous robotic arm returns to its initial unbent state, the flexible shaft 17 can return to a straight line. The flexible shaft 17 can be a steel wire flexible shaft, a nylon elastic rod, or a torque coil, etc. An integrated drive assembly drives the entire robotic arm to rotate. This integrated drive assembly can be a rotary motor or a rotary platform, and its output shaft is connected to the bottom or side of the base joint 14. The bending drive assembly drives the pusher 16 to perform linear motion. The bending drive assembly can be a linear actuator, a lead screw mechanism driven by a stepper motor, or a hydraulic / pneumatic cylinder, and its output end is connected to the free end of the pusher 16.

[0070] In this optional embodiment, during actual operation, the base joint 14 of the continuous robotic arm is fixed to the operating table or an external support structure and connected to the overall drive assembly, enabling the entire robotic arm to be rotated and positioned as a whole. The drive pusher 16 moves linearly and transmits the linear motion to each joint through multiple links 15. Since the pusher 16 is restricted to linear motion and cannot move in other directions, the other end of the first link 15, which changes its tilt angle, presses against the first intermediate joint 13 connected to it, causing the first intermediate joint 13 to rotate around the hinge with the base joint 14. As the first intermediate joint 13 rotates, it causes the third link 15 connected to it to shift, and also causes the second intermediate joint 13 to rotate. The rotation of the second intermediate joint 13, in turn, causes the second link 15 to rotate, further causing the second intermediate joint 13 to rotate. The rotating third link 15 and the second intermediate joint 13 continue to transmit the motion downwards in a similar manner until it reaches the grinding head 11 at the end of the robotic arm. The entire continuous robotic arm bends, changing the position of the grinding head 11 on the plane. When the overall drive assembly rotates the entire robotic arm via the base joint 14, it changes the spatial position of the grinding head 11, allowing the grinding head 11 to change position in three-dimensional space. When the grinding head drive assembly rotates the grinding head 11 via the flexible shaft 17, the grinding head 11 can perform grinding and cutting operations on the contact areas. During this process, the base joint 14 is connected to the overall drive assembly, which can drive the continuous robotic arm to rotate as a whole, thereby adjusting the overall posture and working angle of the robotic arm. The pusher 16 is connected to the bending drive assembly and is used to drive the continuous robotic arm to bend, achieving local fine adjustments. The flexible shaft 17 is connected to the grinding head drive assembly, ensuring that the grinding head 11 can work efficiently. Through the synergistic effect of these components, the continuous robotic arm can operate in complex anatomical structures with extremely high flexibility and precision, effectively solving the problems of limited operation, difficulty in achieving vertical access, and excessive bone resection associated with traditional instruments.

[0071] In one alternative embodiment of this application, such as Figure 3 , Figure 5 and Figure 6 As shown, the end joint 12 includes an end base 121, an end through hole 122, a mounting hole 123, a first end connecting part 124, and a second end connecting part 125;

[0072] The end through hole 122 is located at the center of the end base 121 and penetrates the end base 121; one end of the end base 121 is provided with a mounting hole 123 for rotating and mounting the grinding head 11; the other end of the end base 121 is respectively equipped with a first end connecting part 124 and a second end connecting part 125, and the line connecting the mounting position of the first end connecting part 124 and the center of the other end face of the end base 121 is perpendicular to the line connecting the mounting position of the second end connecting part 125 and the center of the other end face of the end base 121.

[0073] The first end connection 124 is rotatably connected to the intermediate joint 13 at the other end of the intermediate joint chain; the second end connection 125 is rotatably connected to the corresponding connecting rod 15.

[0074] Specifically, the end-effector 121 is the main structure of the end-effector 12, supporting other components and providing a connection interface. It can be cylindrical, square, or other shapes suitable for the robotic arm structure. An end-effector through-hole 122 is located at the center of the end-effector 121 and extends through it, accommodating internal transmission components such as the flexible shaft 17. A mounting hole 123 is located at one end of the end-effector 121 for rotatably mounting the grinding head 11. It can be a threaded hole, with the grinding head 11 connected by a thread; it can also be a hole with a bearing seat, with the grinding head 11 rotatably connected via a bearing; or it can have a structure with a snap-fit ​​or pin for quick installation and disassembly. A first end-effector connection 124 is located at the other end of the end-effector 121 for rotatably connecting to the intermediate joint 13 at the other end of the intermediate joint chain. It can be a protruding pin that engages with a hole on the intermediate joint 13; or it can be a groove that engages with a protrusion on the intermediate joint 13. The second end connecting part 125 is provided at the other end of the end base 121 for rotatable connection with the corresponding connecting rod 15. Similar to the first end connecting part 124, it can be in the form of a pin, groove, etc. Figure 5 As shown, the first end connection 124 and the second end connection 125 are positioned at a 90-degree angle, which enables the end joint 12 to be precisely rotated and connected to the intermediate joint chain and the connecting rod 15, thereby improving the installation stability and reliability of the end effector and enhancing the bending freedom and attitude adjustment capability of the continuous robotic arm at the end.

[0075] In one alternative embodiment of this application, such as Figure 3 , Figure 7 and Figure 8 As shown, the base joint 14 includes a base body 141, a first base connecting part 142, a second base connecting part 143, a base receiving groove 144, a third base connecting part 145, and a base through hole 146.

[0076] The base through hole 146 is located at the center of the base body 141 and penetrates the base body 141; a first base connecting part 142 and a second base connecting part 143 are installed at one end of the base body 141, and the line connecting the installation position of the first base connecting part 142 and the center of the end face of one end of the base body 141 is perpendicular to the line connecting the installation position of the second base connecting part 143 and the center of the end face of one end of the base body 141; a third base connecting part 145 is installed at the other end of the base body 141, and the installation position of the third base connecting part 145 is centrally symmetrical with respect to the installation position of the first base connecting part 142, with the center of the base body 141 as the reference.

[0077] The base receiving groove 144 penetrates the base body 141 and extends to the third base connecting part 145, for accommodating another connecting rod 15;

[0078] The first base connecting part 142 is rotatably connected to the corresponding connecting rod 15; the second base connecting part 143 is rotatably connected to the intermediate joint 13 at one end of the intermediate joint chain.

[0079] Specifically, the base body 141 is the main structure of the base joint 14, providing installation and support for other components. The first base connecting part 142 can be designed as a lug, pin hole, or bearing seat to achieve a rotatable connection with the connecting rod 15. For example, a pin connection can be used, where the pin passes through a hole on the first base connecting part 142 and engages with a corresponding hole on the connecting rod 15, thereby allowing the connecting rod 15 to rotate around the pin. The second base connecting part 143 can be designed as a lug, pin hole, bearing seat, or ball joint similar to the first base connecting part 142, but its installation position is perpendicular to the first base connecting part 142 to provide connection points in different directions. The base receiving groove 144 can be designed as a straight groove, arc groove, or irregular groove penetrating the base body 141 to accommodate the movement trajectory and space requirements of the connecting rod 15, ensuring that the connecting rod 15 can slide or rotate smoothly within it, while providing necessary support and guidance. This internal receiving design avoids the connecting rod 15 being exposed externally, reduces the external dimensions of the robotic arm, and protects the connecting rod 15 from external environmental influences. The third base connecting part 145 can be designed with a similar connection form to the first base connecting part 142 and the second base connecting part 143, but its installation position is centrally symmetrical with respect to the first base connecting part 142 with the center of the base body 141 as a reference. The base through hole 146 is used to accommodate the passage of the flexible shaft 17. The third base connecting part 145 is centrally symmetrical with the first base connecting part 142. This symmetrical design not only ensures structural balance but also provides a stable support point for the connection of another connecting rod 15. Through these intricate structural layouts, the overall stability of the robotic arm is ensured while enabling flexible bending and rotation functions, effectively overcoming the shortcomings of traditional designs in terms of integration and freedom of movement.

[0080] In one alternative embodiment of this application, such as Figure 3 , Figure 9 and Figure 10 As shown, the intermediate joint 13 includes an intermediate base 131, a first intermediate connecting part 132, an intermediate receiving groove 133, a second intermediate connecting part 134, a third intermediate connecting part 135, a fourth intermediate connecting part 136, and an intermediate through hole 137.

[0081] The intermediate through hole 137 is located at the center of the intermediate base 131 and penetrates through the intermediate base 131; a first intermediate connecting part 132 and a third intermediate connecting part 135 are installed at one end of the intermediate base 131, and the line connecting the installation position of the first intermediate connecting part 132 and the center of the end face of one end of the intermediate base 131 is perpendicular to the line connecting the installation position of the third intermediate connecting part 135 and the center of the end face of one end of the intermediate base 131.

[0082] The other end of the intermediate base 131 is equipped with a second intermediate connecting part 134 and a fourth intermediate connecting part 136. The line connecting the installation position of the second intermediate connecting part 134 and the center of the end face of the other end of the intermediate base 131 is perpendicular to the line connecting the installation position of the fourth intermediate connecting part 136 and the center of the end face of the other end of the intermediate base 131. The installation positions of the first intermediate connecting part 132 and the fourth intermediate connecting part 136 are centrally symmetrical about the center of the intermediate base 131. The installation positions of the second intermediate connecting part 134 and the third intermediate connecting part 135 are on the same horizontal plane. The first intermediate connecting part 132 and the fourth intermediate connecting part 136 are rotatably connected to the corresponding two connecting rods 15.

[0083] The intermediate receiving groove 133 penetrates the intermediate base 131 and is used to accommodate the corresponding connecting rod 15;

[0084] The second intermediate connecting portion 134 is rotatably connected to the third intermediate connecting portion 135 of the adjacent intermediate joint 13 or the second base connecting portion 143 of the base joint 14, and the third intermediate connecting portion 135 is rotatably connected to the second intermediate connecting portion 134 of the adjacent intermediate joint 13 or the first end connecting portion 124 of the end joint 12.

[0085] Specifically, the intermediate base 131 is the main structure constituting the intermediate joint 13, and it can adopt a cylindrical, square, or other geometry suitable for stacking and connection. The first intermediate connecting part 132, the second intermediate connecting part 134, the third intermediate connecting part 135, and the fourth intermediate connecting part 136 are key structures for the rotational connection of the intermediate joint 13 with other joints or links 15. These connecting parts can adopt pin holes, ball joints, universal joints, flexible hinges, or similar rotational connection mechanisms. Their function is to allow relative rotation between intermediate joints 13, between intermediate joints 13 and links 15, and between intermediate joints 13 and other joints, thereby realizing the bending motion of the robotic arm. An intermediate receiving groove 133 penetrates the intermediate base 131 to receive the corresponding link 15. This groove can be a straight groove, an arc groove, or an irregular groove, and its shape and size should match the cross-sectional shape of the link 15 and provide sufficient clearance to allow the link 15 to slide or rotate freely when the intermediate joint 13 bends. The central through-hole 137 is located at the center of the central substrate 131 and penetrates through the central substrate 131, providing a through channel for the flexible shaft 17. This ensures that the flexible shaft 17 can smoothly pass through all the intermediate joints 13 and connect to the grinding head 11 and the grinding head drive assembly. The specific mounting positions of the first intermediate connecting portion 132, the third intermediate connecting portion 135, the second intermediate connecting portion 134, and the fourth intermediate connecting portion 136 at both ends of the central substrate 131 are as follows: For example, the first intermediate connecting portion 132 and the third intermediate connecting portion 135 at one end are perpendicular to each other, and the second intermediate connecting portion 134 and the fourth intermediate connecting portion 136 at the other end are also perpendicular to each other. The first intermediate connecting portion 132 and the fourth intermediate connecting portion 136 are centrally symmetrical about the center of the central substrate 131, and the second intermediate connecting portion 134 and the third intermediate connecting portion 135 are on the same horizontal plane. This ingenious connection layout allows multiple intermediate joints 13 to form a joint chain with good structural stability and multi-directional bending capability when stacked and rotated. Link 15 is rotatably connected to a first intermediate connecting part 132 of one intermediate joint 13 and a fourth intermediate connecting part 136 of another intermediate joint 13, allowing it to apply a precise bending moment to the intermediate joint chain under the action of the pusher 16. Simultaneously, adjacent intermediate joints 13 are rotatably connected via a second intermediate connecting part 134 and a third intermediate connecting part 135, ensuring the continuity and coordinated movement of the joint chain. This structural design not only effectively solves the problems of structural instability and inaccurate control that may occur during the bending process of the intermediate joint chain, but also avoids interference between internal transmission components through the rational layout of internal channels, thereby improving the overall performance and reliability of the continuous robotic arm.

[0086] like Figure 11 As shown, a base coordinate system is defined at the hinge center of the intermediate joint. ,For example, ,in The plane coincides with the hinge center section. (Axis) Aligned with the direction of the hinge center axis, Perpendicular to the joint end face.

[0087] The offset and torsion angle of all links 15 within the entire robotic arm are zero. The overall motion of the robotic arm is triggered by the translation input at the base joint 14 (referred to as joint 0): as... Figure 12 As shown, the pushing member 16 moves a distance along the axial direction. This will cause a corresponding rotation at the first intermediate joint (referred to as joint 1). The input motion is then transmitted through cascaded links, thus forming the final bending angle of the robotic arm.

[0088] The following is a forward kinematic model of the robotic arm, deriving the relationship between the displacement of the pusher 16 and the pose of the end mill 11.

[0089] The forward kinematics of joint 1 describes the displacement of the pusher 16. The relationship between the joint angle and the joint rotation angle is expressed in functional form as follows:

[0090]

[0091] When the displacement of the pusher 16 changes from the initial value Change to final value At this time, the net rotation angle of the joint can be expressed as:

[0092]

[0093] in, Indicates the net angle. This indicates the initial displacement of joint 1 at pusher 16. The corresponding angle, This indicates the final displacement of joint 1 in pusher 16. The corresponding angle.

[0094] This net rotation angle is used to construct a homogeneous transformation matrix describing the joint motion. This matrix is ​​based on the rotation axis. For reference, and includes positional changes caused by rotation. :

[0095]

[0096] in, This indicates that the displacement of joint 1 in the pusher 16 is from the initial value. Change to final value When, the corresponding homogeneous transformation matrix; Represents a 1×3 zero matrix; To indicate a change in position, the general formula is: ;Rot() represents the rotation matrix function. Expression (2) provides a basic pose transformation description for a single joint 1 driven by pusher 16.

[0097] The kinematic coupling between adjacent joints in the cascade linkage is achieved by a four-bar linkage. The geometric constraints satisfied between joint 1 and joint 2 (i.e., the second intermediate joint 13) are as follows:

[0098]

[0099] in, Indicates the angle of joint 1. This indicates the angle of joint 2.

[0100] To simplify the expression, a proportionality coefficient is introduced. ,like Figure 12 As shown, 'a' represents the distance between the hinge center projection of the second intermediate connecting part 134 on the intermediate joint 13 and the hinge center of the fourth intermediate connecting part 136 on the plane containing the hinge center of the fourth intermediate connecting part 136, and 'b' represents the distance between the hinge centers of the two ends of the connecting rod 15. Solving this constraint equation yields the joint 2 rotation angle with respect to the input angle. Explicit functional relationships:

[0101]

[0102] in, , Indicates the angle of joint 2 Angle with joint 1 The relationship between them.

[0103] Therefore, the homogeneous transformation matrix of the motion unit consisting of the ends of joint 1 and joint 2 can be obtained by concatenating the transformation matrices of the two joints:

[0104]

[0105] in, The homogeneous transformation matrix represents the motion unit composed of the ends of joint 1 and joint 2. This indicates that joint 1 rotates at an angle. When, the corresponding homogeneous transformation matrix; This indicates that joint 2 is rotating at an angle. When, the corresponding homogeneous transformation matrix.

[0106] The forward kinematics of the complete robotic arm is achieved through the transformation of all six cascaded links and the introduction of pusher 16 along... The translational degrees of freedom in the axial direction are established. Each joint angle is recursively defined, with the initial angle determined by the displacement of the pusher 16. The remaining joint angles are given by the kinematic coupling relationship:

[0107]

[0108]

[0109] in, Indicates the angle of joint 1. This represents the angle of rotation of joint n. This represents the angle of rotation of joint n-1. This represents the relationship between the rotation angle of joint n and the rotation angle of joint n-1.

[0110] No. The homogeneous transformation matrix corresponding to each link is defined as follows:

[0111]

[0112] Taking into account both cascaded rotation and translation of the base (i.e., the pusher 16) The overall orientation of the grinding head 11 can be represented as:

[0113]

[0114] in, , This represents a 3×3 identity matrix. (The model is missing.) The pose of the grinding head 11 relative to the robotic arm base joint 14 is fully described.

[0115] The above calculation process is based on Figure 3 Taking the structure as an example, there are 5 intermediate joints 13 and 6 connecting rods 15. The maximum value of the product term in Formula 9, 6, is denoted as the total number of connecting rods 15. This robotic arm can achieve a maximum bending angle of 120°. Therefore, when the number of intermediate joints 13 increases, the maximum value of the product term in Formula 9, 6, can be replaced by the total number of connecting rods 15 N in the robotic arm. Then, the overall pose of the grinding head 11 can be expressed as:

[0116] .

[0117] like Figure 1 and Figure 4 As shown in the embodiment of this application, a surgical robot includes:

[0118] The continuous robotic arm is the continuous robotic arm described above;

[0119] The drive assembly includes a support assembly, a grinding head drive assembly, an overall drive assembly, and a bending drive assembly, wherein the grinding head drive assembly, the overall drive assembly, and the bending drive assembly are all mounted on the support assembly;

[0120] The grinding head drive assembly is connected to the flexible shaft 17 in the continuous robotic arm and is used to drive the flexible shaft 17 to rotate; the overall drive assembly is connected to the base joint 14 in the continuous robotic arm and is used to drive the continuous robotic arm to rotate as a whole; the bending drive assembly is connected to the pusher 16 in the continuous robotic arm and is used to drive the continuous robotic arm to bend.

[0121] In this embodiment, the continuous robotic arm is based on an intermediate joint chain formed by stacking multiple intermediate joints 13. Combined with the driving mechanism of the connecting rod 15 and the pusher 16, the robotic arm can achieve continuous, multi-degree-of-freedom bending. Simultaneously, the overall drive assembly controls the overall posture of the robotic arm through the base joint 14, and the grinding head drive assembly ensures stable operation of the grinding head 11 in a bent state through the flexible shaft 17. This design effectively solves the problem of traditional rigid instruments such as curved drills being unable to achieve vertical access in posterior thoracic spine surgery, significantly reducing the amount of laminar and facet joint resection, thereby maximizing spinal stability while ensuring surgical efficacy. By integrating the continuous robotic arm with the drive assembly, where the drive assembly can independently control the grinding head rotation, the overall rotation of the robotic arm, and bending deformation, adaptive bending and precise positioning of surgical instruments within the complex anatomy of the thoracic spine are achieved. This allows the variable curvature surgical robot to operate flexibly in narrow surgical spaces, accurately reaching the lesion area and avoiding damage to surrounding nerves and blood vessels, providing reliable technical support for minimally invasive treatment of thoracic spinal cord lesions.

[0122] In optional embodiments of this application, such as Figure 4 and Figure 13 As shown, the bracket assembly includes a first bracket 21, and the overall drive assembly includes a rotating cylinder 22, a first gear 24, and a second gear 25. The first gear 24 and the second gear 25 are meshed and rotatably mounted on the first bracket 21. The rotating cylinder 22 passes through the first bracket 21 and is rotatably mounted on the first bracket 21. The first gear 24 is connected to one end of the rotating cylinder 22 and is used to drive the rotating cylinder 22 to rotate. The other end of the rotating cylinder 22 is connected to the base joint 14, and the second gear 25 is used to connect to the output shaft of the first drive source.

[0123] Specifically, the rotating drum 22 is a key component for realizing the overall rotation of the continuous robotic arm. As an intermediate link in power transmission, it transmits the rotational motion of the drive source to the base joint 14. The rotating drum 22 is typically cylindrical with a hollow interior to allow other components (such as the flexible shaft 17) to pass through. The first gear 24 and the second gear 25 form a gear transmission pair to transmit power from the first drive source to the rotating drum 22. The gears can be mounted on a shaft, which is then mounted on a support via bearings. The rotating drum 22 can be supported by rolling bearings or sliding bearings to reduce frictional resistance and improve rotational accuracy. The first gear 24 is connected to one end of the rotating drum 22, typically using a keyed connection, splined connection, or interference fit to ensure synchronous rotation. The rotational motion of the rotating drum 22 is directly transmitted to the base joint 14, thereby driving the entire continuous robotic arm to rotate as a whole. The second gear 25, as the input end of the overall drive assembly, receives power from the first drive source (e.g., a motor).

[0124] In this embodiment, the output shaft of the first drive source is connected to the second gear 25, inputting rotational power to the overall drive assembly. The second gear 25 meshes precisely with the first gear 24, thereby transmitting power from the first drive source to the first gear 24. The first gear 24 is rigidly connected to one end of the rotating cylinder 22, allowing the rotational motion of the first gear 24 to directly drive the rotating cylinder 22 to rotate synchronously. The rotating cylinder 22 is mounted through and rotatably on the first support 21, and the other end of the rotating cylinder 22 is firmly connected to the base joint 14 of the continuous robotic arm. Therefore, when the first drive source operates, the rotational torque it generates is transmitted to the rotating cylinder 22 through the gear transmission pair (second gear 25 and first gear 24), thereby driving the base joint 14 connected to the rotating cylinder 22, ultimately achieving the overall rotation of the continuous robotic arm. This design allows the continuous robotic arm to adjust its posture in three-dimensional space, greatly expanding its operating range and flexibility. By integrating the overall drive assembly onto the first support 21 and adopting a gear-cylinder transmission method, the structure is not only compact, but also the transmission is smooth and the positioning is accurate, effectively solving the need for high-precision control of the overall posture of the robotic arm in complex surgical environments.

[0125] In optional embodiments of this application, such as Figure 1 , Figure 4 and Figure 13As shown, the support assembly includes a second support 26 and a mounting base 28. The first support 21 is connected to the second support 26, and the mounting base 28 is mounted on the second support 26. The grinding head drive assembly includes a third gear 30 and a fourth gear 37, which mesh. The third gear 30 is rotatably mounted on the mounting base 28, and the fourth gear 37 is rotatably mounted on the second support 26. The third gear 30 is connected to the flexible shaft 17 and is used to drive the flexible shaft 17 to rotate. The fourth gear 37 is used to connect to the output shaft of the second drive source.

[0126] Specifically, the third gear 30 and the fourth gear 37 in the grinding head drive assembly are the core transmission components of the assembly, and they can be spur gears, helical gears, or bevel gears. The third gear 30 is rotatably mounted on the mounting base 28, typically via bearings. The fourth gear 37 is rotatably mounted on the second bracket 26, also requiring bearing support. The connection between the third gear 30 and the flexible shaft 17 needs to ensure reliable torque transmission while allowing the flexible shaft 17 to be disassembled or adjusted when necessary. Common connection methods include keyed connections, splined connections, pin connections, or interference fits. For example, a keyway can be machined at one end of the flexible shaft 17, and a corresponding keyway can be machined into the inner hole of the third gear 30. The two can be connected by a flat key and fixed with an axial retaining ring. The fourth gear 37 is connected to the output shaft of the second drive source (e.g., a micro motor), typically using a coupling, keyed connection, or direct interference fit.

[0127] In this embodiment, the first bracket 21 serves as a support for the overall drive assembly and is tightly connected to the newly added second bracket 26, together forming a more robust and extended support assembly. The mounting base 28 is precisely mounted on the second bracket 26, providing stable rotational support for the third gear 30. The fourth gear 37 is also rotatably mounted on the second bracket 26 and precisely meshes with the third gear 30. When the output shaft of the second drive source drives the fourth gear 37 to rotate, power is transmitted to the third gear 30 through gear meshing. Since the third gear 30 is connected to the flexible shaft 17 that runs through the robotic arm, the flexible shaft 17 begins to rotate under the drive of the third gear 30, thereby driving the grinding head 11 at the end joint 12 to rotate. Through this structural layout, the grinding head drive assembly can be compactly integrated inside the surgical robot, effectively transmitting the power of the second drive source to the flexible shaft 17, thereby achieving precise control of the grinding head 11. In addition, it also allows the grinding head drive assembly to coexist harmoniously with the overall drive assembly without interfering with each other, while making full use of the limited internal space, providing the surgical robot with reliable grinding function and improving the accuracy and safety of surgical operations.

[0128] In optional embodiments of this application, such as Figure 4 , Figure 13 and Figure 14 As shown, the bracket assembly further includes a third bracket 27, which is connected to the second bracket 26. The bending drive assembly includes a push rod 23, a transmission rod 29, a transmission frame 31, a retaining sleeve 32, a rack 33, and a fifth gear 38. The fifth gear 38 is rotatably mounted on the third bracket 27, and the rack 33 is slidably mounted on the third bracket 27. The fifth gear 38 meshes with the rack 33. One end of the rack 33 is connected to the transmission frame 31 through the retaining sleeve 32. The transmission frame 31 passes over the third gear 30 and is connected to the transmission rod 29. The transmission rod 29 is installed in the clearance groove 282 of the mounting base 28. One end of the push rod 23 is slidably connected to the transmission rod 29, and the other end of the push rod 23 passes sequentially through the clearance hole 281 on the mounting base 28, the second bracket 26, and the overall drive assembly, and is connected to the pusher 16. The fifth gear 38 is connected to the drive unit. Figure 15 As shown, the transmission frame 31 includes an extension rod 311 and a locking block 312. The locking block 312 is mounted on the extension rod 311 and is connected to the sleeve 32. The extension rod 311 passes over the third gear 30 and is connected to the transmission rod 29 located in the relief groove 282 of the mounting base 28. The extension rod 311 does not contact the third gear 30. The transmission rod 29 and the locking block 312 are located on both sides of the third gear 30.

[0129] Specifically, the transmission rod 29 is a key component connecting the transmission frame 31 and the push rod 23. Its design can include a guide groove or hole to achieve a sliding connection with the push rod 23. The transmission frame 31 is a frame-like structure that connects the rack 33 and the transmission rod 29. It is cleverly designed to avoid the third gear 30 in the grinding head drive assembly, ensuring a smooth transmission path. The ferrule 32 reliably connects the rack 33 to the transmission frame 31, and can be a threaded connection, pin connection, or press fit. The fifth gear 38 is the driving gear in the bending drive assembly and meshes with the rack 33.

[0130] In this embodiment, the bending drive of the continuous robotic arm is achieved through a sophisticated mechanical transmission layout. When the drive unit drives the fifth gear 38 to rotate, the fifth gear 38 meshes with the rack 33, converting the rotational motion into the linear motion of the rack 33. The rack 33 transmits this linear motion to the transmission frame 31 through the retainer 32. During movement, the transmission frame 31 is designed to cross the third gear 30 in the grinding head drive assembly, thereby avoiding physical interference with the grinding head drive assembly and ensuring its normal operation. The transmission frame 31 further transmits the motion to the transmission rod 29 installed in the clearance groove 282 of the mounting base 28. The transmission rod 29 is slidably connected to one end of the push rod 23, so that the linear motion of the transmission rod 29 can be converted into the linear push-pull motion of the push rod 23. The other end of the push rod 23 passes through the clearance hole 281 on the mounting base 28, the second bracket 26, and the overall drive assembly in sequence, and is finally connected to the pusher 16 in the continuous robotic arm. Through this series of transmission links, the rotational motion of the fifth gear 38 is ultimately converted into the linear motion of the pusher 16, thereby driving the continuous robotic arm to achieve precise bending movements. This design allows the bending drive assembly to be efficiently integrated with the grinding head drive assembly and the overall drive assembly within a limited space. The components do not interfere with each other and work together to achieve precise control of multiple degrees of freedom of the surgical robot.

[0131] In optional embodiments of this application, such as Figure 15 and Figure 16 As shown, the transmission rod 29 includes a support portion 291 and an annular portion 292. Both ends of the annular portion 292 are connected to the transmission frame 31 via the support portion 291. The annular portion 292 is coaxial with the rotating drum 22. A sliding groove 293 is provided on the annular portion 292. One end of the push rod 23 has a protrusion 232, which is slidably mounted on the sliding groove 293. The other end of the push rod 23 has a locking portion 231, which engages with the pusher 16.

[0132] Specifically, the support portion 291 is a structural component used to connect the annular portion 292 and the transmission frame 31. Its function is to provide structural support and ensure that the annular portion 292 can be stably fixed on the transmission frame 31. The annular portion 292 is a component with an annular or near-annular shape. Its main function is to serve as a sliding connection interface for the push rod 23 and to maintain coaxiality with the rotating cylinder 22. The annular portion 292 can be a ring, part of a cylinder, or a plate-like structure with an arc, and its dimensions match the rotating cylinder 22 to achieve coaxial installation. The coaxial arrangement of the annular portion 292 and the rotating cylinder 22 is intended to ensure that the protrusion 232 of the push rod 23 can slide freely within the groove 293 without restriction, thereby allowing the push rod 23 to rotate together with the rotating cylinder 22. This achieves both linear movement of the push rod 23 and synchronous rotation of the push rod 23 and the rotating cylinder 22. The protrusion 232 is the outwardly protruding part of one end of the push rod 23. Its function is to cooperate with the slide groove 293 to achieve a sliding connection of the push rod 23. The protrusion 232 can take various shapes such as a pin, roller, slider, boss or ball head, and is fixed to one end of the push rod 23 by means of machining, welding or threaded connection.

[0133] In this embodiment, a stable sliding transmission mechanism is constructed by designing the transmission rod 29 as a structure including a support portion 291 and an annular portion 292, and making the annular portion 292 coaxial with the rotating drum 22. The coaxial arrangement of the annular portion 292 and the rotating drum 22 ensures that the motion trajectory of the push rod 23 remains consistent with the rotation of the rotating drum 22 during sliding. Even when the overall drive assembly drives the continuous robotic arm to rotate, the protrusion 232 at one end of the push rod 23 slides within the groove 293 of the annular portion 292, ensuring that the linear transmission between the push rod 23 and the transmission rod 29 in the axial direction is unaffected. This guarantees that the thrust of the transmission rod 29 can be stably and accurately transmitted to the push rod 23, ultimately achieving the bending of the continuous robotic arm. This structural design allows the linear drive of the push rod 23 to be efficiently and smoothly converted into bending driving force, maintaining the accuracy and stability of bending control even when the robotic arm is undergoing complex posture adjustments or overall rotation.

[0134] In optional embodiments of this application, such as Figure 1 and Figure 4 As shown, the drive unit includes a drive shaft 34, a first bevel gear 35, and a second bevel gear 36; the drive shaft 34 is rotatably mounted on a third bracket 27; one end of the drive shaft 34 is connected to the first bevel gear 35, and the other end is connected to a fifth gear 38; the second bevel gear 36 meshes with the first bevel gear 35 and is rotatably mounted on the third bracket 27, and the second bevel gear 36 is used to connect to the output shaft of the third drive source.

[0135] In this embodiment, by introducing the aforementioned drive unit, the power of the external third drive source is effectively transmitted to the fifth gear 38 in the bending drive assembly, thereby driving the continuous robotic arm to bend.

[0136] When the third drive source is activated, the rotational motion of its output shaft is first transmitted to the second bevel gear 36. The second bevel gear 36 precisely meshes with the first bevel gear 35, transmitting rotational motion and torque from one axial direction to another intersecting axial direction. This bevel gear transmission mechanism allows for more flexible arrangement of the third drive source, adapting to compact space constraints and optimizing the overall space utilization of the surgical robot. Subsequently, the first bevel gear 35 transmits the received torque to the fifth gear 38 via the drive shaft 34. The rotation of the fifth gear 38 then drives the rack 33 to move linearly, ultimately pushing the push rod 23 through the transmission frame 31 and the transmission rod 29, causing the pusher 16 to displace, thereby realizing the bending motion of the continuous robotic arm. The entire transmission chain, through the introduction of bevel gears, not only realizes the conversion of the power transmission direction but also optimizes the spatial layout between the drive source and the actuator, ensuring that the bending drive assembly can stably and accurately receive and transmit power, thereby achieving precise control of the bending posture of the continuous robotic arm.

[0137] In summary, compared with existing technologies, it has the following beneficial effects:

[0138] 1. Smaller instrument outer diameter (as low as 8 mm) and greater bending capacity (maximum bending angle up to 120°). Compared to continuous instruments with constant curvature bending, variable curvature bending can be achieved, increasing the working space by 41.6% in posterior approach ossification surgery of the posterior longitudinal ligament.

[0139] 2. Since the design of this application is based on a rigid joint, it has a higher load capacity compared to flexible continuous instruments. The end can withstand a 5N load (during testing, a 500g weight was suspended at the end, and the bending deformation of the instrument was <1°).

[0140] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0141] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A continuous robotic arm, characterized in that, include: Multiple intermediate joints (13) are stacked and rotated in sequence to form an intermediate joint chain; The base joint (14) is rotatably connected to the intermediate joint (13) at one end of the intermediate joint chain; The distal joint (12) is rotatably connected to the intermediate joint (13) at the other end of the intermediate joint chain; The grinding head (11) is rotatably connected to the end joint (12); and The connecting rod (15) starts from the base joint (14), and passes through the intermediate joint (13) with a gap of one intermediate joint (13). The two ends of the connecting rod (15) are rotatably connected to the two joints adjacent to the intermediate joint (13) respectively. The pusher (16) is rotatably connected to one end of another connecting rod (15), and the other end of the other connecting rod (15) passes through the base joint (14) and is rotatably connected to the intermediate joint (13) at one end of the intermediate joint chain. The flexible shaft (17) is connected to the grinding head (11) at one end and passes through the end joint (12), the intermediate joint chain and the base joint (14) in sequence at the other end, and is used to connect to the grinding head drive assembly. The pusher (16) is used to connect to the bending drive assembly; the base joint (14) is used to connect to the overall drive assembly.

2. The continuous robotic arm as described in claim 1, characterized in that, The end joint (12) includes an end base (121), an end through hole (122), a mounting hole (123), a first end connection part (124), and a second end connection part (125); The end through hole (122) is located at the center of the end base (121) and penetrates the end base (121); one end of the end base (121) is provided with a mounting hole (123) for rotating and mounting the grinding head (11); the other end of the end base (121) is respectively provided with a first end connecting part (124) and a second end connecting part (125), and the line connecting the installation position of the first end connecting part (124) and the center of the other end face of the end base (121) is perpendicular to the line connecting the installation position of the second end connecting part (125) and the center of the other end face of the end base (121); The first end connection (124) is rotatably connected to the intermediate joint (13) at the other end of the intermediate joint chain; the second end connection (125) is rotatably connected to the corresponding connecting rod (15).

3. The continuous robotic arm as described in claim 1, characterized in that, The base joint (14) includes a base body (141), a first base connecting part (142), a second base connecting part (143), a base receiving groove (144), a third base connecting part (145), and a base through hole (146). The base through hole (146) is located at the center of the base body (141) and penetrates the base body (141); a first base connecting part (142) and a second base connecting part (143) are installed at one end of the base body (141), and the line connecting the installation position of the first base connecting part (142) and the center of one end face of the base body (141) is perpendicular to the line connecting the installation position of the second base connecting part (143) and the center of one end face of the base body (141); a third base connecting part (145) is installed at the other end of the base body (141), and the installation position of the third base connecting part (145) is centrally symmetrical with respect to the installation position of the first base connecting part (142) with respect to the center of the base body (141); The base receiving groove (144) penetrates the base body (141) and extends to the third base connection (145) for accommodating another connecting rod (15). The first base connecting part (142) is rotatably connected to the corresponding connecting rod (15); the second base connecting part (143) is rotatably connected to the intermediate joint (13) at one end of the intermediate joint chain.

4. The continuous robotic arm as described in claim 1, characterized in that, The intermediate joint (13) includes an intermediate base (131), a first intermediate connecting part (132), an intermediate receiving groove (133), a second intermediate connecting part (134), a third intermediate connecting part (135), a fourth intermediate connecting part (136), and an intermediate through hole (137). The intermediate through hole (137) is located at the center of the intermediate substrate (131) and penetrates the intermediate substrate (131); a first intermediate connecting part (132) and a third intermediate connecting part (135) are installed at one end of the intermediate substrate (131), and the line connecting the installation position of the first intermediate connecting part (132) and the center of the end face of one end of the intermediate substrate (131) is perpendicular to the line connecting the installation position of the third intermediate connecting part (135) and the center of the end face of one end of the intermediate substrate (131); The other end of the intermediate base (131) is equipped with a second intermediate connecting part (134) and a fourth intermediate connecting part (136). The line connecting the installation position of the second intermediate connecting part (134) and the center of the end face of the other end of the intermediate base (131) is perpendicular to the line connecting the installation position of the fourth intermediate connecting part (136) and the center of the end face of the other end of the intermediate base (131). The installation positions of the first intermediate connecting part (132) and the fourth intermediate connecting part (136) are centrally symmetrical with respect to the center of the intermediate base (131). The installation positions of the second intermediate connecting part (134) and the third intermediate connecting part (135) are on the same horizontal plane. The first intermediate connecting part (132) and the fourth intermediate connecting part (136) are rotatably connected to the corresponding two connecting rods (15). The intermediate receiving groove (133) penetrates the intermediate base (131) and is used to accommodate the corresponding connecting rod (15). The second intermediate connecting part (134) is rotatably connected to the third intermediate connecting part (135) of the adjacent intermediate joint (13) or the second base connecting part (143) of the base joint (14), and the third intermediate connecting part (135) is rotatably connected to the second intermediate connecting part (134) of the adjacent intermediate joint (13) or the first end connecting part (124) of the end joint (12).

5. A variable curvature surgical robot, characterized in that, include: The continuous robotic arm is the continuous robotic arm as described in any one of claims 1-4; The drive assembly includes a support assembly, a grinding head drive assembly, an overall drive assembly, and a bending drive assembly, wherein the grinding head drive assembly, the overall drive assembly, and the bending drive assembly are all mounted on the support assembly; The grinding head drive assembly is connected to the flexible shaft (17) in the continuous robotic arm and is used to drive the flexible shaft (17) to rotate; the overall drive assembly is connected to the base joint (14) in the continuous robotic arm and is used to drive the continuous robotic arm to rotate as a whole; the bending drive assembly is connected to the pusher (16) in the continuous robotic arm and is used to drive the continuous robotic arm to bend.

6. The variable curvature surgical robot as described in claim 5, characterized in that, The bracket assembly includes a first bracket (21), and the overall drive assembly includes a rotating cylinder (22), a first gear (24), and a second gear (25). The first gear (24) and the second gear (25) mesh and are rotatably mounted on the first bracket (21). The rotating cylinder (22) passes through the first bracket (21) and is rotatably mounted on the first bracket (21). The first gear (24) is connected to one end of the rotating cylinder (22) and is used to drive the rotating cylinder (22) to rotate. The other end of the rotating cylinder (22) is connected to the base joint (14), and the second gear (25) is used to connect to the output shaft of the first drive source.

7. The variable curvature surgical robot as described in claim 6, characterized in that, The support assembly includes a second support (26) and a mounting base (28). The first support (21) is connected to the second support (26). The mounting base (28) is mounted on the second support (26). The grinding head drive assembly includes a third gear (30) and a fourth gear (37). The third gear (30) and the fourth gear (37) mesh. The third gear (30) is rotatably mounted on the mounting base (28). The fourth gear (37) is rotatably mounted on the second support (26). The third gear (30) is connected to a flexible shaft (17) and is used to drive the flexible shaft (17) to rotate. The fourth gear (37) is used to connect to the output shaft of the second drive source.

8. The variable curvature surgical robot as described in claim 7, characterized in that, The support assembly further includes a third support (27), which is connected to the second support (26). The bending drive assembly includes a push rod (23), a transmission rod (29), a transmission frame (31), a ferrule (32), a rack (33), and a fifth gear (38). The fifth gear (38) is rotatably mounted on the third support (27), and the rack (33) is slidably mounted on the third support (27). The fifth gear (38) meshes with the rack (33), and one end of the rack (33) is connected to a ferrule. The sleeve (32) is connected to the transmission frame (31), the transmission frame (31) passes over the third gear (30) and is connected to the transmission rod (29), the transmission rod (29) is installed in the clearance groove (282) of the mounting base (28), one end of the push rod (23) is slidably connected to the transmission rod (29), and the other end of the push rod (23) passes through the clearance hole (281), the second bracket (26) and the overall drive assembly on the mounting base (28) in sequence, and is connected to the pusher (16); the fifth gear (38) is connected to the drive unit.

9. The variable curvature surgical robot as described in claim 8, characterized in that, The transmission rod (29) includes a support part (291) and an annular part (292). The two ends of the annular part (292) are connected to the transmission frame (31) through the support part (291). The annular part (292) is coaxial with the rotating drum (22). A sliding groove (293) is provided on the annular part (292). One end of the push rod (23) is provided with a protrusion (232), which is slidably installed in the sliding groove (293).

10. The variable curvature surgical robot as described in claim 8, characterized in that, The drive unit includes a drive shaft (34), a first bevel gear (35), and a second bevel gear (36); the drive shaft (34) is rotatably mounted on a third bracket (27); one end of the drive shaft (34) is connected to the first bevel gear (35), and the other end is connected to a fifth gear (38); the second bevel gear (36) meshes with the first bevel gear (35) and is rotatably mounted on the third bracket (27), and the second bevel gear (36) is used to connect to the output shaft of the third drive source.

Images