Surgical robot

Abstract

The application provides a surgical robot, which comprises a base, a column and a joint arm assembly. The column is connected to the base. The joint arm assembly comprises a mechanical arm and an instrument arm. The mechanical arm is rotatably connected to the upper end of the column. The instrument arm comprises a first connecting rod and a second connecting rod. The first connecting rod is rotatably connected to the lower side of the end of the mechanical arm around a first axis. The second connecting rod is rotatably connected to the end of the first connecting rod around a second axis. The other end of the second connecting rod is provided with a design line perpendicular to the second connecting rod and is suitable for mounting a surgical instrument. The first axis and the second axis have a first included angle. The second axis and the design line have a second included angle. The first axis, the second axis and the design line intersect at the surgical center of the surgical instrument. When the joint arm assembly is in a storage state, the first connecting rod and the surgical center are stored in a storage space formed by the base, the column and the mechanical arm. The application reduces the space occupation of the surgical robot and improves the safety of the surgery.

Description

Technical Field

[0001] At least one embodiment of this application relates to the technical field of surgical robots, and more particularly to a surgical robot. Background Technology

[0002] Horizontal multi-joint robots belong to cylindrical coordinate industrial robots and have four degrees of freedom of motion (translation in the X / Y / Z directions and rotation about the Z-axis).

[0003] Horizontal articulated robots are widely used in surgery because they can improve operational precision and reduce the workload of doctors. However, horizontal articulated robots may interfere with the operating table and the patient when deployed, and still occupy a large space when returned to the zero position. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a surgical robot that reduces interference between the surgical robot and the operating table and the patient, and reduces the space occupied by the surgical robot when it returns to its zero position.

[0005] This application provides a surgical robot, including a base, a column, and an articulated arm assembly. The column is connected to the base. The articulated arm assembly includes a robotic arm and an instrument arm. One end of the robotic arm is rotatably connected to the upper end of the column. The instrument arm extends downward from the robotic arm and includes a first link and a second link. One end of the first link is rotatably connected to the lower side of the end of the robotic arm about a first axis, and the other end is rotatably connected to the end of the first link about a second axis. The other end is adapted to mount a surgical instrument, and the extension line of the other end of the second link intersects the design line of the surgical instrument. The first axis and the second axis have a first angle, and the second axis and the design line have a second angle, both of which are less than 90°. The first axis, the second axis, and the design line intersect at the surgical center of the surgical instrument. When the articulated arm assembly is in a retracted state, the first link and the surgical center are housed within a storage space formed by the base, the column, and the robotic arm.

[0006] In this embodiment of the application, the angle α1 of the first included angle is between 30° and 60°, so that the first link and the second link avoid the raised parts of the patient or operating table when moving.

[0007] In this embodiment of the application, the angle α2 of the second included angle is less than α1 + 45°, so that the first link and the second link do not interfere with each other during movement.

[0008] In this embodiment, the robotic arm includes a third link and a fourth link. One end of the third link is rotatably connected to the outside of the column about a third axis. One end of the fourth link is connected to the end of the first link away from the column about a fourth axis, and the other end is rotatably connected to the end of the first link away from the second link.

[0009] In this embodiment of the application, both the third axis and the fourth axis are vertically arranged.

[0010] In this embodiment, the base includes a seat, a drive assembly, and a support assembly. The column is connected to the upper side of the seat; the drive assembly is connected to the lower side of the seat and is adapted to drive the seat to move. The support assembly has multiple support portions; each support portion is telescopically connected to the lower side of the seat and is configured such that: in an extended state, the drive assembly is lifted off the ground; and in a shortened state, the drive assembly contacts the ground.

[0011] In this embodiment, the base is constructed as a rectangular plate. Four support portions are provided, each located at one of the four corners of the lower side of the base.

[0012] In this embodiment, the support portion includes a connecting portion, a support rod, and a first actuating portion. The connecting portion is connected to the lower side of the seat. The support rod is connected to the side of the connecting portion opposite to the seat. The first actuating portion is connected to the connecting portion and the support rod, and is adapted to drive the support rod to extend or retract, so that the support portion switches between the extended state and the shortened state.

[0013] In this embodiment, the first actuating part includes a first motor; the housing of the first motor is connected to the lower side of the connecting part; the support rod includes a housing and a rod body. The housing is cylindrical and connected to the lower side of the connecting part. The rod body is vertically threaded into the housing, one end of which is connected to the output shaft of the motor via a gear set, and the other end extends out of the housing, so that the rod body rotates under the drive of the first motor and extends and retracts in the vertical direction.

[0014] In this embodiment, the column comprises a body, a sleeve portion, and a second actuating portion. The body is constructed in a columnar shape and is vertically connected to the upper side of the base; the sleeve portion is slidably fitted onto the outside of the body and connected to the articulated arm assembly on its outer side. The second actuating portion is connected to the body and / or the sleeve portion and is adapted to drive the sleeve portion to slide, thereby driving the articulated arm assembly to rise and fall.

[0015] According to the surgical robot of the above embodiments of this application, by rotating and connecting the first and second links of the instrument arm around the first and second axes respectively, and setting the first and second included angles to be less than 90°, on the one hand, the robotic arm and instrument arm are housed within the space enclosed by the base, column, and robotic arm when in the zero position, reducing the space occupied by the surgical robot. On the other hand, by rotating and connecting the first and second links of the instrument arm around the first and second axes respectively, and setting the first and second included angles to be less than 90°, the first axis, the second axis, and the design line at the end of the second link intersect at the surgical center, ensuring that the surgical instrument always adjusts its posture with the surgical site as the fulcrum during movement, effectively avoiding the pulling and damage of incision tissue during surgery, and significantly improving surgical safety. Attached Figure Description

[0016] Figure 1 This is an isometric view of a surgical robot according to an embodiment of this application;

[0017] Figure 2 This is an isometric view of a surgical robot when the first and second links are within the accommodating space according to an embodiment of this application;

[0018] Figure 3 This is a simplified structural diagram of the first to fourth axes and the first to fourth connecting rods according to an embodiment of this application;

[0019] Figure 4 This is a side view of the base according to an embodiment of this application;

[0020] Figure 5 This is a bottom view of the base according to an embodiment of this application;

[0021] Figure 6 This is a side view of the support portion according to an embodiment of this application. Attached Figure Description

[0022] 1. Base;

[0023] 11. Base body;

[0024] 12. Driver components;

[0025] 13. Support section;

[0026] 131. Connecting part;

[0027] 132. Support rod;

[0028] 1321. Outer shell;

[0029] 1322. Rod;

[0030] 133. First motor;

[0031] 2. Columns;

[0032] 21. Ontology;

[0033] 22. Sleeve section;

[0034] 3. Articulated arm assembly;

[0035] 31. Machine arm;

[0036] 311. First link;

[0037] 312. Second link;

[0038] 313. First axis;

[0039] 314. Second axis;

[0040] 315. Design line;

[0041] 32. Robotic arm;

[0042] 321. Third link;

[0043] 322, Fourth Link;

[0044] 323. The third axis;

[0045] 324. The fourth axis;

[0046] 33. First joint;

[0047] 34. Second joint;

[0048] 35. Third joint;

[0049] 36. Fourth joint;

[0050] 4. Control module;

[0051] 5. Surgical instruments. Detailed Implementation

[0052] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of this application is for describing specific implementation schemes and not for limiting the scope of protection of this application. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0053] It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of this application and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this application, should still fall within the scope of the technical content disclosed in this application. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of this application. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this application's implementation.

[0054] Please refer to Figures 1-6 This application discloses a surgical robot, including a base 1, a column 2, and an articulated arm assembly 3. The column 2 is connected to the base 1. The articulated arm assembly 3 includes a robotic arm 32 and an instrument arm 31. One end of the robotic arm 32 is rotatably connected to the upper end of the column 2. The instrument arm 31 extends downward from the robotic arm 32 and includes a first link 311 and a second link 312. One end of the first link 311 is rotatably connected to the lower side of the end of the robotic arm 32 about a first axis 313, and the other end is rotatably connected to the end of the first link 311 about a second axis 314. The other end is adapted to mount a surgical instrument 5, and the extension line of the other end of the second link 312 intersects the design line 315 of the surgical instrument 5. The first axis 313 and the second axis 314 have a first angle, and the second axis 314 and the design line 315 have a second angle. Both the first angle and the second angle are less than 90°, and the first axis 313, the second axis 314, and the design line 315 intersect at the surgical center of the surgical instrument 5. When the articulated arm assembly 3 is in the retracted state, the first link 311 and the surgical center are stored in the storage space formed by the base 1, the column 2 and the robotic arm 32.

[0055] First, it should be noted that please refer to Figures 1-3 The surgical center refers to the virtual reference point within the patient's body for the distal working part of the surgical instrument 5 (such as the objective center of an endoscope, the tip center of a scalpel, or the clamping center of a forceps) when the surgical instrument 5 is mounted at the end of the second link 312 and is in operation. It is also the remote center of motion (RCM) of the surgical instrument 5 when adjusting its posture around the patient's incision. Geometrically, the surgical center is defined as the intersection of the first axis 313, the second axis 314, and the design line 315 of the surgical instrument 5 (e.g., ...). Figure 3 (Point O in the diagram). The surgical instrument 5 is mounted at the end of the second link 312 via a holding device, and the design line is the central axis of the surgical instrument 5.

[0056] When the articulated arm assembly 3 is in the surgical state and the surgical instrument 5 passes through the patient's incision, the first axis 313, the second axis 314, and the design line 315 intersect at the surgical center, thereby ensuring that the surgical instrument 5 always uses the surgical center as a fulcrum to adjust its posture around the patient's incision during the movement, avoiding pulling or damage to the incision tissue.

[0057] Please refer to Figures 1-3 To ensure that the first link 311 rotates smoothly without interfering with the robotic arm 32 and the second link 312, both ends of the first link 311 are bent. The end of the first link 311 connected to the robotic arm 32 is perpendicular to the first axis 313, and the end connected to the second link 312 is perpendicular to the second axis 314.

[0058] Furthermore, in some embodiments, the angle α1 of the first included angle is between 30° and 60°, so that the first link 311 and the second link 312 avoid protrusions on the patient or operating table during movement. This arrangement allows the robotic arm 32 to swing the instrument arm 31 to an operating position offset from the column 2 during surgery, ensuring sufficient working space for the surgical instrument 5 while preventing interference between the robotic arm 32 and the patient or operating table. Simultaneously, when the articulated arm assembly 3 is in the retracted state, the first included angle α1 helps to house the first link 311 within the storage space formed by the base 1, the column 2, and the robotic arm 32, reducing the overall size of the surgical robot. In other embodiments, the angle α1 is 30°, 40°, 45°, 50°, or 60°.

[0059] In some embodiments, the angle α2 of the second included angle is less than α1 + 45°, so that the first link 311 and the second link 312 do not interfere with each other during movement.

[0060] Specifically, when the surgical instrument 5 is mounted at the end of the second link 312, the central axis of the surgical instrument 5 coincides with the design line 315. While α2 < 90°, ensuring that the second included angle α2 and the first included angle α1 satisfy the relationship α2 < α1 + 45° ensures that the first link 311 and the second link 312 do not interfere with each other during free rotation, allowing for independent posture adjustment around the surgical center. In some embodiments, the first included angle α1 is 30°, and the second included angle α2 < 75°, which can be 30°, 40°, 45°, 50°, 60°, 70°, or 75°.

[0061] The first link 311, the first axis 313, and the second axis 314 form a triangular structure, while the second link 312 itself, the second axis 314, and the design line 315 form another triangular structure, giving the machine arm 31 good stability and load-bearing capacity.

[0062] Please refer to Figure 2 , Figure 4 In some embodiments, the column 2 includes a body 21, a sleeve portion 22, and a second actuating portion. The body 21 is configured as a column and is vertically connected to the upper side of the base 1. The sleeve portion 22 is slidably fitted onto the outside of the body 21 and is connected to the articulated arm assembly 3 on its outer side. The second actuating portion is connected to the body 21 and / or the sleeve portion 22 and is adapted to drive the sleeve portion 22 to slide, thereby driving the articulated arm assembly 3 to rise and fall.

[0063] In some embodiments, the second actuation unit is a ball screw with a vertical axis. One end of the screw is connected to the body 21 and driven by a motor. The nut is connected to the sleeve 22, thereby driving the sleeve 22 to rise and fall relative to the body 21.

[0064] Please refer to Figure 1 , Figure 2 The robotic arm 32 includes a third link 321 and a fourth link 322. One end of the third link 321 is rotatably connected to the outside of the column 2 about a third axis 323. One end of the fourth link 322 is connected about a fourth axis 324 to the end of the first link 311 away from the column 2, and the other end is rotatably connected to the end of the first link 311 away from the second link 312.

[0065] Specifically, a first joint 33 is formed between the third link 321 and the column 2. A second motor within the first joint 33 drives the third link 321 to rotate relative to the column 2 around a third axis 323. In some embodiments, the housing 1321 of the second motor is installed in the third link 321, and its output shaft is connected to a ball screw via a planetary gearbox reducer and a coupling. The ball screw is connected to the third link 321, thereby driving the rotation of the third link 321. In other embodiments, two limit switches are installed on the third link 321 to limit the upper and lower limits of the rotation angle of the third link 321, respectively.

[0066] A second joint 34 is formed between the fourth link 322 and the third link 321. A third motor within the second joint 34 drives the rotation of the fourth link 322 relative to the third link 321. In some embodiments, the housing 1321 of the third motor is installed in the third link 321, and its output shaft is connected to a pair of meshing helical gears respectively installed in the fourth link 322 and the third link 321 via a planetary gearbox reducer and a coupling, thereby driving the rotation of the fourth link 322.

[0067] In some embodiments, the third axis 323 and the fourth axis 324 are both vertically arranged, so that the third link 321 and the fourth link 322 can both rotate in the horizontal plane, so that the robotic arm 32 and the column 2 together form a SCARA (Selective Compliance Assembly Robot Arm) configuration, thereby improving the ease of control of the robotic arm 32, while increasing the range of motion of the robotic arm 32, and thus improving the adaptability of the robotic arm 32 to surgical operations.

[0068] In other embodiments, the first axis 313, the third axis 323 and the fourth axis 324 are all vertically arranged, and α1+α2=90°, so that the movement trajectory of the surgical instrument 5 is spherical, which further reduces the risk of intraoperative incision damage.

[0069] Based on the above structure, the end of the fourth link 322 furthest from the third link 321 is the end of the robotic arm 32. In some other embodiments, the robotic arm 32 is composed of three or more links connected in one go. In this case, the end of the link furthest from the third link 321 is the end of the robotic arm 32.

[0070] The first link 311 is connected to the end of the fourth link 322 away from the third link 321, forming a third joint 35. A fourth motor within the third joint 35 drives the first link 311 to rotate relative to the fourth link 322. In some embodiments, the housing 1321 of the fourth motor is installed in the fourth link 322, and its output shaft is connected to the first link 311 via a coupling, thereby driving the first link 311 to rotate.

[0071] A fourth joint 36 is formed between the ends of the second link 312 and the first link 311. A fifth motor installed in the fourth joint 36 drives the second link 312 to rotate relative to the first link 311. In some embodiments, the housing 1321 of the fifth motor is installed in the first link 311, and the output shaft is connected to the second link 312 through a planetary gearbox reducer and a coupling.

[0072] Please refer to Figures 4-6 In some embodiments, the surgical robot of this application further includes a base 11, a drive assembly 12, and a support assembly. A column 2 is connected to the upper side of the base 11, and the drive assembly 12 is connected to the lower side of the base 11, adapted to drive the base 11 to move. The support assembly has a plurality of support portions 13, each support portion 13 being telescopically connected to the lower side of the base 11 and configured to: in an extended state, lift the drive assembly 12 off the ground; and in a shortened state, bring the drive assembly 12 into contact with the ground.

[0073] When the surgical robot needs to be moved, the support part 13 is in a shortened state, the drive component 12 contacts the ground, and the surgical robot can easily change position. After reaching the target position, the support part 13 switches to an extended state, lifting the seat 11 and causing the drive component 12 to leave the ground. This improves the convenience of moving the surgical robot before or after surgery, and also improves the stability of the surgical robot during surgery.

[0074] For details, please refer to Figure 4 , Figure 5 In some embodiments, the base 1 is constructed as a rectangular plate. Four support portions 13 are respectively disposed at the four corners of the lower side of the base 1. In other embodiments, the base 1 is constructed as a disc, a triangular plate, or other shapes, and the support portions 13 are symmetrically mounted on the lower side of the base 1 with respect to the axis of symmetry of the lower side of the base 1 to ensure that the base 1 can be stably supported.

[0075] In some embodiments, the drive assembly 12 includes a pair of casters and a pair of fixed wheels, both mounted on the underside of the base 1, and driven by a motor. In other embodiments, a handle is attached to the base 1, allowing manual pushing of the handle to move the base 1, which is supported on the casters and fixed wheels.

[0076] More specifically, in some embodiments, the support portion 13 includes a connecting portion 131, a support rod 132, and a first actuating portion. The connecting portion 131 is connected to the lower side of the base 11, and the support rod 132 is connected to the side of the connecting portion 131 opposite to the base 1. The first actuating portion is connected to the connecting portion 131 and the support rod 132, and is adapted to drive the support rod 132 to extend or retract, so that the support portion 13 switches between an extended state and a retracted state.

[0077] In some embodiments, the connecting portion 131 is rectangular plate-shaped and installed on the lower side of the base 11, serving as the mounting base for the support rod 132 and the first actuating part. The first actuating part includes a first motor 133, and the support rod 132 includes a housing 1321 and a rod body 1322. The housing 1321 is constructed in a cylindrical shape, with one end connected to the lower side of the connecting portion 131 in the axial direction. The rod body 1322 is vertically threaded into the housing 1321, with one end connected to the output shaft of the motor via a gear set, and the other end extending out of the housing 1321, so that the rod body 1322 rotates under the drive of the first motor 133 and extends and retracts in the vertical direction. When the support portion 13 is in the extended state, the first motor 133 is in a locked state, ensuring the stability of the support portion 13.

[0078] In some other embodiments, the support portion 13 includes a cylinder, the cylinder body of which is mounted on the lower side of the seat 11, and the piston rod extends and retracts in the vertical direction. When the piston rod retracts, the support portion 13 is in a shortened state, and when the piston rod extends, the support portion 13 is in an extended state.

[0079] To improve the ease of operation of the surgical robot, in some embodiments, the surgical robot of this application further includes a control module 4 and a motion controller terminal.

[0080] The control module 4 is installed on the upper side of the base 11 and is communicatively connected to the first actuator, the second actuator, and the second to fourth motors to control the lifting and lowering of the support 13, the column 2, and the rotation of the first to fourth connecting rods 322. By centrally controlling the first actuator, the second actuator, and the first to fourth individual motors through the control module 4, the linkage control of the lifting and lowering of the support 13, the lifting and lowering of the column 2, and the rotation of the articulated arm assembly 3 is realized. This ensures that the first axis 313, the second axis 314, and the design line 315 always intersect at the surgical center during the operation, improving the accuracy of RCM movement and the ease of surgical operation.

[0081] The working steps of the surgical robot in this application are as follows:

[0082] 1. Equipment movement and positioning:

[0083] S1. Medical staff push the handle on the base 1 and use the combination of fixed wheels and omnidirectional wheels to move the surgical robot to the designated position next to the operating table.

[0084] S2. When the surgical robot is powered on, the first motor 133 is started, and the four sets of support parts 13 extend synchronously until they touch the ground, lifting the base 1 so that the fixed wheels and casters are off the ground; after the first motor 133 stops, it automatically locks, completing the stable positioning of the surgical robot.

[0085] 2. Equipment power-on and initialization:

[0086] S1. Turn the power switch of the surgical robot to the ON position, power on the device, enable all motors, and release the brakes of each joint.

[0087] S2. If an initial reset is required, start the reset program. The robotic arm 32 and the instrument arm 31 move sequentially to the preset initial position to complete the initialization.

[0088] 3. Surgical procedures and instrument control:

[0089] The lifting and lowering of column 2, the movement of robotic arm 32 and instrument arm 31 are controlled to align the surgical center with the patient's surgical site. The movement of robotic arm 32, instrument arm 31 and surgical instrument 5 completes the surgical operation.

[0090] 4. Equipment shutdown and reset:

[0091] S1. After the surgery, if it is necessary to shut down the machine, first start the reset program to return the telescopic mechanism in the instrument drive module to the zero position, that is, store the first link 311 and the surgical center into the storage space formed by the base 1, the column 2 and the robotic arm 32.

[0092] S2. Turn the power switch to the off position, shut down the equipment, de-enable all motors, and lock the brakes on all joints.

[0093] S3. Restart the support motor while the machine is powered on, so that the support part 13 switches to the shortened state, the fixed wheels and casters re-contact the ground, and then push the handle to move the surgical robot away from the operating table.

[0094] According to the surgical robot of this application embodiment, by rotating the first link 311 and the second link 312 of the instrument arm 31 around the first axis 313 and the second axis 314 respectively, and setting the first included angle and the second included angle to be less than 90°, on the one hand, the robotic arm 32 and the instrument arm 31 are housed in the space enclosed by the base 1, the column 2 and the robotic arm 32 when they are in the zero position, thus reducing the space occupied by the surgical robot. On the other hand, by rotating the first link 311 and the second link 312 of the instrument arm 31 around the first axis 313 and the second axis 314 respectively, and setting the first included angle and the second included angle to be less than 90°, the first axis 313, the second axis 314 and the design line 315 at the end of the second link 312 intersect at the surgical center, ensuring that the surgical instrument 5 always adjusts its posture with the surgical site as the fulcrum during the movement, effectively avoiding the pulling and damage of the incision tissue during the operation, and significantly improving the safety of the operation.

[0095] Unless otherwise specified or required to occur in a specific order, the order of the above steps is not limited to those listed above and can be varied or rearranged according to the desired design. Furthermore, the above embodiments can be used in combination with each other or with other embodiments based on design and reliability considerations; that is, technical features from different embodiments can be freely combined to form more embodiments.

[0096] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A surgical robot, characterized in that, include: Base (1); The column (2) is connected to the base (1); as well as The articulated arm assembly (3) includes: A robotic arm (32), one end of which is rotatably connected to the upper end of the column (2); and The robotic arm (31) extends downward from the robotic arm and includes: A first link (311) is rotatably connected at one end to the lower side of the end of the robotic arm (32) about a first axis (313); and The second link (312) has one end rotatably connected to the end of the first link (311) around the second axis (314), and the other end is suitable for mounting surgical instruments (5), and the extension line of the other end of the second link intersects the design line (315) of the surgical instrument; The first axis (313) and the second axis (314) have a first included angle, and the second axis (314) and the design line (315) have a second included angle. Both the first included angle and the second included angle are less than 90°, and the first axis (313), the second axis (314) and the design line (315) intersect at the surgical center of the surgical instrument (5). When the articulated arm assembly (3) is in the retracted state, the first connecting rod (311) and the surgical center are retracted into a storage space formed by the base (1), the column (2) and the robotic arm (32).

2. The surgical robot according to claim 1, characterized in that, The angle α1 of the first included angle is between 30° and 60° so that the first link (311) and the second link (312) avoid the raised parts of the patient or operating table when moving.

3. The surgical robot according to claim 2, characterized in that, The angle α2 of the second included angle is less than α1 + 45°, so that the first link (311) and the second link (312) do not interfere with each other during movement.

4. The surgical robot according to claim 1, characterized in that, The robotic arm (32) includes: The third link (321) is rotatably connected at one end to the outside of the column (2) about the third axis (323); and The fourth link (322) is connected at one end to the end of the first link (311) away from the column (2) around the fourth axis (324), and at the other end is rotatably connected to the end of the first link (311) away from the second link (312).

5. The surgical robot according to claim 4, characterized in that: Both the third axis (323) and the fourth axis (324) are set vertically.

6. The surgical robot according to claim 1, characterized in that, The base (1) includes: The base (11) is connected to the upper side of the base (11); the column (2) is connected to the upper side of the base (11); A drive assembly (12), connected to the lower side of the base (11), adapted to drive the base (11) to move; and The support assembly has multiple support portions (13); each of the support portions (13) is retractably connected to the underside of the base (11) and is configured to: In the extended state, the drive assembly (12) is lifted off the ground; In the shortened state, the drive assembly (12) is brought into contact with the ground.

7. The surgical robot according to claim 6, characterized in that: The base (11) is constructed in the shape of a rectangular plate; The number of the support parts (13) is four, which are respectively located at the four corners of the lower side of the seat (11).

8. The surgical robot according to claim 6 or 7, characterized in that, The support portion (13) includes: A connecting part (131) is connected to the lower side of the base (11); Support rod (132), connected to the side of the connecting part (131) opposite to the seat (11); and The first actuator, connected to the connecting part (131) and the support rod (132), is adapted to drive the support rod (132) to extend or retract, so that the support part (13) switches between the extended state and the shortened state.

9. The surgical robot according to claim 8, characterized in that: The first actuator includes: The first motor (133) has its housing connected to the lower side of the connecting part (131); The support rod (132) includes: The outer casing (1321) is constructed in a cylindrical shape and is connected to the lower side of the connecting portion (131); and The rod (1322) is vertically threaded into the housing (1321), with one end connected to the output shaft of the motor via a gear set, and the other end passing through the housing (1321) so that the rod (1322) rotates under the drive of the first motor (133) and extends and retracts in the vertical direction.

10. The surgical robot according to claim 6, characterized in that, The column (2) includes: The body (21) is constructed in a columnar shape and is vertically connected to the upper side of the base (11); The sleeve portion (22) is slidably fitted onto the outside of the body (21) and externally connected to the articulated arm assembly (3); and The second actuator is connected to the body (21) and / or the sleeve (22) and is adapted to drive the sleeve (22) to slide so as to drive the articulated arm assembly (3) to rise and fall.

Images