Surgical robot

Abstract

The application belongs to the field of medical devices, and particularly relates to a surgical robot, which comprises a main body, a suspension mechanism, a first arc-shaped joint and a second arc-shaped joint. The suspension mechanism comprises a first arm and a second arm connected with each other, the first arm is rotationally connected with the main body around a first rotation axis, and the second arm is offset from the first rotation axis in a direction perpendicular to the first rotation axis. The first arc-shaped joint is arranged on the second arm and rotates around a second rotation axis relative to the second arm. The second arc-shaped joint is arranged on the first arc-shaped joint and rotates around a third rotation axis relative to the second arm. The first rotation axis of the suspension mechanism, the second rotation axis of the first arc-shaped joint and the third rotation axis of the second arc-shaped joint intersect at a fixed point, and the adjustment range of the posture adjustment of the puncture device is large.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a surgical robot. Background Technology

[0002] Endoscopic laparoscopic single-port surgical robots need to be able to adjust the angle at which the trocar enters the patient's body to meet clinical needs.

[0003] To adjust the angle of the trocar insertion into the patient, existing solutions on the market include: Solution A: Using a single joint at the front end of the patient platform, adjustments can be made to the joint as needed before or during surgery to meet clinical requirements. The drawback is that while the angle of the trocar insertion can be adjusted over a wide range, the surgical instrument cannot be adjusted circumferentially, and the distal end of the instrument lacks a posture adjustment mechanism. Solution B: Adjustment is achieved through an arc-shaped joint at the front end of the patient platform, allowing for adjustments before or during surgery to meet clinical requirements. The drawback is that the trocar adjustment angle can only be adjusted based on the curvature of the arc-shaped joint, which is limited by the curvature of the joint and the space of its suspension mechanism. Summary of the Invention

[0004] Based on this, the purpose of this application is to provide a surgical robot that can adjust the posture of distal surgical instruments such as trocars over a wide range of angles.

[0005] A surgical robot includes: a main body; a suspension mechanism including a first arm and a second arm connected to each other, the first arm being rotatably connected to the main body about a first rotation axis, and the second arm being offset from the first rotation axis in a direction perpendicular to the first rotation axis; a first arcuate joint disposed on the second arm and rotating relative to the second arm about a second rotation axis; and a second arcuate joint disposed on the first arcuate joint and rotating relative to the second arm about a third rotation axis; wherein the first rotation axis of the suspension mechanism, the second rotation axis of the first arcuate joint, and the third rotation axis of the second arcuate joint intersect at a fixed point.

[0006] In some embodiments, the first arm and the second arm together form an L-shaped structure, with the first end of the first arm rotatably connected to the main body along its length, and the second end of the first arm connected to the second arm.

[0007] In some embodiments, the first arcuate joint is located on one side of the first arm in the direction extending from the first rotation axis; and in a direction perpendicular to the first rotation axis, the first arcuate joint is located on one side of the second arm.

[0008] In some embodiments, the first arcuate joint has a first arcuate trajectory, the plane of which the first arcuate trajectory is located is parallel to the first rotation axis; the second arcuate joint has a second arcuate trajectory, the plane of which the second arcuate trajectory is located is perpendicular to the plane of which the first arcuate trajectory is located.

[0009] In some embodiments, the second arm is provided with a mounting portion extending toward the side near the first rotation axis, and the mounting portion is spaced apart from the first arm in the extension direction of the first rotation axis.

[0010] In some embodiments, the mounting part has a mounting groove on the side facing the first arm, and the first arcuate joint is rotatably disposed in the mounting groove.

[0011] In some embodiments, the first arm and the second arm form an obtuse angle on the side closest to the first axis of rotation.

[0012] In some embodiments, the first arm, the second arm, and the first arcuate joint are located in the same plane.

[0013] In some embodiments, the bisector of the angle between the first arm and the second arm, the first axis of rotation, the second axis of rotation, and the third axis of rotation intersect at the fixed point.

[0014] In some embodiments, the first arcuate joint includes a first arcuate arm and a second arcuate arm, the first arcuate arm being rotatably connected to the suspension mechanism with the fixed point as the center, the second arcuate arm being rotatably connected to the first arcuate arm with the fixed point as the center, and the second arcuate joint being rotatably connected to the second arcuate arm with the fixed point as the center.

[0015] In some embodiments, the first arcuate arm is sleeved outside the second arcuate arm, or, in the extension direction of the first rotation axis, the first arcuate arm is located on one side of the second arcuate arm.

[0016] In some embodiments, the first arc-shaped arm has a receiving cavity; a first driving module is provided between the first arc-shaped arm and the second arc-shaped arm, the first driving module being used to drive the second arc-shaped arm to rotate relative to the first arc-shaped arm, and the second arc-shaped arm is located in the receiving cavity.

[0017] In this application, by making the first rotation axis of the suspension mechanism, the second rotation axis of the first arc joint, and the third rotation axis of the second arc joint intersect at a fixed point, whether the puncture device is adjusted using the suspension mechanism, the first arc joint, or the second arc joint, the position of the puncture device's center of motion remains unchanged. This improves the stability of the puncture device's center of motion control, thereby reducing the control error of the puncture device's center of motion and increasing the flexibility of puncture device operation.

[0018] Furthermore, by offsetting the second arm from the first rotation axis in a direction perpendicular to the first rotation axis, space is created in the extension direction of the first rotation axis, increasing the range of motion of the first arcuate joint without affecting the movement of the second arcuate joint. When the first arcuate joint moves along the first arcuate trajectory, the second arcuate joint can move along the second arcuate trajectory using the space in the extension direction of the first rotation axis of the first arm, without interference from the second arm. This allows the trocar to have a large range of posture adjustment angles, resulting in a wide range of angle adjustment when entering the patient. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 For the overall vision of the surgical robot of this application Figure 1 .

[0022] Figure 2 For the overall vision of the surgical robot of this application Figure 2 .

[0023] Figure 3 This is a schematic diagram of the fixed points of a surgical robot.

[0024] Figure 4 This is a schematic diagram of the spatial state of Embodiment 1 of the suspension mechanism.

[0025] Figure 5 This is a schematic diagram of another spatial configuration for Embodiment 1 of the suspension mechanism.

[0026] Figure 6 This is a schematic diagram of the structure of Embodiment 1 of the suspension mechanism.

[0027] Figure 7 This is a schematic diagram of the second embodiment of the suspension mechanism.

[0028] Figure 8 This is a schematic diagram of the fixed point of the suspension mechanism in Embodiment 2.

[0029] Figure 9 This is a schematic diagram of the spatial state of Embodiment 2 of the suspension mechanism.

[0030] Figures 10 to 12 This is a schematic diagram showing the second arc joint at different angles when the first arc arm is located above the second arc arm.

[0031] Figures 13 to 15 This is a schematic diagram showing the second arc joint at different angles when the first arc arm is located below the second arc arm.

[0032] Figure 16 This is a schematic diagram of the external shape of the first arc-shaped joint in Embodiment 1.

[0033] Figure 17 This is a schematic diagram of the assembly of the first arc-shaped joint and the suspension mechanism in Embodiment 1.

[0034] Figure 18 This is a schematic diagram of the driving structure of the second arc-shaped arm in the first arc-shaped joint of Embodiment 1.

[0035] Figure 19 This is a schematic diagram of the external shape of the first arc-shaped joint in Embodiment 2.

[0036] Figure 20 This is a schematic diagram of the driving structure of the second arc-shaped arm in the first arc-shaped joint of Embodiment 2.

[0037] Figure 21 This is a schematic diagram of the external shape of the first arc-shaped joint in Embodiment 3.

[0038] Figure 22 This is a schematic diagram of the structure of the first arc-shaped joint in Embodiment 3.

[0039] Figure 23 This is a schematic diagram of the structure of the second arc-shaped arm of the first arc-shaped joint in Embodiment 3.

[0040] Figure 24 This is a schematic diagram of the driving structure of the second arc-shaped arm in the first arc-shaped joint of Embodiment 3.

[0041] Figure 25 This is a schematic diagram of the external shape of the first arc-shaped joint in Embodiment 4.

[0042] The corresponding numbers of the relevant components in the diagram are as follows:

[0043] 1. Surgical robot; 100. Main body; 101. Base; 102. Column; 103. Cantilever beam; 104. Drive mechanism; 20. Robotic arm; 200. Suspension mechanism; 210. First arm; 220. Second arm; 221. Mounting part; 222. Mounting slot; 2221. Guide structure; 230. Second drive module; 231. Motor; 232. Drum; 233. Transmission rope; 234. Second mounting bracket; 300. First arc joint; 301. First arc trajectory; 310. First arc arm; 311. Receiving cavity; 312. First guide rail; 320. Two arc-shaped arms; 321, second guide rail; 330, first drive module; 331, motor; 332, gear; 333, rack; 334, first mounting bracket; 3341, connecting plate; 335, wire winding drum; 336, transmission wire; 340, first guide roller; 350, second guide roller; 400, second arc-shaped joint; 401, second arc-shaped trajectory; L1, first rotation axis; L2, second rotation axis; L3, third rotation axis; L4, bisecting line; Z, vertical direction; X, horizontal direction; 2, puncture device; 3, operating table; 4, human body model; 5, fixed point. Detailed Implementation

[0044] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0045] A surgical robot is a device that allows for the performance of complex surgical procedures using minimally invasive techniques. A surgical robot can include a master control unit, a slave control unit, and surgical instruments mounted on the slave control unit. The surgeon can issue control commands from the master control unit to the slave control unit, which then controls the movement of the surgical instruments to perform the surgical procedure on the patient. The master control unit typically includes a robotic arm with multiple sequentially connected moving parts. One of the distal moving parts is connected to a power unit, which in turn is connected to a surgical instrument, such as a trocar. Adjacent moving parts form a joint. The joints work together to adjust the position and orientation of the distal surgical instrument, ensuring that the instrument always moves around a center of motion, which is the incision area on the patient's skin. As described in the background section, existing surgical robots have limitations in adjusting the angle of the trocar, and the trocar's posture is restricted, thus failing to adequately meet clinical needs.

[0046] Therefore, refer to Figures 1 to 25This application proposes a surgical robot 1, which allows the trocar 2 at the end of the surgical robot 1 to have a large range of posture adjustment angles, and a large range of angle adjustment when entering the patient.

[0047] refer to Figures 1 to 5 An embodiment of this application provides a surgical robot 1 including a main body 100. The main body 100 supports other components of the surgical robot 1. The main body 100 may have a walking mechanism (not shown). In use, the position of the surgical robot 1 can be adjusted through the walking mechanism, making it easy to move the surgical robot 1 to the bedside for minimally invasive surgery on the patient.

[0048] The surgical robot 1 also includes a robotic arm 20. The robotic arm 20 is connected to the main body 100. The robotic arm 20 may typically have multiple sequentially connected moving parts. One of the moving parts located at the distal end may be connected to an end-effector. For example, the end-effector is specifically a trocar 2.

[0049] Surgical robot 1 can be, for example, the surgical robot of a laparoscopic surgical system. (See reference) Figures 1 to 3 A human model 4, set on the operating table 3, illustrates the patient's position during the surgery. The trocar 2 is mounted at the distal end of the robotic arm 20, with its tip coinciding with a fixed point 5. The fixed point 5 is the virtual center of motion for the trocar 2. In other words, during minimally invasive surgery, the fixed point 5 is located at the incision area on the patient's body surface.

[0050] In some examples, the suspension mechanism 200 is rotatably mounted on the main body 100. The axis of rotation of the suspension mechanism 200 is a first axis of rotation L1, which passes through a fixed point 5. When the surgical robot 1 is in use, the first axis of rotation L1 typically extends in the vertical direction Z.

[0051] By rotatably mounting the suspension mechanism 200 on the main body 100, the entire robotic arm 20 can rotate around the first rotation axis L1, thereby driving the puncture device 2 to rotate. This increases the degree of freedom of adjustment of the puncture device 2 and enhances the flexibility of its operation.

[0052] In some examples, refer to Figure 2 , Figure 3 and Figure 6 The main body 100 includes a base 101, a column 102 disposed on the base 101, a suspension beam 103 disposed on the column 102, and a suspension mechanism 200 rotatably disposed on the suspension beam 103.

[0053] In some examples, the column 102 is arranged parallel to the first axis of rotation L1. When the surgical robot 1 is in use, the first axis of rotation L1 typically extends vertically in the Z direction, and the column 102 is also arranged vertically in the Z direction. In some examples, the cantilever beam 103 extends in a direction perpendicular to the first axis of rotation L1. When the first axis of rotation L1 is arranged vertically in the Z direction, the cantilever beam 103 extends horizontally in the X direction. In some examples, the column 102 is height-adjustable, telescopic, or rotatable relative to the base 101.

[0054] In some examples of embodiments of this application, by setting up the column 102 and the suspension beam 103, the height of the suspension mechanism 200 above the ground is increased, which facilitates the operation of the puncture device 2.

[0055] Furthermore, the column 102 is height-adjustable relative to the base 101. The column 102, via the suspension beam 103, can raise and lower the suspension mechanism 200, thereby adjusting the height of the trocar 2 relative to the base 101 and improving the operational flexibility of the trocar 2. Additionally, the column 102 is telescopic relative to the base 101. When the column 102 telescopically extends or retracts, it can, via the suspension beam 103, raise and lower the suspension mechanism 200, thereby adjusting the height of the trocar 2 relative to the base 101 and further improving the operational flexibility of the trocar 2.

[0056] Furthermore, the column 102 is rotatable relative to the base 101, and the positions of the suspension mechanism 200 and the puncture device 2 can be adjusted in the circumferential direction defined by the first rotation axis L1. Additionally, the suspension mechanism 200 is mounted on a suspension beam 103 perpendicular to the column 102. When the column 102 rotates at a small angle, the suspension mechanism 200 and the puncture device 2 can have a large rotation radius, thereby greatly increasing the adjustment space of the puncture device 2.

[0057] In addition, the suspension mechanism 200 is rotatably mounted on the suspension beam 103, and the column 102 can rotate around its own axis. Thus, regardless of whether the suspension mechanism 200 or the column 102 rotates, the posture of the puncture device 2 can be adjusted.

[0058] Furthermore, the lifting, extending, or rotating movements of the column 102 relative to the base 101 can also adjust the position of the aforementioned fixed point 5 in space. In other words, the position of the fixed point 5 will change accordingly before and after the position of the column 102 relative to the base 101 changes, thereby improving the flexibility of the puncture device 2 operation.

[0059] In some examples, the suspension beam 103 includes a drive mechanism 104. The structure of the drive mechanism 104 is not limited, as long as it can drive the suspension mechanism 200 to rotate around the first rotation axis L1. The drive mechanism 104 may include, for example, a servo motor and a reducer, with the servo motor driving the suspension mechanism 200 to rotate via the reducer. Alternatively, the drive mechanism 104 may include, for example, a servo motor, a transmission belt, and pulleys, with the transmission belt connecting the pulleys to the output shaft of the servo motor, and the pulleys being fixedly connected to or integrally formed with the suspension mechanism 200.

[0060] By setting the drive mechanism 104, the suspension mechanism 200 can be driven to rotate, thereby adjusting the position of the suspension mechanism 200 in space, and subsequently adjusting the position of the puncture device 2 in the circumferential direction.

[0061] In some examples, the robotic arm 20 also includes a first arcuate joint 300 rotatably connected to the suspension mechanism 200 about a second rotation axis L2. The first arcuate joint 300 moves along a first arcuate trajectory 301. The second rotation axis L2 intersects the first rotation axis L1 at a fixed point 5. (See...) Figure 3 .

[0062] In this application, references Figure 2 and Figure 3 The second rotation axis L2 intersects the first rotation axis L1 at a fixed point 5. Regardless of whether the suspension mechanism 200 rotates around the first rotation axis L1 (rotation direction as shown by arrow A) or the first arc joint 300 rotates around the second rotation axis L2 (rotation direction as shown by arrow B), the posture of the trocar 2 can be adjusted, and the center of motion of the trocar 2 always remains at the fixed point 5. In other words, whether the posture of the trocar 2 is adjusted using the suspension mechanism 200 or the first arc joint 300, the position of the center of motion of the trocar 2 remains unchanged. This facilitates control of the center of motion of the trocar 2, improves the stability of the control of the center of motion of the trocar 2, and reduces the control error of the end-effector's center of motion; thus, it enhances the operational flexibility of the trocar 2.

[0063] In some examples, refer to Figure 2 , Figure 3 The robotic arm 20 also includes a second arcuate joint 400 rotatably connected to the first arcuate joint 300 about a third rotation axis L3, and the second arcuate joint 400 moves along a second arcuate trajectory 401; wherein the first rotation axis L1, the second rotation axis L2 of the first arcuate joint 300, and the third rotation axis L3 of the second arcuate joint 400 intersect at a fixed point 5. The puncture device 2 is located at the second arcuate joint 400, see... Figure 3 .

[0064] In this application, references Figures 1 to 3The second arc-shaped joint 400 can rotate relative to the first arc-shaped joint 300 around the third rotation axis L3 (rotation direction as shown by arrow C). The second arc-shaped joint 400 can drive the puncture device 2 from... Figure 1 Move to the indicated position Figure 2 , Figure 3 The position is shown. By making the first rotation axis L1, the second rotation axis L2 of the first arc joint 300, and the third rotation axis L3 of the second arc joint 400 intersect at the fixed point 5, whether the puncture device 2 is adjusted using the suspension mechanism 200, the first arc joint 300, or the second arc joint 400, the position of the motion center of the puncture device 2 can be kept unchanged. This can improve the stability of the motion center control of the puncture device 2, thereby reducing the control error of the motion center of the puncture device 2 and improving the flexibility of the operation of the puncture device 2.

[0065] In this application, when the puncture device 2 is adjusted using any one of the suspension mechanism 200, the first arc joint 300, and the second arc joint 400, and then adjusted again using one or both of the other two components, the puncture device 2 can be adjusted within a larger angle range, allowing the puncture device 2 to enter the patient at a greater angle.

[0066] For example, when adjusting the trocar 2 using the suspension mechanism 200, the positions of the first arcuate joint 300 and the second arcuate joint 400 in space have changed. When adjusting the trocar 2 again using the first arcuate joint 300 and / or the second arcuate joint 400, the posture of the trocar 2 changes more significantly compared to its initial posture before adjustment using the suspension mechanism 200. Therefore, the trocar 2 can be adjusted within a wider angle range, allowing for a greater angle of entry into the human body. Furthermore, when the suspension mechanism 200 remains stationary and the trocar 2 is adjusted using the first arcuate joint 300, adjusting the trocar 2 again using the second arcuate joint 400 similarly allows for a wider angle of adjustment, resulting in a greater angle of entry into the human body.

[0067] In some examples, refer to Figures 2 to 4 , Figure 6 The suspension mechanism 200 includes a first arm 210 and a second arm 220. The first arm 210 is rotatably connected to the main body 100 about a first rotation axis L1, and the second arm 220 connects the first arcuate joint 300 to the first arm 210. In a direction perpendicular to the first rotation axis L1, the second arm 220 is offset from the first rotation axis L1.

[0068] This configuration increases the stroke of the first arc-shaped trajectory 301, thus increasing the range of motion of the first arc-shaped joint 300 without affecting the movement of the second arc-shaped joint 400. Specifically, when the first arc-shaped joint 300 moves along the first arc-shaped trajectory 301, the second arc-shaped joint 400 can move along the second arc-shaped trajectory 401 using the space extending along the first rotation axis L1 of the first arm 210, without interference from the second arm 220, giving the puncture device 2 a larger attitude adjustment angle. Figure 3 As shown, the second arc joint 400 utilizes the space in the extension direction of the first rotation axis L1 and moves to one side of the first arm 210.

[0069] refer to Figures 1 to 3 Taking the first rotation axis L1 along the vertical direction Z as an example, the second arm 220 is offset from the first rotation axis L1 by a certain distance in the horizontal direction X. This arrangement ensures that, in the vertical direction Z, there is no interference from the second arm 220 directly below the first arm 210. When the second arcuate joint 400 moves along the second arcuate trajectory 401, because the second arm 220 is offset from the first rotation axis L1, the second arcuate joint 400 can utilize the space extending along the first rotation axis L1 to move, thereby increasing the adjustment range of the puncture device 2. Therefore, in this application's example, the first arcuate joint 300 is allowed to move within a larger range.

[0070] In some examples, refer to Figure 4 The first arm 210 and the second arm 220 together form an L-shaped structure. The first end of the first arm 210 is rotatably connected to the main body 100 along its length, and the second end is connected to the second arm 220. The first axis of rotation L1 is located at the first end of the first arm 210. This arrangement allows for a larger offset between the second arm 220 and the first axis of rotation L1, providing more space for the first arc-shaped joint 300 to move on one side of the first arm 210. The first arm 210 and the second arm 220 can, for example, be perpendicular to each other.

[0071] Taking the first rotation axis L1 along the vertical direction Z as an example, the first arm 210 is set along the horizontal direction X, with one end rotatably connected to the cantilever beam 103 and the other end connected to the second arm 220. In the horizontal direction X, the entire length of the first arm 210 is utilized so that the second arm 220 and the first rotation axis L1 of the first arm 210 are offset by a large distance in the horizontal direction X. There is no interference from the second arm 220 below the first arm 210, which provides a large range of motion for the first arc joint 300 relative to the second arm 220.

[0072] Optionally, the first arm 210 and the second arm 220 are integral components. Optionally, the first arm 210 and the second arm 220 are detachably connected.

[0073] In some examples, refer to Figures 2 to 6 In the direction of extension of the first rotation axis L1, the first arc joint 300 is located on one side of the first arm 210; and in the direction perpendicular to the first rotation axis L1, the first arc joint 300 is located on one side of the second arm 220.

[0074] The first arc-shaped joint 300 is located on one side of the first arm 210. When the first arc-shaped joint 300 moves along the first arc-shaped trajectory, it drives the second arc-shaped joint 400 to move. The second arc-shaped joint 400 can move using the space located on one side of the first arm 210 along the extension direction of the first rotation axis L1, so that both the second arc-shaped joint 400 and the puncture device 2 can have a large range of adjustment.

[0075] In some examples, refer to Figure 4 The plane P containing the first arcuate trajectory 301 of the first arcuate joint 300 is parallel to the first rotation axis L1; the plane containing the second arcuate trajectory 401 of the second arcuate joint 400 is perpendicular to the plane containing the first arcuate trajectory 301. (Reference) Figure 3 , Figure 6 The plane containing the second arcuate trajectory 401 of the second arcuate joint 400 is perpendicular to the plane containing the first arcuate trajectory 301; that is, their motion planes are perpendicular. (Reference) Figure 1 The second arc-shaped joint 400 is located away from the first rotation axis L1; Reference Figure 3 The second arc joint 400 moves to the position where the first rotation axis L1 is located.

[0076] In this application, when the motion plane of the first arc joint 300 moves parallel to the first rotation axis L1, the second arc joint 400 can move closer to or further away from the first rotation axis L1, and can utilize the space in the extension direction of the first rotation axis L1.

[0077] Furthermore, in this application, the motion planes of the first arcuate joint 300 and the second arcuate joint 400 are perpendicular, and their combination increases the flexibility of adjusting the puncture device 2. (See reference...) Figure 1 , Figure 3 As shown, the first arc joint 300 can drive the second arc joint 400 to adjust its position in the direction of arrow B, and the second arc joint 400 itself can adjust its position relative to the first arc joint 300 in the direction of arrow C, so that the posture of the puncture device 2 can be adjusted at multiple angles in space.

[0078] In some examples, the second arm 220 is provided with a mounting portion 221 extending toward the side where the first rotation axis L1 is located, wherein the mounting portion 221 is spaced apart from the first arm 210 in the extending direction of the first rotation axis L1.

[0079] The mounting part 221 is specifically located on the side of the second arm 220 facing the first rotation axis L1. The first arc-shaped joint 300 is located on one side of the second arm 220. When the first arc-shaped joint 300 moves along the first arc trajectory, it is not disturbed by the second arm 220 and has a large range of motion. In addition, the space formed between the mounting part 221 and the first arm 210 can be utilized by the second arc-shaped joint 400, so that both the second arc-shaped joint 400 and the puncture device 2 can have a large range of adjustment.

[0080] Optionally, the second arm 220 has two ends along its length, one end of which is connected to the first arm 210, and the other end is away from the second arm 220; the mounting part 221 is provided at the other end of the second arm 220 away from the first arm 210. With this arrangement, there is a large gap between the mounting part 221 and the first arm 210, so that the space available for the second arcuate joint 400 is larger.

[0081] In some examples, the mounting part 221 has a mounting groove 222 on the side facing the first arm 210, and the first arc-shaped joint 300 is rotatably disposed in the mounting groove 222.

[0082] Optional, see reference Figure 6 The mounting groove 222 has guide structures 2221 on its two oppositely arranged groove walls. The first arc-shaped joint 300 is located between the two guide structures 2221, and the two sides of the first arc-shaped joint 300 are slidably engaged with the guide structures 2221. The guide structure 2221 has, for example, a guide groove, which engages with a slider (not shown) on the first arc-shaped joint 300.

[0083] In this application, the first arc-shaped joint 300 is installed in the mounting groove 222 and is at least partially located in the space formed between the mounting part 221 and the first arm 210. When the first arc-shaped joint 300 moves along the first arc trajectory, it can make full use of the space to move, thereby enabling the second arc-shaped joint 400 to have a larger adjustment range.

[0084] refer to Figures 7 to 9 In some examples, the first arm 210 and the second arm 220 form an obtuse angle on the side closer to the first rotation axis L1.

[0085] The angle between the first arm 210 and the second arm 220 is set to an obtuse angle, so that the second arm 220 is offset by a larger distance relative to the first rotation axis L1 of the first arm 210. When the first arc joint 300 moves along the first arc trajectory, the second arc joint 400 can move along the second arc trajectory by utilizing the space in the extension direction of the first rotation axis L1 of the first arm 210 without being affected by the interference of the second arm 220, and the puncture device 2 has a large position adjustment range.

[0086] In some examples, the first arm 210, the second arm 220, and the first arcuate joint 300 are located in the same plane.

[0087] The fact that the first arm 210, the second arm 220, and the first arcuate joint 300 are located in the same plane can be understood as follows: the axes of the first arm 210 and the second arm 220 intersect and define a plane, which is coplanar with the plane containing the first arcuate trajectory of the first arcuate joint 300. Thus, when the first arcuate joint 300 moves relative to the second arm 220 along the first arcuate trajectory, the direction of movement of the first arcuate joint 300 is parallel to the offset direction of the second arm 220 relative to the first arm 210. When the first arcuate joint 300 drives the second arcuate joint 400 to move, it can fully utilize the space along the extension direction of the first rotation axis L1, increasing the range of motion.

[0088] In some examples, refer to Figure 8 and Figure 9 The bisector L4 of the angle between the first arm 210 and the second arm 220, the first axis of rotation L1, the second axis of rotation L2 of the first arc joint 300, and the third axis of rotation L3 of the second arc joint 400 intersect at the fixed point 5.

[0089] When the angle between the first arm 210 and the second arm 220 is set to an obtuse angle, the bisector L4 of the obtuse angle also passes through the fixed point 5. Whether the puncture device 2 is adjusted using the suspension mechanism 200, the first arc joint 300, or the second arc joint 400, the position of the center of motion of the puncture device 2 remains unchanged, resulting in higher control precision.

[0090] In some examples, refer to Figure 10 The first arc joint 300 includes a first arc arm 310 and a second arc arm 320.

[0091] refer to Figure 3 , Figure 10 Optionally, the first arc-shaped arm 310 is rotatably connected to the suspension mechanism 200 with the fixed point 5 as the center. The first arc-shaped arm 310 moves along the first arc-shaped trajectory.

[0092] Optionally, the second arc-shaped arm 320 is rotatably connected to the first arc-shaped arm 310 with the fixed point 5 as the center. The second arc-shaped arm 320 moves relative to the first arc-shaped arm 310 along the first arc-shaped trajectory.

[0093] Optionally, the second arcuate joint 400 is rotatably connected to the second arcuate arm 320 with the fixed point 5 as the center. The second arcuate joint 400 moves relative to the second arcuate arm 320 along a second arcuate trajectory.

[0094] When the first arc-shaped arm 310 rotates, it drives the second arc-shaped arm 320 to rotate together, that is, the two can be linked. When the second arc-shaped arm 320 rotates, it can drive the second arc-shaped joint 400 to rotate together.

[0095] In the embodiments of this application, the ability to rotate with fixed point 5 as the center means that the circle of the arc-shaped rotation trajectory of the component during rotation is fixed point 5. Taking the rotation of the first arc-shaped arm 310 as an example, the first arc-shaped arm 310 is rotatably connected to the second arm 220 of the suspension mechanism 200, and the center of the arc-shaped rotation trajectory of the first arc-shaped arm 310 is fixed point 5. In the embodiments of this application, the first arc-shaped joint 300 is a combination design of two arc-shaped arms, which can realize the rotation of the first arc-shaped joint 300 relative to the suspension mechanism 200. At the same time, the first arc-shaped arm 310 and the second arc-shaped arm 320 can also realize relative rotation, and the second arc-shaped joint 400 can also rotate relative to the first arc-shaped joint 300. Thus, the posture of the puncture device 2 can be adjusted by adjusting the first arc-shaped arm 310, the second arc-shaped arm 320, or the second arc-shaped joint 400. Furthermore, by adjusting at least two of the first arc arm 310, the second arc arm 320, or the second arc joint 400, the adjustment angle of the second arc joint 400 is increased, allowing for greater adjustment of the trocar 2's posture within a wider angle range, thus better meeting clinical needs.

[0096] In specific configurations, the first arc-shaped arm 310 may optionally be fitted outside the second arc-shaped arm 320, i.e., the two are nested.

[0097] Optionally, the first arc-shaped arm 310 is located on one side of the second arc-shaped arm 320. Specifically, in the extension direction of the first rotation axis L, the first arc-shaped arm 310 can be located on either side of the second arc-shaped arm 320. That is, in the extension direction of the first rotation axis L, the first arc-shaped arm 310 is located on the side of the second arc-shaped arm 320 closer to the first arm 210, or the first arc-shaped arm 310 is located on the side of the second arc-shaped arm 320 away from the first arm 210.

[0098] For example, taking the first rotation axis L along the vertical direction Z as an example, the direction perpendicular to the first rotation axis L is along the horizontal direction X. Figures 10 to 12As shown, in the vertical direction Z (up and down in the figure), the first arc-shaped arm 310 is located above the second arc-shaped arm 320, on the side of the second arc-shaped arm 320 closer to the first arm 210. The suspension mechanism 200 includes a first arm 210 and a second arm 220 connected together. The first arm 210 is rotatably connected to the main body 100, and the second arm 220 is arranged along the vertical direction Z. At both ends of the second arm 220 in the vertical direction Z, it is connected to the first arc-shaped joint 300 and the first arm 210, respectively. The rotation axes of the second arm 220 and the first arm 210 are offset in the horizontal direction X. The first arc-shaped joint 300 is perpendicular to the second arm 220. During the rotation of the second arc-shaped joint 400 relative to the first arc-shaped joint 300, it can utilize the horizontal space between the first rotation axis L of the second arm 220 and the first arm 210, thus having a larger range of motion. In addition, the first arm 210 and the second arm 220 of the suspension mechanism 200 can also be... Figure 7 In the layout shown, the angle between the first arm 210 and the second arm 220 is set at an obtuse angle.

[0099] For example, let's take the first rotation axis L along the vertical direction Z as an example. Figures 13 to 15 As shown, the first arc-shaped arm 310 is located below the second arc-shaped arm 320, and the first arc-shaped arm 310 is located on the side of the second arc-shaped arm 320 away from the first arm 210. The suspension mechanism 200 includes a first arm 210 and a second arm 220 connected to each other. The first arm 210 is rotatably connected to the main body 100, and the second arm 220 is arranged along the vertical direction Z. The two ends of the second arm 220 in the vertical direction Z are respectively connected to the first arc-shaped joint 300 and the first arm 210. The rotation axes of the second arm 220 and the first arm 210 are offset in the horizontal direction X.

[0100] Optionally, the first arm 210 and the second arm 220 form an obtuse angle, and the first arm 210, the second arm 220, and the first arc joint 300 are located in the same plane. During the rotation of the second arc joint 400 relative to the first arc joint 300, it can utilize the horizontal space between the first rotation axis L of the second arm 220 and the first arm 210, thereby having a larger range of motion.

[0101] Optional, such as Figures 16 to 18 As shown, the first arc-shaped arm 310 and the second arc-shaped arm 320 are nested together. That is, the first arc-shaped arm 310 is fitted over the second arc-shaped arm 320.

[0102] The first arc-shaped arm 310 has a receiving cavity 311, and the second arc-shaped arm 320 is rotatably disposed within the receiving cavity 311 for protection. When the first arc-shaped arm 310 and the second arc-shaped arm 320 are nested, the first arm 210 and the second arm 220 of the suspension mechanism 200 can be arranged as follows: Figure 6 The layout shown can also be Figure 7The layout shown.

[0103] In some examples, refer to Figures 16 to 19 In order to control the relative movement of the first arc arm 310 and the second arc arm 320, a first drive module 330 is provided between the first arc arm 310 and the second arc arm 320 in this application. The first drive module 330 is used to drive the second arc arm 320 to rotate relative to the first arc arm 310.

[0104] In some examples, refer to Figure 19 In order to control the relative movement between the first arc-shaped joint 300 and the suspension mechanism 200, the suspension mechanism 200 in this application also includes a second drive module 230, which is used to drive the first arc-shaped joint 300 to rotate relative to the suspension mechanism 200.

[0105] In this application, both the first drive module 330 and the second drive module 230 are communicatively connected to the main control terminal of the surgical robot 1 and operate under the control of the main control terminal. The implementation of the first drive module 330 and the second drive module 230 is not limited in this application; they only need to be able to drive the first arc-shaped arm 310 to move relative to the suspension mechanism 200, or to drive the second arc-shaped arm 320 to move relative to the first arc-shaped arm 310. The first arc-shaped arm 310 and the second arc-shaped arm 320 can be nested or arranged one above the other. In other words, the first drive module 330 and the second drive module 230 can flexibly choose specific implementation methods for different configurations of the first arc-shaped arm 310 and the second arc-shaped arm 320.

[0106] The following is an illustrative description with reference to the accompanying drawings.

[0107] refer to Figures 16 to 18 In Embodiment 1, the first arc-shaped arm 310 and the second arc-shaped arm 320 are nested. The first drive module 330 is hidden within the first arc-shaped arm 310.

[0108] In some examples, the first drive module 330 is a gear and rack transmission mechanism. The first drive module 330 includes a motor 331, a gear 332, and a rack 333. The motor 331 is located on the second arc-shaped arm 320, the gear 332 is connected to the motor 331 in a transmission manner, and the rack 333 is fixed to the first arc-shaped arm 310 and meshes with the gear 332.

[0109] In some examples, the first arc-shaped arm 310 is fitted over the second arm 220. The first arc-shaped arm 310 has a receiving cavity 311, and the second arc-shaped arm 320 is rotatably disposed within the receiving cavity 311. The first drive module 330 is disposed within the receiving cavity 311. The second arc-shaped arm 320 and the first drive module 330 are concealed within the first arc-shaped arm 310, and are protected by the first arc-shaped arm 310, thereby improving the reliability of the first drive module 330.

[0110] In some examples, a first guide roller 340 is also provided between the first arc-shaped arm 310 and the second arc-shaped arm 320. The first guide roller 340 is hidden inside the first arc-shaped arm 310. The first arc-shaped arm 310 can protect the first guide roller 340 from external collisions.

[0111] In a specific configuration, the first guide roller 340 can be fixed to the inner wall of the receiving cavity 311 or to the second arc-shaped arm 320. When the second arc-shaped arm 320 rotates relative to the first arc-shaped arm 310, the first guide roller 340 guides the second arc-shaped arm 320, allowing it to rotate smoothly. Optionally, the first guide rollers 340 are arranged in pairs and located on both sides of the second arc-shaped arm 320.

[0112] In some examples, the first drive module 330 also includes a first mounting bracket 334. The motor 331 is fixed to the second arcuate arm 320 via the first mounting bracket 334. Figure 18 As shown, the first mounting bracket 334 includes two spaced-apart connecting plates 3341. The motor 331 is located in the cavity between the inner walls of the two connecting plates 3341.

[0113] In some examples, the first arcuate arm 310 includes a first guide rail 312 for guiding engagement with the suspension mechanism 200. The second arcuate arm 320 includes a second guide rail 321 for guiding engagement with the first guide roller 340 and is fixed to the first mounting bracket 334. The gear 332 is fixed to the first mounting bracket 334, and the rack 333 is fixed to the first guide rail 312.

[0114] The first arc-shaped arm 310 specifically includes two first guide rails 312; the second arc-shaped arm 320 includes two second guide rails 321. The two first guide rails 312 are respectively located on both sides of the first mounting bracket 334. The second guide rails 321 are guided and engaged with the first guide roller 340, and the two second guide rails 321 are respectively fixed to the outer side wall of different connecting plates 3341. The gear 332 is fixed to the outer side of the connecting plate 3341 and is fixedly connected to the motor shaft of the motor 331.

[0115] In this application, the first mounting bracket 334 supports the motor 331 and guides it in conjunction with the first guide rail 312, thereby fixing the motor 331 on the second arc-shaped arm 320. This allows the first arc-shaped arm 310 and the second arc-shaped arm 320 to rotate relative to each other, enabling adjustment of the puncture device 2. Furthermore, a cavity is formed within the first mounting bracket 334. The motor 331 is located inside the cavity, while the first guide rail 312 and gear 332 are located outside the cavity, resulting in a more compact overall structure.

[0116] To make the second arc-shaped arm 320 rotate relative to the first arc-shaped arm 310, the control motor 331 is activated, the motor shaft drives the gear 332 to rotate, the gear 332 rolls on the rack 333 and drives the second arc-shaped arm 320 to rotate under the guidance of the first guide roller 340.

[0117] Furthermore, a second guide roller 350 is provided between the first mounting bracket 334 and the second arm 220. The second guide roller 350 is used to guide the first arc-shaped arm 310 when it rotates.

[0118] In this embodiment, the second drive module 230 may be, for example, a gear and rack transmission mechanism to drive the first arm 210 to move relative to the suspension mechanism 200. For example, the second drive module 230 includes a motor 231, a gear 332, and a rack 333. The motor 231 is located on the second arm 220, the gear 332 is connected to the motor 231 in a transmission manner, and the rack 333 is fixed to the first arc-shaped arm 310 and meshes with the gear 332.

[0119] refer to Figure 19 and Figure 20 As shown in Embodiment 2, the first arc-shaped arm 310 and the second arc-shaped arm 320 are also nested. The first drive module 330 includes a motor 331, a winding drum 335 rotated by the motor 331, and a transmission wire 336. The motor 331 is located on the second arc-shaped arm 320, and the transmission wire 336 is wound on the winding drum 335 and fixedly connected to the first arc-shaped arm 310.

[0120] The first drive module 330 also includes a first mounting bracket 334. A motor 331 is fixed to the second arc-shaped arm 320 via the first mounting bracket 334. The first mounting bracket 334 includes two spaced-apart connecting plates 3341. The motor 331 is located between the inner walls of the two connecting plates 3341. Both the motor 331 and the winding drum 335 are located between the two connecting plates 3341 of the first mounting bracket 334. The motor shaft of the motor 331 is connected to the winding drum 335 to drive the winding drum 335 to rotate. One end of the transmission wire 336 is disposed on the winding drum 335, and the other end is connected to the first arc-shaped arm 310.

[0121] To make the second arc-shaped arm 320 rotate relative to the first arc-shaped arm 310, the control motor 331 is activated, and the motor shaft drives the winding drum 335 to rotate. The winding drum 335 continuously winds the transmission wire 336, and the distance between the other end of the transmission wire 336 and the winding drum 335 decreases, thereby driving the second arc-shaped arm 320 to move.

[0122] In this embodiment, the second drive module 230 includes a motor 231, a drum 232 driven to rotate by the motor 231, and a transmission rope 233. The transmission rope 233 is wound on the drum 232 and fixedly connected to the first arc-shaped arm 310. The motor 231 is fixed on the second arm 220 of the suspension mechanism 200, and the output shaft of the motor 231 is connected to the drum 232 in a transmission connection.

[0123] As an example, the drum 232 has left-hand and right-hand winding drive ropes 233 at its two ends in the upward direction, respectively, and the ends of the drive ropes 233 at both ends are fixed to the first arc-shaped arm 310. When the drum 232 rotates, one end takes in the wire and the other end releases the wire, and the distance between the end of the drive rope 233 and the drum 232 decreases, thereby driving the first arc-shaped arm 310 to move relative to the suspension mechanism 200.

[0124] refer to Figures 21 to 24 In Embodiment 3, the first arc-shaped arm 310 is disposed on the upper side of the second arc-shaped arm 320. The first drive module 330 includes a motor 331, a winding drum 335 rotated by the motor 331, and a transmission wire 336. The motor 331 is disposed on the second arc-shaped arm 320, and the transmission wire 336 is wound on the winding drum 335 and fixedly connected to the first arc-shaped arm 310.

[0125] In this embodiment, the first drive module 330 is hidden inside the first arc-shaped arm 310. One end of the transmission wire 336 is mounted on the winding drum 335, and the other end is connected to the first arc-shaped arm 310. To rotate the second arc-shaped arm 320 relative to the first arc-shaped arm 310, the control motor 331 is activated. The motor shaft drives the winding drum 335 to rotate, and the winding drum 335 continuously winds the transmission wire 336. The distance between the other end of the transmission wire 336 and the winding drum 335 decreases, thereby driving the second arc-shaped arm 320 to move.

[0126] In this embodiment, the second drive module 230 includes a motor 231, a drum 232 driven to rotate by the motor 231, and a transmission rope 233. The transmission rope 233 is wound on the drum 232 and fixedly connected to the first arc-shaped arm 310. The motor 231 is fixed on the second arm 220 of the suspension mechanism 200, and the output shaft of the motor 231 is connected to the drum 232 in a transmission connection.

[0127] For example, the drum 232 has left-hand and right-hand winding drive ropes 233 at its two ends in the upward direction, and the ends of the drive ropes 233 at both ends are fixed to the first arc-shaped arm 310. When the drum 232 rotates, one end takes in the wire and the other end releases the wire, and the distance between the end of the drive rope 233 and the drum 232 decreases, thereby driving the first arc-shaped arm 310 to move relative to the suspension mechanism 200.

[0128] For example, the second drive module 230 includes a second mounting bracket 234, which is fixed to the second arm 220 of the suspension mechanism 200. The second mounting bracket 234 is also rotatably connected to the second arcuate arm 320. A first guide roller 340 is provided between the second mounting bracket 234 and the second arcuate arm 320, which guides the second arcuate arm 320 when it rotates relative to the first arcuate arm 310. The motor 231 and the drum 232 are both located inside the second mounting bracket 234.

[0129] Optionally, in Embodiments 2 and 3, the winding drum 335 in the first drive module 330 can also be a sprocket, and the transmission wire 336 can also be a chain. Alternatively, the winding drum 335 in the first drive module 330 can also be a pulley, and the transmission wire 336 can also be a transmission belt.

[0130] refer to Figure 25 In Embodiment 4, the first arc-shaped arm 310 is disposed on the upper side of the second arc-shaped arm 320. In this embodiment, the structure of the first drive module 330 is the same as in Embodiment 1, and the structure of the second drive module 230 is the same as in Embodiment 2 or 3.

[0131] Specifically, the first drive module 330 includes a motor 331, a gear 332, and a rack 333. The motor 331 is located on the second arc-shaped arm 320, the gear 332 is connected to the motor 331 in a transmission manner, and the rack 333 is fixed to the first arc-shaped arm 310 and meshes with the gear 332.

[0132] To make the second arc-shaped arm 320 rotate relative to the first arc-shaped arm 310, the control motor 331 is activated, the motor shaft drives the gear 332 to rotate, the gear 332 rolls on the rack 333 and drives the second arc-shaped arm 320 to rotate under the guidance of the first guide roller 340.

[0133] The second drive module 230 includes a motor 231, a drum 232 driven by the motor 231, and a transmission rope 233. The transmission rope 233 is wound on the drum 232 and fixedly connected to the first arc-shaped arm 310. The motor 231 is fixed on the second arm 220 of the suspension mechanism 200, and the output shaft of the motor 231 is connected to the drum 232 for transmission.

[0134] The drum 232 has left-hand and right-hand winding drive ropes 233 at its two ends, respectively, and the ends of the drive ropes 233 are fixed to the first arc-shaped arm 310. When the drum 232 rotates, one end takes in the wire and the other end releases the wire, reducing the distance between the end of the drive rope 233 and the drum 232, which in turn drives the first arc-shaped arm 310 to move relative to the suspension mechanism 200.

[0135] Furthermore, in Embodiment 4, the drum 232 in the second drive module 230 can also be a sprocket, and the transmission rope 233 can also be a chain. Alternatively, the drum 232 in the second drive module 230 can also be a pulley, and the transmission rope 233 can also be a transmission belt.

[0136] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0137] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0138] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0139] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0140] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A surgical robot, characterized in that, The surgical robot includes: main body; A suspension mechanism, comprising a first arm and a second arm connected to each other, wherein the first arm is rotatably connected to the main body about a first rotation axis, and the second arm is offset from the first rotation axis in a direction perpendicular to the first rotation axis; A first arc-shaped joint is disposed on the second arm and rotates about a second rotation axis relative to the second arm; The second arc joint is disposed on the first arc joint and rotates about the third rotation axis relative to the second arm; The first rotation axis of the suspension mechanism, the second rotation axis of the first arc joint, and the third rotation axis of the second arc joint intersect at a fixed point.

2. The surgical robot according to claim 1, characterized in that, The first arm and the second arm together form an L-shaped structure. The first end of the first arm is rotatably connected to the main body along its length, and the second end of the first arm is connected to the second arm.

3. The surgical robot according to claim 1, characterized in that, In the direction extending from the first rotation axis, the first arcuate joint is located on one side of the first arm; and in the direction perpendicular to the first rotation axis, the first arcuate joint is located on one side of the second arm.

4. The surgical robot according to claim 3, characterized in that, The first arc joint has a first arc trajectory, and the plane containing the first arc trajectory is parallel to the first rotation axis; the second arc joint has a second arc trajectory, and the plane containing the second arc trajectory is perpendicular to the plane containing the first arc trajectory.

5. The surgical robot according to claim 3, characterized in that, The second arm is provided with a mounting portion extending toward the side close to the first rotation axis. The mounting portion is spaced apart from the first arm in the extension direction of the first rotation axis.

6. The surgical robot according to claim 5, characterized in that, The mounting part has a mounting groove on the side facing the first arm, and the first arc-shaped joint is rotatably disposed in the mounting groove.

7. The surgical robot according to claim 1, characterized in that, On the side closest to the first axis of rotation, the first arm and the second arm form an obtuse angle.

8. The surgical robot according to claim 7, characterized in that, The first arm, the second arm, and the first arcuate joint are located in the same plane.

9. The surgical robot according to claim 7, characterized in that, The bisector of the angle between the first arm and the second arm, the first axis of rotation, the second axis of rotation, and the third axis of rotation intersect at the fixed point.

10. The surgical robot according to claim 1, characterized in that, The first arc joint includes a first arc arm and a second arc arm. The first arc arm is rotatably connected to the suspension mechanism with the fixed point as the center. The second arc arm is rotatably connected to the first arc arm with the fixed point as the center. The second arc joint is rotatably connected to the second arc arm with the fixed point as the center.

11. The surgical robot according to claim 10, characterized in that, The first arc-shaped arm is sleeved outside the second arc-shaped arm, or, in the extension direction of the first rotation axis, the first arc-shaped arm is located on one side of the second arc-shaped arm.

12. The surgical robot according to claim 11, characterized in that, The first arc-shaped arm has a receiving cavity; a first driving module is provided between the first arc-shaped arm and the second arc-shaped arm, the first driving module is used to drive the second arc-shaped arm to rotate relative to the first arc-shaped arm, and the second arc-shaped arm is located in the receiving cavity.

Images