A pediatric surgical robot and assembly

Abstract

The application provides a kind of children surgery robot and combination device, it is related to robot field, including first linear module, second linear module, third linear module, first motor module, second motor module, third motor module, surgery robot support, first wire transmission instrument box, second wire transmission instrument box, third wire transmission instrument box, single-hole punch card, endoscope arm, first execution arm and second execution arm;First linear module, second linear module and third linear module are evenly distributed and installed on surgery robot support;First linear module, first motor module, first wire transmission instrument box, endoscope arm are sequentially connected;Second linear module, second motor module, second wire transmission instrument box, first execution arm are connected;Third linear module, third motor module, third wire transmission instrument box, second execution arm are connected;Endoscope arm, first execution arm and second execution arm are position-constrained by single-hole punch card and variable pitch support.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a pediatric surgical robot and its assembly. Background Technology

[0002] Children's head and neck anatomy is complex, and surgical approaches are diverse. Furthermore, rapid child development leads to significant differences in head and neck dimensions across different age groups. To meet the specific surgical needs of children and address the limitations of traditional surgical instruments in terms of adaptability and flexibility in pediatric head and neck surgery, a pediatric head and neck surgical robot with switchable approaches and adjustable access channel dimensions has been developed. This robot requires specific component connection methods to achieve multi-arm collaboration, approach switching, and precise motion control. Therefore, clarifying the connection logic of each core component is a key foundation for realizing the robot's functions.

[0003] Currently, there are related technologies applied to robotic arm devices for surgical procedures. Most of them adopt a hierarchical assembly structure of linear modules, motor modules, transmission modules and execution arms, and are equipped with access components such as trocars and supports to realize the internal access and operation of surgical instruments. At the same time, some devices have basic designs such as modular disassembly and assembly, wire-driven power transmission, single-hole or multi-hole minimally invasive access, etc. They can also realize the advance and retreat adjustment of instruments through linear motion modules, and realize multi-degree-of-freedom movement of the execution arm end through motor drive and transmission structure.

[0004] Existing surgical robotic arm technology lacks a flexible and quick-assembly structure for connecting the robotic arms, resulting in low efficiency in changing instruments during surgery. Furthermore, spatial interference is prone to occur when using multi-arm collaborative approaches, making it impossible to achieve precise and flexible multi-degree-of-freedom operations in the confined space of a child's head and neck. At the same time, universal trocars and other access components cannot be adapted to the minimally invasive requirements of single-cavity access with multiple arms, making it difficult to balance the minimally invasive nature of the surgery with operational coordination. Summary of the Invention

[0005] To address the shortcomings of existing surgical robotic arm technologies, such as the lack of flexible and quick-assembly structures for connecting robotic arms, low efficiency in instrument replacement during surgery, and spatial interference during multi-arm collaborative approaches, which prevent precise and flexible multi-degree-of-freedom operations within the confined space of a child's head and neck, as well as the inability of universal trocars and other access components to meet the minimally invasive requirements of single-cavity multi-arm approaches, this invention provides a pediatric surgical robot and its combined device.

[0006] The technical solutions provided by the embodiments of the present invention are as follows: The present invention provides a pediatric surgical robot and its assembly, comprising: a first linear module, a second linear module, a third linear module, a first motor module, a second motor module, a third motor module, a surgical robot support, a first wire-driven instrument box, a second wire-driven instrument box, a third wire-driven instrument box, a single-hole trocar, an endoscope arm, a first actuator arm, and a second actuator arm.

[0007] The first linear module, the second linear module, and the third linear module are evenly distributed and installed on the surgical robot support.

[0008] The first linear module, the first motor module, the first wire-driven instrument box, and the endoscope arm are connected in sequence.

[0009] The second linear module, the second motor module, the second wire drive instrument box, and the first actuator arm are connected in sequence.

[0010] The third linear module, the third motor module, the third wire drive instrument box, and the second actuator are connected in sequence.

[0011] The endoscope arm, the first actuator arm, and the second actuator arm are positioned using a single-hole embossing card and a variable-pitch bracket.

[0012] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: In this invention, the surgical robot support serves as the main base, and the three robotic arms are independently assembled in the following hierarchy: linear module, machine module, wire-driven instrument box, and end-arm body. The three are not directly connected and can move linearly independently. Furthermore, the ends of the three arms are connected by a single-hole puncture card to achieve single-channel access with a very small horizontal distance. This ensures the coordinated operation of the endoscopic arm and the dual operating arms, while avoiding spatial interference during the movement of multiple arms. It is suitable for the narrow surgical space of children's head and neck and improves the efficiency of instrument changing during surgery. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of a pediatric surgical robot and its assembly provided in an embodiment of the present invention.

[0015] Figure 2 This is a schematic diagram of the structure of the first linear module provided in an embodiment of the present invention.

[0016] Figure 3This is a schematic diagram of the structure of the first motor module provided in an embodiment of the present invention.

[0017] Figure 4 This is a schematic diagram of the structure of the first wire transmission instrument box provided in an embodiment of the present invention.

[0018] Figure 5 This is a schematic diagram of the endoscope arm provided in an embodiment of the present invention.

[0019] Figure 6 This is a schematic diagram of the structure of the variable spacing bracket provided in an embodiment of the present invention.

[0020] Figure 7 The forward and inverse kinematic models of the variable spacing support provided in the embodiments of the present invention.

[0021] Reference numerals: 1. First linear module; 101. First linear module connecting bracket; 102. First linear module lead screw nut; 103. First linear module slider; 104. First linear module cover plate; 105. First linear module lead screw; 106. First linear module slide rail; 107. First linear module housing; 108. First linear module encoder; 109. First linear module coupling; 110. First linear module motor; 111. First linear module button; 112. First linear module driver; 2. Second linear module; 3. Third linear module; 4. First motor module; 401. First motor module housing; 402. First motor module driver; 4 03. First motor module driver bracket; 404. First motor module motor; 405. First motor module base plate; 406. First motor module motor bracket; 407. First motor module retaining pin; 408. First motor module output flange; 409. First motor module retaining pin spring; 410. First motor module retaining pin cover; 5. Second motor module; 6. Third motor module; 7. Surgical robot bracket; 8. First wire drive instrument box; 801. First wire drive instrument box rear panel; 802. First wire drive instrument box input flange; 803. First wire drive instrument box winding shaft; 804. First wire drive instrument box guide wheel; 805. First wire drive instrument box guide wheel Shaft; 806, First wire-driven instrument box gear set; 807, First wire-driven instrument box front panel; 808, First wire-driven instrument box gear shaft; 809, First wire-driven instrument box intermediate plate; 810, First wire-driven instrument box outer shell; 9, Second wire-driven instrument box; 10, Third wire-driven instrument box; 11, Single-hole puncture card; 12, Endoscopic arm; 1201, First surgical execution arm gripper; 1202, First surgical execution arm top serpentine bone; 1203, First surgical execution arm wrist joint; 1204, First surgical execution arm middle serpentine bone; 1205, First surgical execution arm elbow joint; 1206, First surgical execution arm bottom serpentine bone; 1207, First surgical execution arm length 1501. Tube; 1502. First surgical arm; 1503. Second surgical arm; 1504. Variable spacing bracket; 1505. First surgical arm guide tube; 1506. First surgical arm guide tube bracket; 1507. Lead screw; 1508. Angle adjustment lead screw; 1509. Angle adjustment motor; 1510. Second surgical arm guide tube; 1511. Second surgical arm guide tube bracket; 1512. Second slider; 1513. Second slide pin; 1514. Bevel gear set; 1515. Spacing adjustment drive shaft; 1516. Spacing adjustment motor; 1517. Variable spacing bracket base.

[0022] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0023] The technical solutions of the present invention will now be described with reference to the accompanying drawings. It should be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art can use other alternative methods to implement some well-known technologies. Furthermore, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0024] like Figures 1 to 6 As shown, an embodiment of the present invention provides a pediatric surgical robot and a combined device, including: a first linear module 1, a second linear module 2, a third linear module 3, a first motor module 4, a second motor module 5, a third motor module 6, a surgical robot support 7, a first wire-driven instrument box 8, a second wire-driven instrument box 9, a third wire-driven instrument box 10, a single-hole trocar 11, an endoscope arm 12, a first actuator arm 13, and a second actuator arm 14.

[0025] The first linear module 1, the second linear module 2, and the third linear module 3 are evenly distributed and installed on the surgical robot support 7.

[0026] The first linear module 1, the first motor module 4, the first wire-driven instrument box 8, and the endoscope arm 12 are connected in sequence.

[0027] The second linear module 2, the second motor module 5, the second wire drive instrument box 9, and the first actuator arm 13 are connected in sequence.

[0028] The third linear module 3, the third motor module 6, the third wire transmission instrument box 10, and the second actuator arm 14 are connected in sequence.

[0029] The endoscope arm 12, the first actuator arm 13, and the second actuator arm 14 are positionally constrained by a single-hole embossing card 11 and a variable-pitch bracket 15.

[0030] In this embodiment of the invention, the component is connected and laid out using a design of three linear modules evenly distributed on the support and single arms connected in series. With the help of a single-hole trocar, the position of the multiple arms is constrained. This allows the three arms to form independent and coordinated motion links, ensuring the accuracy and independence of linear motion and power transmission of each arm. The single-hole trocar also allows the endoscopic arm and the execution arm to be inserted at a small distance, effectively avoiding spatial interference in the coordination of multiple arms. This design is suitable for the narrow surgical space of children's head and neck. At the same time, the modular, step-by-step connection design also enables the rapid disassembly and replacement of arm components, greatly improving the flexibility, adaptability and efficiency of surgical operations and instrument replacement.

[0031] In one possible implementation, the single-hole stamp card 11 can be replaced with a variable-pitch bracket.

[0032] The variable-pitch bracket is installed at the end of the first linear module 1.

[0033] The second actuator 13 and the third actuator 14 pass through the variable-pitch bracket.

[0034] A variable-pitch bracket is used to adjust the spacing and angle between the second actuator 13 and the third actuator 14.

[0035] Specifically, the variable spacing bracket 15 mainly includes: a first surgical arm catheter 1501, a first surgical arm catheter bracket 1502, a forward and reverse threaded screw 1503, a first slider 1504, a first sliding pin 1505, a movable slide groove 1506, a threaded screw bracket 1507, an angle adjusting threaded screw 1508, an angle adjusting motor 1509, a second surgical arm catheter 1510, a second surgical arm catheter bracket 1511, a second slider 1512, a second sliding pin 1513, a bevel gear set 1514, a spacing adjusting transmission shaft 1515, a spacing adjusting motor 1516, and a variable spacing bracket base 1517.

[0036] The first surgical arm catheter 1501 is fixed to the first surgical arm catheter support 1502. The horizontal position and angle of the first surgical arm catheter 1501 are exactly the same as those of the first surgical arm catheter support 1502. The first surgical arm catheter support 1502 has a central rotating hole that can cooperate with the shaft on the first slider 1504, allowing the former to rotate on the latter. The relationship between the second surgical arm catheter 1510, the second surgical arm catheter support 1511, and the second slider 1512 is the same as above and will not be repeated. The protruding part of the side of the first surgical arm catheter support 1502 has a pin hole. The upper end of the first sliding pin 1505 is inserted into the hole, and the lower end is inserted into the movable slide groove 1506. The protruding part of the side of the second surgical arm catheter support 1511 has a pin hole. The upper end of the second sliding pin 1513 is inserted into the hole, and the lower end is inserted into the movable slide groove 1506. The angle adjusting motor 1509 is connected to the angle adjusting screw 1508, and the angle adjusting screw and the movable slide groove 1506 form a screw-nut engagement. Driven by the angle adjusting screw 1508, the movable slide 1506 moves linearly along the direction of the angle adjusting screw 1508. Since the length of the side-extended portions of the first surgical arm catheter support 1502 and the second surgical arm catheter support 1511 remains constant, when the distance between the movable slide 1506 and the first slider 1504 and the second slider 1512 changes, the first sliding pin 1505 and the second sliding pin 1513 will move inside the movable slide 1506. The first surgical arm catheter support 1502 and the second surgical arm catheter support 1511 will then rotate around the first slider 1504 and the second slider 1512, respectively. This allows the horizontal angle between them to be changed.

[0037] A lead screw 1503 with reverse threading is mounted on a lead screw bracket 1507. A first slider 1504 and a second slider 1512 are mounted on the lead screw 1503 to form a lead screw-nut fit. Because the threads at both ends of the lead screw 1503 have opposite directions of rotation, the first slider 1504 and the second slider 1512 move in opposite directions, simultaneously performing separation or convergence movements. A pitch adjustment motor 1516 is connected to a pitch adjustment drive shaft 1515, which is connected to a bevel gear set 1514. The bevel gear set 1514 is connected to the lead screw 1503. The rotational motion output by the pitch adjustment motor 1516 is transmitted to the lead screw 1503 after its direction is changed by the bevel gear set 1514.

[0038] In summary, the positions and orientations of the first surgical arm catheter 1501 and the second surgical arm catheter 1510 are completely symmetrical. The angle adjustment motor 1509 can simultaneously change the horizontal angle of the two, and the spacing adjustment motor 1516 can change the distance between the two.

[0039] like Figure 7 The diagram shown illustrates the structure of a variable-pitch bracket in an embodiment of the present invention.

[0040] The distal end of the second surgical arm catheter 1510 is located at point P, and P1 is the coordinate system x of point P. U Uy U The coordinates of point P in the x-coordinate system are given below, where P2 is the coordinate of point P in the x-co O Oy O The coordinates below. x and l y Let x be the coordinate system U Uy U Point P1 (l) below x , l y The coordinates of x and y are in the coordinate system x. O Oy O The coordinates of point P2(x, y) are given by θ. The rotation angles of the second surgical arm catheter stent 1511 and the side extension of the second surgical arm catheter stent 1511 relative to the coordinate system x and y are respectively represented. U Uy U of y U The included angle of the axes; r, h, and d represent the distance from the second sliding pin 1513 to the origin U, the distance between the movable slide groove 1506 and the second slider 1512, and the distance from the second slider 1512 to the coordinate system x, respectively. O Oy O The distance from the origin O.

[0041] Furthermore, the forward kinematics requires that, given the positions of the movable slide 1506, the first slider 1504, and the second slider 1512, the end positions of the first surgical arm conduit 1501 and the second surgical arm conduit 1510 can be determined.

[0042] Based on the structure of the variable-spacing support 15, a forward and inverse kinematic model can be established. Since the first surgical arm catheter 1501 and the second surgical arm catheter 1510 are symmetrical, this paper only introduces the forward and inverse kinematics of the second surgical arm catheter 1510; the first surgical arm catheter 1501 will not be described in detail. The origin O is taken as the center of the forward and reverse threaded screw 1503, the axial direction of the forward and reverse threaded screw 1503 is the axis, and the radial direction is y. O The distance from the second slider 1512 to the origin O is d. The distance between the movable groove 1506 and the second slider 1512 is h. With the rotation center of the second surgical arm catheter support 1511 as the origin U, and the axial direction of the end of the second surgical arm catheter 1510 as y... U The axis, with the radial direction being x U The second surgical arm catheter stent 1511 rotates at an angle θ, and its lateral protrusion is perpendicular to the axis. U The included angle of the axis is The distance from the second sliding pin 1513, into which the protruding part is inserted, to the origin U is r. The horizontal distance from the end position P of the second surgical arm catheter 1510 to the origin U is l.x The vertical distance is l y .

[0043] The geometric relationship is as follows: Where h represents the straight-line distance between the movable slide and the second slider 1512, and r represents the distance from the second sliding pin 1513 to the origin U of the rotation center of the second surgical arm catheter support 1511. This indicates the lateral extension of the second surgical arm catheter stent 1511 relative to the coordinate system x. U Uy U middle y U The angle between the axes, θ represents the rotation angle of the second surgical arm catheter stent 1511, π represents pi, and x represents the position P of the end of the second surgical arm catheter 1510 in the coordinate system x. O Oy O x-axis coordinates in l x The distance from the distal end P of the second surgical arm catheter 1510 to its rotation center origin U is represented by cosine, sin is sine, and l y The vertical distance from the end position P of the second surgical arm catheter 1510 to its rotation center origin U is represented by d, and the vertical distance from the second slider 1512 to the coordinate system x is represented by d. O Oy O The straight-line distance from the origin O, y represents the position P of the distal end of the second surgical arm catheter 1510 in the coordinate system x. O Oy O In the coordinate system x, P2 represents the position of the distal end of the second surgical arm catheter 1510 in the x-axis coordinate system. O Oy O The final coordinates of the point.

[0044] In this embodiment of the invention, by replacing the single-hole puncture card with a variable-spacing bracket and adapting it to the end of the linear module, the execution arm can be inserted through it to achieve flexible adjustment of the spacing and angle. This not only enables rapid switching between single-cavity and double-cavity surgical approaches, adapting to different surgical approaches for children's head and neck, such as oral and nasal approaches, but also allows for precise adjustment of the position and posture of the execution arm according to the differences in head and neck size of children of different ages, effectively avoiding spatial interference and making the instrument operation more suitable for children's narrow surgical space. This greatly improves the robot's adaptability and operational flexibility to different surgical scenarios and physiological characteristics of children's head and neck.

[0045] In one possible implementation, the first linear module 1, the second linear module 2, and the third linear module 3 all drive the first motor module 4, the first wire-driven instrument box 8, and the endoscope arm 12 to move linearly as a whole.

[0046] In this embodiment of the invention, three linear modules drive corresponding motor modules, wire-driven instrument boxes, and end arms to achieve overall linear motion, allowing the endoscope arm and two actuator arms to independently and precisely adjust their forward and backward movements. The depth of each arm entering the human body can be flexibly adjusted according to surgical needs, adapting to the narrow and complex surgical space of children's heads and necks. At the same time, it ensures the positional accuracy during multi-arm collaborative operation, avoids operational interference caused by linkage adjustment, and greatly improves the flexibility and precision of surgical operations.

[0047] In one possible implementation, the first linear module 1 specifically includes: a first linear module connecting bracket 101, a first linear module lead screw nut 102, a first linear module slider 103, a first linear module cover plate 104, a first linear module lead screw 105, a first linear module slide rail 106, a first linear module housing 107, a first linear module encoder 108, a first linear module coupling 109, a first linear module motor 110, a first linear module button 111, and a first linear module driver 112.

[0048] In one possible implementation, the first linear module slide rail 106 and the first linear module lead screw 105 are mounted on the first linear module housing 107 and are arranged in parallel.

[0049] The first linear module slider 103, the first linear module lead screw nut 102, and the first linear module connecting bracket 101 are connected in sequence.

[0050] The first linear module slider 105 is connected to the first linear module slide rail 106.

[0051] The first linear module motor 110 and the first linear module lead screw 105 are connected together by the first linear module coupling 109.

[0052] The first linear module lead screw nut 102 and the first linear module lead screw 105 cooperate to convert the rotary joint output by the motor into a linear joint to drive the first linear module connecting bracket 101 to move linearly.

[0053] The first linear module encoder 108 is concentric with the motor and is used to record the absolute position of the first linear module motor 110.

[0054] The first linear module button 111 can control the linear motion of the first linear module 1.

[0055] In this embodiment of the invention, the structural design and transmission coordination of the first linear module combine transmission precision, motion stability, and operational flexibility. The parallel layout of the slide rail and lead screw provides stable support for linear motion. The lead screw and nut precisely convert rotational motion into linear motion. The coupling ensures efficient transmission of motor power. The concentric encoder accurately records the absolute position of the motor to achieve precise positioning of the motion. At the same time, it is equipped with a manual button for flexible control of linear motion. The mechanical structure design ensures the stability of the overall linear motion and the efficiency of power transmission. The combination of the encoder and the manual button achieves precise control and flexible operation of the motion, which is suitable for the stringent requirements of instrument motion precision and ease of operation in pediatric head and neck surgery.

[0056] In one possible implementation, the second motor module 5 is used to transmit the rotational motion of the drive motor into the tensioning motion of the steel wire through the second wire transmission device box 9, and to control the first gripper of the first actuator arm 13 at the end to perform opening and closing motion, pitch and yaw motion of the first wrist joint, and pitch and yaw motion of the first elbow joint.

[0057] In this embodiment of the invention, the second motor module converts the rotational motion into the wire-stretching motion through the wire-driven instrument box. It can precisely and independently control the opening and closing of the gripper of the execution arm and the multi-dimensional movement of the wrist and elbow joints. This allows the end of the execution arm to achieve flexible operation with multiple degrees of freedom and high precision in the narrow surgical space of children's head and neck. The single module coordinates the driving of different movement dimensions of the end, ensuring the high efficiency of power transmission and the accuracy of motion control. It meets the stringent requirements of delicate instrument operation in children's head and neck surgery, and greatly improves the flexibility and accuracy of surgical operation.

[0058] In one possible implementation, the first motor module 4 specifically includes: a first motor module housing 401, a first motor module driver 402, a first motor module driver bracket 403, a first motor module motor 404, a first motor module base plate 405, a first motor module motor bracket 406, a first motor module locking pin 407, a first motor module output flange 408, a first motor module locking pin spring 409, and a first motor module locking pin cover 410.

[0059] Specifically, there are six first motor module drivers 402, all with the same function but used to control different motors. These six first motor module drivers 402 are all connected to a first motor module driver bracket 403, which in turn is connected to a first motor module base plate 405. There are six first motor module motors 404, all with the same structure and function, used to control different degrees of freedom at the end of the surgical arm. There are six first motor module output flanges 408, which are connected to the first motor module motors 404.

[0060] By default, the latch is in the upper position, such as... Figure 5 As shown in -a, when the first wire transmission instrument box 8 is installed, the inclined surface of the first motor module locking pin 407 is pressed downwards as shown. Figure 5 As shown in -b, when installed in place, the first motor module locking pin 407 is moved upward by the upward force of the first motor module locking pin spring 409 and locks the first wire transmission instrument box 8, as shown in Figure 8. Figure 5 As shown in -c. When removing the first wire transmission device box 8, it is necessary to manually press the first motor module locking pin 407 to move it downwards as shown. Figure 5 As shown in -b, the first motor module locking pin 407 unlocks from the first wire-driven instrument box 8, enabling rapid blade changing during surgery.

[0061] In this embodiment of the invention, the first motor module adopts an integrated structure consisting of a shell, base plate, bracket, and other components. It is equipped with dedicated locking pins, springs, flanges, and other functional accessories. The modular component composition enables the orderly installation and stable fixation of the motor and driver, ensuring the stability of power output and control. Furthermore, the matching design of the locking pins, springs, and flanges lays a structural foundation for the subsequent rapid disassembly and precise docking with the wire-driven instrument box. The overall component layout is reasonable, and the functional accessories are highly adaptable, taking into account both the structural stability of the module itself and the overall assembly flexibility of the equipment, thus meeting the operational needs of rapid instrument changing during surgery.

[0062] In one possible implementation, the first motor module 4 includes a plurality of first motor module drivers 402, each of which is connected to a first motor module driver bracket 403.

[0063] The first motor module driver bracket 403 is connected to the first motor module base plate 405.

[0064] The first motor unit locking pin 407 is installed between the first motor unit locking pin cover 410 and the first motor unit motor bracket 406, and can slide up and down.

[0065] The first motor module retaining spring 409 is installed below the first motor module retaining pin 407.

[0066] In this embodiment of the invention, the first motor module neatly connects multiple drivers to a dedicated bracket and fixes them to the base plate, making the power control components compact and securely installed, ensuring the stability and power transmission efficiency of the independent drive of multiple motors. Simultaneously, the structural design of slidingly installing a locking pin between the locking pin cover and the motor bracket, with a spring fitted below the locking pin, provides a quick-release structure for the motor module and the wire-driven instrument box, enabling automatic locking and easy unlocking. This achieves both orderly integration of the internal components of the module and considers the overall assembly flexibility of the equipment and the operational needs for rapid instrument changing during surgery. The overall structural design balances functionality and practicality.

[0067] In one possible implementation, the first wire transmission instrument box 8 specifically includes: a rear panel 801, an input flange 802, a winding shaft 803, a guide wheel 804, a guide wheel shaft 805, a gear set 806, a front panel 807, a gear shaft 808, an intermediate plate 809, and a housing 810.

[0068] In one possible implementation, the first wire drive instrument box 8 includes a plurality of first wire drive instrument box input flanges 802, which cooperate with and lock the first motor module 4 output flange.

[0069] The input flange 802 of the first wire transmission instrument box is connected to the winding shaft 803 or the gear shaft 808 of the first wire transmission instrument box, and is used to transmit the rotation output of the motor of the first motor module 4 to the winding shaft 803 or the gear shaft 808 of the first wire transmission instrument box.

[0070] The first wire transmission instrument box gear shaft 808 is used to transmit rotation to the first wire transmission instrument box gear set 806, which drives the endoscope arm 12 to rotate.

[0071] The first surgical arm 12 specifically includes a first surgical arm gripper 1201, a snake bone at the top of the first surgical arm 1202, a wrist joint of the first surgical arm 1203, a snake bone in the middle of the first surgical arm 1204, an elbow joint of the first surgical arm 1205, a snake bone at the bottom of the first surgical arm 1206, and a long tube of the first surgical arm 1207.

[0072] Both the wrist joint 1203 and elbow joint 1205 of the first surgical arm are composed of multiple continuous serpentine bones. Steel wires pass through this continuum. Two pairs of steel wires are fixed to the top serpentine bone 1202 of the first surgical arm, and pulling these two pairs of wires controls the pitch and yaw degrees of freedom of the wrist joint 1203. Two pairs of steel wires are fixed to the middle serpentine bone 1204 of the first surgical arm, and pulling these two pairs of wires controls the pitch and yaw degrees of freedom of the wrist joint 1205. One pair of steel wires is fixed to the gripper 1201 of the first surgical arm, and pulling these two pairs of wires controls its opening and closing.

[0073] In this embodiment of the invention, the first wire-driven instrument box is precisely locked with the motor module output flange through a multi-input flange, achieving seamless and stable power transmission. At the same time, the design of connecting the winding shaft and gear shaft through the flanges respectively can transmit the motor rotational motion to different transmission components as needed. This not only realizes the separate power output for wire stretching and arm rotation, adapting to the power requirements of the multi-degree-of-freedom movement of the end-effector, but also ensures the accuracy and stability of power transmission through the precise docking of the flanges. This allows the instrument box to efficiently convert motor power and precisely drive the endoscope arm to complete various movements. The overall transmission design has strong adaptability, high transmission efficiency, and precise control.

[0074] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the preferred embodiments, while those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0075] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A pediatric surgical robot and its assembly, characterized in that, include: The system comprises a first linear module (1), a second linear module (2), a third linear module (3), a first motor module (4), a second motor module (5), a third motor module (6), a surgical robot support (7), a first wire-driven instrument box (8), a second wire-driven instrument box (9), a third wire-driven instrument box (10), a single-hole puncture card (11), an endoscope arm (12), a first actuator arm (13), a second actuator arm (14), and the variable-pitch support (15). The first linear module (1), the second linear module (2), and the third linear module (3) are evenly distributed and installed on the surgical robot support (7); The first linear module (1), the first motor module (4), the first wire-driven instrument box (8), and the endoscope arm (12) are connected in sequence; The second linear module (2), the second motor module (5), the second wire drive instrument box (9), and the first actuator arm (13) are connected in sequence; The third linear module (3), the third motor module (6), the third wire transmission instrument box (10), and the second actuator (14) are connected in sequence; The endoscope arm (12), the first actuator arm (13), and the second actuator arm (14) are positionally constrained by the single-hole embossing card (11) and the variable-spacing bracket (15).

2. The pediatric surgical robot and its assembly according to claim 1, characterized in that, The single-hole stamp card (11) can be replaced with a variable-pitch bracket; The variable-pitch bracket is installed at the end of the first linear module (1); The first actuator (13) and the second actuator (14) pass through the variable pitch bracket; The variable spacing bracket is used to adjust the spacing and angle between the first actuator (13) and the second actuator (14).

3. The pediatric surgical robot and its assembly according to claim 1, characterized in that, The first linear module (1), the second linear module (2), and the third linear module (3) all drive the first motor module (4), the first wire-driven instrument box (8), and the endoscope arm (12) to move in a straight line as a whole.

4. The pediatric surgical robot and its assembly according to claim 1, characterized in that, The first linear module (1) specifically includes: a first linear module connecting bracket (101), a first linear module lead screw nut (102), a first linear module slider (103), a first linear module cover plate (104), a first linear module lead screw (105), a first linear module slide rail (106), a first linear module housing (107), a first linear module encoder (108), a first linear module coupling (109), a first linear module motor (110), a first linear module button (111), and a first linear module driver (112).

5. The pediatric surgical robot and assembly according to claim 4, characterized in that, The first linear module slide rail (106) and the first linear module lead screw (105) are mounted on the first linear module housing (107); The first linear module slider (103), the first linear module lead screw nut (102), and the first linear module connecting bracket (101) are connected in sequence; The first linear module slider (105) and the first linear module slide rail (106) are connected; The first linear module motor (110) and the first linear module lead screw (105) are connected together by the first linear module coupling (109); The first linear module lead screw nut (102) and the first linear module lead screw (105) cooperate to convert the rotary joint output by the motor into a linear joint to drive the first linear module connecting bracket (101) to move linearly. The first linear module encoder (108) is concentric with the motor and is used to record the absolute position of the first linear module motor (110); The first linear module button (111) can control the linear motion of the first linear module 1.

6. The pediatric surgical robot and its assembly according to claim 1, characterized in that, The second motor module (5) is used to transmit the rotational motion of the drive motor into the tensioning motion of the steel wire through the second wire transmission device box (9), and to control the first gripper of the first execution arm (13) at the end to perform opening and closing motion, pitch and yaw motion of the first wrist joint and pitch and yaw motion of the first elbow joint.

7. The pediatric surgical robot and its assembly according to claim 1, characterized in that, The first motor module (4) specifically includes: a first motor module housing (401), a first motor module driver (402), a first motor module driver bracket (403), a first motor module motor (404), a first motor module base plate (405), a first motor module motor bracket (406), a first motor module locking pin (407), a first motor module output flange (408), a first motor module locking pin spring (409), and a first motor module locking pin cover (410).

8. The pediatric surgical robot and assembly according to claim 7, characterized in that, The first motor module (4) includes a plurality of first motor module drivers (402), and each first motor module driver (402) is connected to the first motor module driver bracket (403); The first motor module driver bracket (403) is connected to the first motor module base plate (405); The first motor assembly latch (407) is installed between the first motor assembly latch cover (410) and the first motor assembly motor bracket (406), and can slide up and down; The first motor module retaining spring (409) is installed below the first motor module retaining pin (407).

9. The pediatric surgical robot and its assembly according to claim 1, characterized in that, The first wire transmission instrument box (8) specifically includes: a rear panel (801) of the first wire transmission instrument box, an input flange (802) of the first wire transmission instrument box, a winding shaft (803) of the first wire transmission instrument box, a guide wheel (804) of the first wire transmission instrument box, a guide wheel shaft (805) of the first wire transmission instrument box, a gear set (806) of the first wire transmission instrument box, a front panel (807) of the first wire transmission instrument box, a gear shaft (808) of the first wire transmission instrument box, an intermediate plate (809) of the first wire transmission instrument box, and a shell (810) of the first wire transmission instrument box. The first wire transmission instrument box (8) includes multiple first wire transmission instrument box input flanges (802), which cooperate with and lock the first motor module (4) output flange; The first wire transmission instrument box input flange (802) is connected to the first wire transmission instrument box winding shaft (803) or the first wire transmission instrument box gear shaft (808) to transmit the rotation output of the first motor module 4 to the first wire transmission instrument box winding shaft (803) or the first wire transmission instrument box gear shaft (808). The first wire drive instrument box gear shaft (808) is used to transmit rotation to the first wire drive instrument box gear set (806), thereby driving the endoscope arm (12) to rotate.

10. The pediatric surgical robot and assembly according to claim 1, characterized in that, The variable spacing bracket (15) mainly includes: a first surgical arm conduit (1501), a first surgical arm conduit bracket (1502), a forward and reverse tooth screw (1503), a first slider (1504), a first sliding pin (1505), a movable slide (1506), a screw bracket (1507), an angle adjustment screw (1508), an angle adjustment motor (1509), a second surgical arm conduit (1510), a second surgical arm conduit bracket (1511), a second slider (1512), a second sliding pin (1513), a bevel gear set (1514), a spacing adjustment transmission shaft (1515), a spacing adjustment motor (1516), and a variable spacing bracket base (1517).

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