Remote center of motion mechanism

Abstract

The present disclosure provides a remote center of motion mechanism, comprising: a frame; a rotating mechanism mounted on the frame; a swing mechanism, comprising: a first swing arm mounted on the rotating mechanism and adapted to rotate about a first axis perpendicular to a rotating axis; a second swing arm rotatably mounted on the first swing arm about a second axis parallel to the first axis; a transmission assembly mounted on the first swing arm and the second swing arm, and an instrument arm rotatably mounted on the transmission assembly about a third axis parallel to the second axis, the transmission assembly being adapted to rotate the second swing arm counterclockwise or clockwise relative to the first swing arm and rotate the instrument arm clockwise or counterclockwise relative to the second swing arm about the third axis by a first angle when the first swing arm rotates clockwise or counterclockwise about the first axis by the first angle, so as to keep the instrument arm in a vertical plane perpendicular to the first axis, and a distance from the first axis to a remote fixed point is equal to a distance from the third axis to the remote fixed point.

Description

Technical Field

[0001] At least one embodiment of this disclosure relates to the field of minimally invasive surgical robot technology, and more particularly to a remote motion center mechanism. Background Technology

[0002] Robot-assisted minimally invasive surgery is widely used in clinical surgery due to its numerous advantages over traditional open surgery. In this field, surgical instruments need to move through the surgical incision while minimizing tissue damage. Therefore, the movement of surgical instruments is restricted to translation along the incision axis and rotation around the incision point, a concept known as the Remote Center-of-Motion (RCM). An RCM mechanism refers to the ability of a mechanism to rotate its links around a fixed distal point without a physical rotating joint at the distal point. Because this characteristic perfectly suits surgical needs, RCM mechanisms are widely used in the slave arms of surgical robots.

[0003] In related technologies, methods for implementing RCM (Responsive Cavity Movement) can be divided into two main categories: design-based and control-based. Compared to control-based methods, design-based methods result in RCM mechanisms with higher safety and simpler control algorithms. RCM mechanisms constructed using mechanical constraint methods mainly include parallelogram-based RCM mechanisms, spherical RCM mechanisms, and parallel RCM mechanisms, among which the most widely used is the double parallelogram-based RCM mechanism. The principle of the double parallelogram RCM mechanism is to construct two parallelograms through links to generate a virtual parallelogram. Due to the property that opposite sides of a parallelogram are equal, the link length of the double parallelogram RCM mechanism needs to be equal to the safe distance between the RCM mechanism and the human body. This results in a long link length, a large space occupation, and a large sweep space during swinging, pitching, and rotation during surgery, increasing the risk of collisions between robotic arms and between the robotic arm and the assistant nurse, thus affecting the safety of the surgery.

[0004] Some RCM mechanisms, such as those based on curved guide rails (e.g., CN 108670411 B) or spherical connecting rods (CN108972507A), are unfavorable for arrangement due to the presence of irregularly shaped guide rails or connecting rods, and they occupy a large space during operation. Other parallel RCM mechanisms (e.g., CN 106037936 B, CN 113664809 B) also suffer from large size due to the presence of multiple kinematic branches. Summary of the Invention

[0005] In view of this, the present disclosure provides a remote motion center mechanism that can improve the safety of minimally invasive surgery.

[0006] As one aspect of this disclosure, a remote motion center mechanism is provided, including a frame, a rotation mechanism, and a yaw mechanism. The rotation mechanism is mounted on the frame and is adapted to drive an instrument arm to rotate around a rotation axis about a telecentric fixed point; wherein the telecentric fixed point is located in the extension direction of the axis of the instrument arm. The yaw mechanism includes a first swing arm, a second swing arm, and a transmission assembly. A first swing arm is mounted on the aforementioned rotating mechanism and is adapted to rotate about a first axis perpendicular to the rotation axis; a second swing arm is rotatably mounted on the first swing arm about a second axis parallel to the first axis; a transmission assembly is mounted on the first and second swing arms, and the instrument arm is rotatably mounted on the transmission assembly about a third axis parallel to the second axis. The transmission assembly is adapted to cause the second swing arm to rotate counterclockwise or clockwise relative to the first swing arm when the first swing arm rotates clockwise or counterclockwise about the first axis by a first angle, and to cause the instrument arm to rotate clockwise or counterclockwise about the third axis by the first angle relative to the second swing arm, so as to keep it in a vertical plane perpendicular to the first axis, wherein the distance from the first axis to the telecentric fixed point is equal to the distance from the third axis to the telecentric fixed point.

[0007] According to embodiments of this disclosure, the transmission assembly includes a first transmission part and a second transmission part. The first transmission part is mounted on the first swing arm and is adapted to cause the second swing arm to swing about the second axis under the drive of the first swing arm; the second transmission part is mounted on the second swing arm and the instrument arm is mounted on the second transmission part and is adapted to cause the instrument arm to swing about the third axis under the drive of the second swing arm.

[0008] According to embodiments of this disclosure, the yaw mechanism further includes a first drive assembly mounted on the rotary mechanism; the first transmission part includes a first pivot, a second pivot, and a first transmission unit. The first pivot is mounted on the first swing arm in the extension direction of the first axis, and under the drive of the first drive assembly, the first pivot drives the first swing arm to swing around the first axis; the second pivot is mounted on the first swing arm and the second transmission part in the extension direction of the second axis; the first transmission unit is mounted between the first pivot and the second pivot, and the first transmission unit is adapted to, under the action of the first swing arm and the first pivot, cause the second swing arm to deflect counterclockwise or clockwise around the second pivot by a second angle greater than the first angle when the first swing arm rotates clockwise or counterclockwise around the first pivot by a first angle.

[0009] According to an embodiment of this disclosure, the second transmission unit includes a third pivot and a second transmission unit. The third pivot is mounted on the second swing arm in the extension direction of the third axis, wherein the instrument arm is rotatably mounted on the third pivot about the third axis; the second transmission unit is installed between the second pivot and the third pivot, and the second transmission unit is adapted to cause the instrument arm to swing clockwise or counterclockwise relative to the second swing arm about the third axis by the drive of the second swing arm at the first angle.

[0010] According to an embodiment of this disclosure, the first transmission unit includes a first wheel set, a second wheel set, and a third wheel set. The first wheel set is mounted on the first pivot; the second wheel set is rotatably mounted on a fourth pivot parallel to the first pivot, wherein the fourth pivot is mounted on the first swing arm; the third wheel set is rotatably mounted on the second pivot and mounted on the second swing arm; wherein, when the first swing arm swings about the first axis, the first wheel set drives the second wheel set to rotate, and the second wheel set drives the third wheel set to rotate, thereby causing the second swing arm to follow the third wheel set in deflecting relative to the first swing arm about the second axis.

[0011] According to embodiments of this disclosure, the second transmission unit further includes a fourth wheel group, a fifth wheel group, and a sixth wheel group. The fourth wheel group is mounted on the second pivot and located on the side of the second swing arm away from the first swing arm; the fifth wheel group is rotatably mounted on a fifth pivot parallel to the second pivot, wherein the fifth pivot is mounted on the second swing arm; the sixth wheel group is rotatably mounted on the third pivot, wherein the instrument arm is mounted on the sixth wheel group; wherein, when the second pivot rotates about the second axis, the fourth wheel group drives the fifth wheel group to rotate, and the fifth wheel group drives the sixth wheel group to rotate about the third pivot, thereby causing the instrument arm to deflect relative to the second swing arm.

[0012] According to embodiments of this disclosure, the first wheel set includes a plurality of first drive wheels; the second wheel set includes a plurality of first cams and a plurality of second drive wheels; the third wheel set includes a plurality of second cams; and the first transmission unit further includes a first transmission belt group and a second transmission belt group. The first transmission belt group includes a plurality of first transmission belts, one end of each first transmission belt being mounted on a first drive wheel, and the other end of each first transmission belt being mounted on a second drive wheel. The first transmission belt group is adapted to cause the second wheel set to rotate about the fourth pivot under the drive of the first wheel set. The second transmission belt group includes a plurality of second transmission belts, one end of each second transmission belt being mounted on a first cam, and the other end of each second transmission belt being mounted on a second cam. The second transmission belt group is adapted to cause the third wheel set to rotate about the second pivot under the drive of the second wheel set, thereby causing the fourth wheel set to drive the fifth wheel set to rotate.

[0013] According to embodiments of this disclosure, the fourth wheel group includes a plurality of third cams; the fifth wheel group includes a plurality of fourth cams and a plurality of third drive wheels; the sixth wheel group includes a plurality of fourth drive wheels; and the second transmission unit further includes a third transmission belt group and a fourth transmission belt group. The third transmission belt group includes a plurality of third transmission belts, one end of each third transmission belt being mounted on a third cam, and the other end of each third transmission belt being mounted on a fourth cam. The third transmission belt group is adapted to cause the fifth wheel group to rotate about the fifth pivot under the drive of the fourth wheel group. The fourth transmission belt group includes a plurality of fourth transmission belts, one end of each fourth transmission belt being mounted on a third drive wheel, and the other end of each fourth transmission belt being mounted on a fourth drive wheel. The fourth transmission belt group is adapted to cause the sixth wheel group to rotate about the third pivot under the drive of the fifth wheel group, thereby causing the instrument arm to rotate about the third pivot.

[0014] According to an embodiment of this disclosure, the remote motion center mechanism further includes a translation mechanism mounted on the aforementioned yaw mechanism. The aforementioned instrument arm is mounted on the aforementioned transmission assembly via the aforementioned translation mechanism. The aforementioned translation mechanism is adapted to drive the aforementioned instrument arm to reciprocate in the extension direction of the axis of the aforementioned instrument arm, so as to adjust the relative position of the surgical end of the aforementioned instrument arm with respect to the aforementioned distal fixed point.

[0015] According to an embodiment of this disclosure, the rotating mechanism includes a second drive assembly and a rotating assembly. The second drive assembly is mounted on the frame; the rotating assembly includes a first connecting portion and a second connecting portion. The first connecting portion is rotatably mounted on the frame and is adapted to rotate about the rotation axis under the drive of the drive assembly; the second connecting portion extends from the first connecting portion in a direction parallel to the rotation axis toward the distal fixed point; wherein the first swing arm is mounted on the second connecting portion, and under the action of the rotating mechanism and the yaw mechanism, the mounting end of the instrument arm opposite to the surgical end moves about a sphere with the distal fixed point as the center and the distance from the mounting end to the distal fixed point as the radius.

[0016] According to the remote motion center mechanism of this disclosure, the instrument arm is mounted on a transmission assembly. Through the transmission assembly, the first swing arm and the second swing arm are driven together. The angle of rotation of the first swing arm around the first axis is the same as the angle of rotation of the instrument arm relative to the second swing arm around the third axis. The rotation is maintained in a vertical plane perpendicular to the first axis. The distance from the first axis to the distal fixed point is always equal to the distance from the third axis to the distal fixed point. This allows the dimensions of the first and second swing arms to be not limited to the distance from the first axis to the distal fixed point, making the structure of the swing mechanism more compact, reducing the volume of the remote motion center mechanism, reducing the risk of collisions between the robotic arms and between the robotic arms and the assistant nurse during surgery, and improving the safety of the surgery. Attached Figure Description

[0017] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0018] Figure 1 A perspective view of a remote motion center mechanism according to an embodiment of the present disclosure is shown schematically;

[0019] Figure 2 A side view of a remote motion center mechanism according to an embodiment of the present disclosure is shown schematically;

[0020] Figure 3 A schematic diagram illustrating the swing variation of the yaw mechanism according to an embodiment of the present disclosure is shown.

[0021] Figure 4 A perspective view of a yaw mechanism according to an embodiment of the present disclosure is shown schematically;

[0022] Figure 5 An exploded view schematically illustrates a yaw mechanism according to an embodiment of the present disclosure;

[0023] Figure 6A perspective view of a first swing arm according to an embodiment of the present disclosure is schematically shown;

[0024] Figure 7 A perspective view of a second pivot according to an embodiment of the present disclosure is schematically shown;

[0025] Figure 8 A perspective view of a second swing arm according to an embodiment of the present disclosure is shown schematically;

[0026] Figure 9 A perspective view of a first wheel assembly according to an embodiment of the present disclosure is shown schematically;

[0027] Figure 10 A perspective view of a second round assembly according to an embodiment of the present disclosure is shown schematically;

[0028] Figure 11 A perspective view of a third set of wheels according to an embodiment of the present disclosure is schematically shown;

[0029] Figure 12 A perspective view of the fourth wheel assembly according to an embodiment of the present disclosure is schematically shown;

[0030] Figure 13 A perspective view of the fifth wheel assembly according to an embodiment of the present disclosure is schematically shown;

[0031] Figure 14 A perspective view of the sixth wheel assembly according to an embodiment of the present disclosure is shown schematically;

[0032] Figure 15 A schematic diagram of a yaw mechanism according to an embodiment of the present disclosure is shown.

[0033] Figure 16 A perspective view of a rotating mechanism according to an embodiment of the present disclosure is schematically shown; and

[0034] Figure 17 A perspective view of a translation mechanism according to an embodiment of the present disclosure is shown schematically.

[0035] The annotations in the attached figures are explained as follows:

[0036] 1-Rack;

[0037] 2-Rotating mechanism;

[0038] 21-Second drive component;

[0039] 22-Rotating assembly;

[0040] 221-First connecting part;

[0041] 222 - Second connecting part;

[0042] 3-Oscillating mechanism;

[0043] 31-First swing arm;

[0044] 311 - Extension;

[0045] 312 - First mounting hole;

[0046] 313 - Second mounting hole;

[0047] 32 - Second swing arm 32;

[0048] 321 - Fourth mounting hole;

[0049] 322 - Fifth mounting hole;

[0050] 323 - Positioning section;

[0051] 33-Transmission components;

[0052] 331 - First transmission unit;

[0053] 3311 - First Pivot;

[0054] 3312 - Second Pivot;

[0055] 3330 - Installation Department;

[0056] 3331 - Third mounting hole;

[0057] 3313 - First transmission unit;

[0058] 3314 - First Round Group;

[0059] 3345 - Second mounting slot;

[0060] 3346 - Second operating hole;

[0061] 3315 - Second Round Group;

[0062] 3340 - First Cam;

[0063] 3341 - Second transmission wheel;

[0064] 3343 - First mounting slot;

[0065] 3344 - First operating hole;

[0066] 3316 - Third Round Group;

[0067] 3350 - Second Cam;

[0068] 3351 - Mounting wheel;

[0069] 3352 - Sixth mounting hole;

[0070] 3317 - First transmission belt assembly;

[0071] 3318 - Second transmission belt assembly;

[0072] 3319 - Fourth Pivot;

[0073] 3320 - Mounting Block;

[0074] 332 - Second transmission unit;

[0075] 3321 - Third Pivot;

[0076] 3322 - Second transmission unit;

[0077] 3323 - Fourth Round Group;

[0078] 3324 - Fifth Round Group;

[0079] 3360 - Fourth Cam;

[0080] 3361 - Third transmission wheel;

[0081] 3325 - Sixth Round Group;

[0082] 3326 - Fifth Pivot;

[0083] 3327 - Third transmission belt assembly;

[0084] 3328 - Fourth transmission belt set;

[0085] 34 - First drive component;

[0086] 4-Machine arm;

[0087] 5-Translation mechanism;

[0088] 51 - Casing;

[0089] 511-Slide rail;

[0090] 52-Slider;

[0091] 53-Installation components. Detailed Implementation

[0092] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0093] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0094] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0095] When using expressions such as "at least one of A, B, and C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C. Similarly, when using expressions such as "at least one of A, B, or C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C.

[0096] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference to the directions in the accompanying drawings and are not intended to limit the scope of protection of this disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this disclosure.

[0097] Figure 1 A perspective view of a remote motion center mechanism according to an embodiment of the present disclosure is schematically shown. Figure 2 A side view of a remote motion center mechanism according to an embodiment of the present disclosure is shown schematically. Figure 3 The diagram illustrates the swing variation of the oscillation mechanism according to an embodiment of the present disclosure.

[0098] As one aspect of this disclosure, a remote sports center mechanism is provided. For example... Figure 1 , Figure 2 and Figure 3As shown, the remote motion center mechanism includes a frame 1, a rotation mechanism 2, and a yaw mechanism 3. The rotation mechanism 2 is mounted on the frame 1 and is adapted to drive the instrument arm 4 to rotate around a rotation axis A about a telecentric fixed point O, wherein the telecentric fixed point O is located in the extension direction of axis B of the instrument arm 4. The yaw mechanism 3 includes a first swing arm 31, a second swing arm 32, and a transmission assembly 33. The first swing arm 31 is mounted on the rotation mechanism 2 and is adapted to rotate about a first axis perpendicular to the rotation axis A. The second swing arm 32 is rotatably mounted on the first swing arm 31 about a second axis parallel to the first axis. The transmission assembly 33 is mounted on the first swing arm 31 and the second swing arm 32. The instrument arm 4 is rotatably mounted on the transmission assembly 33 about a third axis parallel to the second axis. The transmission assembly 33 is adapted to rotate the second swing arm 32 relative to the first swing arm 31 clockwise or counterclockwise about the first axis by a first angle α, and to rotate the instrument arm 4 relative to the second swing arm 32 clockwise or counterclockwise about the third axis by a first angle α, so as to keep it in a vertical plane perpendicular to the first axis. The distance L3 from the first axis to the telecentric fixed point is equal to the distance L4 from the third axis to the telecentric fixed point, that is, L3=L4.

[0099] According to the remote motion center mechanism of this disclosure, the instrument arm 4 is mounted on the transmission assembly 33. Through the transmission assembly 33, the first swing arm 31 and the second swing arm 32 are driven together. The angle of rotation of the first swing arm 31 around the first axis is the same as the angle of rotation of the instrument arm 4 relative to the second swing arm 32 around the third axis. The rotation is maintained in a vertical plane perpendicular to the first axis. The distance from the first axis to the telecentric fixed point is always equal to the distance from the third axis to the telecentric fixed point. This allows the dimensions of the first swing arm 31 and the second swing arm 32 to be not limited to the distance from the first axis to the telecentric fixed point. This makes the structure of the swing mechanism 3 more compact, reduces the volume of the remote motion center mechanism, reduces the risk of collisions between the robotic arms and between the robotic arms and the assistant nurse during surgery, and improves the safety of the surgery.

[0100] According to embodiments of this disclosure, such as Figure 3 As shown, the distance L1 from the first axis to the second axis is equal to the distance L2 from the third axis to the second axis, that is, L1=L2.

[0101] According to embodiments of this disclosure, such as Figure 3 As shown, when the first swing arm 31 rotates clockwise or counterclockwise by a first angle α around the first axis, the second angle β of the second swing arm 32 rotating counterclockwise or clockwise relative to the first swing arm 31 can be greater than the first angle α.

[0102] In one illustrative embodiment, such as Figure 3As shown, the yaw mechanism 3 can move from state (a) to state (b) and from state (b) to state (c). The yaw mechanism 3 can be in any state from state (a) to state (c).

[0103] Figure 4 A perspective view of a yaw mechanism according to an embodiment of the present disclosure is schematically shown. Figure 5 An exploded view of a yaw mechanism according to an embodiment of the present disclosure is shown schematically.

[0104] According to embodiments of this disclosure, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the transmission assembly 33 includes a first transmission part 331 and a second transmission part 332. The first transmission part 331 is mounted on the first swing arm 31 and is adapted to cause the second swing arm 32 to swing about a second axis under the drive of the first swing arm 31. The second transmission part 332 is mounted on the second swing arm 32, and the instrument arm 4 is mounted on the second transmission part 332. The second transmission part 332 is adapted to cause the instrument arm 4 to swing about a third axis under the drive of the second swing arm 32.

[0105] According to embodiments of this disclosure, such as Figure 1 and Figure 2 As shown, the oscillation mechanism also includes a first drive assembly 34, which is mounted on the rotation mechanism 2.

[0106] In one illustrative embodiment, the first drive component 34 may be a drive motor.

[0107] According to embodiments of this disclosure, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the first transmission unit 331 includes a first pivot 3311, a second pivot 3312, and a first transmission unit 3313. The first pivot 3311 is mounted on the first swing arm 31 in the extension direction of the first axis. Thus, under the drive of the first drive assembly 34, the first pivot 3311 can drive the first swing arm 31 to swing around the first axis. The second pivot 3312 is mounted on the first swing arm 31 and the second transmission unit 332 in the extension direction of the second axis. The first transmission unit 3313 is installed between the first pivot 3311 and the second pivot 3312. The first transmission unit 3313 is adapted to cause the second swing arm 32 to deflect counterclockwise or clockwise around the second pivot 3312 by a second angle β greater than the first angle α when the first swing arm 31 rotates clockwise or counterclockwise around the first pivot 3311 under the action of the first swing arm 31 and the first pivot 3311.

[0108] According to an embodiment of the present disclosure, the rotation direction of the first swing arm 31 about the first pivot 3311 is opposite to the rotation direction of the second swing arm 32 about the second pivot 3312.

[0109] In one illustrative embodiment, the first swing arm 31 rotates clockwise by a first angle α about a first pivot 3311, and the second swing arm 32 rotates counterclockwise by a second angle β about a second pivot 3312.

[0110] According to an embodiment of this disclosure, a first pivot 3311 is mounted between a first drive assembly 34 and a first swing arm 31. The first drive assembly 34 drives the first pivot 3311 to rotate, and the first swing arm 31 rotates following the first pivot 3311.

[0111] Figure 6 A perspective view of a first swing arm according to an embodiment of the present disclosure is shown schematically.

[0112] In one illustrative embodiment, such as Figure 6 As shown, one end of the first swing arm 31 extends away from the second swing arm 32 to form an extension 311. A plurality of threaded holes are formed on the side of the extension 311 away from the second swing arm 32.

[0113] Figure 7 A perspective view of a second pivot according to an embodiment of the present disclosure is shown schematically.

[0114] In one illustrative embodiment, such as Figure 5 and Figure 7 As shown, the end of the second pivot 3312 away from the second swing arm 32 extends radially outward to form a mounting portion 3330. The mounting portion 3330 has third mounting holes 3331 that correspond one-to-one with the multiple threaded holes on the extension 311 of the first swing arm 31. Multiple external screws pass through the multiple third mounting holes 3331 and engage with the threaded holes to mount the second pivot 3312 onto the first swing arm 31.

[0115] According to embodiments of this disclosure, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the second transmission unit 332 includes a third pivot 3321 and a second transmission unit 3322. The third pivot 3321 is mounted on the second swing arm 32 in the extension direction of the third axis, wherein the instrument arm 4 is rotatably mounted on the third pivot 3321 about the third axis. The second transmission unit 3322 is mounted between the second pivot 3312 and the third pivot 3321, and the second transmission unit 3322 is adapted to cause the instrument arm 4 to swing clockwise or counterclockwise relative to the second swing arm 32 about the third axis by a first angle under the drive of the second swing arm 32.

[0116] Figure 8 A perspective view of a second swing arm according to an embodiment of the present disclosure is shown schematically.

[0117] like Figure 5 and Figure 8 As shown, the third pivot 3321 extends from the side of the second swing arm 32 opposite to the first swing arm 31 in a direction away from the first swing arm 31. It can be understood that the third pivot 3321 can be integrally formed with the second swing arm 32, or it can be installed on the second swing arm 32 by welding, screwing, or other means.

[0118] According to embodiments of this disclosure, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the first transmission unit 3313 includes a first wheel set 3314, a second wheel set 3315, and a third wheel set 3316. The first wheel set 3314 is mounted on a first pivot 3311. The second wheel set 3315 is rotatably mounted on a fourth pivot 3319 parallel to the first pivot 3311, wherein the fourth pivot 3319 is mounted on a first swing arm 31. The third wheel set 3316 is rotatably mounted on a second pivot 3312 and mounted on a second swing arm 32. When the first swing arm 31 swings about a first axis, the first wheel set 3314 drives the second wheel set 3315 to rotate, and the second wheel set 3315 drives the third wheel set 3316 to rotate, thereby causing the second swing arm 32 to follow the third wheel set 3316 in deflection relative to the first swing arm 31 about a second axis.

[0119] In one illustrative embodiment, such as Figure 6 As shown, the fourth pivot 3319 extends from the side of the first swing arm 31 away from the second swing arm 32 in a direction away from the second swing arm 32. It can be understood that the fourth pivot 3319 can be integrally formed with the first swing arm 31, or it can be installed on the first swing arm 31 by means of screwing, welding, riveting, etc.

[0120] According to an embodiment of the present disclosure, the first wheel assembly 3314 is fixed radially and axially to the first pivot 3311.

[0121] In one illustrative embodiment, such as Figure 6 As shown, a first mounting hole 312 is provided on the first swing arm 31. The second wheel assembly 3315 is mounted onto the second swing arm 32 through the first mounting hole 312.

[0122] In one illustrative embodiment, as shown in the figure, a plurality of second mounting holes 313 are provided on the first swing arm 31. The plurality of second mounting holes 313 are used to mount the first wheel assembly 3314.

[0123] According to embodiments of this disclosure, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the second transmission unit 3322 further includes a fourth wheel set 3323, a fifth wheel set 3324, and a sixth wheel set 3325. The fourth wheel set 3323 is mounted on the second pivot 3312 and located on the side of the second swing arm 32 away from the first swing arm 31. The fifth wheel set 3324 is rotatably mounted on a fifth pivot 3326 parallel to the second pivot 3312, wherein the fifth pivot 3326 is mounted on the second swing arm 32. The sixth wheel set 3325 is rotatably mounted on a third pivot 3321, wherein the instrument arm 4 is mounted on the sixth wheel set 3325. When the second pivot 3312 rotates about the second axis, the fourth wheel set 3323 drives the fifth wheel set 3324 to rotate, and the fifth wheel set 3324 drives the sixth wheel set 3325 to rotate about the third pivot 3321, thereby causing the instrument arm 4 to deflect relative to the second swing arm 32.

[0124] According to an embodiment of the present disclosure, the other end of the second pivot 3312 opposite to the extension 311 is fixed in the radial direction to the fourth wheel assembly 3323 so that when the second pivot 3312 rotates, the fourth wheel assembly 3323 will rotate together with the second pivot 3312.

[0125] According to an embodiment of this disclosure, a positioning hole is formed on the fourth wheel assembly 3323, and a positioning key that mates with the positioning hole is formed at the other end of the second pivot 3312 opposite to the extension 311. The engagement of the positioning hole and the positioning key allows the fourth wheel assembly 3323 to rotate together with the second pivot 3312.

[0126] According to embodiments of this disclosure, the positioning hole is a non-circular structure, and the cross-sectional shape of the positioning hole may include at least one of D-shape, ellipse, polygon, etc. Correspondingly, the cross-sectional shape of the positioning key may include at least one of D-shape, ellipse, polygon, etc. that mate with the positioning hole.

[0127] According to embodiments of this disclosure, such as Figure 5 and Figure 8 As shown, the fifth pivot 3326 extends from the middle of the side of the second swing arm 32 opposite to the first swing arm 31, in a direction away from the first swing arm 31. It is understood that the fifth pivot 3326 can be integrally formed with the second swing arm 32, or it can be mounted on the second swing arm 32 by welding, screwing, or other methods. The fifth pivot 3326 is parallel to the third pivot 3321.

[0128] According to embodiments of this disclosure, such as Figure 5 and Figure 8As shown, a positioning portion 323 extends from the side of the second swing arm 32 toward the first swing arm 31 and toward the direction close to the first swing arm 31. A second pivot 3312 extends through the positioning portion 323 and the fifth mounting hole 322 on the second swing arm 32 to the fourth wheel assembly 3323. Figure 5 and Figure 7 As shown, the end of the second pivot 3312 near the mounting portion 3330 extends radially outward to form a limiting portion. The third wheel assembly 3316 is rotatably mounted between the limiting portion and the positioning portion 323 about the second pivot 3312, and the limiting portion and the positioning portion 323 limit the axial position of the third wheel assembly 3316 on the second pivot 3312.

[0129] According to embodiments of this disclosure, such as Figure 5 and Figure 8 As shown, a plurality of fourth mounting holes 321 are formed on the second swing arm 32 around the fifth mounting hole 322. The positioning part 323 can be mounted on the second swing arm 32 through the plurality of fourth mounting holes 321 (e.g., by bolts).

[0130] Figure 9 A perspective view of a first wheel assembly according to an embodiment of the present disclosure is schematically shown. Figure 10 A perspective view of a second set of wheels according to an embodiment of the present disclosure is schematically shown. Figure 11 A perspective view of a third wheel assembly according to an embodiment of the present disclosure is shown schematically.

[0131] According to embodiments of this disclosure, such as Figure 1 , Figure 2 , Figure 4 , Figure 5 as well as Figures 9 to 11 As shown, the first wheel group 3314 includes a plurality of first drive wheels. The second wheel group 3315 includes a plurality of first cams 3340 and a plurality of second drive wheels 3341, and the third wheel group 3316 includes a plurality of second cams 3350.

[0132] According to embodiments of this disclosure, such as Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the first transmission unit 3313 further includes a first transmission belt group 3317 and a second transmission belt group 3318. The first transmission belt group 3317 includes multiple first transmission belts, one end of each first transmission belt mounted on a first transmission pulley, and the other end of each first transmission belt mounted on a second transmission pulley 3341. The first transmission belt group 3317 is adapted to cause the second pulley group 3315 to rotate about a fourth pivot 3319 under the drive of the first pulley group 3314. The second transmission belt group 3318 includes multiple second transmission belts, one end of each second transmission belt mounted on a first cam 3340, and the other end of each second transmission belt mounted on a second cam 3350. The second transmission belt group 3318 is adapted to cause the third pulley group 3316 to rotate about a second pivot 3312 under the drive of the second pulley group 3315, thereby causing the fourth pulley group 3323 to drive the fifth pulley group 3324 to rotate.

[0133] According to embodiments of this disclosure, such as Figures 9 to 11 As shown, each first drive wheel has a radially inwardly recessed second mounting groove 3345 and a second operating hole 3346 extending from the second mounting groove 3345. One end of the first drive belt assembly 3317 is mounted in the second mounting groove 3345 via a mounting block 3320. An external screw passes through the second operating hole 3346 and is threaded into the mounting block 3320, mounting one end of the first drive belt in the second groove. Similarly, each first cam 3340 and each second drive wheel 3341 has a radially inwardly recessed first mounting groove 3343 and a first operating hole 3344 extending from the first mounting groove 3343. Each second cam 3350 has a radially inwardly recessed third mounting groove and a third operating hole extending from the third mounting groove.

[0134] According to embodiments of this disclosure, such as Figure 11 As shown, the third wheel assembly 3316 also includes a mounting wheel 3351. The mounting wheel 3351 is located close to the second swing arm 32. The mounting wheel 3351 has a plurality of sixth mounting holes 3352 circumferentially formed on its surface, and external bolts pass through the sixth mounting holes 3352 and are mounted on the positioning part 323 of the second swing arm 32.

[0135] According to embodiments of this disclosure, the number of the first drive wheel, the second drive wheel 3341, the first cam 3340, and the second cam 3350 is at least two, so as to drive the second arm to rotate clockwise or counterclockwise.

[0136] Figure 12 A perspective view of the fourth wheel assembly according to an embodiment of the present disclosure is schematically shown. Figure 13 A perspective view of the fifth wheel assembly according to an embodiment of the present disclosure is schematically shown. Figure 14 A perspective view of the sixth wheel assembly according to an embodiment of the present disclosure is shown schematically.

[0137] According to embodiments of this disclosure, such as Figure 1 , Figure 2 , Figure 4 , Figure 5 as well as Figures 12 to 11 As shown, the fourth wheel group 3323 includes multiple third cams, the fifth wheel group 3324 includes multiple fourth cams 3360 and multiple third drive wheels 3361, and the sixth wheel group 3325 includes multiple fourth drive wheels.

[0138] According to embodiments of this disclosure, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the second transmission unit 3322 further includes a third transmission belt group 3327 and a fourth transmission belt group 3328. The third transmission belt group 3327 includes multiple third transmission belts, one end of each third transmission belt mounted on a third cam, and the other end of each third transmission belt mounted on a fourth cam 3360. The third transmission belt group 3327 is adapted to rotate the fifth wheel group 3324 about a fifth pivot 3326 under the drive of the fourth wheel group 3323. The fourth transmission belt group 3328 includes multiple fourth transmission belts, one end of each fourth transmission belt mounted on a third transmission wheel 3361, and the other end of each fourth transmission belt mounted on a fourth transmission wheel. The fourth transmission belt group 3328 is adapted to rotate the sixth wheel group 3325 about a third pivot 3321 under the drive of the fifth wheel group 3324, thereby causing the instrument arm 4 to rotate about the third pivot 3321.

[0139] According to embodiments of this disclosure, the first transmission belt group 3317, the second transmission belt group 3318, the third transmission belt group 3327 and the fourth transmission belt group 3328 can all be made of wear-resistant, high-rigidity and flexible materials, such as stainless steel.

[0140] The number of the third drive wheel 3361, the fourth drive wheel, the third cam, and the fourth cam 3360 is at least two, to drive the instrument arm 4 to rotate clockwise or counterclockwise.

[0141] According to embodiments of this disclosure, such as Figures 12 to 14 As shown, each third cam has a radially inwardly recessed fourth mounting groove and a fourth operating hole extending from the fourth mounting groove. One end of the third drive belt assembly 3327 is mounted in the fourth mounting groove via a mounting block 3320, and an external screw passes through the fourth operating hole and is threaded into the mounting block 3320 to mount one end of the third drive belt in the fourth groove. Similarly, each fourth cam 3360, each third drive pulley 3361, and each fourth drive pulley also have a radially inwardly recessed mounting groove and an operating hole extending from the mounting groove.

[0142] In one illustrative embodiment, the first wheel group 3314 may have the same structure as the sixth wheel group 3325, the second wheel group 3315 may have the same structure as the fifth wheel group 3324, and the third wheel group 3316 may have the same structure as the fourth wheel group 3323.

[0143] In one illustrative embodiment, a plurality of first cams 3340 engage with a plurality of second cams 3350, and a plurality of third cams engage with a plurality of fourth cams 3360.

[0144] Figure 15 A schematic diagram of a yaw mechanism according to an embodiment of the present disclosure is shown.

[0145] like Figure 15 As shown, taking the first transmission unit 331 as an example, r is the radius of the first transmission wheel, and S is the axis of the first pivot 3311. Let P be the angle through which the first transmission wheel set rotates from its initial position, and let P be the axis of the fourth pivot 3319. The angle through which the second transmission wheel set rotates from its initial position. The radius of the first cam 3340 in the direction close to the second cam 3350 on the first straight line when the mechanism is in its initial position. Let Q be the radius of the first cam 3340 on the first straight line in the direction close to the second cam 3350 when the mechanism has rotated through a certain angle, and let Q be the axis of the second pivot 3312. The angle through which the third transmission wheel set rotates from its initial position. The radius of the second cam 3350 in the direction close to the first cam 3340 on the first straight line when the mechanism is in the initial position. Let C be the radius of the second cam 3350 in the direction close to the first cam 3340 on the first straight line when the mechanism has rotated through a certain angle, and let C be the distance from the fourth pivot 3319 to the second pivot 3312.

[0146] The axis S of the first pivot 3311, the axis P of the fourth pivot 3319, and the axis Q of the second pivot 3312 are all located on the first straight line.

[0147] according to:

[0148] The distance C between the fourth pivot 3319 and the second pivot 3312 remains constant.

[0149] (1);

[0150] The first cam 3340 and the second cam 3350 are in a meshing relationship:

[0151] (2);

[0152] There is a non-linear transmission relationship between the angle through which the second transmission wheel set rotates from its initial position and the angle through which the third transmission wheel set rotates from its initial position:

[0153] (3);

[0154] Here, k is a ratio, which is the ratio of the distance L1 from the first pivot 3311 to the second pivot 3312 to the distance L3 from the first pivot 3311 to the distal fixed point, i.e., k = L1 / L3. Furthermore, k can be determined according to the surgical requirements. The smaller the value of k, the shorter the first swing arm 31 and the second swing arm 32 can be, and the more compact the remote motion center mechanism.

[0155] According to formulas (1)-(3), the functions of the radius of the first cam 3340 and the radius of the second cam 3350 with respect to the angle can be calculated:

[0156] (4);

[0157] (5).

[0158] According to formulas (4) and (5), the respective contour curves of the first cam 3340 and the second cam 3350 can be obtained.

[0159] According to the remote motion center mechanism of this disclosure, the lengths of the first swing arm 31 and the second swing arm 32 can be changed by adjusting the value of k. This allows the lengths of both the first swing arm 31 and the second swing arm 32 to be less than the distance L3 from the first pivot 3311 to the telecentric fixed point. This results in a more compact structure compared to a parallelogram-based RCM mechanism, reducing the volume of the surgical robot's slave arm when not in operation, facilitating transportation, and minimizing its space occupation in the operating room. Furthermore, during surgical procedures, the more compact structure of the remote motion center mechanism according to this disclosure results in a smaller sweep space during yaw and pitch rotation compared to a parallelogram-based RCM robot arm, making it more flexible and reducing the risk of collisions between robot arms and between the robot arm and the assistant nurse, thus improving surgical safety.

[0160] Figure 16 A perspective view of a rotating mechanism according to an embodiment of the present disclosure is shown schematically.

[0161] According to embodiments of this disclosure, such as Figure 1 , Figure 2 and Figure 16As shown, the rotating mechanism 2 includes a second drive assembly 21 and a rotating assembly 22. The second drive assembly 21 is mounted on the frame 1. The rotating assembly 22 includes a first connecting portion 221 and a second connecting portion 222. The first connecting portion 221 is rotatably mounted on the frame 1 and is adapted to rotate about a rotation axis under the drive of the drive assembly. The second connecting portion 222 extends from the first connecting portion 221 in a direction parallel to the rotation axis toward the distal fixed point. The first swing arm 31 and the first drive assembly 34 are mounted on the second connecting portion 222. Under the action of the rotating mechanism 2 and the yaw mechanism, the mounting end of the instrument arm 4 opposite to the surgical end moves about a sphere with the distal fixed point as its center and the distance from the mounting end to the distal fixed point as its radius.

[0162] In one illustrative embodiment, the angle between the second connecting portion 222 and the first connecting portion 221 can be approximately a right angle.

[0163] The second connecting portion 222 extends towards the first swing arm 31 to form an extension. A first pivot 3311 passes through the first drive assembly 34 and is mounted onto the first swing arm 31. A first wheel assembly 3314 is mounted between the extension and the first swing arm 31 to limit the axial position of the first wheel assembly 3314 on the first pivot 3311 by means of the extension and the first swing arm 31.

[0164] Figure 17 A perspective view of a translation mechanism according to an embodiment of the present disclosure is shown schematically.

[0165] According to embodiments of this disclosure, such as Figure 1 , Figure 2 and Figure 17 As shown, the remote motion center mechanism also includes a translation mechanism 5, which is mounted on the oscillation mechanism. The instrument arm 4 is mounted on the transmission assembly 33 via the translation mechanism 5. The translation mechanism 5 is adapted to drive the instrument arm 4 to reciprocate in the extension direction of the axis of the instrument arm 4, so as to adjust the relative position of the surgical end of the instrument arm 4 with respect to the distal fixed point.

[0166] In one illustrative embodiment, the translation mechanism 5 includes a housing 51 and a linear drive assembly. A slide (one or more slides) parallel to the axial direction of the instrument arm 4 is formed on the housing 51. The linear drive assembly includes a linear motor and a slider 52. The linear motor is located within the housing 51, and the slider 52 is configured to reciprocate along the slide under the drive of the linear motor. The instrument arm 4 is mounted on the slider 52 to follow its reciprocating movement.

[0167] In one illustrative embodiment, the side of the housing 51 closest to the second swing arm 32 extends toward the second swing arm 32 to form a mounting member 53. The translation mechanism 5 is mounted on the sixth wheel set 3325 via the mounting member 53 to deflect under the drive of the sixth wheel set 3325.

[0168] According to embodiments of this disclosure, the translation mechanism 5 can drive the end of the instrument arm 4 (i.e., the surgical end) to translate in space during the operation, such as entering and exiting the surgical incision, or adjusting the position of the end of the instrument arm 4 within the surgical area. During the movement of the translation mechanism 5, the axis of the instrument arm 4 always passes through the distal fixed point.

[0169] According to embodiments of this disclosure, the rotation mechanism 2 realizes the rotational degree of freedom of the remote motion center mechanism about the telecentric fixed point, the yaw mechanism realizes the yaw degree of freedom of the remote motion center mechanism about the telecentric fixed point, and the translation mechanism 5 realizes the translational degree of freedom of the remote motion center mechanism passing through the telecentric fixed point. The rotation mechanism 2, the yaw mechanism, and the translation mechanism 5 are connected in sequence to form an RCM mechanism with 2R1T degrees of freedom (R represents the rotational degree of freedom, and T represents the translational degree of freedom).

[0170] The remote motion center mechanism according to an embodiment of this disclosure is a compact RCM mechanism containing a cam-driven steel belt drive, which can be used for laparoscopic minimally invasive surgery.

[0171] The remote motion center mechanism according to the embodiments of this disclosure can be applied to minimally invasive surgical robots.

[0172] According to the remote motion center mechanism of this disclosure, while maintaining a safe distance between the robotic arm containing the RCM mechanism and the patient's body, it enables coupled motion characteristics between small-sized links to achieve RCM motion to meet the needs of surgical operations. In practical applications, the remote motion center mechanism of this disclosure has smaller link sizes and a more compact overall structure compared to a parallelogram-based RCM mechanism. When not in operation, the reduced size of the robotic arm facilitates transportation and reduces its space occupation in the operating room. During surgical operations, due to its more compact structure, the scanning space during rotation and turning is smaller than that of a parallelogram-based RCM robotic arm, reducing the risk of collisions between robotic arms and between the robotic arm and assistant nurses, thus improving surgical safety.

[0173] In one illustrative embodiment, the first wheel group 3314 includes two first drive wheels, the second drive wheel group 3341 includes two second drive wheels 3341 and two first cams 3340, and the third drive wheel group 3361 includes two second cams 3350. The first and second drive wheels 3341 have circular profiles; the two first cams 3340 and two second cams 3350 have cam profiles whose radius varies with the angle. The first drive wheels are mounted on the second connecting portion 222 of the rotating mechanism 2. The fourth wheel group 3323 includes two third cams, the fifth drive wheel group includes two third drive wheels 3361 and two fourth cams 3360, and the sixth drive wheel group includes two fourth drive wheels.

[0174] The first and second transmission wheels 3341 both have circular outlines; the two first cams 3340 and the two second cams 3350 both have cam outlines with radii varying with the angle. The first transmission wheel is mounted on the second connecting part 222 of the rotating mechanism 2. The third transmission wheel 3361 and the fourth transmission wheel both have circular outlines; the two third cams and the two fourth cams 3360 both have cam outlines with radii varying with the angle.

[0175] Two first drive wheels and two second drive wheels 3341 are connected one-to-one by first drive belts (e.g., steel belts). The two first drive wheels are connected to the two second drive wheels 3341 by two first drive belts in a figure-eight winding pattern, wherein the winding patterns of the two first drive belts are opposite.

[0176] Two first cams 3340 and two second cams 3350 are connected one-to-one by two second drive belts (e.g., steel belts). The two first cams 3340 and the two second cams 3350 are connected by two second drive belts in a figure-eight winding manner, wherein the winding manner of the two second drive belts is opposite.

[0177] Two second cams 3350 are fixed to a second pivot 3312. One end of the second pivot 3312 is fixed to the first swing arm 31, and the other end of the second pivot 3312 is fixed to two third cams. The two third cams are connected to two fourth cams 3360 in a figure-eight winding manner via two third drive belts, wherein the winding manner of the two third drive belts is opposite.

[0178] Two third drive pulleys 3361 are paired with two fourth drive pulleys and connected by fourth drive belts (e.g., steel belts). The two third drive pulleys 3361 are connected to the two fourth drive pulleys by two fourth drive belts in a figure-eight winding pattern, wherein the winding patterns of the two fourth drive belts are opposite.

[0179] When the first drive assembly 34 rotates, the first swing arm 31 rotates relative to the second connecting part 222, thereby causing relative rotation between the first wheel set 3314 and the first swing arm 31. Since the first wheel set 3314 and the second wheel set 3315 are connected by the first transmission belt set 3317, and the second wheel set 3315 and the third wheel set 3316 are connected by the second transmission belt set 3318, relative rotation also occurs between the third wheel set 3316 and the first swing arm 31. The third wheel set 3316 is fixed to the second swing arm 32, so relative rotation occurs between the second swing arm 32 and the first swing arm 31, and simultaneously, relative rotation also occurs between the second swing arm 32 and the fourth wheel set 3323. Since the fourth wheel set 3323 and the fifth wheel set 3324 are connected by the third transmission belt set 3327, and the fifth wheel set 3324 and the sixth wheel set 3325 are connected by the fourth transmission belt set 3328, relative rotation also occurs between the sixth wheel set 3325 and the second swing arm 32.

[0180] When the first drive assembly 34 drives the first swing arm 31 to rotate through a certain angle, the second swing arm 32 and the sixth wheel set 3325 will each rotate through a specific angle because the transmission belt between the cams has a non-linear variable transmission ratio transmission characteristic.

[0181] By specifically designing the cam layer profiles of multiple first cams 3340, multiple second cams 3350, multiple third cams and multiple fourth cams 3360, the coupling motion angles between the first swing arm 31, the second swing arm 32 and the sixth wheel group 3325 can satisfy specific mathematical relationships (such as the relationship between formulas (4) and (5), thereby enabling the remote motion center mechanism to satisfy the rotation around the centroid (centroid fixed point), that is, the pitch degree of freedom of the overall RCM mechanism.

[0182] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A remote center of motion mechanism, characterized by, include: frame; A rotating mechanism, mounted on the frame, is suitable for driving the instrument arm to rotate around a rotation axis that is fixed at a telecentric point. The telecentric fixed point is located in the direction of extension of the axis of the instrument arm; as well as The yaw mechanism includes: The first swing arm is mounted on the rotating mechanism and is adapted to rotate about a first axis perpendicular to the rotation axis. A second swing arm is rotatably mounted on the first swing arm about a second axis parallel to the first axis; and A transmission assembly is mounted on the first swing arm and the second swing arm. The instrument arm is rotatably mounted on the transmission assembly about a third axis parallel to the second axis. The transmission assembly is adapted to rotate the second swing arm counterclockwise or clockwise relative to the first swing arm when the first swing arm rotates clockwise or counterclockwise about the first axis by a first angle, and to rotate the instrument arm about the third axis clockwise or counterclockwise by the first angle relative to the second swing arm, so as to keep it in a vertical plane perpendicular to the first axis. The distance from the first axis to the telecentric fixed point is equal to the distance from the third axis to the telecentric fixed point.

2. The remote center-of-motion mechanism of claim 1, wherein, The transmission assembly includes: A first transmission unit, mounted on the first swing arm, is adapted to cause the second swing arm to swing about the second axis under the drive of the first swing arm; and A second transmission unit is mounted on the second swing arm, and the instrument arm is mounted on the second transmission unit. The second transmission unit is adapted to cause the instrument arm to swing about the third axis under the drive of the second swing arm.

3. The remote center-of-motion mechanism of claim 2, wherein, The yaw mechanism further includes: a first drive component, mounted on the rotating mechanism; The first transmission unit includes: A first pivot is mounted on the first swing arm in the extension direction of the first axis, and under the drive of the first drive assembly, the first pivot drives the first swing arm to swing around the first axis. A second pivot is mounted on the first swing arm and the second transmission unit in the extending direction of the second axis; and A first transmission unit is installed between the first pivot and the second pivot. The first transmission unit is adapted to cause the second swing arm to deflect counterclockwise or clockwise around the second pivot by a second angle greater than the first angle when the first swing arm rotates clockwise or counterclockwise around the first pivot by a first angle under the action of the first swing arm and the first pivot.

4. The remote center-of-motion mechanism of claim 3, wherein, The second transmission unit includes: A third pivot is mounted on the second swing arm in the extension direction of the third axis, wherein the instrument arm is rotatably mounted on the third pivot about the third axis; and A second transmission unit is installed between the second pivot and the third pivot. The second transmission unit is adapted to cause the instrument arm to swing clockwise or counterclockwise relative to the second pivot arm by the second swing arm under the drive of the second swing arm.

5. The remote center-of-motion mechanism of claim 4, wherein, The first transmission unit includes: The first set of wheels is mounted on the first pivot; The second wheel assembly is rotatably mounted on a fourth pivot parallel to the first pivot, wherein the fourth pivot is mounted on the first swing arm; and The third wheel assembly is rotatably mounted on the second pivot and attached to the second swing arm; When the first swing arm swings around the first axis, the first wheel set drives the second wheel set to rotate, and the second wheel set drives the third wheel set to rotate, so that the second swing arm follows the third wheel set to deflect relative to the first swing arm around the second axis.

6. The remote center-of-motion mechanism of claim 5, wherein, The second transmission unit also includes: The fourth wheel assembly is mounted on the second pivot and located on the side of the second swing arm away from the first swing arm; The fifth wheel assembly is rotatably mounted on a fifth pivot parallel to the second pivot, wherein the fifth pivot is mounted on the second swing arm; and A sixth wheel assembly is rotatably mounted on the third pivot, wherein the instrument arm is mounted on the sixth wheel assembly; When the second pivot rotates around the second axis, the fourth wheel group drives the fifth wheel group to rotate, and the fifth wheel group drives the sixth wheel group to rotate around the third pivot, thereby causing the instrument arm to deflect relative to the second swing arm.

7. The remote motion center mechanism according to claim 6, characterized in that, The first wheel set includes: a plurality of first transmission wheels; The second wheel set includes: a plurality of first cams and a plurality of second drive wheels; The third wheel assembly includes: multiple second cams; The first transmission unit further includes: A first drive belt assembly includes a plurality of first drive belts, one end of each first drive belt being mounted on a first drive pulley, and the other end of each first drive belt being mounted on a second drive pulley. The first drive belt assembly is adapted to cause the second pulley assembly to rotate about the fourth pivot under the drive of the first pulley assembly; and The second drive belt assembly includes a plurality of second drive belts, one end of each second drive belt is mounted on a first cam, and the other end of each second drive belt is mounted on a second cam. The second drive belt assembly is adapted to cause the third wheel assembly to rotate about the second pivot under the drive of the second wheel assembly, thereby causing the fourth wheel assembly to drive the fifth wheel assembly to rotate.

8. The remote motion center mechanism according to claim 7, characterized in that, The fourth wheel assembly includes: multiple third cams; The fifth wheel assembly includes: multiple fourth cams and multiple third drive wheels; The sixth wheel assembly includes: multiple fourth transmission wheels; The second transmission unit also includes: A third drive belt assembly includes a plurality of third drive belts, one end of each third drive belt being mounted on a third cam and the other end of each third drive belt being mounted on a fourth cam. The third drive belt assembly is adapted to cause the fifth wheel assembly to rotate about a fifth pivot under the drive of the fourth wheel assembly. The fourth drive belt assembly includes a plurality of fourth drive belts, one end of each fourth drive belt being mounted on a third drive pulley, and the other end of each fourth drive belt being mounted on a fourth drive pulley. The fourth drive belt assembly is adapted to cause the sixth wheel assembly to rotate about the third pivot under the drive of the fifth wheel assembly, thereby causing the instrument arm to rotate about the third pivot.

9. The remote center-of-motion mechanism according to any one of claims 1-8, wherein, Also includes: A translation mechanism is mounted on the yaw mechanism. The instrument arm is mounted on the transmission assembly via the translation mechanism. The translation mechanism is adapted to drive the instrument arm to reciprocate in the extension direction of the axis of the instrument arm to adjust the relative position of the surgical end of the instrument arm with respect to the distal fixed point.

10. The remote center-of-motion mechanism of claim 9, wherein, The rotating mechanism includes: A second drive assembly is mounted on the rack; and Rotating component, including: A first connecting portion, rotatably mounted on the frame, is adapted to rotate about the rotation axis under the drive of the drive assembly; and The second connecting portion extends from the first connecting portion in a direction parallel to the rotation axis toward the centroidal fixed point; The first swing arm is mounted on the second connecting part. Under the action of the rotation mechanism and the yaw mechanism, the mounting end of the instrument arm opposite to the surgical end moves around a sphere with the distal fixed point as the center and the distance from the mounting end to the distal fixed point as the radius.

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