A robotic arm and surgical robotic system

Abstract

The application provides a kind of mechanical arm and surgical robot system, mechanical arm includes suspension joint, first joint arm, second joint arm, third joint arm, motion amount detection mechanism and control unit;First joint arm is assembled in suspension joint, and can move along first circular arc track;Second joint arm is assembled in first joint arm, and can rotate around second central axis;Third joint arm is assembled in second joint arm, and can rotate around third central axis and fourth central axis respectively;Motion amount detection mechanism detects actual motion amount of each joint arm in preliminary positioning, control unit obtains actual pose of third joint arm after preliminary positioning ends according to actual motion amount of each joint arm, and controls second joint arm to move based on actual pose and target pose to carry out pose fine adjustment, by setting second joint arm, meet the requirements of large range positioning space and multiple surgical methods of mechanical arm, reduce the size of first joint arm, improve the positioning accuracy of operating instrument.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a robotic arm and surgical robot system. Background Technology

[0002] Minimally invasive surgery has advantages such as less trauma, less pain, and faster postoperative recovery, which helps improve surgical quality and reduce medical costs, and is an important trend in the development of surgery. Minimally invasive surgery is often performed using surgical robot systems.

[0003] An existing surgical robot system for performing minimally invasive surgery includes an arc-shaped arm and a ring-shaped arm connected to the arc-shaped arm, wherein the arc-shaped arm is suspended from a crossbeam. To accommodate a wide range of positioning space and various surgical techniques, the arc-shaped arm is designed to be large, with a suspension rotation angle exceeding 260°. This results in the surgical robot occupying a significant amount of operating room space, which is detrimental to surgical operations. Furthermore, the ring-shaped arm suffers from poor positioning accuracy when positioning the surgical robot in space. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic arm and surgical robot system that aims to reduce the space occupied by the surgical robot system while meeting the needs of a wide range of positioning space and multiple surgical methods, and also improve the positioning accuracy of the operating instruments installed at the end of the robotic arm.

[0005] To achieve the above objectives, the present invention provides a robotic arm, including a suspension joint, multiple articulated arms, a motion detection mechanism, and a control unit; wherein, of the multiple articulated arms, one is a first articulated arm, another is a second articulated arm, and yet another is a third articulated arm, wherein: the first articulated arm is mounted on the suspension joint and configured to move along a first arc trajectory; the second articulated arm is mounted on the first articulated arm and configured to rotate about a second central axis; the third articulated arm is mounted on the second articulated arm and configured to rotate about a third central axis and a fourth central axis, respectively; the motion detection mechanism is configured to detect a first actual motion of the first articulated arm along the first arc trajectory during the initial positioning operation of the robotic arm. The control unit is communicatively connected to the motion detection mechanism and configured to obtain the actual pose of the third joint arm at the end of the initial positioning operation based on at least the first, second, third, and fourth actual motions, and to control the second joint arm to rotate around the second central axis to adjust the pose of the third joint arm so that the third joint arm reaches the target pose.

[0006] Optionally, the motion detection mechanism includes a first motion detection unit configured to detect the first actual motion amount; the first motion detection unit includes a first magnet and a first Hall element, one of the first magnet and the first Hall element being disposed on the suspension joint and the other being disposed on the first joint arm and extending along the first arc trajectory.

[0007] Optionally, the robotic arm includes a first rotating shaft and a first connecting member; the first rotating shaft has a second central axis; the first rotating shaft is rotatably connected to the first articulated arm, and the first rotating shaft is fixedly connected to the second articulated arm; the first connecting member is mounted on the second articulated arm and configured to move along a second arcuate trajectory, the second arcuate trajectory having the third central axis; the third articulated arm is mounted on the first connecting member and configured to move along a third arcuate trajectory, the third arcuate trajectory having the fourth central axis.

[0008] Optionally, the motion detection mechanism further includes a second motion detection unit, a third motion detection unit, and a fourth motion detection unit; the second motion detection unit is configured to detect the second actual motion and includes a second magnet and a second Hall element, both of which are sleeved on the outer circumferential surface of the first rotating shaft, and one of the second magnet and the second Hall element is fixedly connected to the first rotating shaft and the other is fixedly connected to the first joint arm; the third motion detection unit is configured to detect the third actual motion and includes a third magnet and a third Hall element, one of which is disposed on the first connecting member and the other is disposed on the second joint arm and extends along the second arc trajectory; the fourth motion detection unit is configured to detect the fourth actual motion and includes a fourth magnet and a fourth Hall element, one of which is disposed on the first connecting member and the other is disposed on the third joint arm and extends along the third arc trajectory.

[0009] Optionally, the robotic arm further includes a first connector and a second connector; the second connector is mounted on the first articulated arm and configured to move along a fourth arcuate trajectory having a second central axis; the second articulated arm is mounted on the second connector and configured to move along a fifth arcuate trajectory having a third central axis; the first connector is fixedly mounted on the second articulated arm; the third articulated arm is mounted on the first connector and configured to move along a third arcuate trajectory having a fourth central axis.

[0010] Optionally, the motion detection mechanism includes a second motion detection unit, a third motion detection unit, and a fourth motion detection unit; the second motion detection unit is configured to detect the second actual motion and includes a second magnet and a second Hall element, one of which is disposed on the second connector and the other is disposed on the first joint arm and extends along the fourth arc trajectory; the third motion detection unit is configured to detect the third actual motion and includes a third magnet and a third Hall element, one of which is disposed on the second connector and the other is disposed on the second joint arm and extends along the fifth arc trajectory; the fourth motion detection unit is configured to detect the fourth actual motion and includes a fourth magnet and a fourth Hall element, one of which is disposed on the first connector and the other is disposed on the third joint arm and extends along the third arc trajectory.

[0011] Optionally, the third central axis coincides with the second central axis; or, the third central axis is perpendicular to the second central axis.

[0012] Optionally, the robotic arm further includes multiple drive units and a torque detection mechanism; one of the multiple drive units is a first drive unit, another is a second drive unit, yet another is a third drive unit, and yet another is a fourth drive unit; the first drive unit is configured to drive the first articulated arm to move along the first arc trajectory, the second drive unit is configured to drive the second articulated arm to rotate about the second central axis, the third drive unit is configured to drive the third articulated arm to rotate about the third central axis, and the fourth drive unit is configured to drive the third articulated arm to rotate about the fourth central axis; each drive unit includes a drive unit body and at least one rotating shaft disposed between the drive unit body and the corresponding articulated arm; the torque detection mechanism is configured to detect the actual torque received by the rotating shaft closest to the corresponding articulated arm in the drive unit when any drive unit drives the corresponding articulated arm to move; the control unit is communicatively connected to the torque detection mechanism and is configured to compensate the output torque of the corresponding drive unit body based on each actual torque and the corresponding preset torque, so that the deviation between each actual torque and the corresponding preset torque is within a preset range.

[0013] Optionally, the torque detection mechanism includes multiple torque detection units, one of which is a first torque detection unit, another a second torque detection unit, yet another a third torque detection unit, and a third torque detection unit. The first torque detection unit is configured to detect the actual torque received by the rotating shaft closest to the first joint arm in the first driving unit when the first driving unit drives the first joint arm to move. The second torque detection unit is configured to detect the actual torque received by the rotating shaft closest to the second joint arm in the second driving unit when the second driving unit drives the second joint arm to move. The third torque detection unit is configured to detect the actual torque received by the rotating shaft closest to the second joint arm in the second driving unit when the third driving unit drives the third joint arm. During movement, the actual torque received by the pivot shaft closest to the third articulated arm in the third drive unit is detected; the fourth torque detection unit is configured to detect the actual torque received by the pivot shaft closest to the third articulated arm in the fourth drive unit when the fourth drive unit drives the third articulated arm to move; each torque detection unit includes an annular strain gauge, and the strain gauge of each torque detection unit is sleeved on the outer peripheral surface of one of the pivot shafts of the corresponding drive unit; the robotic arm is configured such that when any drive unit drives the corresponding articulated arm to move, the strain gauge of the corresponding torque detection unit generates frictional force between itself and the pivot shaft, and the strain gauge deforms under the action of the frictional force.

[0014] Optionally, the first circular arc trajectory has a first central axis, and the first central axis, the second central axis, the third central axis, and the fourth central axis intersect at a virtual reference point.

[0015] To achieve the above objectives, the present invention also provides a surgical robot system, comprising: a base; and a robotic arm as described above, the robotic arm being connected to the base.

[0016] Compared with the prior art, the robotic arm and surgical robot system of the present invention have the following advantages: The aforementioned robotic arm includes a suspension joint, multiple articulated arms, a motion detection mechanism, and a control unit; one of the multiple articulated arms is a first articulated arm, another is a second articulated arm, and yet another is a third articulated arm; the first articulated arm is mounted on the suspension joint and configured to move along a first arc trajectory; the second articulated arm is mounted on the first articulated arm and configured to rotate about a second central axis; the third articulated arm is mounted on the second articulated arm and configured to rotate about a third central axis and a fourth central axis, respectively; the motion detection mechanism is configured to detect the movement of the first articulated arm along the first arc trajectory during the initial positioning operation of the robotic arm. The control unit is communicatively connected to the motion detection mechanism and configured to obtain the actual pose of the third joint arm at the end of the initial positioning operation based on at least the first actual motion, the second actual motion, the third actual motion, and the fourth actual motion, and to control the second joint arm to rotate around the second central axis to adjust the pose of the third joint arm so that the third joint arm reaches the target pose. By setting a second joint arm between the first joint arm and the third joint arm, on the one hand, the size of the first joint arm can be reduced while satisfying the large positioning space of the robotic arm and various surgical methods, thereby reducing the space occupied by the robotic arm. On the other hand, during the spatial positioning of the robotic arm, after the initial positioning operation is completed, the position of the second joint arm can be adjusted according to the positioning deviation of the third joint arm to achieve positioning adjustment of the third joint arm. This positioning method is beneficial to improving the positioning accuracy of the third joint arm, thereby improving the positioning accuracy of the operating instrument. Attached Figure Description

[0017] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0018] Figure 1 This is a schematic diagram of the surgical robot system provided in Embodiment 1 of the present invention;

[0019] Figure 2 This is a partial cross-sectional view of one embodiment of the surgical robot system provided in Embodiment 1 of the present invention, showing a portion of the first drive unit;

[0020] Figure 3 This is a partial structural schematic diagram of one embodiment of the surgical robot system provided in Embodiment 1 of the present invention;

[0021] Figure 4 yes Figure 3 A cross-sectional view of the surgical robot system shown in Figure AA;

[0022] Figure 5 A partial cross-sectional view of an embodiment of the surgical robot system provided in Embodiment 1 of the present invention, showing the second drive unit;

[0023] Figure 6 This is a partial structural schematic diagram of another embodiment of the surgical robot system provided in Embodiment 1 of the present invention;

[0024] Figure 7 yes Figure 6 A BB cross-sectional view of the surgical robot system shown;

[0025] Figure 8 This is a partial structural schematic diagram of another embodiment of the surgical robot system provided in Embodiment 1 of the present invention;

[0026] Figure 9 yes Figure 8 A CC cross-sectional view of the surgical robot system shown.

[0027] Figure 10 This is a partial cross-sectional view of another embodiment of the surgical robot system provided in Embodiment 1 of the present invention, showing the second drive unit;

[0028] Figure 11 This is a schematic diagram of the surgical robot system provided in Embodiment 2 of the present invention;

[0029] Figure 12 This is a partial structural schematic diagram of the surgical robot system provided in Embodiment 2 of the present invention;

[0030] Figure 13 This is a partial structural schematic diagram of the surgical robot system provided in Embodiment 2 of the present invention. Figure 13 and Figure 12 The difference lies in the fact that the second connector moves a certain distance along the fourth arc trajectory;

[0031] Figure 14 This is a partial structural schematic diagram of the surgical robot system provided in Embodiment 2 of the present invention. Figure 14 and Figure 12 The difference lies in the fact that the second joint arm moves a certain distance along the trajectory of the fifth arc;

[0032] Figure 15This is a partial structural schematic diagram of the surgical robot system provided in Embodiment 2 of the present invention. Figure 15 and Figure 12 The difference lies in the fact that the second connector moves a certain distance along the fourth arc trajectory, and the second joint arm moves a certain distance along the fifth arc trajectory;

[0033] Figure 16 This is a schematic diagram of the surgical robot system provided in Embodiment 3 of the present invention;

[0034] Figure 17 This is a partial structural schematic diagram of the surgical robot system provided in Embodiment 3 of the present invention;

[0035] Figure 18 This is a partial structural schematic diagram of the surgical robot system provided according to Embodiment 3 of the present invention. Figure 18 and Figure 17 The difference lies in the fact that the second connecting piece moves a certain distance along the fourth circular arc trajectory;

[0036] Figure 19 This is a partial structural schematic diagram of the surgical robot system provided according to Embodiment 3 of the present invention. Figure 19 and Figure 17 The difference lies in the fact that the second joint arm moves a certain distance along the trajectory of the fifth arc;

[0037] Figure 20 This is a partial structural schematic diagram of the surgical robot system provided according to Embodiment 3 of the present invention. Figure 20 and Figure 17 The difference lies in the fact that the second connector moves a certain distance along the fourth arc trajectory, and the second joint arm moves a certain distance along the fifth arc trajectory.

[0038] [The reference numerals in the attached figures are explained as follows]: 10-Base, 20-Mechanical arm, 21-Suspension joint, 22-First joint arm, 221-First joint arm body, 222-First joint, 223-Fourth guide rail, 23-Second joint arm, 231-Second joint arm body, 232-Second joint, 233-Fifth guide rail, 24-Third joint arm, 25-Motion detection mechanism, 251-First motion detection unit, 2511-First magnet, 2512-First Hall element, 252-Second motion detection unit, 2521-Second magnet, 2522-Second Hall element, 253-Third motion detection unit, 2531-Third magnet, 2532-Third Hall element, 254-Fourth motion detection unit, 254 1-Fourth magnet, 2542-Fourth Hall element, 255-Fifth motion detection unit, 261-First drive unit, 2611-First drive unit body, 2612-First gear, 2613-Second shaft, 2614-Third gear, 2615-First rack, 262-Second drive unit, 2621-Second drive unit body, 2622-Tenth gear, 2623-Eleventh gear, 2624-Fifth shaft, 2625-Transmission wire, 2626-First shaft, 26261-First sub-shaft, 26262-Second sub-shaft, 271-First torque detection unit, 272-Second torque detection unit, 28-Column, 29-Beam, 201-Bearing, 202-First connector, 203-Second connector. Detailed Implementation

[0039] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0040] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of the present invention must simultaneously implement all technical features in any embodiment, or can only separately implement some or all technical features in different embodiments. In other words, provided it is feasible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility in implementing the present invention.

[0041] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “multiple” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “installed,” “connected,” and “linked” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can be internal communication between two elements or an interaction between two elements. Relational terms such as “first,” “second,” etc., are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor do they indicate or imply relative importance or implicitly specify the number of indicated technical features. It should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0042] One of the objectives of this invention is to provide a surgical robot system, which includes a robotic arm. The robotic arm has the advantage of small space occupation while satisfying a large range of positioning space and multiple surgical methods, and can also improve the positioning accuracy of the operating instruments installed at the end of the robotic arm.

[0043] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0044] Figure 1 , Figure 11 , 16 Schematic diagrams of the surgical robot systems provided in different embodiments of the present invention are shown. (Reference) Figure 1 , Figure 11 , Figure 16 The surgical robot system includes a base 10 and a robotic arm 20, the robotic arm 20 being connected to the base 10.

[0045] The robotic arm 20 includes a suspension joint 21, which is directly or indirectly mounted to the base 10 in any suitable manner. The robotic arm 20 also includes multiple articulated arms, one of which is a first articulated arm 22, another is a second articulated arm 23, and yet another is a third articulated arm 24. The first articulated arm 22 is mounted on the suspension joint 21 and configured to move along a first circular arc trajectory. The second articulated arm 23 is mounted on the first articulated arm 22 and configured to rotate about a second central axis L2. The third articulated arm 24 is mounted on the second articulated arm 23 and configured to rotate about a third central axis L3 and a fourth central axis L4, respectively.

[0046] The surgical robot system is used to perform surgeries, such as minimally invasive surgeries. During the surgery, the third articulated arm 24 constitutes the end effector of the robotic arm 20 and is used to connect surgical instruments. Before performing surgery using the surgical robot system, the robotic arm 20 is first positioned spatially, including preliminary positioning and fine-tuning. During the preliminary positioning, the first articulated arm 22 moves along the first arc trajectory, the second articulated arm 23 rotates around the second central axis L2, and the third articulated arm 24 rotates around the third central axis L3 and the fourth central axis L4, respectively. During the fine-tuning, the second articulated arm 23 rotates around the second central axis L2.

[0047] The robotic arm 20 also includes a motion detection mechanism 25 and a control unit (not shown in the figure). The motion detection mechanism 25 is configured to detect, during the initial positioning operation of the robotic arm 20, the first actual motion of the first articulated arm 22 moving along the first arc trajectory, the second actual motion of the second articulated arm 23 rotating around the second central axis L2, the third actual motion of the third articulated arm 24 rotating around the third central axis L3, and the fourth actual motion of the third articulated arm 24 rotating around the fourth central axis L4. The control unit is communicatively connected to the motion detection mechanism 25 and is configured to obtain the actual pose of the third joint arm 24 after the initial positioning operation based at least the first actual motion, the second actual motion, the third actual motion, and the fourth actual motion. It also controls the second joint arm 23 to rotate around the second central axis L2 based on the actual pose of the third joint arm 24 after the initial positioning operation and the target pose of the third joint arm 24, thereby adjusting the pose of the third joint arm 24 and enabling it to reach the target pose, thus completing the pose fine-tuning operation.

[0048] The meaning of the third joint arm 24 reaching the target pose is that the deviation between the actual pose of the third joint arm 24 and the target pose is within a first preset range.

[0049] In this embodiment of the invention, by setting the second joint arm 23 between the first joint arm 22 and the third joint arm 24, on the one hand, the size of the first joint arm 22 can be reduced while satisfying the large range of positioning space of the robotic arm 20, thereby reducing the space occupied by the robotic arm 20. On the other hand, when the robotic arm 20 is performing spatial positioning operations, after the robotic arm 20 has completed the initial positioning operation and the third joint arm 24 has a large positioning deviation, the position of the third joint arm 24 can be adjusted by controlling the second joint arm 23 to rotate around the second central axis L2, so as to reduce or even eliminate the positioning deviation. This adjustment method is more precise and helps to improve the positioning accuracy of the third joint arm 24, thereby improving the positioning accuracy of the operating instrument.

[0050] It should be noted that the process by which the control unit obtains the actual pose of the third joint arm 24 based at least on the first actual motion, the second actual motion, the third actual motion, and the fourth actual motion, and the process by which the control unit controls the second joint arm 23 to rotate around the second central axis L2 based on the deviation between the actual pose of the third joint arm 24 and the target pose so that the third joint arm 24 reaches the target pose, are all contents that are known to those skilled in the art and will not be elaborated here.

[0051] It is easy to understand that the first arc trajectory has a first central axis L1, and the movement of the first articulated arm 22 along the first arc trajectory is essentially the rotation of the first articulated arm 22 around the first central axis L1. Optionally, the first central axis L1, the second central axis L2, the third central axis L3, and the fourth central axis L4 intersect at a virtual reference point O. Furthermore, during the operation, the operating instrument passes through the virtual reference point O. Thus, the virtual reference point O is a fixed point during the operation.

[0052] The structure of the robotic arm 20 will be further described below through several embodiments.

[0053] <Example 1>

[0054] Optionally, a first guide rail (not shown in the figure) extending along the first arc trajectory is formed on the first articulated arm 22. A first guide groove (not shown in the figure) is formed on the suspension joint 21. The first guide groove slides in conjunction with the first guide rail, so that the first articulated arm 22 can move along the first arc trajectory. In addition, the first articulated arm 22 may be integrally formed as an arc structure extending along the first arc trajectory.

[0055] In this embodiment, reference Figures 3 to 10 The second articulated arm 23 is rotatably connected to the first articulated arm 22 via a pivot. In this document, the pivot connecting the second articulated arm 23 and the first articulated arm 22 is referred to as the first pivot 2626. The first pivot 2626 has the second central axis, and when the second articulated arm 23 rotates relative to the first articulated arm 22 about the first pivot 2626, the second articulated arm 23 rotates about the second central axis L2.

[0056] In some implementations, such as Figures 3 to 6As shown, the first articulated arm 22 includes a first articulated arm body 221 and a first connecting portion 222, the first connecting portion 222 being connected to one end of the first articulated arm body 221. There are two first connecting portions 222, spaced apart along the extension direction of the second central axis L2. Each first connecting portion 222 has a first connecting hole (not shown in the figure), each first connecting hole penetrating the corresponding first connecting portion 222, and the first connecting holes on the two first connecting portions 222 are aligned. The second articulated arm 23 includes a second articulated arm body 231 and a second connecting portion 232, one of which is connected to one end of the second articulated arm body 231, the second articulated arm body 231 having a second connecting hole. The second joint 232 is at least partially inserted between the two first joints 222, the first pivot 2626 connects the first joint arm 22 and the second joint arm 23 through the two first joint holes and the second joint hole, and the first pivot 2626 is movably connected to the first joint arm 22 and fixedly connected to the second joint arm 23.

[0057] In an alternative embodiment, the number of the first joint is one, the number of the second joints is two, and the first joint is at least partially located between the two second joints (not shown in the figure).

[0058] The first rotating shaft 2626 can be formed by coaxially connecting the first sub-rotating shaft 26261 and the second sub-rotating shaft 26262 (e.g.) Figure 4 and Figure 5 (As shown). Alternatively, the first rotating shaft 2626 is an integral structure (as shown). Figure 7 (As shown).

[0059] Preferably, a bearing 201 is provided between the first rotating shaft 2626 and the wall of the first engaging hole, or the bearing 201 is provided between the first rotating shaft 2626 and the wall of the second engaging hole to reduce friction during rotation.

[0060] In other implementations, such as Figures 8 to 10 As shown, a third engagement hole (not labeled in the figure) is provided on the first articulated arm 22. One axial end of the first rotating shaft 2626 is fixedly connected to the second articulated arm 23, and the other axial end of the first rotating shaft 2626 extends into the third engagement hole and is rotatably connected to the first articulated arm 22. Preferably, the bearing 201 is provided between the first rotating shaft 2626 and the wall of the third engagement hole to reduce friction during rotation.

[0061] Please return to the reference. Figure 1 The robotic arm 20 further includes a first connector 202, which is mounted on the second articulated arm 23. The first connector 202 is configured to move along a second circular arc trajectory having the third central axis L3. The third articulated arm 24 is mounted on the first connector 202. When the first connector 202 moves along the second circular arc trajectory, the first connector 202 carries the third articulated arm 24 to rotate about the third central axis L3.

[0062] Optionally, a second guide rail (not shown in the figure) extending along the second arc trajectory is formed on the second articulated arm 23. A second guide groove (not labeled in the figure) is formed on the first connector 202. The second guide groove slides in conjunction with the second guide rail to enable the first connector 202 to move along the second arc trajectory. Optionally, the second articulated arm 23 is integrally formed as an arc-shaped structure extending along the second arc trajectory.

[0063] Optionally, a third guide rail (not shown in the figure) extending along a third arcuate trajectory is formed on the third articulated arm 24, the third arcuate trajectory having the fourth central axis L4. A third guide groove is formed on the first connector 202. The third guide groove slides with the third guide rail, allowing the third articulated arm 24 to move along the third arcuate trajectory. When the third articulated arm 24 moves along the third arcuate trajectory, the third articulated arm 24 rotates about the fourth central axis L4. The third articulated arm 24 can be integrally formed as an arcuate structure extending along the third arcuate trajectory.

[0064] In this embodiment, as Figure 1 As shown, the exercise detection mechanism 25 includes a first exercise detection unit 251, a second exercise detection unit 252, a third exercise detection unit 253, and a fourth exercise detection unit 254. The first exercise detection unit 251 is configured to detect the first actual exercise volume, the second exercise detection unit 252 is configured to detect the second actual exercise volume, the third exercise detection unit 253 is configured to detect the third actual exercise volume, and the fourth exercise detection unit 254 is configured to detect the fourth actual exercise volume.

[0065] The first motion detection unit 251, the second motion detection unit 252, the third motion detection unit 253, and the fourth motion detection unit 254 all include Hall sensors. The Hall sensor includes a magnet and a Hall element. For ease of description, the magnet of the first motion detection unit 251 is referred to as the first magnet 2511 and the Hall element as the first Hall element 2512; the magnet of the second motion detection unit 252 is referred to as the second magnet 2521 and the Hall element as the second Hall element 2522; the magnet of the third motion detection unit 253 is referred to as the third magnet 2531 and the Hall element as the third Hall element 2532; and the magnet of the fourth motion detection unit 254 is referred to as the fourth magnet 2541 and the Hall element as the fourth Hall element 2542.

[0066] like Figure 1 As shown, one of the first magnet 2511 and the first Hall element 2512 is disposed on the suspension joint 21, and the other is disposed on the first joint arm 22 and extends along the first arc trajectory. For example, the first magnet 2511 is disposed on the suspension joint 21, and the first Hall element 2512 is disposed on the first joint arm 22 and extends along the first arc trajectory.

[0067] like Figure 5 As shown, the second magnet 2521 and the second Hall element 2522 are both sleeved on the outer peripheral surface of the first rotating shaft 2626, and one of the second magnet 2521 and the second Hall element 2522 is fixedly connected to the first rotating shaft 2626, and the other is fixedly connected to the first joint arm 22.

[0068] like Figure 1 As shown, one of the third magnet 2531 and the third Hall element 2532 is disposed on the first connector 202, and the other is disposed on the second joint arm 23 and extends along the second arc trajectory. For example, the third magnet 2531 is disposed on the first connector 202, and the third Hall element 2532 is disposed on the second joint arm 23 and extends along the second arc trajectory.

[0069] like Figure 1 As shown, one of the fourth magnet 2541 and the fourth Hall element 2542 is disposed on the first connector 202, and the other is disposed on the third joint arm 24 and extends along the third arc trajectory. For example, the fourth magnet 2541 is disposed on the first connector 202, and the fourth Hall element 2542 is disposed on the third joint arm 24 and extends along the third arc trajectory.

[0070] Furthermore, the robotic arm 20 includes multiple drive units, one of which is a first drive unit 261 (e.g., Figure 2 As shown), another driving unit is a second driving unit 262 (as shown). Figure 5 and Figure 10 As shown in the figure, one of the driving units is a third driving unit (not shown in the figure), and another driving unit is a fourth driving unit (not shown in the figure). The first driving unit 261 is configured to drive the first articulated arm 22 to move along the first arc trajectory. The second driving unit 262 is configured to drive the second articulated arm 23 to rotate about the second central axis L2. The third driving unit is configured to drive the third articulated arm 24 to rotate about the third central axis L3. The fourth driving unit is configured to drive the third articulated arm 24 to rotate about the fourth central axis L4.

[0071] In some embodiments, such as Figure 2 As shown, the first drive unit 261 includes a first drive unit body 2611, a first gear 2612, a second gear (not shown), a second rotating shaft 2613, a third gear 2614, and a first rack 2615. The first drive unit body 2611 is mounted on the suspension joint 21, and the first gear 2612 is sleeved on the output shaft of the first drive unit body 2611. The second gear meshes with the first gear 2612 and is sleeved on the second rotating shaft 2613. The second rotating shaft 2613 is rotatably connected to the suspension joint 21. The third gear 2614 is sleeved on the second rotating shaft 2613, and the third gear 2614 and the second gear are spaced apart axially from each other on the second rotating shaft 2613. The first rack 2615 is mounted on the first joint arm 22 and extends along the first arc trajectory, and the first rack 2615 meshes with the third gear 2614. When the first drive unit body 2611 outputs torque, it sequentially drives the first gear 2612, the second gear, the second rotating shaft 2613, and the third gear 2614 to rotate, and then drives the first joint arm 22 to move along the first arc trajectory through the cooperation of the first rack 2615 and the third gear 2614.

[0072] The third drive unit can be constructed similarly to the first drive unit 261. The third drive unit includes a third drive unit body, a fourth gear, a fifth gear, a third rotating shaft, a sixth gear, and a second rack. The third drive unit body is mounted on the first connecting member 202. The fourth gear is sleeved on the output shaft of the third drive unit body. The fifth gear meshes with the fourth gear and is sleeved on the third rotating shaft. The third rotating shaft is rotatably connected to the first connecting member 202. The sixth gear is sleeved on the third rotating shaft, and the sixth gear and the fifth gear are spaced apart axially on the third rotating shaft. The second rack is mounted on the second joint arm 23 and extends along the second arc trajectory; the second rack meshes with the sixth gear. When the third drive unit body outputs torque, it sequentially drives the fourth gear, the fifth gear, the third rotating shaft, and the sixth gear to rotate. Furthermore, with the cooperation of the second rack and the sixth gear, it drives the first connecting member 202 to move along the second arc trajectory, thereby achieving the purpose of rotating the third joint arm 24 around the third central axis L3.

[0073] The fourth drive unit is similar in structure to the first drive unit 261. The fourth drive unit includes a fourth drive unit body, a seventh gear, an eighth gear, a fourth rotating shaft, a ninth gear, and a third rack. The fourth drive unit body is mounted on the first connecting member 202. The seventh gear is sleeved on the output shaft of the fourth drive unit. The eighth gear meshes with the seventh gear and is sleeved on the fourth rotating shaft. The fourth rotating shaft is rotatably connected to the first connecting member 202. The ninth gear is sleeved on the fourth rotating shaft, and the ninth gear and the eighth gear are spaced apart axially on the fourth rotating shaft. The third rack is mounted on the third joint arm 24 and extends along the third arc trajectory, meshing with the ninth gear. When the fourth drive unit body outputs torque, it sequentially drives the seventh gear, the eighth gear, the fourth rotating shaft, and the ninth gear to rotate. This, in turn, with the cooperation of the third rack and the ninth gear, drives the third joint arm 24 to move along the third arc trajectory, achieving the purpose of rotating the third joint arm 24 around the fourth central axis L4.

[0074] In some examples, such as Figure 5As shown, the second drive unit 262 includes a second drive unit body 2621, a tenth gear 2622, an eleventh gear 2623, a fifth rotating shaft 2624, a transmission wire 2625, and a first rotating shaft 2626. The second drive unit body 2621 can be disposed within the first joint arm 22. The tenth gear 2622 is sleeved on the output shaft of the second drive unit body 2621. The eleventh gear 2623 meshes with the tenth gear 2622 and is sleeved on the fifth rotating shaft 2624. The fifth rotating shaft 2624 is disposed within the first joint arm 22 and rotatably connected to the first joint arm 22. The transmission wire 2625 connects the fifth rotating shaft 2624 and the first rotating shaft 2626. When the second drive unit body 2621 outputs torque, it sequentially drives the tenth gear 2622, the eleventh gear 2623, and the fifth rotating shaft 2624 to rotate. The torque is then transmitted to the first rotating shaft 2626 via the transmission wire 2625, causing the first rotating shaft 2626 to rotate, which in turn drives the second joint arm 23 to rotate around the second central axis L2. In other embodiments, a belt (not shown) can be used instead of the transmission wire 2625, or teeth (not shown) can be provided on the outer circumferential surfaces of the fifth rotating shaft 2624 and the first rotating shaft 2626, and a chain (not shown) can be used instead of the transmission wire 2625.

[0075] In other examples, such as Figure 10 As shown, the second drive unit 262 includes a second drive unit body 2621, a tenth gear 2622, an eleventh gear 2623, and a first rotating shaft 2626. The tenth gear 2622 is sleeved on the output shaft of the second drive unit body 2621, and the eleventh gear 2623 is sleeved on the first rotating shaft 2626 and meshes with the tenth gear 2622. In other examples, the tenth gear 2622 can be replaced by a worm gear (not shown in the figure) connected to the output shaft of the second drive unit body.

[0076] As described above, each drive unit includes a drive unit body and at least one rotating shaft. When a drive unit includes one rotating shaft, that rotating shaft is considered to be the rotating shaft of the drive unit closest to the corresponding joint arm. When a drive unit includes multiple rotating shafts, one of the multiple rotating shafts of the drive unit is closer to the corresponding joint arm than the other rotating shafts. Taking the second drive unit 262, which includes the first rotating shaft 2626 and the fifth rotating shaft 2624, as an example, the first rotating shaft 2626 is closer to the first joint arm 22 than the fifth rotating shaft 2624. In other words, in the first drive unit 261, the second rotating shaft 2613 is the rotating shaft closest to the first joint arm 22; in the third drive unit, the third rotating shaft is the rotating shaft closest to the third joint arm 24; in the fourth drive unit, the fourth rotating shaft is the rotating shaft closest to the third joint arm 24; and in the second drive unit 262, the first rotating shaft 2626 is the rotating shaft closest to the first joint arm 22.

[0077] Furthermore, the control unit is communicatively connected to all of the drive units. The control unit is configured to, during the initial positioning operation, control the first drive unit 261 to drive the first articulated arm 22 to move along the first arc trajectory, control the second drive unit 262 to drive the second articulated arm 23 to rotate about the second central axis L2, control the third drive unit to drive the third articulated arm 24 to rotate about the third central axis L3, and control the fourth drive unit to drive the third articulated arm 24 to rotate about the fourth central axis L4. The control unit is also configured to, during the pose fine-tuning operation, control the second drive unit 262 to drive the second articulated arm 23 to rotate about the second central axis.

[0078] When any of the drive units drives the corresponding articulated arm to move, it is desirable that the corresponding drive unit body applies a preset torque to the pivot axis closest to the corresponding articulated arm within that drive unit. Specifically, during the initial positioning operation, it is desirable that the first drive unit body 2611 applies a first preset torque to the second pivot axis 2613, the second drive unit body 2621 applies a second preset torque to the first pivot axis 2626, the third drive unit body applies a third preset torque to the third pivot axis, and the fourth drive unit body applies a fourth preset torque to the fourth pivot axis. During the pose fine-tuning operation, it is desirable that the second drive unit body 2621 applies a fifth preset torque to the first pivot axis 2626.

[0079] The robotic arm 20 further includes a torque detection mechanism configured to detect the actual torque on the pivot closest to the corresponding articulated arm in any of the drive units when the corresponding articulated arm is moved. Specifically, the torque detection mechanism is configured to detect a first actual torque on the second pivot 2613, a second actual torque on the first pivot 2626, a third actual torque on the third pivot, and a fourth actual torque on the fourth pivot during the initial positioning operation, and to detect a fifth actual torque on the first pivot 2626 during the pose fine-tuning operation.

[0080] The control unit is configured to compensate the output torque of the corresponding drive unit body based on each actual torque and the corresponding preset torque, so that the deviation between each actual torque and the corresponding preset torque is within a preset range. Specifically, the control unit is configured to compensate the output torque of the first drive unit body 2611 based on the first actual torque and the first preset torque during the initial positioning operation, so that the deviation between the compensated first actual torque and the first preset torque is within a second preset range; to compensate the output torque of the second drive unit body 2621 based on the second actual torque and the second preset torque, so that the deviation between the compensated second actual torque and the second preset torque is within a third preset range; and to compensate the output torque of the third drive unit body based on the third actual torque and the third preset torque. The control unit is further configured to compensate for the deviation between the compensated third actual torque and the third preset torque within a fourth preset range, and to compensate for the output torque of the fourth drive unit body based on the fourth actual torque and the fourth preset torque, so that the deviation between the compensated fourth actual torque and the fourth preset torque is within a fifth preset range. The control unit is also configured to compensate for the output torque of the second drive unit body 2621 based on the fifth actual torque and the fifth preset torque during the pose fine-tuning operation, so that the deviation between the compensated fifth actual torque and the fifth preset torque is within a sixth preset range. This improves the motion accuracy of the robotic arm 20.

[0081] In this embodiment, the torque detection mechanism includes multiple torque detection units, each of which is disposed on a drive unit. Each torque detection unit is configured to detect the actual torque received by the rotating shaft closest to the corresponding joint arm in the drive unit when the drive unit drives the corresponding joint arm to move. Specifically, one of the multiple torque detection units is a first torque detection unit 271, another is a second torque detection unit 272, yet another is a third torque detection unit, and yet another is a fourth torque detection unit. The first torque detection unit 271 is disposed on the first drive unit 261 and is configured to detect the first actual torque received by the second rotating shaft 2613 during the initial positioning operation. The second torque detection unit 272 is disposed on the second drive unit 262 and is configured to detect the second actual torque received by the first rotating shaft 2626 during the initial positioning operation and the fifth actual torque received by the first rotating shaft 2626 during the pose fine-tuning operation. The third torque detection unit is disposed on the third drive unit and configured to detect the third actual torque received by the third rotating shaft during the initial positioning operation. The fourth torque detection unit is disposed on the fourth drive unit and configured to detect the fourth actual torque received by the fourth rotating shaft during the initial positioning operation.

[0082] Each of the torque detection units includes an annular strain gauge, and the strain gauge of each torque detection unit is sleeved on a corresponding rotating shaft of the drive unit. That is, the strain gauge of the first torque detection unit 271 is sleeved on the second rotating shaft 2613 (e.g., Figure 2 (As shown); the strain gauge of the third torque detection unit is sleeved on the third rotating shaft; the strain gauge of the fourth torque detection unit is sleeved on the fourth rotating shaft; the strain gauge of the second torque detection unit 272 is sleeved on the first rotating shaft 2626 (as shown). Figure 9 and Figure 10 (As shown), or, when the second drive unit 262 includes the first rotating shaft 2626 and the fifth rotating shaft 2624, the strain gauge of the second torque detection unit 272 can also be sleeved on the fifth rotating shaft 2624 (as shown). Figure 5 (As shown).

[0083] The robotic arm 20 is configured such that when any of the driving units drives the corresponding articulated arm to move, the strain gauge of the corresponding torque detection unit generates friction between itself and the rotating shaft, and deforms under the action of the friction. Specifically, when the first driving unit 261 drives the first articulated arm 22 to move, friction is generated between the strain gauge of the first torque detection unit 271 and the second rotating shaft 2613, and the strain gauge of the first torque detection unit 271 deforms under the action of the friction. When the third driving unit drives the third articulated arm 24 to rotate around the third central axis L3, friction is generated between the strain gauge of the third torque detection unit and the third rotating shaft, and the strain gauge of the third torque detection unit deforms under the action of the friction. When the fourth driving unit drives the third articulated arm 24 to rotate around the fourth central axis L4, friction is generated between the strain gauge of the fourth torque detection unit and the fourth rotating shaft, and the strain gauge of the fourth torque detection unit deforms under the action of the friction. When the strain gauge of the second torque detection unit 272 is sleeved on the first rotating shaft 2626, and the second driving unit 262 drives the second articulated arm 23 to move, a frictional force is generated between the strain gauge of the second torque detection unit 272 and the first rotating shaft 2626, and the strain gauge of the second torque detection unit 272 deforms under the action of this frictional force. When the strain gauge of the second torque detection unit 272 is sleeved on the fifth rotating shaft 2624, and the second driving unit 262 drives the second articulated arm 23 to move, a frictional force is generated between the strain gauge of the second torque detection unit 272 and the fifth rotating shaft 2624, and the strain gauge of the second torque detection unit 272 deforms under the action of this frictional force. The amount of deformation of the strain gauge is related to the actual torque on the rotating shaft where the strain gauge is located, and the actual torque on the rotating shaft where the strain gauge is located can be obtained based on the amount of deformation of the strain gauge.

[0084] It should be noted that when the strain gauge of the second torque detection unit 272 is sleeved on the fifth rotating shaft 2624, the second torque detection unit 272 indirectly detects the actual torque on the first rotating shaft 2626 by detecting the actual torque on the fifth rotating shaft 2624. The actual torque on the first rotating shaft 2626 is calculated by the actual torque on the fifth rotating shaft 2624 and the transmission ratio between the first rotating shaft 2626 and the fifth rotating shaft 2624. The specific calculation method is known to those skilled in the art and will not be elaborated here.

[0085] In addition, such as Figure 1As shown, the robotic arm 20 may include a column 28 and a crossbeam 29, wherein the column 28 is connected to the base 10 and extends along a first direction. The crossbeam 29 extends along a second direction and is connected to the column 28. The suspension joint 21 is suspended from the crossbeam 29. The first direction intersects the second direction.

[0086] Optionally, the column 28 is configured to extend and retract along the first direction to adjust the position of the virtual reference point O in the first direction. Optionally, the beam 29 is configured to extend and retract along the second direction to adjust the position of the virtual reference point O in the second direction. Optionally, the column 28 and the beam 29 are connected by a sixth pivot (not shown in the figure) extending along the first direction, so that the beam 29 can rotate around the sixth pivot to change the position of the virtual reference point O in the third direction. The first direction, the second direction, and the third direction are mutually perpendicular. In practice, the second direction and the third direction are mutually perpendicular horizontal directions, and the first direction is a vertical direction.

[0087] Preferably, the suspension joint 21 is rotatably connected to the crossbeam 29 via a seventh pivot (not shown in the figure). The seventh pivot has a fifth central axis L5, which passes through the virtual reference point O. The seventh pivot is fixedly connected to the suspension joint 21 and rotatably connected to the crossbeam 29.

[0088] Here, when the robotic arm 20 performs the initial positioning operation, the suspension joint 21 also rotates around the fifth central axis L5.

[0089] Accordingly, such as Figure 1 As shown, the motion detection mechanism 25 may further include a fifth motion detection unit 255, which is configured to detect the fifth actual motion when the suspension joint 21 rotates around the fifth central axis L5. After the initial positioning operation is completed, the control unit obtains the actual position of the third joint arm 24 based on the first actual motion, the second actual motion, the third actual motion, the fourth actual motion, and the fifth actual motion.

[0090] The fifth motion detection unit 255 may also include a Hall sensor, and include a fifth magnet and a fifth Hall element (not shown in the figure). The fifth magnet and the fifth Hall element are both sleeved on the third rotating shaft, and one of the fifth magnet and the fifth Hall element is fixedly connected to the third rotating shaft, while the other is fixedly connected to the crossbeam 29.

[0091] In this embodiment, the process by which the control unit obtains the actual pose of the third joint arm 24 based on the first actual motion amount, the second actual motion amount, the third actual motion amount, the fourth actual motion amount, and the fifth actual motion amount is something that those skilled in the art can know, and will not be described in detail here.

[0092] Additionally, the robotic arm 20 includes a fifth drive unit configured to drive the suspension joint 21 to rotate about the fifth central axis L5 during the initial positioning operation. The fifth drive unit includes a fifth drive unit body and the seventh rotating shaft; other configurations of the fifth drive unit are similar to those of the second drive unit 262 and will not be elaborated here. In the fifth drive unit, the seventh rotating shaft is the shaft closest to the suspension joint 21. During the initial positioning operation, it is desired that the fifth drive unit body applies a sixth preset torque to the seventh rotating shaft. The torque detection mechanism also includes a fifth torque detection unit configured to detect the sixth actual torque acting on the seventh rotating shaft during the initial positioning operation. The fifth torque detection unit also includes an annular strain gauge, which is fitted onto the seventh rotating shaft and configured to generate friction with the seventh rotating shaft during rotation, and deform under the action of this friction. During the initial positioning operation, the control unit compensates for the output torque of the fifth drive unit body based on the deviation between the sixth actual torque and the sixth preset torque, so that the deviation between the compensated sixth actual torque and the sixth preset torque is within a seventh preset range.

[0093] It should be noted that in some examples, the suspension joint 21 is fixedly mounted on the crossbeam 29. In this case, during the positioning operation of the robotic arm 20, there is no rotation of the suspension joint 21 around the fifth central axis, and the fifth drive unit, the fifth motion detection unit, and the fifth torque detection unit are also absent.

[0094] <Example 2>

[0095] Figures 11 to 15 A schematic diagram of the surgical robot system provided in this embodiment is shown. Figures 11 to 15 As shown, one of the differences between this embodiment and Embodiment 1 is that the connection method between the second joint arm 23 and the first joint arm 22 is different.

[0096] Specifically, in this embodiment, the robotic arm 20 does not include the aforementioned first rotating shaft 2626, but includes, for example, the first rotating shaft 2626. Figures 11 to 15The second connector 203 is shown. The second connector 203 is mounted on the first articulated arm 22 and is configured to move along a fourth circular arc trajectory having the second central axis. The second articulated arm 23 is mounted on the second connector 203. When the second connector 203 moves along the fourth circular arc trajectory, it carries the second articulated arm 23 to rotate about the second central axis. In this embodiment, the fourth circular arc trajectory may coincide with or be parallel to the first circular arc trajectory, such that the second central axis L2 coincides with the first central axis L1.

[0097] Optionally, a fourth guide rail 223 extending along the fourth arc trajectory is formed on the first articulated arm 22. A fourth guide groove (not shown in the figure) is provided on the second connector 203. The fourth guide groove slides in conjunction with the fourth guide rail 223 to enable the second connector 203 to move along the fourth arc trajectory.

[0098] Corresponding to one of the differences mentioned above, the second difference between this embodiment and Embodiment 1 is that the second driving unit is configured to drive the second connecting member 203 to move along the fourth arc trajectory. Also, the second motion detection unit 252 (as described above) Figure 11 (As shown) The amount of motion of the second connector 203 along the fourth arc trajectory is detected as the second actual motion amount.

[0099] In this embodiment, the structure of the second driving unit is similar to that of the first driving unit 261. The second driving unit includes a second driving unit body, a twelfth gear, a thirteenth gear, an eighth rotating shaft, a fourteenth gear, and a fourth rack. The second driving unit body is mounted on the second connecting member 203. The twelfth gear is sleeved on the output shaft of the second driving unit body. The thirteenth gear meshes with the twelfth gear and is sleeved on the eighth rotating shaft. The eighth rotating shaft is rotatably mounted on the second connecting member 203. The fourteenth gear is sleeved on the eighth rotating shaft. The fourteenth gear and the thirteenth gear are spaced apart axially on the eighth rotating shaft. The fourth rack is mounted on the first joint arm 22 and extends along the fourth arc trajectory. When the second driving unit outputs torque, it sequentially drives the twelfth gear, the thirteenth gear, the eighth rotating shaft, and the fourteenth gear to rotate. Subsequently, under the cooperation of the fourth rack and the fourteenth gear, it drives the second connecting member 203 to move along the fourth arc trajectory, thereby achieving the purpose of rotating the second joint arm 23 around the second central axis L2.

[0100] In this embodiment, one of the second magnet 2521 and the second Hall element 2522 of the second motion detection unit 252 is disposed on the second connector 203, and the other is disposed on the first joint arm 22 and extends along the fourth arc trajectory.

[0101] The third difference between this embodiment and Embodiment 1 is that the second articulated arm 23 is further configured to move along a fifth circular arc trajectory, the fifth circular arc trajectory having the third central axis, the third central axis being perpendicular to the second central axis. The first connecting member 202 is fixedly connected to the second articulated arm 23. Thus, when the second articulated arm 23 moves along the fifth circular arc trajectory, the second articulated arm 23 drives the first connecting member 202 to rotate around the third central axis, thereby driving the third articulated arm 24 to rotate around the third central axis.

[0102] Optionally, a fifth guide rail 233 extending along the fifth arc trajectory is formed on the second articulated arm 23. A fifth guide groove (not shown in the figure) is formed on the second connector 203. The fifth guide groove and the fifth guide rail 233 are slidably engaged to enable the second articulated arm 23 to move along the fifth arc trajectory. In this embodiment, the second articulated arm 23 may be integrally formed into an arc-shaped structure extending along the fifth arc trajectory.

[0103] Corresponding to the third difference mentioned above, the fourth difference between this embodiment and embodiment one is that the third driving unit drives the second articulated arm 23 to move along the fifth arc trajectory to achieve the purpose of rotating the third articulated arm 24 around the third central axis. Here, the third driving unit body and the third rotating shaft are both mounted on the second connecting member 203. Furthermore, the third motion detection unit 253 detects the actual motion of the second articulated arm 23 along the fifth arc trajectory as the third actual motion, and one of the third magnet 2531 and the third Hall element 2532 is mounted on the second connecting member 203, and the other is mounted on the second articulated arm 23 and extends along the fifth arc trajectory.

[0104] <Example 3>

[0105] Figures 16 to 20 A schematic diagram of the surgical robot system provided in this embodiment is shown. Figures 16 to 20 As shown, the only difference between this embodiment and Embodiment 2 is that the third central axis coincides with the second central axis.

[0106] The second objective of this invention is to provide a robotic arm, wherein the robotic arm is the aforementioned robotic arm 20.

[0107] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A robotic arm, characterized in that, It includes a suspension joint, multiple articulated arms, a motion detection mechanism, and a control unit; among the multiple articulated arms, one is a first articulated arm, another is a second articulated arm, and yet another is a third articulated arm, wherein: The first articulated arm is mounted on the suspension joint and is configured to move along a first circular arc trajectory; The second articulated arm is mounted on the first articulated arm and is configured to rotate about a second central axis; The third articulated arm is assembled to the second articulated arm and is configured to rotate about the third central axis and the fourth central axis, respectively. The motion detection mechanism is configured to detect, during the initial positioning operation of the robotic arm, the first actual motion of the first joint arm along the first arc trajectory, the second actual motion of the second joint arm rotating around the second central axis, the third actual motion of the third joint arm rotating around the third central axis, and the fourth actual motion of the third joint arm rotating around the fourth central axis. The control unit is communicatively connected to the motion detection mechanism and is configured to obtain the actual pose of the third joint arm at the end of the initial positioning operation based on at least the first actual motion, the second actual motion, the third actual motion, and the fourth actual motion, and to control the second joint arm to rotate around the second central axis based on the actual pose and the target pose of the third joint arm to adjust the pose of the third joint arm so that the third joint arm reaches the target pose.

2. The robotic arm according to claim 1, characterized in that, The motion detection mechanism includes a first motion detection unit, which is configured to detect the first actual motion. The first motion detection unit includes a first magnet and a first Hall element, one of which is disposed on the suspension joint and the other is disposed on the first joint arm and extends along the first arc trajectory.

3. The robotic arm according to claim 1, characterized in that, The robotic arm includes a first rotating shaft and a first connecting member; the first rotating shaft has a second central axis; the first rotating shaft is rotatably connected to the first articulated arm, and the first rotating shaft is fixedly connected to the second articulated arm; The first connector is mounted on the second articulated arm and configured to move along a second arcuate trajectory having the third central axis; The third articulated arm is mounted on the first connector and configured to move along a third circular arc trajectory having the fourth central axis.

4. The robotic arm according to claim 3, characterized in that, The motion detection mechanism further includes a second motion detection unit, a third motion detection unit, and a fourth motion detection unit; the second motion detection unit is configured to detect the second actual motion and includes a second magnet and a second Hall element, both of which are sleeved on the outer circumferential surface of the first rotating shaft, and one of the second magnet and the second Hall element is fixedly connected to the first rotating shaft and the other is fixedly connected to the first joint arm; the third motion detection unit is configured to detect the third actual motion and includes a third magnet and a third Hall element, one of which is disposed on the first connecting member and the other is disposed on the second joint arm and extends along the second arc trajectory; The fourth motion detection unit is configured to detect the fourth actual motion and includes a fourth magnet and a fourth Hall element. One of the fourth magnet and the fourth Hall element is disposed on the first connector and the other is disposed on the third articulated arm and extends along the third arc trajectory.

5. The robotic arm according to claim 1, characterized in that, The robotic arm further includes a first connector and a second connector; the second connector is mounted on the first articulated arm and is configured to move along a fourth circular arc trajectory having a second central axis. The second articulated arm is mounted on the second connector and configured to move along a fifth circular arc trajectory having the third central axis; The first connector is fixedly mounted on the second articulated arm; the third articulated arm is mounted on the first connector and configured to move along a third circular arc trajectory having the fourth central axis.

6. The robotic arm according to claim 5, characterized in that, The motion detection mechanism includes a second motion detection unit, a third motion detection unit, and a fourth motion detection unit; the second motion detection unit is configured to detect the second actual motion and includes a second magnet and a second Hall element, one of the second magnet and the second Hall element being disposed on the second connector and the other being disposed on the first joint arm and extending along the fourth arc trajectory; The third motion detection unit is configured to detect the third actual motion and includes a third magnet and a third Hall element. One of the third magnet and the third Hall element is disposed on the second connector and the other is disposed on the second joint arm and extends along the fifth arc trajectory. The fourth motion detection unit is configured to detect the fourth actual motion and includes a fourth magnet and a fourth Hall element. One of the fourth magnet and the fourth Hall element is disposed on the first connector and the other is disposed on the third articulated arm and extends along the third arc trajectory.

7. The robotic arm according to claim 5, characterized in that, The third central axis coincides with the second central axis; or, the third central axis is perpendicular to the second central axis.

8. The robotic arm according to claim 1, characterized in that, The robotic arm also includes a torque detection mechanism and multiple drive units; One of the plurality of drive units is a first drive unit, another is a second drive unit, yet another is a third drive unit, and yet another is a fourth drive unit; the first drive unit is configured to drive the first articulated arm to move along the first arc trajectory, the second drive unit is configured to drive the second articulated arm to rotate about the second central axis, the third drive unit is configured to drive the third articulated arm to rotate about the third central axis, and the fourth drive unit is configured to drive the third articulated arm to rotate about the fourth central axis; each drive unit includes a drive unit body and at least one rotating shaft disposed between the drive unit body and the corresponding articulated arm; The torque detection mechanism is configured to detect the actual torque on the shaft closest to the corresponding articulated arm in any of the drive units when the corresponding articulated arm moves. The control unit is communicatively connected to the torque detection mechanism and is configured to compensate the output torque of the corresponding drive unit body based on each actual torque and the corresponding preset torque, so that the deviation between each actual torque and the corresponding preset torque is within a preset range.

9. The robotic arm according to claim 8, characterized in that, The torque detection mechanism includes multiple torque detection units, one of which is a first torque detection unit, another is a second torque detection unit, yet another is a third torque detection unit, and yet another is a fourth torque detection unit; The first torque detection unit is configured to detect the actual torque on the pivot shaft closest to the first joint arm in the first drive unit when the first drive unit drives the first joint arm to move; The second torque detection unit is configured to detect the actual torque on the pivot shaft closest to the second joint arm in the second drive unit when the second drive unit drives the second joint arm to move; The third torque detection unit is configured to detect the actual torque on the rotating shaft closest to the third joint arm in the third drive unit when the third drive unit drives the third joint arm to move. The fourth torque detection unit is configured to detect the actual torque on the pivot shaft closest to the third joint arm in the fourth drive unit when the fourth drive unit drives the third joint arm to move. Each of the torque detection units includes an annular strain gauge, and the strain gauge of each torque detection unit is sleeved on the outer peripheral surface of one of the rotating shafts of the corresponding drive unit; The robotic arm is configured such that when any of the driving units drives the corresponding articulated arm to move, the strain gauge of the corresponding torque detection unit generates friction between itself and the rotating shaft, and the strain gauge deforms under the action of the friction.

10. The robotic arm according to claim 1, characterized in that, The first circular arc trajectory has a first central axis, and the first central axis, the second central axis, the third central axis, and the fourth central axis intersect at a virtual reference point.

11. A surgical robot system, characterized in that, include: Base; and, The robotic arm as described in any one of claims 1-10, wherein the robotic arm is connected to the base.

Images