Surgical robot mechanical arm, surgical robot and parameter calculation method

Abstract

The application relates to a surgical robot mechanical arm, a surgical robot and a parameter calculation method. The surgical robot mechanical arm comprises a mechanical arm, wherein the mechanical arm is installed with a medical instrument; an arc-shaped telescopic connecting rod, wherein the arc-shaped telescopic connecting rod comprises multiple arc-shaped connecting rods, the multiple arc-shaped connecting rods are sequentially and telescopically connected in a head-to-tail mode, the centers of the multiple arc-shaped connecting rods are located at a remote center of motion RCM, the arc-shaped connecting rod located at a tail end is connected to one end of the mechanical arm through a connecting joint, and the connecting joint is located on a circle formed by the multiple arc-shaped connecting rods. According to the application, the multiple arc-shaped connecting rods are connected to the end of the mechanical arm, so that the mechanical arm can swing around the remote center of motion RCM, the inner side of the multiple arc-shaped connecting rods forms a large operation space, and other mechanical arms can swing in the space surrounded by the multiple arc-shaped connecting rods, so that collision with the arc-shaped connecting rods is avoided, and the technical problem that a surgical operation is disturbed due to collision in the related art is solved.

Description

Technical Field

[0001] This application relates to the field of medical surgical robot technology, specifically to a surgical robot arm, a surgical robot, and a parameter calculation method. Background Technology

[0002] Currently, laparoscopic surgical robots are widely used in various medical fields, including but not limited to urology, general surgery, gynecology, and cardiothoracic surgery. One of the most significant drawbacks of laparoscopic robots is the problem of external collisions with the robotic arm, which can render certain surgical areas inaccessible, severely interfere with the surgeon's operation, and even lead to surgical failure.

[0003] In related technologies, robotic arm collisions during surgery include collisions between the robotic arm and its connecting rods. The reason for these collisions is that when the endpoint of the surgical instrument robotic arm is centered in the endoscopic field of view, the surgical instrument robotic arm and the endoscopic robotic arm form a certain angle in the front-back direction (as shown in Figure 3). When the surgical instrument robotic arm swings towards the endoscopic robotic arm, a collision occurs between the surgical instrument robotic arm and the endoscopic robotic arm's connecting rod.

[0004] Due to collisions with the robotic arm, there are areas within the endoscopic field of view that the robotic arm cannot reach. If there is a target point in this area that needs to be addressed during surgery, the inability to reach that point will directly interfere with the surgical procedure.

[0005] Therefore, it is necessary to design a new surgical robotic arm to overcome the above problems. Summary of the Invention

[0006] This application provides a surgical robot arm, a surgical robot, and a parameter calculation method, which can solve the technical problem of interference with surgical operations caused by collisions in related technologies.

[0007] In a first aspect, embodiments of this application provide a surgical robot arm, comprising: a robot arm on which medical devices are mounted; an arc-shaped telescopic link comprising multiple arc-shaped links, the multiple arc-shaped links being connected end-to-end in a telescopic manner, and the centers of the multiple arc-shaped links being located at the telecentric fixed point RCM; the arc-shaped link at the tail end being connected to one end of the robot arm via a connecting joint, and the connecting joint being located on the circle formed by the multiple arc-shaped links.

[0008] In conjunction with the first aspect, in one embodiment, the multiple arc-shaped connecting rods gradually taper from beginning to end, and in two adjacent arc-shaped connecting rods, the arc-shaped connecting rod closer to the end can extend and retract into the other arc-shaped connecting rod.

[0009] In conjunction with the first aspect, in one embodiment, the arc-shaped connecting rod at the first end is provided with a rotary joint, the axis of which passes through the distal fixed point RCM.

[0010] In conjunction with the first aspect, in one embodiment, the arc length of each segment of the arc-shaped connecting rod is... ,in, The length of the robotic arm, The angular amplitude of the swing of the robotic arm along the extension direction of the arc-shaped connecting rod. This refers to the total number of segments in the arc-shaped telescopic linkage.

[0011] In conjunction with the first aspect, in one embodiment, the robotic arm is provided with a track, and a sliding joint is slidably mounted on the track, with the medical device mounted on the sliding joint.

[0012] Secondly, embodiments of this application provide a surgical robot, which includes: a base, and an instrument robotic arm and an endoscope robotic arm mounted on the base, wherein the endoscope robotic arm adopts the surgical robot robotic arm described above, and the medical instrument is an endoscope.

[0013] In conjunction with the second aspect, in one embodiment, the distal fixed point RCM of the instrument robotic arm and the distal fixed point RCM of the endoscope robotic arm are spaced apart by a distance h in the extension direction of the arc-shaped link.

[0014] Thirdly, embodiments of this application provide a method for calculating the parameters of the surgical robot described above, comprising: Construct a three-dimensional rectangular coordinate system {A}, where the origin O of coordinate system {A} is the telecentric fixed point RCM of the endoscope robotic arm, the line connecting the origin O and the endoscope is the z-axis of coordinate system {A}, and the xz plane of coordinate system {A} is the plane in which the endoscope robotic arm swings along the arc-shaped telescopic link. Based on the geometric positional relationship of the telecentric fixed point RCM of the robotic arm in coordinate system {A}, a functional relationship f(d) between the relative distance d and the distance h between the robotic arm and the endoscope robotic arm is constructed. Substituting the relative distance d into the functional relationship f(d), we obtain the distance h.

[0015] In conjunction with the third aspect, in one implementation, constructing the three-dimensional rectangular coordinate system {A} includes: Establish a three-dimensional rectangular coordinate system {C}, where the origin O of the coordinate system {C} is the telecentric fixed point RCM of the endoscope robotic arm, and the plane in which the endoscope robotic arm swings along the arc-shaped telescopic link is the xz plane. There is a target point T in the coordinate system {C}, and the projection of the target point T in the xz plane is T', where OT' is the z-axis direction of the coordinate system {C}. Use an endoscope to directly view the target point T and determine the angle α between the endoscope in the yz plane and the y-axis; Rotate coordinate system {C} clockwise by (π / 2-α) degrees to obtain coordinate system {B}, so that the endoscope is located in the xz plane of coordinate system {B}, and in this plane, the angle between the endoscope and the z axis is γ; Rotate coordinate system {B} clockwise by γ along the y-axis to obtain coordinate system {A}.

[0016] In conjunction with the third aspect, in one implementation, the construction of the functional relationship f(d) between the relative distance d and the distance h between the instrument robotic arm and the endoscope robotic arm, based on the geometric positional relationship of the distal fixed point RCM of the instrument robotic arm in coordinate system {A}, includes: Define the point R1' where the telecentric fixed point RCM of the robotic arm of the instrument is located in coordinate system {A}. Point R1' is located on a line segment. One endpoint A of the line segment is located on the line z. The y coordinate of the other endpoint C of the line segment is 0, and the x coordinate is -d. Here, the line z is the projection of the upper boundary of the endoscope field of view onto the depth plane where the target point T is located. Based on the geometric positional relationship between the upper endpoints A and R1' of the line segment in coordinate system {A} and the endpoint C, a functional relationship f(d) between the relative distance d and the distance h is constructed.

[0017] The beneficial effects of the technical solutions provided in this application include: By connecting multiple arc-shaped links to the end of the robotic arm, these links are connected end-to-end to form an arc-shaped telescopic link. The centers of all the arc-shaped links are located at the telecentric fixed point RCM, allowing the robotic arm to swing around the telecentric fixed point RCM as a fulcrum. Furthermore, the inner side of the multiple arc-shaped links creates a large operating space, allowing other robotic arms to swing within the space enclosed by the multiple arc-shaped links, thus avoiding collisions with the arc-shaped links. This solves the technical problem of interference with surgical operations caused by collisions in related technologies. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A collision diagram of the robotic arm. Figure 2 Create a triangular layout diagram for the puncture cannula of the endoscope and instruments; Figure 3A schematic diagram showing the instrument robotic arm and the endoscope robotic arm forming a certain angle in the front-to-back direction; Figure 4 A and B in the diagrams are front and rear views showing the collision between the robotic arm of the instrument and the connecting rod of the endoscope robotic arm; Figure 5 This is a schematic diagram showing an area in the endoscopic field of view that cannot be reached by the end-arm due to a collision with the robotic arm. Figure 6 This is a schematic diagram of the target point T in coordinate system {C} provided in the embodiments of this application; Figure 7 A schematic diagram of the endoscope provided in the embodiment of this application in the yz plane; Figure 8 A schematic diagram showing the endoscope provided in the embodiments of this application located in the xz plane of coordinate system {B}; Figure 9 A schematic diagram illustrating the relative distance between the instrument robotic arm and the endoscope robotic arm provided in the embodiments of this application; Figure 10 A schematic diagram of coordinate system {A} provided in an embodiment of this application; Figure 11 A schematic diagram of the xz plane and yz plane of coordinate system {A} provided in the embodiments of this application; Figure 12 This is a schematic diagram of the structure of a surgical robot arm provided in an embodiment of this application; Figure 13 A comparison diagram of the length and width of the robotic arm provided in the embodiments of this application and a traditional robotic arm; Figure 14 A schematic diagram showing the axis of the rotary joint passing through the RCM in an embodiment of this application; Figure 15 A schematic diagram showing the fully retracted arc-shaped connecting rod provided in the embodiment of this application; Figure 16 A schematic diagram showing the fully extended arc-shaped connecting rod provided in the embodiment of this application; Figure 17 The curvature of the extendable portion of the arc-shaped connecting rod provided in the embodiments of this application; Figure 18 A and B in the diagram are structural schematics showing the end point of the robotic arm of the instrument located at the upper boundary of the endoscope's field of view from different angles. Figure 19 In the diagram, A represents the swing angle of the conventional robotic arm structure and its positional relationship with the endoscopic robotic arm; B represents the swing angle of the robotic arm in this embodiment and its positional relationship with the endoscopic robotic arm. Figure 20 This is a schematic diagram of the function f(d) provided in the embodiments of this application.

[0020] In the picture: 1. Robotic arm; 11. Endoscopic robotic arm; 2. Arc-shaped telescopic link; 21. Arc-shaped link; 3. Connecting joints; 4. Rotating joints; 5. Sliding joints; 6. Endoscope; 7. Puncture cannula; 8. Engagement button; 100. Mechanical arms. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present application.

[0022] In related technologies, robotic arm collisions during surgery mainly consist of: collisions between the robotic arm itself and collisions between the robotic arm and its connecting links. Collisions between the robotic arm itself and its connecting links are as follows: Figure 1 As shown, when the instrument robotic arm swings towards the endoscope robotic arm, the two robotic arms collide at point P, preventing the instrument tip from moving further outward. The reason for this collision between the robotic arm and the connecting rod is that, in actual surgery, the endoscope and instrument cannulas are often arranged in a triangular configuration, such as... Figure 2 As shown (point C is the endoscopic cannula puncture point, points R1 and R2 are the surgical instrument cannula puncture points, and the distance from point C to R1R2 is h), and in actual surgery, a 30° lens is more commonly used. When the tip of the surgical instrument is located in the center of the endoscopic field of view, the surgical instrument arm and the endoscopic arm will form a certain angle in the anterior-posterior direction (e.g., Figure 3 (As shown). When the robotic arm of the instrument swings towards the robotic arm of the endoscope, a collision occurs between the robotic arm of the instrument and the connecting rod of the robotic arm of the endoscope. Figure 4 -A and Figure 4 -B shows the collision between the robotic arm of the instrument and the linkage of the endoscope robotic arm from two perspectives, front and back.

[0023] Due to the collision with the external robotic arm, the surgeon is unable to move the instrument tip further outward. At this point, an area will appear on the transverse plane that is visible to the endoscope but inaccessible to the instrument tip. Figure 5 As shown, due to the collision of the robotic arm, there is an area in the endoscopic field of view that the instrument tip cannot reach. If there is a target point M that needs to be treated in the surgery in this area, the inability to reach the point will directly interfere with the surgical operation.

[0024] This application provides a surgical robot arm, a surgical robot, and a parameter calculation method, which can solve the technical problem of interference with surgical operations caused by collisions in related technologies.

[0025] See Figure 12 As shown, this embodiment provides a surgical robot arm, which may include: a robot arm 1, on which medical instruments are mounted; an arc-shaped telescopic link 2, which includes multiple arc-shaped links 21, the multiple arc-shaped links 21 being connected end to end in a telescopic manner, and the centers of the multiple arc-shaped links 21 are all located at the telecentric fixed point RCM; the arc-shaped link 21 located at the tail end is connected to one end of the robot arm 1 through a connecting joint 3, and the connecting joint 3 is located on the circle formed by the multiple arc-shaped links 21.

[0026] See Figure 12 As shown, the robotic arm 1 in this embodiment can be an endoscope robotic arm 11 or another instrument robotic arm 100. This embodiment mainly uses the endoscope robotic arm 11 as an example for explanation. When the robotic arm 1 is an endoscope robotic arm 11, the medical instrument installed on the robotic arm 1 is an endoscope 6. In this embodiment, the arc-shaped telescopic link 2 can be extended and shortened as a whole. The centers of all the arc-shaped links 21 are located at the same point and have the same radius, so that multiple arc-shaped links 21 are located on the same circle. When the arc-shaped telescopic link 2 is extended or shortened, it can extend or shorten along the outer contour of the circle. During the extension or shortening process, the link will not enter the inside of the circle. In this embodiment, among two adjacent arc-shaped links 21, one arc-shaped link 21 can retract into the other arc-shaped link 21 to realize the telescopic connection between the arc-shaped links 21.

[0027] It should be understood that, in order to avoid iatrogenic trauma to the patient while ensuring the free movement of the instrument tip within the patient's body, the robotic arm 1 is designed to control the movement of the instrument tip around the incision point (the intersection of the puncture cannula 7 and the abdominal wall), forming an incision constraint for minimally invasive surgery. This is the Remote Center of Motion (RCM) mechanism, whereby the robotic arm 1 uses the RCM as a fulcrum to swing back and forth and left and right. In this embodiment, "back and forth" refers to the extension and retraction direction along the arc-shaped connecting rod 21. In this embodiment, the center of all arc-shaped connecting rods 21 is located at the RCM. When the arc-shaped connecting rods 21 extend and retract, their movement trajectory is centered on the RCM, thus ensuring incision constraint. When the arc-shaped connecting rods 21 extend and retract, they pull the robotic arm 1 to swing back and forth around the RCM as a fulcrum.

[0028] In one embodiment, the arc-shaped connecting rod 21 is a telescopic structure, and the arc-shaped connecting rod 21 can be driven to telescopically move by a micro motor and gear structure.

[0029] In this embodiment, multiple arc-shaped connecting rods 21 are connected to the end of the robotic arm 1. The multiple arc-shaped connecting rods 21 are connected end to end to form an arc-shaped telescopic connecting rod 2, and the center of each arc-shaped connecting rod 21 is located at the telecentric fixed point RCM. This allows the robotic arm 1 to swing around the telecentric fixed point RCM as a fulcrum. In addition, a large operating space is formed on the inner side of the multiple arc-shaped connecting rods 21. Other robotic arms 1 can swing within the space enclosed by the multiple arc-shaped connecting rods 21, thereby avoiding collisions with the arc-shaped connecting rods 21. This solves the technical problem of interference with surgical operations caused by collisions in related technologies.

[0030] Furthermore, in one embodiment, the multiple arc-shaped connecting rods 21 taper sequentially from beginning to end, and in two adjacent arc-shaped connecting rods 21, the arc-shaped connecting rod 21 biased towards the tail end can extend and retract into the other arc-shaped connecting rod 21. See also Figure 12 As shown, in this embodiment, the end furthest from the robotic arm 1 is the head end, and the end closest to the robotic arm 1 is the tail end. Figure 12 The diagram shows a configuration of five arc-shaped connecting rods 21, each tapering from one end to the other. Each arc-shaped connecting rod 21 can be retracted into the previous one, with the first arc-shaped connecting rod 21 being the thickest and the last one the thinnest, connected to the robotic arm 1. In this way, all the arc-shaped connecting rods 21 can ultimately be retracted into the first arc-shaped connecting rod 21.

[0031] In other embodiments, the first arc-shaped link 21 can be made the thinnest, and the arc-shaped links 21 from the first to the last can be made thicker, with the thickest arc-shaped link 21 at the last end, which is connected to the robotic arm 1. Ultimately, all the arc-shaped links 21 can be housed in the last arc-shaped link 21.

[0032] Furthermore, in one embodiment, the arc-shaped connecting rod 21 located at the first end is provided with a rotary joint 4, the axis of which passes through the distal fixed point RCM. See also Figure 12 and Figure 14 As shown, the thickest arc-shaped link 21 is connected to the rotary joint 4, and the axis of the rotary joint 4 also passes through the RCM. During rotation, all the arc-shaped links 21 swing left and right, thereby pulling the robotic arm 1 to swing left and right around the RCM. In this embodiment, the rotary joint 4 is connected to the base, and the height of the rotary joint 4 is adjustable. The axis of the rotary joint 4 is perpendicular to the arc-shaped link 21. The robotic arm 1 is used to drive the endoscope 6 to move. The forward and backward swing of the endoscope 6 is achieved by the extension and retraction of the arc-shaped link 21, and the left and right swing of the endoscope 6 is achieved by the rotation of the rotary joint 4. When the instrument robotic arm 100 swings towards the endoscope robotic arm 11, it can do so in the space below the arc-shaped link 21, thereby avoiding collisions.

[0033] Furthermore, in some embodiments, the arc length of each segment of the arc-shaped connecting rod 21 is... ,in, The length of the robotic arm 1 The angular amplitude of the swing of the robotic arm 1 along the extension direction of the arc-shaped connecting rod 21. This refers to the total number of segments of the arc-shaped telescopic link 21.

[0034] In this embodiment, to ensure that the other robotic arms 1 do not collide with the connecting rod of the robotic arm 1 in this embodiment when swinging, the robotic arm 1 in this embodiment has the following structural parameters: the arc-shaped connecting rod 21 is connected to the top of the robotic arm 1. In addition, the robotic arm 1 in this embodiment is longer than the conventional robotic arm 1 to ensure that the other robotic arms 1 can swing below the arc-shaped connecting rod 21 in this embodiment. Assuming that the length of the conventional robotic arm 1 (from the top of the robotic arm 1 to the RCM) is m, and the thickness of the thickest part of the arc-shaped connecting rod 21 in the radial direction is u, then the length of the robotic arm 1 in this embodiment is increased by n compared with the conventional robotic arm 1, and n>u.

[0035] Assuming the angular amplitude of the forward and backward swing of the robotic arm 1 in this embodiment is λ (in radians), then the length of each arc-shaped link 21 is: .in, That is, the total length of the aforementioned robotic arm 1 .

[0036] Furthermore, in one embodiment, the robotic arm 1 is provided with a track, and a sliding joint 5 is slidably mounted on the track, with the medical device mounted on the sliding joint 5. See also Figure 12 As shown, the robotic arm 1 in this embodiment is provided with a track extending radially along a circle. The sliding joint 5 can slide radially on the track. The entry and exit of the endoscope 6 is driven by the sliding joint 5 on the robotic arm 1. The entry and exit of the endoscope 6 is achieved by the sliding joint 5 sliding on the track of the robotic arm 1.

[0037] See Figure 12 As shown, the robotic arm 1 is also equipped with a puncture cannula 7 and an engagement button 8.

[0038] See Figure 13 As shown, the robotic arm 1 in this embodiment is about 10cm longer than the conventional robotic arm 1. This part is connected to the arc-shaped connecting rod 21 by the connecting joint 3. In this embodiment, the robotic arm 1 is used to drive the endoscope 6. In addition, the front and rear width of the robotic arm 1 in this embodiment is only half that of the conventional robotic arm 1.

[0039] like Figure 14As shown, to realize the RCM mechanism, a circle needs to be imagined, with its center located at the RCM. The connecting joint 3 between the robotic arm 1 and the arc-shaped link 21 is located on the circle, thus determining the radius of the circle. The measured radius of the circle is approximately 63.7 cm. The arc of the arc-shaped link 21 coincides with the circle, with the center at the RCM. Therefore, the extension and retraction trajectory of the arc-shaped link 21 coincides with the circle. The arc-shaped link 21 is connected to the robotic arm 1 via the connecting joint 3, ensuring that the extension and retraction of the arc-shaped link 21 pulls the robotic arm 1 to swing back and forth with the RCM as the fulcrum.

[0040] like Figure 15 As shown, when the arc-shaped connecting rod 21 is fully retracted, the angle between the endoscope 6 and the vertical direction is 10°; Figure 16 As shown, when the arc-shaped connecting rod 21 is fully extended, the angle between the endoscope 6 and the horizontal direction is 20°, thereby achieving a 120° swing range for the endoscope 6. Figure 17 As shown, the arc of the extendable part of the arc-shaped connecting rod 21 is 30°, and the length of each segment is 63.7*2*π / 12 = 33.32cm.

[0041] like Figure 14 As shown, the rotation axis of the rotary joint 4 passes through the RCM and is perpendicular to the arc-shaped link 21. The rotation of the rotary joint 4 drives the five-segment arc-shaped link 21 to rotate by an angle of 180°, while simultaneously causing the robotic arm 1 to swing left and right around the RCM. The insertion and removal of the endoscope 6 still depends on the sliding of the sliding joint 5 on the track, thereby realizing the three degrees of freedom of the endoscope 6: forward and backward, left and right swing, and insertion and removal sliding.

[0042] See Figure 18 As shown in the illustration, this application also provides a surgical robot, which may include: a base, and an instrument robotic arm 100 and an endoscope robotic arm 11 mounted on the base. The endoscope robotic arm 11 adopts the surgical robot robotic arm described above, and the medical instrument is an endoscope 6. In this embodiment, the instrument robotic arm 100 can use any form of linkage without colliding with the endoscope robotic arm 11. The surgical robot robotic arm in this embodiment can adopt any of the surgical robot robotic arms provided in the above embodiments and achieve the corresponding functions, which will not be elaborated further here.

[0043] Furthermore, in one embodiment, the telecentric fixed point RCM of the robotic arm 100 and the telecentric fixed point RCM of the endoscopic robotic arm 11 are spaced apart by a distance h in the extension direction of the arc-shaped connecting rod 21. In this embodiment, to avoid direct collision of the robotic arm 1 itself when swinging left and right, the robotic arm 1 of this embodiment has the following two structural parameters: (1) The width of the robotic arm 1 in the front-to-back direction of this embodiment is narrower than that of the traditional robotic arm 1, which is only half the width of the traditional robotic arm 1.

[0044] (2) In this embodiment, the RCM of the endoscopic robotic arm 11 and the RCM of the instrument robotic arm 100 are at a certain distance in the front-back direction, that is Figure 2 The h value is determined to ensure that the endoscopic robotic arm 11 and the instrument robotic arm 100 can be completely offset in the front-back direction when swinging left and right.

[0045] This application also provides a method for calculating the parameters of the surgical robot described above, which includes: S100: Construct a three-dimensional rectangular coordinate system {A}, where the origin O of coordinate system {A} is the telecentric fixed point RCM of the endoscope robotic arm 11, the line connecting the origin O and the endoscope 6 is the z-axis of coordinate system {A}, and the xz plane of coordinate system {A} is the plane in which the endoscope robotic arm 11 swings along the arc-shaped telescopic link 2.

[0046] S200: Based on the geometric positional relationship of the telecentric fixed point RCM of the instrument robotic arm 100 in coordinate system {A}, construct the functional relationship f(d) between the relative distance d and the distance h between the instrument robotic arm 100 and the endoscope robotic arm 11.

[0047] S300: Substitute the relative distance d into the functional relationship f(d) to obtain the distance h.

[0048] In the above embodiments, to ensure that the instrument robotic arm 100 and the endoscope robotic arm 11 are staggered when the endpoint of the instrument robotic arm 100 reaches each position in the field of view of the endoscope 6, it is necessary to calculate the relative distance between the instrument robotic arm 100 and the endoscope robotic arm 11 when the endpoint of the instrument robotic arm 100 reaches the upper boundary of the field of view of the endoscope 6 (e.g., Figure 9 (As shown). Observing the movement of the robotic arm 1, we can see that its relative distance can be represented by the distance d from point C to the endoscope 6. The value of d determines whether the robotic arm 100 can be offset from the endoscope robotic arm 11 when it swings towards it, so as not to collide. Point C is the intersection of the instrument rod of the robotic arm 100 and its sliding joint. This is the position where the sliding joint is most likely to collide or rub against the endoscope robotic arm 11.

[0049] In this embodiment, by constructing a three-dimensional rectangular coordinate system {A} at a specific location in the entire surgical robot, the problem of solving the distance h can be transformed into a geometric problem in the coordinate system {A}, thereby obtaining the functional relationship f(d) between the relative distance d between the instrument robotic arm 100 and the endoscope robotic arm 11 and the distance h, and finally calculating the distance h.

[0050] Furthermore, in one embodiment, constructing the three-dimensional rectangular coordinate system {A} may include: S101: Establish a three-dimensional rectangular coordinate system {C}, where the coordinate system {C} takes the telecentric fixed point RCM of the endoscope robotic arm 11 as the origin O, and the plane in which the endoscope robotic arm 11 swings along the arc-shaped telescopic link 2 is the xz plane. There is a target point T in the coordinate system {C}, and the projection of the target point T in the xz plane is T', where OT' is the z-axis direction of the coordinate system {C}.

[0051] S102: Use endoscope 6 to directly view the target point T and determine the angle α between endoscope 6 in the yz plane and the y-axis.

[0052] S103: Rotate the coordinate system {C} clockwise by (π / 2-α) degrees to obtain the coordinate system {B}, so that the endoscope 6 is located in the xz plane of the coordinate system {B}, and in this plane, the angle between the endoscope 6 and the z axis is γ.

[0053] S104: Rotate coordinate system {B} clockwise by γ along the y-axis to obtain coordinate system {A}.

[0054] Further, in one embodiment, the construction of the functional relationship f(d) between the relative distance d and the distance h between the robotic arm 100 and the endoscopic robotic arm 11 based on the geometric positional relationship of the telecentric fixed point RCM of the robotic arm 100 in coordinate system {A} includes: S201: Define the point R1' where the telecentric fixed point RCM of the robotic arm 100 in coordinate system {A} is located. Point R1' is located on a line segment. One endpoint A of the line segment is located on the line z. The y-coordinate of the other endpoint C of the line segment is 0, and the x-coordinate is -d. The line z is the projection of the upper boundary of the field of view of the endoscope 6 onto the depth plane where the target point T is located.

[0055] S202: Based on the geometric positional relationship between the upper endpoint A, point R1' and endpoint C of the line segment in coordinate system {A}, construct the functional relationship f(d) between the relative distance d and the distance h.

[0056] In this embodiment, a three-dimensional rectangular coordinate system {C} is first established, with the RCM of the endoscope robotic arm 11 in this embodiment as the origin O, and the plane in which the endoscope robotic arm 11 swings back and forth as the xz plane. There exists a target point T, whose projection in the xz plane is T', and OT' is the z-axis direction, thus determining the three axes of the coordinate system {C}. The length of OT' is b, then the plane z = -b represents the depth plane where point T is located (e.g., ...). Figure 6 (As shown).

[0057] Using a 30° endoscope 6 to directly view point T, the distance (viewing distance) between the lens and point T is v. At this time, the angle between the endoscope 6 in the yz plane and the y-axis is α (e.g., ...). Figure 7 (As shown).

[0058] Rotate coordinate system {C} clockwise along the x-axis by an angle of π / 2 - α to form coordinate system {B}, so that endoscope 6 is located in the plane xz of coordinate system {B} (e.g., Figure 8 As shown), at this time, in this plane, the angle between the endoscope 6 and the z-axis is γ. According to the sine theorem, we can get: Sinγ=v Sin30° / (b / Sinα)=v Sinα / (2 b).

[0059] To ensure that the instrument robotic arm 100 and the endoscope robotic arm 11 are staggered when the endpoint of the instrument robotic arm 100 reaches each position in the field of view of the endoscope 6, it is necessary to calculate the relative distance between the instrument robotic arm 100 and the endoscope robotic arm 11 when the endpoint of the instrument robotic arm 100 reaches the upper boundary of the field of view of the endoscope 6 (e.g., Figure 9 (As shown). Observing the movement of the robotic arm 1, it can be seen that its relative distance can be represented by the distance d from point C to endoscope 6. The value of d determines whether the robotic arm 100 can be offset from the endoscope robotic arm 11 when it swings towards the endoscope robotic arm 11, so as not to collide.

[0060] First, calculate the projection of the upper boundary of the endoscope's field of view 6 onto the depth plane. The calculation method is as follows: Currently, the vertical opening angle of the field of view of endoscope 6 is 50~60°. Calculated based on the maximum range of 60°, since endoscope 6 is a 30° lens, endoscope 6 is located in the upper limit plane of the field of view.

[0061] Rotation matrix of coordinate system {B} relative to coordinate system {C} for: .

[0062] Continue rotating coordinate system {B} clockwise by γ along the y-axis to form coordinate system {A}, so that endoscope 6 is positioned on the z-axis of coordinate system {A}. The rotation matrix of coordinate system {A} relative to coordinate system {B} is... for: .

[0063] The depth plane z=-b in coordinate system {C}, after transformation to coordinate system {A}, is expressed as follows: z = Tanγ x + Cotα y / Cosγ – b / (Sinα Cosγ).

[0064] At this point, in coordinate system {A}, the upper boundary plane of the field of view is x = 0, so the intersection of the two planes is the projection of the upper boundary of the field of view onto the depth plane, which is:

[0065] That is: z = Cotα y / Cosγ – b / (Sinα Cosγ).

[0066] In coordinate system {C}, the coordinates of R1 are (-h, -a, 0). T After transformation to coordinate system {A}, the calculation method is as follows: R1'= ( R1) = (-Cosγ h+ Cosα Sinγ a, - Sinα a, -Sinγ h- CosαCosγa) T Wherein, R1 is the telecentric fixed point RCM of the robotic arm 100.

[0067] Therefore, the above problem, transformed into a geometric problem in coordinate system {A}, is as follows: A line segment passes through point R1', has a length of l, one endpoint A lies on the line z = Cotα y / Cosγ – b / (Sinα Cosγ), and the y-coordinate of the other endpoint C is 0, its distance from the z-axis is d, i.e., its x-coordinate is -d, as shown below. Figure 10 As shown.

[0068] In this geometric problem, we need to solve for the coordinates of R1 in coordinate system {C}, where the value of 'a' is generally fixed at approximately 7-8 cm, and we need to solve for the value of 'h'. The solution method is as follows: like Figure 11 As shown, in the xz plane, A R1' / AC = R1'B / CD; Therefore, A R1'= R1'B·AC / CD = R1'B l / d=( Cosγ h- Cosα Sinγ a) l / d; Therefore, R1'C=[1-(Cosγ h- Cosα Sinγ a) / d] l; And AB / R1'B=AD / CD= / d; Therefore, AB=(Cosγ h- Cosα Sinγ a) / d; AO = (Cosγh - CosαSinγa) / d+ Sinγ h+ CosαCosγ a; Therefore, the z-coordinate of point A is -(Cosγh - CosαSinγa). / d- Sinγ h- CosαCosγ a; Since point A lies on the line z = Cotα y / Cosγ – b / (Sinα Cosγ), substituting its z-coordinate, we can obtain its y-coordinate as: Tanα Cosγ[-( Cosγ h- Cosα Sinγ a) / d- Sinγ h- CosαCosγa]+b / Cosα like Figure 11 As shown, in the plane yz, AE / R1'F=AC / R1'C=1 / [1-(Cosγh- Cosα Sinγa) / d] ; And AE / R1'F is precisely the ratio of the y-coordinates of point A to those of point R1', therefore: {Tanα Cosγ[-( Cosγ h- Cosα Sinγ a) / d- Sinγ h- CosαCosγa]+b / Cosα} / (- Sinα a)=1 / [1-(Cosγ h- Cosα Sinγ a) / d].

[0069] The problem is ultimately transformed into a quadratic equation with h as the independent variable. Two analytical solutions can be obtained. After removing unreasonable solutions, the final expression for h, f(d), is:

[0070] The following is a specific embodiment for illustration.

[0071] To avoid direct collision between the robotic arm 100 and the endoscope robotic arm 11 when the robotic arm 100 swings towards it, this embodiment provides a parameter calculation method to ensure that the robotic arm 1 can be staggered in the front-back direction when swinging left and right. The calculation method of this embodiment is provided below: Assume there exists a target point with a depth b of 10cm in its depth plane. When the 30° endoscope 6 is directly facing the target point, its left-right swing is 30°, then the angle α between it and the abdominal wall is 60°. Assume the viewing distance v between the lens and the target point is 5cm. From Sinγ=v Sin30° / (b / Sinα)=v Sinα / (2 b), we can obtain: γ=12.5°.

[0072] The measured length l of the line segment is 50cm. The distance a between the two RCMs is generally 7-8cm, and we take 7cm here. Substituting these values ​​into the calculation method above, we can find the function f(d) of h with respect to the independent variable d. Plotting the graph yields... Figure 20 .

[0073] Depend on Figure 20It can be seen that h increases with the increase of d. Measurements show that in a traditional robotic arm structure, to achieve complete offset between the two robotic arms 1 in the front-to-back direction, the value of d is at least 12cm. However, in this embodiment, the front-to-back width of the robotic arm 1 is significantly reduced, and its d value only needs to be 8cm. Substituting this into the function f(d) above, we can obtain h as 2.86cm, which is according to... Figure 2 In the middle, R1CR2 is arranged as an isosceles triangle with R1R2=2a=14cm and h=2.86cm.

[0074] In this embodiment, the robotic arm 1 is laid out according to the above calculation results, as follows: Figure 18 As shown, when the instrument robotic arm 100 swings toward the endoscope robotic arm 11, since the arc-shaped link 21 is higher than the apex of the instrument robotic arm 100, the instrument robotic arm 100 can swing completely in the space below the arc-shaped link 21 without colliding with the endoscope robotic arm 11 and the arc-shaped link 21. Figure 19 By comparing the swing angle of the instrument robotic arm 100 and its positional relationship with the endoscopic robotic arm 11 in the structure of the conventional robotic arm 1 and the structure of the robotic arm 1 in this embodiment, it is shown that the instrument robotic arm 100 in this embodiment has a larger swing range. It can be offset from the endoscopic robotic arm 11 in the front-back direction, and will not collide with the endoscopic robotic arm 11 and the arc-shaped connecting rod 21. Therefore, the accessible range of the intraoperative instrument endpoint is significantly increased in this embodiment, thereby solving the interference of surgical operation caused by collision with the external robotic arm 1 and expanding the surgical operability area.

[0075] In summary, the structure and parameters of the robotic arm 1 in this embodiment completely avoid the possibility of collision. Using the robotic arm 1 and its structural parameters in this embodiment, the arc-shaped connecting rod 21 of the endoscopic robotic arm 11 is higher than the top of the instrument robotic arm 100. Therefore, when the instrument robotic arm 100 swings towards the endoscopic robotic arm 11, it can do so entirely within the space below the arc-shaped connecting rod 21 and is offset from the endoscopic robotic arm 11 without colliding. Thus, the instrument robotic arm 100 can swing more widely to the left and right without considering the position of the connecting rod of the endoscopic robotic arm 11. Theoretically, at any position of the endoscopic robotic arm 11, the instrument robotic arm 100 can swing up to 180° to the left and right, significantly increasing the reach of the instrument's endpoint. This solves the problem of interference to surgical operations caused by collisions with the external robotic arm 1, greatly expanding the surgical operability area and increasing the operational flexibility and accessibility of surgical instruments. Due to these advantages, the lateral field of view opening angle of the endoscope 6 can be significantly increased, thereby expanding the surgical field of view.

[0076] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0077] It should be noted that in this application, relational terms such as "first" and "second" 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. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0078] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A surgical robot arm, characterized in that, It includes: A robotic arm (1) is equipped with medical devices; Arc-shaped telescopic link (2), the arc-shaped telescopic link (2) includes multiple arc-shaped links (21), the multiple arc-shaped links (21) are connected end to end in sequence, and the center of the multiple arc-shaped links (21) is located at the centroidal fixed point RCM; The arc-shaped link (21) located at the tail end is connected to one end of the robotic arm (1) via a connecting joint (3), and the connecting joint (3) is located on a circle formed by multiple segments of the arc-shaped link (21).

2. The surgical robot arm as described in claim 1, characterized in that, The multiple arc-shaped connecting rods (21) gradually become thinner from the beginning to the end. Among two adjacent arc-shaped connecting rods (21), the arc-shaped connecting rod (21) that is closer to the end can be extended and retracted into the other arc-shaped connecting rod (21).

3. The surgical robot arm as described in claim 1, characterized in that, The arc-shaped connecting rod (21) located at the first end is provided with a rotary joint (4), the axis of which passes through the distal fixed point RCM.

4. The surgical robot arm as described in claim 1, characterized in that, The arc length of each segment of the arc-shaped connecting rod (21) is ,in, The length of the robotic arm (1) is... The angular amplitude of the swing of the robotic arm (1) along the extension direction of the arc-shaped connecting rod (21) is given by the following definition. The total number of segments of the arc-shaped telescopic link (2) is the total number of segments of the arc-shaped link (21).

5. The surgical robot arm as described in claim 1, characterized in that, The robotic arm (1) is provided with a track, and a sliding joint (5) is slidably installed on the track, and the medical device is installed on the sliding joint (5).

6. A surgical robot, characterized in that, It includes: The base, and the instrument robotic arm (100) and endoscope robotic arm (11) mounted on the base, the endoscope robotic arm (11) being the surgical robot robotic arm as described in claim 1, and the medical instrument being an endoscope (6).

7. The surgical robot as described in claim 6, characterized in that, The telecentric fixed point RCM of the instrument robotic arm (100) and the telecentric fixed point RCM of the endoscope robotic arm (11) are spaced apart by a distance h in the extension direction of the arc-shaped link (21).

8. A method for calculating parameters of a surgical robot as described in claim 7, characterized in that, It includes: Construct a three-dimensional rectangular coordinate system {A}, where the origin O of the coordinate system {A} is the telecentric fixed point RCM of the endoscope robotic arm (11), the line connecting the origin O and the endoscope (6) is the z-axis of the coordinate system {A}, and the xz plane of the coordinate system {A} is the plane in which the endoscope robotic arm (11) swings along the arc-shaped telescopic link (2). Based on the geometric positional relationship of the telecentric fixed point RCM of the instrument robotic arm (100) in coordinate system {A}, a functional relationship f(d) between the relative distance d and the distance h between the instrument robotic arm (100) and the endoscope robotic arm (11) is constructed. Substituting the relative distance d into the functional relationship f(d), we obtain the distance h.

9. The parameter calculation method as described in claim 8, characterized in that, The construction of the three-dimensional rectangular coordinate system {A} includes: Establish a three-dimensional rectangular coordinate system {C}, where the coordinate system {C} takes the origin O of the telecentric fixed point RCM of the endoscope robotic arm (11) as the origin, and the plane in which the endoscope robotic arm (11) swings along the arc-shaped telescopic link (2) is the xz plane. There is a target point T in the coordinate system {C}, and the projection of the target point T in the xz plane is T', where OT' is the z-axis direction of the coordinate system {C}. Using the endoscope (6), directly visualize the target point T and determine the angle α between the endoscope (6) in the yz plane and the y-axis; Rotate the coordinate system {C} clockwise by (π / 2-α) degrees to obtain the coordinate system {B}, so that the endoscope (6) is located in the xz plane of the coordinate system {B}, and in this plane, the angle between the endoscope (6) and the z axis is γ; Rotate coordinate system {B} clockwise by γ along the y-axis to obtain coordinate system {A}.

10. The parameter calculation method as described in claim 8, characterized in that, Based on the geometric positional relationship of the telecentric fixed point RCM of the robotic arm (100) in coordinate system {A}, the functional relationship f(d) between the relative distance d and the distance h between the robotic arm (100) and the endoscopic robotic arm (11) is constructed, including: Define the point R1' where the telecentric fixed point RCM of the mechanical arm (100) in coordinate system {A} is located. Point R1' is located on a line segment. One end point A of the line segment is located on the line z. The y coordinate of the other end point C of the line segment is 0 and the x coordinate is -d. Among them, the line z is the projection of the upper boundary of the field of view of the endoscope (6) onto the depth plane where the target point T is located. Based on the geometric positional relationship between the upper endpoints A and R1' of the line segment in coordinate system {A} and the endpoint C, a functional relationship f(d) between the relative distance d and the distance h is constructed.

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