A motion mechanical arm of an ERCP operation robot

Abstract

The application discloses a motion mechanical arm of an ERCP operation robot, and belongs to the field of medical instruments, which comprises a joint arm group, a plurality of magnetic encoders and a locking mechanism; the joint arm group comprises a first joint arm, a second joint arm, a third joint arm and a fourth joint arm which are rotationally connected in sequence; a steering engine is arranged at the end of the fourth joint arm away from the third joint arm; each magnetic encoder is installed at the connecting shaft of the first joint arm and the second joint arm, the connecting shaft of the second joint arm and the third joint arm and the connecting shaft of the third joint arm and the fourth joint arm, and is used for collecting the rotation angle data of the corresponding joint in real time; and the locking mechanism is arranged at the connecting position of each adjacent joint arm. The motion mechanical arm of the ERCP operation robot is provided with a rigid locking structure in the form of a follow-up gear and a clutch gear meshing structure at each joint, and the hard mechanical constraint is formed by means of the tooth surface occlusion of the gear, so that the operation risk is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a robotic arm for an ERCP surgical robot. Background Technology

[0002] Endoscopic retrograde cholangiopancreatography (ERCP) is a minimally invasive interventional procedure, primarily used for lithotripsy, stone removal, and lesion resection in cases of bile duct and pancreatic duct stones and obstructions. The contrast process generates ionizing radiation. To mitigate radiation exposure for medical personnel, remotely controlled ERCP surgical robots are increasingly being used clinically. These robots use robotic arms to hold the endoscope, adjust its position, and insert it into the digestive tract to complete the diagnostic and therapeutic procedure.

[0003] Currently, the joint locking structure of conventional ERCP surgical robotic arms on the market generally adopts a friction brake locking scheme, relying on the friction force generated by the friction contact surface to limit the angle of the joint. However, relying solely on friction for limiting, without a rigid mechanical constraint structure, leads to a gradual decrease in friction force due to the continuous wear of the friction pads after frequent joint adjustments and prolonged maintenance of the load posture during surgery. This makes the joint prone to slight rotational displacement, resulting in inaccurate endoscope positioning and increasing the risk of surgical procedures. In addition, traditional robotic arms can only provide rough feedback on joint rotation signals and cannot simultaneously acquire precise rotation angles at each joint node. It is difficult to calculate the real-time spatial position and posture of the endoscope clamping end, resulting in large positioning errors during remote control, which is not conducive to delicate endoscopic operations. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that existing robotic arms rely solely on friction for positioning, lack rigid structural constraints, and that the locking effect will decrease over time, causing the position of the endoscope carrier to shift and increasing surgical risks.

[0005] To achieve the above objectives, the present invention employs the following technology: a motion robotic arm for an ERCP surgical robot, comprising an articulated arm assembly, multiple magnetic encoders, and a locking mechanism; The articulated arm assembly includes a first articulated arm, a second articulated arm, a third articulated arm, and a fourth articulated arm that are rotatably connected in sequence. The end of the fourth articulated arm away from the third articulated arm is provided with a servo motor, and the output end of the servo motor is connected to a carrier. Each of the magnetic encoders is installed at the connecting shaft between the first joint arm and the second joint arm, the connecting shaft between the second joint arm and the third joint arm, and the connecting shaft between the third joint arm and the fourth joint arm. The magnetic encoders are used to collect the rotation angle data of the corresponding joints in real time. The locking mechanism is provided at the connection position of each adjacent joint arm. The locking mechanism includes a follower gear, a brake gear and a drive component. The follower gear rotates synchronously with the previous joint arm. The brake gear is axially slidably mounted on the connecting shaft of the next joint arm. Under normal operating conditions, the brake gear and the follower gear are separated. When the joint arm rotates to the preset angle, the drive unit drives the brake gear to move axially, so that the brake gear meshes with the follower gear, and the joint angle is locked through the hard meshing of the gears.

[0006] As a further description of the above technical solution: the driving component is fixedly assembled at the end of the connecting shaft of the rear articulated arm, the output end of the driving component is fixedly connected to a positioning disk, and the brake gear is assembled and connected to the positioning disk through several connecting parts and elastic parts.

[0007] As a further description of the above technical solution: the connecting member is a fastening bolt, and the elastic member is a compression spring. The compression spring is sleeved on the outside of the connecting member and abuts against the positioning plate and the brake gear respectively. When the brake gear meshes with the follower gear, the elastic element absorbs the impact and provides a continuous preload. When unlocking, the elastic element releases its elastic force to assist the brake gear in resetting and disengaging.

[0008] As a further description of the above technical solution: the number of the connecting parts is several and they are evenly distributed along the circumference of the positioning disk, so that the preload of the elastic element on the brake gear is evenly distributed, and the brake gear is prevented from deflecting when it slips.

[0009] As a further description of the above technical solution: the driving component is any one of a miniature push rod motor, a linear motor, a lead screw stepper motor, or a miniature cylinder, and the driving component outputs linear power along the connecting shaft axis to drive the brake gear to translate.

[0010] As a further description of the above technical solution: it also includes a protective shell, which is disposed at the end of the first-stage articulated arm, and the protective shell covers the locking mechanism to achieve isolation and protection of the locking mechanism.

[0011] As a further description of the above technical solution: a bearing for supporting the relative rotation of the connecting shaft is installed at the position of the connecting shaft of the adjacent joint arm, and the magnetic encoder is coaxially assembled with the bearing to synchronously collect the joint rotation angle data.

[0012] As a further description of the above technical solution: the servo motor is equipped with an auxiliary magnetic encoder, and each magnetic encoder and the auxiliary magnetic encoder work together to calculate the real-time position and deflection angle of the carrier component.

[0013] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: This invention features a rigid locking structure at each joint, consisting of a follower gear and a brake gear. The meshing of the gear teeth creates a rigid mechanical constraint, eliminating the problems of long-term wear and frictional attenuation of friction pads. Even after frequent adjustments and prolonged loads, the joints will not experience minor rotational displacement, ensuring stable and reliable endoscopic positioning and effectively reducing surgical risks. This invention arranges magnetic encoders at each joint connecting shaft and integrates auxiliary magnetic encoders at the end servo motor, which can synchronously collect the precise rotation angle of each joint. By jointly calculating the data from multiple encoders, the real-time spatial position and attitude of the endoscope clamping end can be accurately calculated. This solves the shortcomings of traditional robotic arms that can only provide rough feedback of rotation signals and have large positioning errors in remote control, thus meeting the high-precision control requirements of delicate endoscopic operations during surgery. Attached Figure Description

[0014] Figure 1 A schematic diagram of the overall structure provided according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of partial disassembly provided according to an embodiment of the present invention is shown. Figure 1 ; Figure 3 A schematic diagram of partial disassembly provided according to an embodiment of the present invention is shown. Figure 2 ; Figure 4 A partial cross-sectional schematic diagram provided according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of the locking mechanism provided according to an embodiment of the present invention is shown.

[0015] Legend: 1. First articulated arm; 2. Second articulated arm; 3. Third articulated arm; 4. Fourth articulated arm; 5. Servo motor; 6. Magnetic encoder; 7. Follower gear; 8. Brake gear; 9. Drive component; 10. Positioning plate; 11. Connector; 12. Elastic component; 13. Protective shell; 14. Bearing. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Reference Figures 1-5 This embodiment provides a motion robotic arm for an ERCP surgical robot, including an articulated arm assembly, multiple magnetic encoders 6, and a locking mechanism.

[0018] The articulated arm assembly includes a first articulated arm 1, a second articulated arm 2, a third articulated arm 3, and a fourth articulated arm 4, which are rotatably connected in sequence. The first articulated arm 1 is vertically arranged, while the second, third, and fourth articulated arms 2, 3, and 4 are all horizontally arranged. Adjacent articulated arms are connected by a vertical connecting shaft to achieve relative rotation. Each connecting shaft of an adjacent articulated arm is equipped with a bearing 14, which provides rotational support. The operator can manually push and pull the articulated arm to cause relative rotation of adjacent articulated arms around the vertical connecting shaft, thereby adjusting the overall position and posture of the endoscope. A magnetic encoder 6 is coaxially mounted with the bearing 14 to collect the rotation angle data of the corresponding joint in real time.

[0019] A servo motor 5 is installed at the end of the fourth joint arm 4 furthest from the third joint arm 3. The servo motor 5 integrates an auxiliary magnetic encoder. The servo motor 5 is horizontally arranged, and its output shaft is rigidly fixed to the support component, which is used to clamp and fix the ERCP endoscope. During equipment operation, the joint angle data collected by the magnetic encoders 6 at each joint and the deflection data collected by the auxiliary magnetic encoder built into the servo motor 5 are combined to accurately calculate the real-time spatial position and deflection angle of the support component and the endoscope, which can be read in real time by the remote control terminal.

[0020] Each connection point of adjacent articulated arms is equipped with a locking mechanism, which includes a follower gear 7, a brake gear 8, and a drive component 9. The drive component 9 is preferably a miniature push rod motor; in other embodiments, it can also be any one of a linear motor, a lead screw stepper motor, or a miniature cylinder. The drive component 9 is fixedly installed at the end of the connecting shaft of the next-stage articulated arm, and its output rod is fixedly connected to the positioning disk 10. The brake gear 8 is slidably sleeved on the connecting shaft. The brake gear 8 and the positioning disk 10 are assembled using multiple fastening bolts as connecting parts 11. Each connecting part 11 has a compression spring sleeved on its outer side as an elastic element 12, with both ends of the compression spring abutting against the lower end face of the positioning disk 10 and the upper end face of the brake gear 8, respectively. The multiple connecting parts 11 are evenly spaced along the circumference of the positioning disk 10, ensuring a uniform circumferential distribution of the preload force of the compression springs on the brake gear 8, preventing tilting or jamming when the brake gear 8 slides up and down along the connecting shaft.

[0021] The follower gear 7 is fixedly installed at the end of the first-stage articulated arm and rotates synchronously and coaxially with the first-stage articulated arm and the connecting shaft. The tooth profile of the follower gear 7 matches that of the brake gear 8.

[0022] A protective shell 13 is provided on the outside of the locking mechanism. The protective shell 13 is fixed to the end of the first-stage joint arm. The protective shell 13 encloses the follower gear 7, the brake gear 8, the drive component 9, the positioning plate 10, the connecting component 11, and the elastic component 12, isolating surgical fluids and dust, and protecting the internal precision transmission parts.

[0023] When the robotic arm is working, the drive component 9 retracts, pulling the brake gear 8 upward, and the brake gear 8 completely separates from the follower gear 7; the connecting shafts at each joint are supported by bearings 14, and medical staff can manually push and pull the first, second, third, and fourth joint arms. The four joint arms cooperate to rotate at multiple angles to adjust the spatial posture of the endoscope on the end-capsule; each magnetic encoder 6 synchronously collects the rotation angle of each joint in real time, and the servo motor 5 has a built-in auxiliary magnetic encoder that synchronously collects the deflection angle of the endoscope clamping end. All angle data are uploaded to the control terminal for calculation in real time, and the current position of the endoscope is fed back in real time.

[0024] Once the endoscope is adjusted to the preset angle required for the surgery, the drive component 9 extends and presses down the brake gear 8, causing the brake gear 8 to slide downward and fully mesh with the follower gear 7. The mechanical rigidity is formed by the meshing of the gear teeth, which completely locks the corresponding joint. The joint will not shift or wobble under long-term load.

[0025] When the surgical procedure is completed or the endoscope posture needs to be readjusted, the drive component 9 retracts and pulls the brake gear 8 upward to disengage from the follower gear 7, the lock is released, and each joint arm can be manually pushed and pulled to rotate freely again.

[0026] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic arm for an ERCP surgical robot, characterized in that, It includes an articulated arm assembly, multiple magnetic encoders (6), and a locking mechanism; The articulated arm assembly includes a first articulated arm (1), a second articulated arm (2), a third articulated arm (3), and a fourth articulated arm (4) that are rotatably connected in sequence. The end of the fourth joint arm (4) away from the third joint arm (3) is provided with a servo motor (5), and the output end of the servo motor (5) is connected to a carrier. Each of the magnetic encoders (6) is installed on the connecting shaft between the first joint arm (1) and the second joint arm (2), the connecting shaft between the second joint arm (2) and the third joint arm (3), and the connecting shaft between the third joint arm (3) and the fourth joint arm (4). The magnetic encoders (6) are used to collect the rotation angle data of the corresponding joints in real time. The locking mechanism is set at the connection position of each adjacent joint arm. The locking mechanism includes a follower gear (7), a brake gear (8) and a drive component (9). The follower gear (7) rotates synchronously with the previous joint arm. The brake gear (8) is axially slidably mounted on the connecting shaft of the next joint arm. In normal operation, the brake gear (8) and the follower gear (7) are separated. When the joint arm rotates to the preset angle, the drive unit (9) drives the brake gear (8) to move axially, so that the brake gear (8) meshes with the follower gear (7), and the joint angle is locked by the hard meshing of the gears.

2. The robotic arm of an ERCP surgical robot according to claim 1, characterized in that, The drive component (9) is fixedly assembled at the end of the connecting shaft of the rear articulated arm. The output end of the drive component (9) is fixedly connected to the positioning disk (10). The brake gear (8) is assembled and connected to the positioning disk (10) through several connecting parts (11) and elastic parts (12).

3. The robotic arm of an ERCP surgical robot according to claim 2, characterized in that, The connecting member (11) is a fastening bolt, and the elastic member (12) is a compression spring. The compression spring is sleeved on the outside of the connecting member (11) and abuts against the positioning plate (10) and the brake gear (8) respectively. When the brake gear (8) meshes with the follower gear (7), the elastic element (12) absorbs the impact and provides a continuous preload. When unlocking, the elastic element (12) releases its elastic force to assist the brake gear (8) in resetting and disengaging.

4. The robotic arm of an ERCP surgical robot according to claim 2, characterized in that, The number of the connecting parts (11) is several and they are evenly distributed along the circumference of the positioning disk (10) so that the preload of the elastic element (12) on the brake gear (8) is evenly distributed, preventing the brake gear (8) from deflecting when it slides.

5. The robotic arm of an ERCP surgical robot according to claim 1, characterized in that, The driving component (9) is any one of a micro push rod motor, linear motor, lead screw stepper motor or micro cylinder. The driving component (9) outputs linear power along the connecting shaft axis to drive the brake gear (8) to translate.

6. The robotic arm of an ERCP surgical robot according to claim 1, characterized in that, It also includes a protective shell (13), which is disposed at the end of the first-stage articulated arm. The protective shell (13) encloses the locking mechanism to achieve isolation and protection of the locking mechanism.

7. The robotic arm of an ERCP surgical robot according to claim 1, characterized in that, The connecting shaft of the adjacent joint arm is equipped with a bearing (14) for supporting the relative rotation of the connecting shaft. The magnetic encoder (6) is coaxially assembled with the bearing (14) to synchronously collect the joint rotation angle data.

8. The robotic arm of an ERCP surgical robot according to claim 1, characterized in that, The servo motor (5) is equipped with an auxiliary magnetic encoder. Each magnetic encoder (6) and the auxiliary magnetic encoder work together to calculate the real-time position and deflection angle of the carrier.

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