Surgical robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a surgical robot which comprises a tail end surgical clamp and a mechanical arm, the tail end surgical clamp comprises a fixed cylinder, a movable rod, a connecting rod, a spring, a torsion spring and a clamping clamp, a first through hole is formed in the fixed cylinder and used for movably installing the movable rod, and a second through hole is formed in the top end of the movable rod and used for movably installing the movable rod. Two connecting rods are rotatably mounted through the second through holes and are arranged on the two opposite sides of the axis of the moving rod, clamping pliers are rotatably mounted at the tail ends of the connecting rods, and torsional springs are mounted in the clamping pliers in an embedded mode; the mechanical arm comprises a flexible arm, the flexible arm comprises a shell, a flexible rod and a connecting block, the flexible rod is arranged in the shell in a penetrating mode, the connecting block is arranged at one end of the flexible rod, and the connecting block is used for being connected with the tail end operating forceps. According to the surgical robot, the axial rigidity of the flexible arm can be improved, and the control precision is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a surgical robot. Background Art

[0002] With the development of technology, robots are gradually used in medical surgery. The high precision and high reliability they show during the operation can greatly improve the quality of the operation. At the same time, the increasingly miniaturized surgical robots can be used in minimally invasive surgery, which can reduce the trauma of the patient, speed up the postoperative recovery, and minimize the physical damage to the patient. In addition, surgical robots bring better surgical operations to doctors. In traditional surgery, long periods of standing and hand operations cause hand muscle fatigue and lumbar muscle strain to doctors, affecting the effect of the operation. With the assistance of surgical robots, doctors can complete the operation in a more comfortable state. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a surgical robot which can effectively improve the control accuracy.

[0004] A surgical robot comprises a terminal surgical forceps and a mechanical arm. The terminal surgical forceps comprises a fixed tube, a moving rod, a connecting rod, a spring, a torsion spring and a clamping forceps. A first through hole is provided in the fixed tube. The first through hole is used for movably mounting the moving rod. A second through hole is provided at the top of the moving rod. Two connecting rods are rotatably mounted through the second through hole. The two connecting rods are arranged on opposite sides of the axis of the moving rod. The clamping forceps is rotatably mounted at the end of the connecting rod. A torsion spring is embedded and installed inside the clamping forceps. The mechanical arm comprises a flexible arm. The flexible arm comprises a shell, a flexible rod and a connecting block. The flexible rod is inserted into the shell. A connecting block is provided at one end of the flexible rod. The connecting block is used to connect the terminal surgical forceps.

[0005] The top of the connecting block is embedded in the fixing cylinder; the spring is inserted into one end of the moving rod, and the other end of the spring is connected or abutted with the moving rod. The inner diameter of the spring is larger than the radius of the first through hole opened in the fixing cylinder.

[0006] Among them, the flexible arm includes a single degree of freedom section, the single degree of freedom section includes multiple rigid shells connected in series, a symmetrical rotation groove is opened at the upper end of the rigid shell, a groove is opened below the rotation groove, an inner ring is arranged below the groove, an embedding groove is opened through the end surface of the rigid shell, a symmetrical arc hinge is arranged at the bottom of the rigid shell, and the arc hinge and the rotation groove are aligned in the axial direction of the rigid shell.

[0007] Among them, the flexible arm includes a double-degree-of-freedom section, the double-degree-of-freedom section includes a rigid shell two connected in series, a symmetrical rotation groove two is opened on the upper part of the rigid shell two, a symmetrical arc hinge two is arranged at the bottom of the rigid shell two, the arc hinge two and the rotation groove two are arranged at 90° staggered in the axial direction of the rigid shell two, a plurality of chamfered straight beams are arranged on the flexible rod, a clamping block is arranged on the axial direction of the chamfered straight beam, a V-shaped incision is opened below the clamping block, and the clamping block is installed in the groove through the embedding groove of the rigid shell one.

[0008] Among them, a plurality of chamfered straight beams arranged in parallel along the axis direction of the flexible rod constitute a cutout form 1, and a plurality of chamfered straight beams arranged staggered along the axis direction of the flexible rod constitute a cutout form 2. The chamfered straight beams of the cutout form 1 are aligned with the first rotation center line of the arc hinge of the rigid shell; the chamfered straight beams of the cutout form 2 are aligned with the second rotation center of the arc hinge of the rigid shell; a plurality of rigid shells are installed at the ends of the second ends with connecting blocks; a fixing cylinder is embedded in the top of the connecting block,

[0009] The mechanical arm also includes a solid arm, which includes a round tube, and a flexible rod is fixedly installed on the top of the round tube.

[0010] It also includes a driving mechanism and a guiding mechanism. The driving structure is used to drive the robotic arm and control the operation of the end surgical forceps. The guiding mechanism is used to guide the control direction of the robotic arm to reduce control errors.

[0011] Among them, the driving mechanism includes a linear module, a support frame 1 is fixedly installed on the linear module, a motor fixing plate and a guide plate are fixedly installed on both sides of the support frame 1, a motor is fixedly installed on the motor fixing plate, one end of a lead screw is coaxially fixedly installed on the output shaft of the motor, a slide is rotatably installed on the lead screw, a chuck is fixedly installed on the upper part of the slide, a linear bearing is embedded in the lower part of the slide, and the linear optical axis is coaxially installed in the linear bearing, and the other ends of the lead screw and the linear optical axis are embedded in the guide plate.

[0012] Among them, the guide mechanism includes a guide plate, a rope, a pre-tightening nut, a sleeve, a second support frame, and a fixed plate. The end of the rope is fixedly installed in the chuck. A threaded hole is opened on the guide plate, and a pre-tightening nut is installed in the threaded hole. The input end of the sleeve is embedded in the countersunk hole of the pre-tightening nut. The guide plate is fixedly installed with the fixed plate through the second support frame. A countersunk hole is opened on the inner side of the fixed plate, and the output ends of the sleeves in six circumferential directions are embedded in the countersunk holes of the fixed plate. A mechanical arm is fixedly installed on the outer side of the fixed plate.

[0013] There are two support frames, a Hall encoder is installed at the end of the DC motor, a countersunk hole is opened in the guide plate and a bearing is embedded and installed, and the lead screw is embedded in the inner ring of the guide plate bearing.

[0014] The collet nut and the hollow sleeve structure are used to tighten the nut so that the rope passing through the hollow sleeve is compressed to fix the end of the rope. A slotted through hole is provided in the pre-tightening nut so that the rope can pass through the pre-tightening nut. Six circumferential sleeves are used to drive the flexible arm.

[0015] A positioning block is protruded from the bottom of the flexible rod, and a positioning groove matched with the positioning block is arranged at the top of the round tube. The axial position of the flexible rod is fixed by assembly. The flexible rod is made of flexible material.

[0016] Six through holes are opened on the rigid shell 1, four through holes are opened on the rigid shell 2, two ropes are fixed on the rigid shell 1 at the end of the single degree of freedom section, four ropes are fixed at the end of the through hole of the connecting block, the bottom surface of the arc hinge 1 is tangent to the groove surface of the rotating groove 1, the size of the embedded groove is larger than the clamping block, so that the clamping block can enter the groove from the embedded groove, and the clamping block can rotate in the groove.

[0017] Four square grooves are arranged on the upper end of the connection block, a cylindrical groove is opened on the bottom of the connection block, and a spring is embedded and installed in the through hole.

[0018] The spring is inserted into the lower cylinder of the moving rod, and the inner diameter of the spring is larger than the through hole opened in the fixed cylinder.

[0019] Beneficial effects:

[0020] (1) The surgical robot of the utility model adopts a mechanical arm and a terminal surgical forceps to cooperate with each other, and further arranges the structure of the terminal surgical forceps to include a spring and a torsion spring, so as to facilitate the control of the surgical forceps by the mechanical arm, and improve the operation accuracy. The surgical robot of the utility model adopts a structure in which the flexible arm segment adopts a flexible rod embedded in a multi-section continuous rigid shell, which effectively improves the axial stiffness of the flexible arm and improves the control accuracy.

[0021] (2) In the surgical robot of the present invention, the flexible rod is a rounded straight beam cut-out flexible rod structure, which can effectively reduce torsional deformation and improve the end control accuracy.

[0022] (3) The surgical robot of the utility model adopts a driving method that combines a lead screw and a guide shaft, which has high transmission accuracy, and each rope is driven by a separate motor. When the rope is stretched by external factors such as friction, corresponding compensation control can be performed, which can effectively improve the control accuracy of the end position.

[0023] (4) Under the action of the torsion spring, the surgical forceps of the utility model can complete the clamping and closing actions with only one rope. At the same time, when the surgical forceps are pulled open to contact the diseased tissue, the hinge of each rigid shell can be pre-stressed, thereby enhancing the overall rigidity of the flexible arm and improving the surgical operation ability. It has the advantages of simple structure and no need for additional drive to increase rigidity.

[0024] (5) The flexible arm of the utility model can perform deep cavity operations by providing linear feed freedom through a linear module. The surgical robot as a whole has five degrees of freedom, high flexibility, and good surgical operability.

[0025] (6) The utility model adopts a sleeve as a guide device for the rope, which greatly reduces the complexity of the structure compared to a pulley guide device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure of a surgical robot according to an embodiment of the utility model;

[0027] Figure 2 This is a rear view of a surgical robot according to an embodiment of the present utility model;

[0028] Figure 3 It is a three-dimensional diagram of the driving structure of the surgical robot according to one embodiment of the utility model;

[0029] Figure 4 It is a three-dimensional diagram of the guide structure of the surgical robot according to one embodiment of the utility model;

[0030] Figure 5 This is a schematic diagram of a cannula guide of a surgical robot according to an embodiment of the utility model;

[0031] Figure 6 This is a three-dimensional rear view of a fixed plate of a surgical robot according to an embodiment of the utility model;

[0032] Figure 7 It is a three-dimensional diagram of the flexible arm structure of a surgical robot according to an embodiment of the utility model;

[0033] Figure 8 This is a partial assembly diagram of a rigid housing of a surgical robot according to an embodiment of the utility model;

[0034] Fig. 9 This is a top view of the rigid housing of a surgical robot according to an embodiment of the utility model;

[0035] Fig.10 It is a partial assembly diagram of the rigid housing 2 of the surgical robot of one embodiment of the utility model;

[0036] Fig.11 It is a partial three-dimensional diagram of the rigid shell of the surgical robot of one embodiment of the utility model;

[0037] Fig.12 This is a three-dimensional model diagram of the flexible rod of the surgical robot according to one embodiment of the utility model;

[0038] Fig.13 yes Fig.12A partial enlarged view of the middle part;

[0039] Fig.14 yes Fig.12 A partial enlarged view of point B in the middle;

[0040] Fig.15 It is a three-dimensional structural schematic diagram of a connection block of a surgical robot according to an embodiment of the utility model;

[0041] Fig.16 It is a schematic diagram of the three-dimensional structure of the bottom of the connection block of the surgical robot according to one embodiment of the utility model;

[0042] Fig.17 This is a three-dimensional exploded view of the end surgical forceps of a surgical robot according to an embodiment of the utility model;

[0043] Fig.18 yes Figure 1 Sectional view of section C in the middle.

[0044] Description of the numbers in the figure:

[0045] 1. Linear module; 2. Support frame 1; 3. Motor fixed plate; 4. Guide plate; 501. DC motor; 502. Lead screw; 503. Slide; 504. Chuck; 505. Linear optical axis; 6. Rope; 7. Pre-tightening nut; 8. Sleeve; 9. Support frame 2; 10. Fixed plate; 11. Round tube; 1211. Single degree of freedom segment; 1212. Rigid shell 1; 1213. Rotating groove 1; 1214. Groove; 1215. Inner ring; 122 1. Double-degree-of-freedom section; 1222. Rigid shell 2; 1223. Rotating groove 2; 1224. Arc hinge 2; 1231. Flexible rod; 1232. Chamfered straight beam; 1233. Pressing block; 1234. V-shaped cutout; 1241. Connecting block; 1242. Cylindrical groove; 1243. Square groove; 1301. Fixed cylinder; 1302. Moving rod; 1303. Spring; 1304. Connecting rod; 1305. Clamping pliers; 1306. Torsion spring. DETAILED DESCRIPTION

[0046] Hereinafter, the embodiments of the surgical robot of the present invention will be specifically disclosed with appropriate reference to the accompanying drawings. However, there may be cases where unnecessary detailed descriptions are omitted. For example, there may be cases where detailed descriptions of well-known matters and repeated descriptions of actually the same structures are omitted. This is to avoid the following description from becoming unnecessarily lengthy and to facilitate understanding by those skilled in the art. In addition, the drawings and the following descriptions are provided for those skilled in the art to fully understand the present invention and are not intended to limit the subject matter described in the claims.

[0047] If not otherwise specified, all embodiments and optional embodiments of the present invention can be combined with each other to form a new technical solution.

[0048] Unless otherwise specified, all technical features and optional technical features of the utility model can be combined with each other to form a new technical solution.

[0049] If there is no special explanation, the words "include" and "comprise" mentioned in the present invention may be open or closed. For example, "include" and "comprises" may mean that other components not listed may also be included or only the listed components may be included.

[0050] If not otherwise specified, in the present invention, the term "or" is inclusive. For example, the phrase "A or B" means "A, B, or both A and B". More specifically, any of the following conditions satisfies the condition "A or B": A is true (or exists) and B is false (or does not exist); A is false (or does not exist) and B is true (or exists); or both A and B are true (or exist).

[0051] In order to make the technical problems, technical solutions and beneficial effects solved by the embodiments of the utility model clearer, the following will be further described in detail with reference to the embodiments and drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0052] The structures of related surgical robots usually consist of two types: a rigid skeleton based on a rigid hinge shell structure and a flexible skeleton based on a flexible unit. The rigid skeleton has good axial stiffness, but lacks flexibility and does not have automatic recovery capabilities. Each degree of freedom needs to be controlled separately, and a large number of drives are required. When driven by a rope, the flexible part of the flexible skeleton structure produces elastic deformation, causing the arm to bend. It has the advantages of simple structure, small size, high flexibility, and safe use. However, due to the existence of the flexible structure, the end operating force is low. When the robot contacts human tissue, it is easy to deviate, resulting in poor surgical results. The torsional deformation caused by the flexible structure is difficult to model, affecting the control accuracy. At the same time, for the rope-driven structure, when the rope is loose in the initial state, it will also greatly affect the control accuracy.

[0053] Combined with Figure 1 As shown, a surgical robot according to an embodiment of the present invention includes a driving mechanism, a guiding mechanism, a mechanical arm and a terminal surgical forceps, wherein the mechanical arm includes a solid arm and a flexible arm disposed at one end of the solid arm. The driving mechanism, the guiding mechanism, the mechanical arm and the terminal surgical forceps will be described in detail below in conjunction with specific views.

[0054] like Figure 1-3 As shown, the driving structure includes a linear module 1, on which a support frame 2 is fixedly mounted, on both sides of which a motor fixing plate 3 and a guide plate 4 are fixedly mounted, on which seven DC motors 501 are fixedly mounted, and on the output shafts of the seven DC motors 501, one end of a lead screw 502 is coaxially fixedly mounted, on which a slide 503 is rotatably mounted, a chuck 504 is fixedly mounted on the upper part of the slide 503, a linear bearing is embedded in the lower part of the slide 503, and a linear optical axis 505 is coaxially mounted in the linear bearing, and the other ends of the lead screw 502 and the linear optical axis 505 are both embedded in the guide plate 4. When the linear module 1 is driven, feeding freedom can be provided to the surgical robot, and when the DC motor is driven, feeding freedom can be provided to the surgical robot. 501, there are two support frames 2, a Hall encoder is installed at the end of the DC motor 501, a countersunk hole is opened in the guide plate 4 and a bearing is embedded and installed, the lead screw 502 is embedded in the inner ring of the guide plate 4 bearing, and the lead screw 502 is driven by the rotation of the DC motor 501, and the other end of the lead screw 502 is installed on the bearing, which ensures the stable rotation of the lead screw 502, and the slide 503 is connected to the lead screw 502 by a thread, so the slide 503 rotates, and because a linear optical axis 505 is installed below the slide 503, the slide 503 performs a linear feed motion, and the feedback of the DC motor 501 is used to perform closed-loop control on the motor, effectively improving the displacement accuracy of the control slide 503, so that the end position control accuracy is higher. The above is only a specific embodiment provided by the utility model. In other embodiments, the number of DC motors 501 can also be other numbers, and the DC motor 501 can also be replaced by other motors. The utility model does not specifically limit the motor type. The number of support frames 1 can also be more than three, and the utility model does not limit the number of support frames 1. The driving mechanism of the embodiment of the utility model is used to drive the mechanical arm to control the operation of the terminal surgical forceps.

[0055] Combination Figure 4 , Figure 5 , Figure 6As shown, the guide mechanism includes a guide plate 4, a rope 6, a pre-tightening nut 7, a sleeve 8, a support frame 9, a fixed plate 10, the end of the rope 6 is fixedly installed in the chuck 504, a threaded hole is opened on the guide plate 4, and a pre-tightening nut 7 is installed in the threaded hole, the countersunk hole of the pre-tightening nut 7 is embedded with the input end of the sleeve 8, the guide plate 4 is fixedly installed with the fixed plate 10 through the support frame 9, a countersunk hole is opened on the inner side of the fixed plate 10, and the output ends of the six circumferential sleeves 8 are embedded in the countersunk holes of the fixed plate 10, and a round tube 11 is fixedly installed on the outer side of the fixed plate 10, the chuck 504 nut and the hollow sleeve structure, the rope passing through the hollow sleeve is compressed by tightening the nut to complete the fixation of the rope end, a slotted through hole is opened in the pre-tightening nut 7 so that the rope can pass through the pre-tightening nut 7, the six circumferential sleeves 8 are used for driving the flexible arm, and the chuck is used to fix the rope end. 504 can fix one end of the rope, and the chuck 504 is fixedly mounted on the slide 503, so when the slide 503 can pull the rope 6 to move backward; in the initial state, the slide 503 is located in the middle position of the screw stroke. At this time, it is necessary to adjust the tension on the rope 6 at the beginning. By rotating the pre-tightening nut 7, the pre-tightening nut 7 is engaged with the thread in the guide disk 4, and the head of the pre-tightening nut 7 is away from the guide disk 4. Since the sleeve 8 is embedded in the head of the pre-tightening nut 7, the input end of the sleeve 8 is also away from the guide disk 4. Since the length of the sleeve 8 remains unchanged and the curvature increases, the rope 6 is tightened to complete the adjustment of the tension on the rope 6. Effective pre-tightening can prevent the control error caused by the slack displacement of the rope 6 under the condition of precise displacement of the given slide 503. Compared with the pulley guide device, the utility model adopts the sleeve 8 as the guide device of the rope 6, which greatly reduces the complexity of the structure. The utility model adopts a driving method of combining a lead screw 502 with a guide shaft, with high transmission accuracy, and each rope 6 is driven by a separate motor. When the rope 6 is stretched by external factors such as friction, corresponding compensation control can be performed, which can effectively improve the control accuracy of the terminal surgical forceps.

[0056] Combination Figures 4 to 16The robot arm includes a solid arm and a flexible arm, the solid arm includes a round tube 11, the flexible arm is arranged at one end of the solid arm, the flexible arm includes a single-degree-of-freedom section 1211, a double-degree-of-freedom section 1221, a flexible rod 1231, and a connecting block 1241. The flexible rod 1231 is fixedly installed on the top of the round tube 11, the single-degree-of-freedom section 1211 is composed of a plurality of rigid shells 1212 connected in series, a symmetrical rotation groove 1213 is provided at the upper end of the rigid shell 1212, a groove 1214 is provided below the rotation groove 1213, an inner ring 1215 is provided below the groove 1214, an embedded groove 1216 is provided through the end surface of the rigid shell 1212, a symmetrical arc hinge 1217 is provided at the bottom of the rigid shell 1212, and the arc Hinge 1217 and rotation groove 1213 are aligned in the axial direction of rigid shell 1212, double degree of freedom section 1221 is composed of rigid shell 2 1222 connected in series, symmetrical rotation groove 1223 is provided on the upper part of rigid shell 1222, symmetrical circular arc hinge 1224 is provided on the bottom of rigid shell 1222, and circular arc hinge 1224 and rotation groove 1223 are staggered 90 degrees in the axial direction of rigid shell 1222, a plurality of chamfered straight beams 1232 are provided on the flexible rod 1231, a pressing block 1233 is provided on the chamfered straight beam 1232 in the axial direction, a V-shaped cutout 1234 is provided below the pressing block 1233, a plurality of chamfered straight beams 1232 are provided in parallel along the axial direction of flexible rod 1231, and a plurality of chamfered straight beams 1232 are provided in parallel along the axial direction of flexible rod 1231. The beam 1232 constitutes the first incision form, and a plurality of chamfered straight beams 1232 staggered 90 degrees along the axis direction of the flexible rod 1231 constitute the second incision form. The chamfered straight beam 1232 of the first incision form is aligned with the rotation center line of the arc hinge 1217 of the rigid shell 1212, and the clamping block 1233 is installed in the groove 1214 through the embedding groove 1216 of the rigid shell 1212, similar to the installation of the rigid shell 1212 and the first incision form, the chamfered straight beam 1232 of the second incision form is aligned with the rotation center of the arc hinge 1224 of the rigid shell 1222, and a plurality of rigid shells 1222 are installed with connecting blocks 1241 at their ends. Two positioning blocks protrude from the bottom of the flexible rod 1231, and the top of the round tube 11 is provided with The axial position of the flexible rod 1231 is fixed by assembling the positioning groove matched with it. The flexible rod 1231 is made of flexible material. Six through holes are opened on the rigid shell 1212, and four through holes are opened on the rigid shell 2 1222. Two ropes 6 are fixed on the rigid shell 1212 at the end of the single-degree-of-freedom section 1211, and four ropes 6 are fixed at the end of the perforation of the connecting block 1241. The bottom surface of the arc hinge 1217 is tangent to the groove surface of the arc hinge 1217. The size of the embedded groove 1216 is larger than the clamping block 1233, which is convenient for the clamping block 1233 to enter the groove 1214 from the embedded groove 1216. The clamping block 1233 can rotate in the groove 1214, and the single-degree-of-freedom section 1211 is driven by the two ropes 6.When the flexible rod 1231 is embedded in the positioning groove of the round tube 11, the axial position of the flexible rod 1231 is fixed. At this time, the clamping block 1233 above each chamfered straight beam 1232 on the flexible rod 1231 is aligned with the arc hinge 1224 in the axial direction, so that when the flexible rod 1231 is subjected to pressure, the clamping block 1233 presses the groove 1214 tightly, so that the pressure between the arc hinge 1 1217 and the rotation groove 1 1213 increases. At the same time, because the position of the clamping block 1233 is on the rotation axis position of the arc hinge 1, its pressure will not affect the rotation of the arc hinge 1. The 34 structure can produce a slight deformation of the V-shaped cutout 1234 when the flexible rod 1231 is under pressure. At the same time, because the V-shaped cutout 1234 is located in the inner ring 1215, it cannot bend and can only slightly displace in the axial direction. The small displacement of the V-shaped cutout 1234 enables each clamping block 1233 to press the groove 1214 tightly, so that each rotating hinge of the rigid shell 1212 can be clamped. When it is clamped, the friction between the arc hinge 1217 and the rotating groove 1213 increases. At the same time, the same principle also exists for the rigid shell 2 1222, so that the overall rigidity of the flexible arm is improved. The shell 1 1212 and the shell 2 1222 of the utility model constitute a multi-section continuous rigid shell. The flexible arm of the utility model can perform deep cavity operations by providing the degree of freedom of linear feed through the linear module. The surgical robot as a whole has five degrees of freedom, high flexibility, and good surgical operability.

[0057] The end surgical forceps include a fixed cylinder 1301, a moving rod 1302, and a spring 1303. The fixed cylinder 1301 is embedded and installed at the top of the connecting block 1241. A first through hole is opened in the fixed cylinder 1301, and the moving rod 1302 is movably installed in the first through hole. A second through hole is set at the top of the moving rod 1302, and two connecting rods 1304 are rotatably installed through the second through hole. The two connecting rods 1304 are symmetrically arranged, and a clamping forceps 1305 is rotatably installed at the end of the connecting rod 1304. A torsion spring 1306 is embedded and installed inside the clamping forceps 1305. Four square grooves 1243 are set at the upper end of the connecting block 1241, and a cylindrical groove 1242 is opened at the bottom of the connecting block 1241. The spring 1303 is embedded and installed in the cylindrical groove 1242, and the spring 1303 is inserted into the cylindrical groove 1242 at the lower part of the moving rod 1302. , and the inner diameter of the spring 1303 is larger than the diameter of the first through hole opened in the fixed tube 1301. When the rope 6 in the center is pulled, the moving rod 1302 moves backward in the fixed tube 1301, and at the same time, the clamping forceps 1305 are driven to rotate by rotating the connecting rod 1304 to complete the opening of the end surgical forceps. At this time, the torsion spring 1306 is pulled open, and at the same time, since the spring 1303 is provided at the bottom of the moving rod 1302, the moving rod 1302 moving backward compresses the spring 1303, and the other end of the spring 1303 contacts the end of the flexible rod 1231, so that the flexible rod 1231 is compressed. Referring to the above-mentioned stiffness improvement principle, the stiffness of the flexible arm is increased, which can facilitate the surgical operation of the end surgical forceps. When the rope 6 in the center is relaxed, the clamping forceps 1305 is closed under the recovery of the torsion spring 1306.

[0058] The working method of the surgical robot of the utility model is specifically as follows: when performing a surgical operation, the single-degree-of-freedom segment 1211 and the double-degree-of-freedom segment 1221 of the flexible arm can be controlled to bend by controlling the rope 6 in the circumferential direction. At this time, the flexible arm is in a low-rigidity state, so that the end surgical forceps can reach the designated surgical area without damaging human tissue, and then the clamping forceps 1305 are opened by pulling the single rope 6 in the center, and at the same time, the clamping effect of the moving rod 1302 increases the rigidity of the flexible arm. At this time, the high-rigidity flexible arm can complete specific surgical operations such as clamping part of the tissue. When the center rope 6 is relaxed, the end surgical forceps return to a closed state under the action of the torsion spring 1306, and the flexible arm returns to a low-flexibility state.

[0059] The utility model surgical robot adopts a structure in which a flexible continuum is embedded and installed inside a rigid shell, which effectively improves the axial stiffness of the flexible arm. The flexible continuum structure is a flexible rod structure with a rounded straight beam cutout, which can effectively reduce torsional deformation and improve the end control accuracy. Only one rope is required to complete the clamping and closing actions. At the same time, when the surgical forceps are pulled open to contact the diseased tissue, the hinge of each rigid shell can be pre-stressed, thereby enhancing the overall stiffness of the flexible arm and improving the surgical operation capability. It has the advantages of simple structure and no need for additional drive to increase stiffness.

[0060] The above are only implementation methods of the present utility model, and are not intended to limit the patent scope of the present utility model. Any equivalent structure or equivalent process transformation made using the contents of the specification and drawings of the present utility model, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present utility model.

Claims

1. A surgical robot, characterized in that: include: A terminal surgical forceps, the terminal surgical forceps comprising a fixed tube (1301), a moving rod (1302), a connecting rod (1304), a spring (1303), a torsion spring (1306) and a clamping forceps (1305); a first through hole is provided in the fixed tube (1301), the first through hole is used for movably mounting the moving rod (1302); a second through hole is provided at the top end of the moving rod (1302), two connecting rods (1304) are rotatably mounted through the second through hole, the two connecting rods (1304) are arranged on opposite sides of the axis of the moving rod (1302), the clamping forceps (1305) are rotatably mounted at the end of the connecting rod (1304), and a torsion spring (1306) is embedded and mounted inside the clamping forceps (1305); A robotic arm, comprising a flexible arm, the flexible arm comprising a plurality of continuous rigid shells, a flexible rod (1231) and a connecting block (1241), the flexible rod (1231) being inserted into the plurality of continuous rigid shells, the connecting block (1241) being arranged at one end of the flexible rod (1231), and the connecting block (1241) being used to connect the terminal surgical forceps.

2. The surgical robot according to claim 1, characterized in that: The top end of the connecting block (1241) is embedded in the fixing cylinder (1301); The spring (1303) is inserted into one end of the moving rod (1302), and the other end of the spring (1303) is connected to or abuts against the moving rod (1302).

3. The surgical robot according to claim 1, characterized in that: The flexible arm comprises a single degree of freedom section (1211), and the single degree of freedom section (1211) comprises a plurality of rigid shells (1212) connected in series. A symmetrical rotation groove (1213) is provided at the upper end of the rigid shell (1212), a groove (1214) is provided below the rotation groove (1213), an inner ring (1215) is provided below the groove (1214), an embedding groove (1216) is provided through the end surface of the rigid shell (1212), and a symmetrical circular arc hinge (1217) is provided at the bottom of the rigid shell (1212), and the circular arc hinge (1217) and the rotation groove (1213) are aligned in the axial direction of the rigid shell (1212).

4. The surgical robot according to claim 3, characterized in that: The flexible arm comprises a double-degree-of-freedom section (1221), the double-degree-of-freedom section (1221) comprises a rigid shell 2 (1222) connected in series, a symmetrical rotation groove 2 (1223) is provided on the upper part of the rigid shell 2 (1222), a symmetrical circular arc hinge 2 (1224) is provided at the bottom of the rigid shell 2 (1222), the circular arc hinge 2 (1224) and the rotation groove 2 (1223) are staggered at 90 degrees in the axial direction of the rigid shell 2 (1222), a plurality of chamfered straight beams (1232) are provided on the flexible rod (1231), a pressing block (1233) is provided on the axial direction of the chamfered straight beam (1232), a V-shaped cutout (1234) is provided below the pressing block (1233), and the pressing block (1233) is installed in the groove (1214) through the embedding groove (1216) of the rigid shell 1 (1212).

5. The surgical robot according to claim 4, characterized in that: A plurality of chamfered straight beams (1232) arranged in parallel along the axis direction of the flexible rod (1231) constitute a first cutout form, and a plurality of chamfered straight beams (1232) arranged staggered along the axis direction of the flexible rod (1231) constitute a second cutout form. The chamfered straight beams (1232) of the first cutout form are aligned with the rotation center line of the first arc hinge (1217) of the first rigid shell (1212); the chamfered straight beams (1232) of the second cutout form are aligned with the rotation center line of the second arc hinge (1224) of the second rigid shell (1222), and a plurality of connecting blocks (1241) are installed at the ends of the second rigid shells (1222); a fixing cylinder (1301) is embedded and installed at the top end of the connecting block (1241).

6. The surgical robot according to claim 5, characterized in that: A plurality of square grooves (1243) are arranged at the upper end of the connection block (1241), a cylindrical groove (1242) is opened at the bottom of the connection block (1241), and the spring (1303) is embedded and installed in the cylindrical groove (1242).

7. The surgical robot according to claim 1, characterized in that: The mechanical arm also includes a solid arm, which includes a round tube (11), and a flexible rod (1231) is fixedly mounted on the top end of the round tube (11).

8. The surgical robot according to claim 1, characterized in that: It also includes a driving mechanism and a guiding mechanism. The driving mechanism is used to drive the robotic arm and control the operation of the end surgical forceps. The guiding mechanism is used to guide the control direction of the robotic arm to reduce control errors.

9. The surgical robot according to claim 8, characterized in that: The driving mechanism comprises a linear module (1), a support frame (2) is fixedly mounted on the linear module (1), a motor fixing plate (3) and a guide plate (4) are fixedly mounted on both sides of the support frame (2), a motor (501) is fixedly mounted on the motor fixing plate (3), one end of a lead screw (502) is coaxially fixedly mounted on the output shaft of the motor (501), a slide table (503) is rotatably mounted on the lead screw (502), a chuck (504) is fixedly mounted on the upper part of the slide table (503), a linear bearing is embedded in the lower part of the slide table (503), and a linear optical axis (505) is coaxially mounted in the linear bearing, and the other ends of the lead screw (502) and the linear optical axis (505) are both embedded in the guide plate (4).

10. The surgical robot according to claim 8 or 9, characterized in that: The guide mechanism comprises a guide plate (4), a rope (6), a pre-tightening nut (7), a sleeve (8), a second support frame (9), and a fixed plate (10). The end of the rope (6) is fixedly installed in a chuck (504). A threaded hole is provided on the guide plate (4), and a pre-tightening nut (7) is installed in the threaded hole. The input end of the sleeve (8) is embedded in the countersunk hole of the pre-tightening nut (7). The guide plate (4) is fixedly installed with the fixed plate (10) through the second support frame (9). Countersunk holes are provided on the inner side of the fixed plate (10), and the output ends of the sleeve (8) in six circumferential directions are embedded in the countersunk holes of the fixed plate (10). A mechanical arm is fixedly installed on the outer side of the fixed plate (10).

Images