Mechanical arm and surgical robot

Abstract

The utility model provides a mechanical arm and a surgical robot. The mechanical arm comprises a first arm, a second arm, a third arm, a holding arm and a transmission mechanism. The second arm is pivotally connected to the first arm at a second joint about a second axis. The third arm is pivotally connected to the second arm at a third joint about a third axis. The third axis is parallel to the second axis. The holding arm is pivotally connected to the third arm at a fourth joint about a fourth axis. The fourth axis is parallel to the second axis. And the instrument holding arm is used for mounting the surgical instrument and can drive the surgical instrument to translate along the fifth axis and / or rotate around the fifth axis. The fifth axis is fixed relative to the holding arm. And the transmission mechanism is used for driving the holding arm to rotate around a sixth axis. The sixth axis is parallel to the second axis. The sixth axis and the fifth axis intersect at a telecentric point. The telecentric point is fixed relative to the first arm. In the direction parallel to the second axis, the first arm and the third arm are located on the same side of the second arm, and the second arm and the holding arm are located on the same side of the first arm. According to the mechanical arm, by changing the position relation of the first arm, the second arm and the third arm in the direction parallel to the second axis, the operation space occupied by the mechanical arm is reduced.

Description

Technical Field

[0001] The present application generally relates to the technical field of medical devices, and more specifically to a robotic arm and a surgical robot. Background Art

[0002] A surgical robot is a robot that can be remotely controlled to perform surgery. It consists of three components: a doctor's console, a para-patient robotic arm system, and an imaging system. The para-patient robotic arm system includes several robotic arms, each of which has several connecting arms. Two adjacent connecting arms move relative to each other with specific degrees of freedom, so that the end of the robotic arm can move with multiple degrees of freedom. The surgical instrument or endoscope is installed at the end of the robotic arm. During surgery, the surgical instrument is passed through the chest, abdominal wall and other tissues to replace human hands for surgery.

[0003] The remote center of motion (RCM) is a mechanical design widely used in the robotic arms of minimally invasive surgical robots. It is defined as the port that enters the patient's abdominal cavity during surgery. The robotic arm is manipulated to enable the surgical instrument to move in three degrees of freedom: pitch, yaw, and insertion. During the movement, the longitudinal axis of the surgical instrument or its extension always passes through the RCM point to avoid non-surgical damage to the patient's abdominal incision caused by the surgical instrument. Utility Model Content

[0004] A series of simplified concepts are introduced in the utility model content section, which will be further described in detail in the detailed implementation section. The utility model content section of this application does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0005] In order to at least partially solve the above problems, the present application provides a first aspect of a mechanical arm for a surgical robot, the mechanical arm comprising:

[0006] First arm;

[0007] a second arm pivotally connected to the first arm about a second axis at a second joint;

[0008] a third arm pivotally connected to the second arm at a third joint about a third axis, the third axis being parallel to the second axis;

[0009] a robotic arm, the robotic arm being pivotally connected to the third arm at a fourth joint about a fourth axis, the fourth axis being parallel to the second axis, the robotic arm being used to mount a surgical instrument and capable of driving the surgical instrument to translate along a fifth axis and / or rotate about a fifth axis, the fifth axis being fixed relative to the robotic arm; and

[0010] A transmission mechanism, wherein the transmission mechanism is used to drive the mechanical arm to rotate around a sixth axis, wherein the sixth axis is parallel to the second axis, wherein the sixth axis intersects the fifth axis at a distal point, and wherein the distal point is fixed relative to the first arm.

[0011] Wherein, in a direction parallel to the second axis, the first arm and the third arm are located on the same side of the second arm, and the second arm and the robotic arm are located on the same side of the first arm.

[0012] According to the first aspect of the present application, the mechanical arm changes the positional relationship of the first arm, the second arm and the third arm in the direction parallel to the second axis compared to the related art, which can reduce the size of the mechanical arm in the direction parallel to the second axis, thereby reducing the occupation of the operating space by the mechanical arm, which can increase the range of motion of the mechanical arm on the one hand, and reduce the probability of collision between the mechanical arms on the other hand, thereby extending the service life of the mechanical arm. By adopting the above technical means, the problem of limited activity space of the mechanical arm due to its large size is solved.

[0013] Optionally, the first arm and the third arm at least partially overlap in the thickness direction, and / or

[0014] The second arm and the robotic arm at least partially overlap in a thickness direction.

[0015] Optionally, the outer recess of the first arm forms a first escape space, and the first escape space is suitable for escaping the third arm.

[0016] Optionally, the first arm comprises:

[0017] a first straight line segment, the first straight line segment extending along a first straight line;

[0018] a second straight line segment, the second straight line segment extending along a second straight line, the first straight line and the second straight line intersecting each other; and

[0019] a first bending section, wherein the first bending section is located between the first straight section and the second straight section, and the first straight section is smoothly connected to the second straight section through the first bending section,

[0020] The end of the second straight section away from the first bending section is located at the second joint, and the first avoidance space is defined by the first straight section, the second straight section and the first bending section.

[0021] Optionally, the transmission mechanism comprises:

[0022] a first transmission wheel, the first transmission wheel being rotatably connected to an end of the first straight section away from the first bending section about a first axis, the first axis being parallel to the second axis, and the first transmission wheel being used to be connected to a power source;

[0023] a second transmission wheel, the second transmission wheel being fixedly connected to the second arm at the second joint, the second transmission wheel being transmission-connected to the first transmission wheel via a first transmission belt, and the second transmission wheel being rotatable relative to the first arm about the second axis; and

[0024] Two first idler wheels are located in the first bending section and are rotatably connected to the first arm around an axis parallel to the first axis. The two first idler wheels are respectively used to wind around two parts of the first transmission belt with different movement directions.

[0025] Optionally, the two first idler wheels are coaxially arranged.

[0026] Optionally, the outer recess of the third arm forms a third avoidance space, and the third avoidance space is suitable for avoiding the first arm and / or the robotic arm.

[0027] Optionally, the third arm comprises:

[0028] a fifth straight line segment, the fifth straight line segment extending along a fifth straight line;

[0029] a sixth straight line segment, the sixth straight line segment extending along a sixth straight line, the fifth straight line and the sixth straight line intersecting; and

[0030] a third bending section, wherein the third bending section is located between the fifth straight section and the sixth straight section, and the fifth straight section is smoothly connected to the sixth straight section through the third bending section,

[0031] Wherein, the third avoidance space is defined by the fifth straight section, the sixth straight section and the third bending section, the third joint is located at the end of the fifth straight section away from the third bending section, and the fourth joint is located at the end of the sixth straight section away from the third bending section.

[0032] Optionally, the transmission mechanism comprises:

[0033] a fifth transmission wheel, the fifth transmission wheel being fixedly connected to the second arm at the third joint, the fifth transmission wheel being rotatable relative to the third arm about the third axis;

[0034] a sixth transmission wheel, the sixth transmission wheel being fixed to the robotic arm at the fourth joint, the sixth transmission wheel being connected to the fifth transmission wheel via a third transmission belt, and the sixth transmission wheel being rotatable relative to the third arm about the fourth axis; and

[0035] Two third idler wheels are located in the third bending section and are rotatably connected to the third arm around an axis parallel to the third axis. The two third idler wheels are respectively used to wind around two parts of the third transmission belt with different movement directions.

[0036] Optionally, two third idler gears are arranged coaxially.

[0037] Optionally, the fifth straight line is parallel to the second straight line.

[0038] Optionally, the outer recess of the second arm forms a second avoidance space, and the second avoidance space is suitable for avoiding a patient when the mechanical arm is in the unfolded state.

[0039] Optionally, the second arm comprises:

[0040] a third straight line segment, the third straight line segment extending along a third straight line;

[0041] a fourth straight line segment, the fourth straight line segment extending along a fourth straight line, the third straight line and the fourth straight line intersecting; and

[0042] a second bending section, wherein the second bending section is located between the third straight section and the fourth straight section, and the third straight section is smoothly connected to the fourth straight section through the second bending section,

[0043] The second avoidance space is defined by the third straight section, the fourth straight section and the second bending section, the second joint is located at the end of the third straight section away from the second bending section, and the third joint is located at the end of the fourth straight section away from the second bending section.

[0044] Optionally, the transmission mechanism comprises:

[0045] a third transmission wheel, the third transmission wheel being fixedly connected to the first arm at the second joint, the third transmission wheel being rotatable relative to the second arm about the second axis;

[0046] a fourth transmission wheel, the fourth transmission wheel being fixedly connected to the third arm at the third joint, the fourth transmission wheel being transmission-connected to the third transmission wheel via a second transmission belt, and the fourth transmission wheel being rotatable relative to the second arm around the third axis; and

[0047] Two second idler wheels are located in the second bending section and are rotatably connected to the second arm around an axis parallel to the second axis. The two second idler wheels are respectively used to wind around two parts of the second transmission belt with different movement directions.

[0048] Optionally, the two second idler wheels are coaxially arranged.

[0049] Optionally, the distance between the sixth axis and the fourth axis is equal to the distance between the second axis and the third axis, and the distance between the sixth axis and the second axis is equal to the distance between the fourth axis and the third axis.

[0050] Optionally, the robotic arm further comprises a base, the first arm being pivotally connected to the base at a first joint around a seventh axis, the seventh axis being fixed relative to the base, and the seventh axis passing through the distal point.

[0051] A second aspect of the present application provides a surgical robot, comprising a frame and at least one robotic arm disposed on the frame, wherein the robotic arm is the robotic arm described above.

[0052] According to the surgical robot of the second aspect of the present application, by applying the above-mentioned robotic arm, the size of the surgical robot can be reduced, so that the robotic arm can have a larger space for movement, and at the same time it also helps to extend the service life of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The following drawings of the embodiments of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0054] Figure 1 is a schematic diagram of a surgical robot according to an embodiment of the present application;

[0055] Figure 2 is a schematic diagram of a robotic arm system according to an embodiment of the present application, wherein only one robotic arm is shown;

[0056] Figure 3 for Figure 2 A schematic diagram of the structure of a manipulator arm of a manipulator arm system shown in the figure is a left-side perspective, wherein the manipulator arm is in a folded state;

[0057] Figure 4 for Figure 3 The schematic diagram of the structure of the operating arm shown is from the right side perspective;

[0058] Figure 5 for Figure 3 The schematic diagram of the structure of the operating arm shown in the figure is from the bottom side perspective;

[0059] Figure 6 for Figure 2 A schematic diagram of the structure of a manipulator arm of a manipulator arm system shown in the figure is shown from a left perspective, wherein the manipulator arm is in an unfolded state;

[0060] Figure 7 for Figure 6 The schematic diagram of the partial structure of the operating arm shown in the figure from the left side perspective, in which the outer shells of the first arm, the second arm and the third arm are partially removed;

[0061] Figure 8 for Figure 6 The schematic diagram of the partial structure of the operating arm shown in the left-top side perspective, in which the outer shells of the first arm, the second arm and the third arm are removed;

[0062] Fig. 9 for Figure 6 The schematic diagram of the partial structure of the operating arm shown in the figure from the bottom side perspective, in which the outer shells of the first arm, the second arm and the third arm are removed;

[0063] Fig.10 for Figure 6 The schematic diagram of the partial structure of the operating arm shown in the figure from the left side perspective, in which the outer shells of the first arm, the second arm and the third arm are removed;

[0064] Fig.11 for Figure 3 and Figure 6 A schematic diagram of a partial structure of a first arm of the operating arm shown in the figure from a left side perspective, in which a housing of the first arm is partially removed;

[0065] Fig.12 for Fig.11 A schematic diagram of a partial structure of the first arm shown in the right-bottom side perspective, in which the outer shell of the first arm is removed;

[0066] Fig.13 for Figure 3 and Figure 6 A schematic diagram of a partial structure of a second arm of the operating arm shown in the figure from a left side perspective, in which a housing of the second arm is partially removed;

[0067] Fig.14 for Fig.13 A schematic diagram of a partial structure of the second arm shown in a left-bottom side perspective, in which the outer shell of the second arm is removed;

[0068] Fig.15 for Figure 3 and Figure 6 A schematic diagram of the partial structure of the third arm of the operating arm shown in the figure from a left side perspective; and

[0069] Fig.16for Fig.15 The schematic diagram of the partial structure of the third arm shown in the left-top side perspective, in which the outer shell of the third arm is removed.

[0070] Description of reference numerals:

[0071] 1: Surgical robot 2: Imaging system

[0072] 3: Control system 10: Robotic arm system

[0073] 11: Base 12: Handle

[0074] 13: Column 100: Robotic arm

[0075] 101: Adjustment arm part 102: Operation arm part

[0076] 103: Arm 104: Base

[0077] 105: first arm 105a: first straight line segment

[0078] 105b: second straight section 105c: first bending section

[0079] 105d: First avoidance space 106: Second arm

[0080] 106a: third straight line segment 106b: fourth straight line segment

[0081] 106c: second bending section 106d: second avoidance space

[0082] 107: third arm 107a: fifth straight line segment

[0083] 107b: sixth straight section 107c: third bending section

[0084] 107d: The third avoidance space 108: The first transmission belt

[0085] 109: Second transmission belt 110: Third transmission belt

[0086] 111: First joint 112: Second joint

[0087] 113: Third joint 114: Fourth joint

[0088] 115: first transmission wheel 116: second transmission wheel

[0089] 117: third transmission wheel 118: fourth transmission wheel

[0090] 119: fifth transmission wheel 120: sixth transmission wheel

[0091] 121: First idler gear 122: Second idler gear

[0092] 123: Third idler wheel R: Far center point

[0093] AX1: First axis AX2: Second axis

[0094] AX3: third axis AX4: fourth axis

[0095] AX5: fifth axis AX6: sixth axis

[0096] AX7: Seventh Axis DETAILED DESCRIPTION

[0097] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application embodiments, some technical features well known in the art are not described.

[0098] In order to fully understand the implementation of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the implementation of the present application is not limited to the specific details familiar to those skilled in the art.

[0099] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present application, and the singular forms "a", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, integral bodies, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integral bodies, steps, operations, elements, components and / or combinations thereof.

[0100] Ordinal numbers such as "first" and "second" cited in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer" and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0101] The terms "parallel" / "perpendicular" and similar expressions used in this application include an absolute parallel / perpendicular relationship and a roughly parallel / perpendicular relationship (for example, a relationship that differs from absolute parallel / perpendicular by a range of -5° to +5°), which can have equivalent effects.

[0102] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings show representative embodiments of the present application and do not limit the present application.

[0103] Now, refer to Figures 1 to 16 Exemplary embodiments according to the present application are described in more detail.

[0104] The surgical robot 1 according to the embodiment of the present application is a robot that can be remotely controlled to complete surgery, which may include a control system 3 (also referred to as a doctor's console), a robotic arm system 10 (also referred to as an adjacent robotic arm system 10, such as Figure 1 as shown) and imaging system 2.

[0105] The control system 3 has a display unit for displaying the surgical instrument environment, a doctor's operation control mechanism, and an armrest. The display unit is provided with an observation window for the doctor to observe, the operation control mechanism is constructed so that its movement can correspond to the movement of the surgical instrument, and the armrest is used to place the doctor's arm. In addition, the doctor's console also has other control switches that are convenient for the hand or foot to touch or press, which are used to perform various functional operations and complete human-computer interaction.

[0106] The imaging system 2 has a display screen, an endoscope controller, system electronics, an image processor, and the like.

[0107] See also Figure 2 The robotic arm system 10 may include at least one robotic arm 100, which has a plurality of connecting arms (such as the first arm 105, the second arm 106 and the third arm 107 to be introduced below). Two adjacent connecting arms move relative to each other with specific degrees of freedom, so that the end of the robotic arm 100 can achieve multiple degrees of freedom (such as 7 degrees of freedom, which may vary depending on the surgical instrument). A holding arm 103 is installed at the end of the robotic arm 100, and the surgical instrument or endoscope is detachably mounted on the holding arm 103.

[0108] In one example, reference Figure 2 The robot arm system 10 may include a base 11, a column 13 is disposed on the base 11, and at least one robot arm 100 (which can be raised and lowered relative to the base 11) is disposed on the column 13. Figure 1 Only one robot arm 100 is shown in the figure). A handle 12 may also be provided on the base 11, and the operator may use the handle 12 to assist in moving the base 11.

[0109] The robot arm 100 may generally include an adjustment arm portion 101 and an operating arm portion 102. A holding arm 103 is provided at the end of the operating arm portion 102, and the holding arm 103 is used to install surgical instruments or endoscopes. The holding arm 103 may also be referred to as an instrument support frame. An instrument driving device may also be provided on the holding arm 103 to drive the surgical instrument to perform actions such as insertion and clamping. Before operating the robot to perform surgery, it is necessary to first operate the adjustment arm portion 101 to make the operating arm portion 102 reach a specified position, and then lock the rotating joint of the adjustment arm portion 101. During surgery, the surgical operation is completed by remotely controlling the operating arm portion 102, while keeping the rotating joint of the adjustment arm portion 101 locked to prevent relative rotation between the connecting rods (i.e., connecting arms) of the adjustment arm portion 101 during surgery.

[0110] like Figure 1 As shown, the robot system 10 usually includes three to four robot arms 100. The operating arm part 102 of each robot arm 100 includes at least two motors (not shown) connected in sequence, three connecting arms and a holding arm 103. Therefore, the overall volume of the robot arm 100 will take up a lot of space. When multiple robot arms 100 move at the same time, it is easy for the arms to collide with each other due to the limitation of the activity space. In this way, two problems will be faced: one is that the robot arm 100 is restricted by other robot arms 100 during movement, resulting in a reduction in the range of movement (angle, distance), which limits the doctor's surgical operation space; the other is that the robot arm 100 is often collided, resulting in a certain degree of strain on the robot arm 100, affecting the life of the machine and increasing the cost of maintenance. Therefore, the volume of the robot arm 100 should be reduced as much as possible so that the robot arm 100 has a larger activity space.

[0111] In order to overcome or improve at least one of the above problems, the present application embodiment provides a mechanical arm 100 for a surgical robot 1. Figures 2 to 16 The robot arm 100 of the embodiment of the present application is described in detail. The improvement of the robot arm 100 in the present application may involve the structural improvement of the operating arm part 102 mentioned above.

[0112] The robotic arm 100 according to the embodiment of the present application may include a first arm 105, a second arm 106, a third arm 107, a robotic arm 103, and a transmission mechanism. The second arm 106 is pivotally connected to the first arm 105 at a second joint 112 around a second axis AX2. The third arm 107 is pivotally connected to the second arm 106 at a third joint 113 around a third axis AX3. The third axis AX3 is parallel to the second axis AX2. The robotic arm 103 is pivotally connected to the third arm 107 at a fourth joint 114 around a fourth axis AX4. The fourth axis AX4 is parallel to the second axis AX2.

[0113] The robotic arm 103 is used to install surgical instruments and can drive the surgical instruments to translate along the fifth axis AX5 and / or rotate around the fifth axis AX5. The surgical instruments here are a general term, which can be instruments used to perform surgical operations on the lesion area (such as clamps, scissors, etc.), or can be camera devices used to provide real-time images of the lesion area (such as endoscopes, etc.). Driven by the built-in drive device of the robotic arm 103, the surgical instrument can translate along the fifth axis AX5 to insert or remove the surgical instrument, and can also rotate around the fifth axis AX5 to adjust the orientation of the end actuator of the surgical instrument. The fifth axis AX5 is fixed relative to the robotic arm 103. Therefore, the motion state of the fifth axis AX5 and the robotic arm 103 is the same.

[0114] The transmission mechanism is used to drive the robotic arm 103 to rotate around the sixth axis AX6. The sixth axis AX6 is parallel to the second axis AX2. The sixth axis AX6 intersects with the fifth axis AX5 at the distal point R. The distal point R is fixed relative to the first arm 105. That is, the positional relationship between the distal point R and the first arm 105 remains unchanged. As a result, the sixth axis AX6 is fixed relative to the first arm 105. Therefore, the motion state of the sixth axis AX6 and the first arm 105 is the same. Optionally, the fifth axis AX5 is perpendicular to the sixth axis AX6.

[0115] In the direction parallel to the second axis AX2, that is, along the thickness direction of the robot arm 100, the first arm 105 and the third arm 107 are located on the same side of the second arm 106, and the second arm 106 and the robotic arm 103 are located on the same side of the first arm 105. It can be understood here that in the direction parallel to the second axis AX2, the first arm 105 and the third arm 107 are located on the same side of the second arm 106 as a whole, and the second arm 106 and the robotic arm 103 are located on the same side of the first arm 105 as a whole. This setting can reduce the size of the robot arm 100 in the direction parallel to the second axis AX2 to a certain extent, thereby reducing the occupied space of the robot arm 100. This can increase the range of motion of the robot arm 100 in terms of angle, distance, etc. on the one hand, and reduce the probability of collision between the robot arms 100 on the other hand, thereby reducing the strain of the robot arm 100 caused by collision, and thus extending the service life of the robot arm 100. At the same time, such an arrangement can also minimize the torque applied to the first arm 105 and the second arm 106, thereby reducing the requirements on the stiffness of the connecting arm.

[0116] Optionally, the first arm 105 and the third arm 107 at least partially overlap in the thickness direction, thereby further reducing the size of the robot arm in the direction parallel to the second axis AX2. For example, in one scenario, when the robot arm 100 is in a fully folded state, the projections of the first arm 105 and the third arm 107 on the first plane partially overlap.

[0117] Optionally, the second arm 106 and the robotic arm 103 at least partially overlap in the thickness direction, thereby further reducing the size of the robotic arm in the direction parallel to the second axis AX2. For example, in one scenario, when the robotic arm 100 is in a fully folded state, the projections of the second arm 106 and the robotic arm 103 on the first plane partially overlap.

[0118] Therein, the first plane may be defined by the second axis AX2 and the sixth axis AX6, for example, the second axis AX2 and the sixth axis AX6 are both located in / parallel to the first plane.

[0119] The transmission mechanism of the embodiment of the present application can be a flexible transmission component (such as pulley transmission) or a rigid transmission component (such as transmission rod transmission, gear transmission) at each connecting arm such as the first arm 105, the second arm 106, the third arm 107, and the transmission mechanisms at different connecting arms can be different.

[0120] In the example shown in the figure, the transmission mechanism is configured as a pulley transmission at each connecting arm.

[0121] During the movement of the robot arm 100, under the action of the transmission mechanism, the second arm 106, the third arm 107 and the robot arm 103 can be linked, so that the line connecting the second axis AX2 and the third axis AX3, the line connecting the third axis AX3 and the fourth axis AX4, the line connecting the fourth axis AX4 and the sixth axis AX6, and the line connecting the sixth axis AX6 and the second axis AX2 always form the four sides of a parallelogram. In other words, the four vertices of the parallelogram are respectively located on the second axis AX2, the third axis AX3, the fourth axis AX4 and the sixth axis AX6. Therefore, the distance between the sixth axis AX6 and the fourth axis AX4 is equal to the distance between the second axis AX2 and the third axis AX3, and the distance between the sixth axis AX6 and the second axis AX2 is equal to the distance between the fourth axis AX4 and the third axis AX3.

[0122] When the robot arm 100 moves from the fully folded state to the fully unfolded state, the area of ​​the parallelogram gradually increases and then gradually decreases. The fully folded state and the fully unfolded state mentioned here can also be understood as two opposite extreme states of the movement process of the robot arm 100. Therefore, the smaller the area of ​​the parallelogram when the robot arm 100 is in these two states, the larger the rotatable range of the robot arm 103 around the sixth axis AX6.

[0123] In order to reduce the area of ​​the parallelogram, it is necessary to reduce the distance between the two parallel sides. In the example of the present application, since the first arm 105 and the third arm 107 are located on the same side of the second arm 106 in the direction parallel to the second axis AX2, the first arm 105 will interfere with the movement of the third arm 107. In this case, when the third arm 107 interferes with the first arm 105, the robotic arm 100 reaches a fully folded state. In other words, the position where the third arm 107 interferes with the first arm 105 will affect the area of ​​the parallelogram, that is, it will affect the rotatable range of the robotic arm 103 around the sixth axis AX6.

[0124] See also Figures 2 to 12 For example, the first arm 105 is recessed outside to form a first avoidance space 105d. The first avoidance space 105d is suitable for avoiding the third arm 107. Specifically, when the robot arm 100 is in a fully folded state, the first avoidance space 105d is suitable for avoiding the third arm 107. In other words, the first avoidance space 105d is suitable for accommodating part of the third arm 107. In this way, when the robot arm 100 is in a fully folded state, the angle between the second arm 106 and the third arm 107 can be minimized, which helps to reduce the area of ​​the parallelogram, thereby helping to increase the rotatable range of the robot arm 103 around the sixth axis AX6. At the same time, it also helps to reduce the volume of the robot arm 100 in the fully folded state.

[0125] Further, the first arm 105 may include a first straight section 105a, a second straight section 105b and a first bending section 105c. The first straight section 105a extends along the first straight line. The second straight section 105b extends along the second straight line. The first straight line and the second straight line intersect. The first bending section 105c is located between the first straight section 105a and the second straight section 105b. And the first straight section 105a is connected to the second straight section 105b by a smooth transition through the first bending section 105c. For example, the extension axis of the first bending section 105c is an arc, and the first straight line and the second straight line are both tangent to the arc. Among them, the end of the second straight section 105b away from the first bending section 105c is located at the second joint 112. The first avoidance space 105d is defined by the first straight section 105a, the second straight section 105b and the first bending section 105c. That is, the first arm 105 as a whole does not extend in a straight line, but has a certain bend, thereby providing a first avoidance space 105 d for the third arm 107 .

[0126] Optionally, the position of the first bending section 105c along the length direction of the first arm 105 can be set according to actual needs. In the figure, the first bending section 105c is closer to the first joint 111.

[0127] Continue reading Figures 2 to 12, further, the transmission mechanism may include a first transmission wheel 115 and a second transmission wheel 116. The first transmission wheel 115 is rotatably connected to the end of the first straight section 105a away from the first bending section 105c around the axis of the first axis AX1. The first axis AX1 is parallel to the second axis AX2. The first transmission wheel 115 is used to be connected to a power source. The power source here can be a motor. The second transmission wheel 116 is fixedly connected to the second arm 106 at the second joint 112. The second transmission wheel 116 is connected to the first transmission wheel 115 by the first transmission belt 108. The second transmission wheel 116 is rotatable relative to the first arm 105 around the second axis AX2. When the power source provides an actuating torque, the first transmission wheel 115 serves as a driving wheel and the second transmission wheel 116 serves as a driven wheel. The first transmission wheel 115 transmits power to the second transmission wheel 116 through the first transmission belt 108, so that the second arm 106 rotates relative to the first arm 105 around the second axis AX2.

[0128] Since the first arm 105 as a whole does not extend in a straight line but has a certain bend, it is necessary to guide the path of the first transmission belt 108 to adapt to the shape of the first arm 105. Therefore, the transmission mechanism can also include two first idler wheels 121. The two first idler wheels 121 are located in the first bending section 105c and are rotatably connected to the first arm 105 around an axis parallel to the first axis AX1. The two first idler wheels 121 are respectively used to wind two parts of the first transmission belt 108 with different movement directions. It can be understood here that there are two parts of the first transmission belt 108 arranged opposite to each other between the first transmission wheel 115 and the second transmission wheel 116. The movement directions of the two parts of the first transmission belt 108 are different, and they are respectively connected to the two parts of the first transmission belt 108 through the two first idler wheels 121. The setting of the two first idler wheels 121 will not affect the transmission effect, and is only used to change the path of the first transmission belt 108.

[0129] exist Figures 7 to 12 In one example shown, the two first idler wheels 121 are coaxially arranged, which is beneficial to saving the space occupied by the two first idler wheels 121 and the first transmission belt 108 , and also helps to simplify the structure of the first arm 105 .

[0130] In another example not shown, the two first idler gears 121 may be arranged non-coaxially.

[0131] See also Figures 2 to 10 ,as well as Fig.15 and Fig.16For example, the third arm 107 is recessed outside to form a third avoidance space 107d. The third avoidance space 107d is suitable for avoiding the first arm 105 and / or the robotic arm 103. Specifically, when the robotic arm 100 is in a fully folded state, the third avoidance space 107d is suitable for avoiding the first arm 105. In other words, the third avoidance space 107d is suitable for accommodating part of the first arm 105. When the robotic arm 100 is in an unfolded state, the third avoidance space 107d is suitable for avoiding the robotic arm 103. In other words, the third avoidance space 107d is suitable for accommodating part of the robotic arm 103. In this way, when the robotic arm 100 is in a fully folded state, the angle between the second arm 106 and the third arm 107 can be minimized, and when the robotic arm 100 is in a fully unfolded state, the angle between the second arm 106 and the third arm 107 can be maximized, which is helpful to reduce the area of ​​the parallelogram, thereby helping to increase the rotatable range of the robotic arm 103 around the sixth axis AX6.

[0132] Further, the third arm 107 may include a fifth straight section 107a, a sixth straight section 107b and a third bending section 107c. The fifth straight section 107a extends along the fifth straight line. The sixth straight section 107b extends along the sixth straight line. The fifth straight line and the sixth straight line intersect. The third bending section 107c is located between the fifth straight section 107a and the sixth straight section 107b. And the fifth straight section 107a is smoothly connected to the sixth straight section 107b through the third bending section 107c. For example, the extension axis of the third bending section 107c is an arc, and the fifth straight line and the sixth straight line are both tangent to the arc. Among them, the third avoidance space 107d is defined by the fifth straight section 107a, the sixth straight section 107b and the third bending section 107c. The third joint 113 is located at the end of the fifth straight section 107a away from the third bending section 107c. The fourth joint 114 is located at the end of the sixth straight section 107b away from the third bent section 107c. That is, the third arm 107 as a whole does not extend in a straight line but has a certain bend, thereby providing a third avoidance space 107d for the first arm 105 and / or the robotic arm 103.

[0133] Optionally, the position of the third bending section 107c along the length direction of the third arm 107 can be set according to actual needs. In the figure, the third bending section 107c is closer to the fourth joint 114.

[0134] Continue reading Figures 2 to 10 ,as well as Fig.15 and Fig.16, further, the transmission mechanism may include a fifth transmission wheel 119 and a sixth transmission wheel 120. The fifth transmission wheel 119 is fixedly connected to the second arm 106 at the third joint 113. The fifth transmission wheel 119 is rotatable relative to the third arm 107 around the third axis AX3. The sixth transmission wheel 120 is fixed to the robotic arm 103 at the fourth joint 114. The sixth transmission wheel 120 is transmission-connected to the fifth transmission wheel 119 through the third transmission belt 110. The sixth transmission wheel 120 is rotatable relative to the third arm 107 around the fourth axis AX4. When the power source provides the actuating torque, the fifth transmission wheel 119 serves as the driving wheel and the sixth transmission wheel 120 serves as the driven wheel. The fifth transmission wheel 119 transmits power to the sixth transmission wheel 120 through the third transmission belt 110, so that the robotic arm 103 rotates relative to the third arm 107 around the fourth axis AX4.

[0135] Since the third arm 107 as a whole does not extend in a straight line but has a certain bend, the path of the third transmission belt 110 needs to be guided to adapt to the shape of the third arm 107. Therefore, the transmission mechanism can also include two third idler wheels 123. The two third idler wheels 123 are located in the third bending section 107c and are rotatably connected to the third arm 107 around an axis parallel to the third axis AX3. The two third idler wheels 123 are respectively used to wind around two parts of the third transmission belt 110 that are relatively arranged with different movement directions. It can be understood here that there are two parts of the third transmission belt 110 between the fifth transmission wheel 119 and the sixth transmission wheel 120. The movement directions of these two parts of the third transmission belt 110 are different, and they are respectively connected to the two parts of the third transmission belt 110 through the two third idler wheels 123. The setting of the two third idler wheels 123 will not affect the transmission effect, and is only used to change the path of the third transmission belt 110.

[0136] exist Figures 7 to 10 as well as Fig.15 and Fig.16 In one example shown, the two third idler wheels 123 are coaxially arranged, which is beneficial to saving the space occupied by the two third idler wheels 123 and the third transmission belt 110 and also helps to simplify the structure of the third arm 107.

[0137] In another example not shown, the two third idler gears 123 may not be coaxially arranged.

[0138] See also Figures 2 to 5 , further, the fifth straight line is parallel to the second straight line. This can further reduce the volume of the robot arm 100 in the folded state, and can further reduce the probability of interference between the first arm 105 and the third arm 107, and between the third arm 107 and the robot arm 103. The robot arm 100 configured in this way can ensure a smaller size in the folded state, thereby being more conducive to reducing the occupation of external space.

[0139] Continue reading Figures 2 to 5 When the robot arm 100 is in a folded state, the third arm 107 is stored in the first avoidance space 105d provided in the first arm 105, and the first arm 105 is stored in the third avoidance space 107d provided in the third arm 107. In this way, on the one hand, a better storage effect is achieved, and the structure is more compact; on the other hand, interference between the robot arms 100 or between the robot arm 100 and other structures can be avoided, so it is beneficial to the transportation of the robot arm 100 or the robot arm system 10. The robot arm 100 in the folded state here can be understood as the robot arm 100 in a completely folded state. That is, when the robot arm 100 is in a folded state, the volume of the robot arm 100 will be as small as possible.

[0140] See also Figures 2 to 10 ,as well as Fig.13 and Fig.14 For example, the second arm 106 is recessed to form a second avoidance space 106d. The second avoidance space 106d is suitable for avoiding the patient. Specifically, when the robot arm 110 is in the unfolded state, the second avoidance space 106d is suitable for avoiding the patient. In this way, when the robot arm 110 is in the fully unfolded state, the interference between the robot arm 100 and the patient's body can be minimized, thereby improving the safety of the robot arm 100 in the surgical operation.

[0141] Further, the second arm 106 may include a third straight section 106a, a fourth straight section 106b and a second bending section 106c. The third straight section 106a extends along the third straight line. The fourth straight section 106b extends along the fourth straight line. The third straight line and the fourth straight line intersect. The second bending section 106c is located between the third straight section 106a and the fourth straight section 106b. And the third straight section 106a is smoothly connected to the fourth straight section 106b through the second bending section 106c. For example, the extension axis of the second bending section 106c is an arc, and the third straight line and the fourth straight line are both tangent to the arc. Among them, the second avoidance space 106d is defined by the third straight section 106a, the fourth straight section 106b and the second bending section 106c. The second joint 112 is located at the end of the third straight section 106a away from the second bending section 106c. The third joint 113 is located at the end of the fourth straight section 106b away from the second bent section 106c. That is, the second arm 106 does not extend in a straight line as a whole, but has a certain bend, thereby providing a second avoidance space 106d for the patient. When the robot arm 100 is in the unfolded state, the second avoidance space 106d faces the patient.

[0142] Continue reading Figures 2 to 10 ,as well as Fig.13 and Fig.14, further, the transmission mechanism may include a third transmission wheel 117 and a fourth transmission wheel 118. The third transmission wheel 117 is fixedly connected to the first arm 105 at the second joint 112. The third transmission wheel 117 is rotatable relative to the second arm 106 around the second axis AX2. The fourth transmission wheel 118 is fixedly connected to the third arm 107 at the third joint 113. The fourth transmission wheel 118 is transmission-connected to the third transmission wheel 117 through the second transmission belt 109. The fourth transmission wheel 118 is rotatable relative to the second arm 106 around the third axis AX3. When the power source provides the actuating torque, the third transmission wheel 117 serves as the driving wheel and the fourth transmission wheel 118 serves as the driven wheel. The third transmission wheel 117 transmits power to the fourth transmission wheel 118 through the second transmission belt 109, so that the third arm 107 rotates relative to the second arm 106 around the third axis AX3.

[0143] Since the second arm 106 as a whole does not extend in a straight line but has a certain bend, the path of the second transmission belt 109 needs to be guided to adapt to the shape of the second arm 106. Therefore, the transmission mechanism can also include two second idler wheels 122. The two second idler wheels 122 are located in the second bending section 106c and are rotatably connected to the second arm 106 around an axis parallel to the second axis AX2. The two second idler wheels 122 are respectively used to wind two parts of the second transmission belt 109 with different movement directions. It can be understood here that there are two parts of the second transmission belt 109 arranged opposite to each other between the third transmission wheel 117 and the fourth transmission wheel 118. The movement directions of these two parts of the second transmission belt 109 are different, and they are respectively connected to the two parts of the second transmission belt 109 through the two second idler wheels 122. The setting of the two second idler wheels 122 will not affect the transmission effect, and is only used to change the path of the second transmission belt 109.

[0144] exist Figures 7 to 10 , Fig.13 as well as Fig.14 In one example shown, the two second idler wheels 122 are coaxially arranged, which helps save the space occupied by the two second idler wheels 122 and the second transmission belt 109 and also helps simplify the structure of the second arm 106 .

[0145] In another example not shown, the two second idler gears 122 may not be coaxially arranged.

[0146] During the operation of the robot arm 100, driven by the power source, the first transmission wheel 115 drives the second transmission wheel 116 to rotate through the first transmission belt 108, and the second transmission wheel 116 is fixed to the second arm 106, thereby driving the second arm 106 to swing, and the third transmission wheel 117 is relatively fixed to the first arm 105. When the second arm 106 swings, the axial center distance between the third transmission wheel 117 and the fourth transmission wheel 118 remains unchanged, so the relative rotation of the third transmission wheel 117 and the fourth transmission wheel 118 can be limited by the second transmission belt 109. At the same time, since the fourth transmission wheel 118 is fixed to the third arm 107, the relative angle between the third arm 107 and the first arm 105 remains unchanged. At the same time, the fifth transmission wheel 119 is relatively fixed to the second arm 106. When the second arm 106 swings, the axial center distance between the fifth transmission wheel 119 and the sixth transmission wheel 120 remains unchanged. Therefore, the relative rotation of the fifth transmission wheel 119 and the sixth transmission wheel 120 can be limited by the third transmission belt 110. Therefore, the relative angle between the second arm 106 and the robotic arm 103 remains unchanged. In this way, the aforementioned parallelogram can be always maintained during the operation of the robotic arm 100, so that the robotic arm 103 pitches around the third axis AX3.

[0147] Continue reading Figures 2 to 10 In addition, the robot arm 100 may further include a base 104. The first arm 105 is pivotally connected to the base 104 at the first joint 111 around the seventh axis AX7. The seventh axis AX7 is fixed relative to the base 104. The seventh axis AX7 passes through the distal point R and is not parallel to the sixth axis AX6. The first arm 105 rotates around the seventh axis AX7, which can drive the second arm 106, the third arm 107 and the robot arm 103 to rotate around the seventh axis AX7, so that the components installed on the robot arm 103 can rotate around the seventh axis AX7.

[0148] The rotation of the robotic arm 103 around the sixth axis AX6 may also be referred to as the pitching motion of the robotic arm 103, and the rotation of the robotic arm 103 around the seventh axis AX7 may also be referred to as the yaw motion of the robotic arm 103. Generally, the robotic arm 103 is configured such that when the surgical instrument is mounted on the robotic arm 103, the longitudinal axis of the surgical instrument coincides with the fifth axis AX5, that is, the longitudinal axis of the surgical instrument passes through the distal point R. That is, during the pitching and / or yaw motion of the robotic arm 103, the surgical instrument also performs pitching and / or yaw motion, and the longitudinal axis of the surgical instrument always passes through the distal point R, thereby preventing the surgical instrument from causing non-surgical damage to the patient's abdominal incision.

[0149] The linkage mechanism composed of components including but not limited to the base 104, the first arm 105, the second arm 106, the third arm 107 and the robot arm 103 can be referred to as the operating arm portion 102. The base 104 here can be used to connect to the adjustment arm portion 101.

[0150] See also Figure 2 and Figure 5 Optionally, in a plane perpendicular to the second axis AX2 and in a direction parallel to the second axis AX2, any one of the orthographic projection of the second arm 106 and the orthographic projection of the robotic arm 103 does not exceed the end of the orthographic projection of the base 104 away from the first arm 105. In this way, the size of the operating arm portion 102 of the robotic arm 100 in the direction parallel to the second axis AX2 can be further reduced.

[0151] Continue reading Figures 2 to 16 According to the robot arm 100 of the present application, the space occupied by the robot arm 100 is reduced through the arrangement of the first arm 105, the second arm 106, the third arm 107 and the robotic arm 103, so that the robot arm 100 has a larger space for movement, which is particularly helpful to reduce the collision between the robot arm 100 and the adjacent robot arm 100 during yaw movement, thereby obtaining a larger yaw movement range.

[0152] Furthermore, the first arm 105, the second arm 106 and the third arm 107 do not extend in a straight line as a whole, but have a certain bend. When the robot arm 100 is in a fully deployed state, the first avoidance space 105d is located on the side of the first arm 105 suitable for being away from the patient. The second avoidance space 106d is located on the side of the second arm 106 suitable for being close to the patient. The third avoidance space 107d is located on the side of the third arm 107 suitable for being close to the patient. By adopting this technical means, in the folded state, due to the bending of the first arm 105, the second arm 106 and the third arm 107, the interference of the robot arm 100 itself is reduced, so that the robot arm 100 can be folded as much as possible. Compared with the related art, the robot arm 100 of the present application can still maintain a large pitch motion range while reducing the occupied space.

[0153] According to the present application, some control angles that cannot be achieved in related technologies due to collisions between the robotic arms 100 may hopefully be achieved through the robotic arms 100 of the present application.

[0154] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this article can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0155] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed in the present application.

Claims

1. A robotic arm for a surgical robot, characterized in that: The robotic arm comprises: First arm; a second arm pivotally connected to the first arm about a second axis at a second joint; a third arm pivotally connected to the second arm at a third joint about a third axis, the third axis being parallel to the second axis; a robotic arm, the robotic arm being pivotally connected to the third arm at a fourth joint about a fourth axis, the fourth axis being parallel to the second axis, the robotic arm being used to mount a surgical instrument and capable of driving the surgical instrument to translate along a fifth axis and / or rotate about a fifth axis, the fifth axis being fixed relative to the robotic arm; and A transmission mechanism, wherein the transmission mechanism is used to drive the mechanical arm to rotate around a sixth axis, wherein the sixth axis is parallel to the second axis, wherein the sixth axis intersects the fifth axis at a distal point, and wherein the distal point is fixed relative to the first arm. Wherein, in a direction parallel to the second axis, the first arm and the third arm are located on the same side of the second arm, and the second arm and the robotic arm are located on the same side of the first arm.

2. The robotic arm according to claim 1, characterized in that: The first arm and the third arm at least partially overlap in the thickness direction, and / or The second arm and the robotic arm at least partially overlap in a thickness direction.

3. The robotic arm according to claim 2, characterized in that: The outer recess of the first arm forms a first escape space, and the first escape space is suitable for escaping the third arm.

4. The robotic arm according to claim 3, characterized in that: The first arm comprises: a first straight line segment, the first straight line segment extending along a first straight line; a second straight line segment, the second straight line segment extending along a second straight line, the first straight line and the second straight line intersecting each other; and a first bending section, wherein the first bending section is located between the first straight section and the second straight section, and the first straight section is smoothly connected to the second straight section through the first bending section, The end of the second straight section away from the first bending section is located at the second joint, and the first avoidance space is defined by the first straight section, the second straight section and the first bending section.

5. The robotic arm according to claim 4, characterized in that: The transmission mechanism comprises: a first transmission wheel, the first transmission wheel being rotatably connected to an end of the first straight section away from the first bending section about a first axis, the first axis being parallel to the second axis, and the first transmission wheel being used to be connected to a power source; a second transmission wheel, the second transmission wheel being fixedly connected to the second arm at the second joint, the second transmission wheel being transmission-connected to the first transmission wheel via a first transmission belt, and the second transmission wheel being rotatable relative to the first arm about the second axis; and Two first idler wheels are located in the first bending section and are rotatably connected to the first arm around an axis parallel to the first axis. The two first idler wheels are respectively used to wind around two parts of the first transmission belt with different movement directions.

6. The robotic arm according to claim 5, characterized in that: The two first idler wheels are coaxially arranged.

7. The robotic arm according to claim 1, characterized in that: The outer recess of the third arm forms a third escape space, and the third escape space is suitable for escaping the first arm and / or the robotic arm.

8. The robot arm according to claim 7, characterized in that: The third arm comprises: a fifth straight line segment, the fifth straight line segment extending along a fifth straight line; a sixth straight line segment, the sixth straight line segment extending along a sixth straight line, the fifth straight line and the sixth straight line intersecting; and a third bending section, wherein the third bending section is located between the fifth straight section and the sixth straight section, and the fifth straight section is smoothly connected to the sixth straight section through the third bending section, Wherein, the third avoidance space is defined by the fifth straight section, the sixth straight section and the third bending section, the third joint is located at the end of the fifth straight section away from the third bending section, and the fourth joint is located at the end of the sixth straight section away from the third bending section.

9. The robot arm according to claim 8, characterized in that: The transmission mechanism comprises: a fifth transmission wheel, the fifth transmission wheel being fixedly connected to the second arm at the third joint, the fifth transmission wheel being rotatable relative to the third arm about the third axis; a sixth transmission wheel, the sixth transmission wheel being fixed to the robotic arm at the fourth joint, the sixth transmission wheel being connected to the fifth transmission wheel via a third transmission belt, and the sixth transmission wheel being rotatable relative to the third arm about the fourth axis; and Two third idler wheels are located in the third bending section and are rotatably connected to the third arm around an axis parallel to the third axis. The two third idler wheels are respectively used to wind around two parts of the third transmission belt with different movement directions.

10. The robot arm according to claim 9, characterized in that: The two third idler gears are coaxially arranged.

11. The robot arm according to claim 8, characterized in that: The fifth straight line is parallel to the second straight line.

12. The robotic arm according to claim 1, characterized in that: The outer recess of the second arm forms a second avoidance space, and the second avoidance space is suitable for avoiding a patient when the mechanical arm is in an extended state.

13. The robot arm according to claim 12, characterized in that: The second arm comprises: a third straight line segment, the third straight line segment extending along a third straight line; a fourth straight line segment, the fourth straight line segment extending along a fourth straight line, the third straight line and the fourth straight line intersecting; and a second bending section, wherein the second bending section is located between the third straight section and the fourth straight section, and the third straight section is smoothly connected to the fourth straight section through the second bending section, The second avoidance space is defined by the third straight section, the fourth straight section and the second bending section, the second joint is located at the end of the third straight section away from the second bending section, and the third joint is located at the end of the fourth straight section away from the second bending section.

14. The robot arm according to claim 13, characterized in that: The transmission mechanism comprises: a third transmission wheel, the third transmission wheel being fixedly connected to the first arm at the second joint, the third transmission wheel being rotatable relative to the second arm about the second axis; a fourth transmission wheel, the fourth transmission wheel being fixedly connected to the third arm at the third joint, the fourth transmission wheel being transmission-connected to the third transmission wheel via a second transmission belt, and the fourth transmission wheel being rotatable relative to the second arm around the third axis; and Two second idler wheels are located in the second bending section and are rotatably connected to the second arm around an axis parallel to the second axis. The two second idler wheels are respectively used to wind around two parts of the second transmission belt with different movement directions.

15. The robot arm according to claim 14, characterized in that: The two second idler gears are coaxially arranged.

16. The robot arm according to any one of claims 1 to 15, characterized in that: The distance between the sixth axis and the fourth axis is equal to the distance between the second axis and the third axis, and the distance between the sixth axis and the second axis is equal to the distance between the fourth axis and the third axis.

17. The robot arm according to any one of claims 1 to 15, characterized in that: The robotic arm further comprises a base, the first arm being pivotally connected to the base at a first joint about a seventh axis, the seventh axis being fixed relative to the base, the seventh axis passing through the distal point.

18. A surgical robot, characterized in that: The surgical robot includes a frame and at least one robotic arm disposed on the frame, and the robotic arm is the robotic arm according to any one of claims 1 to 17.

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