Mechanical arm for interventional operation robot and interventional operation robot

Abstract

The utility model provides a mechanical arm for an interventional operation robot and the interventional operation robot. The mechanical arm comprises a supporting arm, a moving arm assembly, a joint assembly and a power assembly. The moving arm assembly comprises a first moving arm, a second moving arm and a third moving arm; the joint assembly comprises a first joint, a second joint, a third joint and a fourth joint, the first joint is connected to the rotating joint of the supporting arm and the first moving arm, the second joint is connected to the first moving arm and the second moving arm, the third joint is connected to the second moving arm and the third moving arm, and the fourth joint is connected to the third moving arm and the robot body; the power assembly comprises a first motor and a second motor, the first motor and the second motor are used for driving the first moving arm and the second moving arm to automatically rotate correspondingly, and when the first moving arm and the second moving arm automatically rotate, the third moving arm and the robot body manually rotate or are static. According to the invention, the movement among a plurality of moving arms can be more coordinated.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular, to a robotic arm for an interventional surgery robot and an interventional surgery robot. Background Art

[0002] Vascular interventional surgery is an operation technique that uses medical devices such as puncture needles, guidewires, and catheters to diagnose and treat through blood vessels under the guidance of medical imaging equipment. However, vascular interventional surgery needs to be performed under ionizing radiation. To ensure the safety of personnel, doctors need to wear heavy lead suits for safety protection, which will cause damage to the doctor's skeletal system in the long run. With the rapid development of intelligent technology and medicine, the development of vascular interventional surgery robots has become a reality.

[0003] During the vascular interventional surgery, the doctor needs to insert the interventional consumables in the consumables box into the part of the patient that needs treatment. Since the robot body of the surgical robot is relatively large, the operating table needs to be used in various surgical operations. By providing a mechanical arm that is detachably connected to the operating table on one side of the robot body, the use of the operating table can be facilitated. Specifically, the mechanical arm includes a plurality of movable arms, which are rotatably connected to each other. By adjusting the rotation angles between the plurality of movable arms, the position of the robot body can be adjusted so that the interventional consumables provided on the robot body can be inserted into the part of the patient that needs treatment.

[0004] However, multiple mobile arms need to be manually controlled to achieve relative movement between the multiple mobile arms. In the process of manually controlling the movement between the multiple mobile arms, it is difficult to accurately control the rotation angle of each mobile arm, and the movement between the multiple mobile arms is not coordinated. Summary of the invention

[0005] The purpose of the present disclosure is to overcome at least one of the deficiencies of the above-mentioned related technologies and to provide a robotic arm for an interventional surgery robot and an interventional surgery robot, which can coordinate the movements of multiple mobile arms during the process of the doctor adjusting the mobile arms.

[0006] Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

[0007] According to one aspect of the present disclosure, there is provided a mechanical arm for an interventional surgery robot, comprising:

[0008] A support arm, used for fixed connection with the operating table;

[0009] The movable arm assembly comprises a first movable arm, a second movable arm and a third movable arm which are rotatably connected in sequence, and the first movable arm is rotatably connected to the support arm;

[0010] A joint assembly, comprising a first joint, a second joint, a third joint and a fourth joint, wherein the first joint is connected to a rotational connection between the support arm and the first movable arm, the second joint is connected to a rotational connection between the first movable arm and the second movable arm, the third joint is connected to a rotational connection between the second movable arm and the third movable arm, and the fourth joint is connected to a rotational connection between the third movable arm and a robot body of the interventional surgery robot;

[0011] The power assembly includes a first motor and a second motor, wherein the first motor is disposed on a side of the first joint close to the first moving arm and connected to the first moving arm and the first joint, and the second motor is disposed on a side of the second joint close to the second moving arm and connected to the second moving arm and the second joint;

[0012] The first motor and the second motor are used to drive the first moving arm and the second moving arm to rotate automatically respectively, and while the first moving arm and the second moving arm rotate automatically, the third moving arm and the robot body rotate manually or remain stationary.

[0013] In an exemplary embodiment of the present disclosure, the first joint includes a first fixing frame, a first connecting member and a first output shaft, the first fixing frame is fixedly connected between the first moving arm and the housing of the first motor, the first connecting member is fixedly connected between the first output shaft and the housing of the first motor, one end of the first output shaft away from the first connecting member is fixedly connected to the support arm, and the output end of the first motor is fixedly connected to the first output shaft;

[0014] The second joint includes a second fixing frame, a second connecting member and a second output shaft, the second fixing frame is fixedly connected between the second moving arm and the housing of the second motor, the second connecting member is fixedly connected between the second output shaft and the housing of the second motor, one end of the second output shaft away from the second connecting member is fixedly connected to the first moving arm, and the output end of the second motor is fixedly connected to the second output shaft;

[0015] The third joint includes a third fixed frame, a first reducer and a third output shaft. The third fixed frame is fixedly connected between the third moving arm and the housing of the first reducer. The third output shaft is connected between the second moving arm and the output end of the first reducer. The output end of the first reducer is fixedly connected to the third output shaft and connected to the second moving arm.

[0016] The fourth joint includes a fourth fixed frame, a second reducer and a fourth output shaft. The fourth fixed frame is fixedly connected between the robot body and the housing of the second reducer. The fourth output shaft is connected between the third movable arm and the output end of the second reducer. The output end of the second reducer is fixedly connected to the fourth output shaft and connected to the third movable arm.

[0017] In an exemplary embodiment of the present disclosure, the robotic arm further comprises:

[0018] An encoder assembly, the encoder assembly comprising a first encoder and a second encoder;

[0019] The first encoder is arranged on the first motor and is used to determine the rotation angle of the first motor;

[0020] The second encoder is disposed on the second motor and is used to determine the rotation angle of the second motor.

[0021] In an exemplary embodiment of the present disclosure, the robotic arm further comprises:

[0022] The solenoid valve assembly includes a first solenoid valve, a second solenoid valve, a third solenoid valve and a fourth solenoid valve, which are respectively connected to the first joint, the second joint, the third joint and the fourth joint, and are used to switch the first joint, the second joint, the third joint and the fourth joint between a locked state and an unlocked state.

[0023] In an exemplary embodiment of the present disclosure, the third solenoid valve includes a first fixed unit and a first rotating unit, and the first fixed unit and the first rotating unit are switched between a contact state and a separation state;

[0024] The third joint further includes a first input shaft, the first input shaft is connected between the input end of the first reducer and the first rotating unit, when the first fixed unit and the first rotating unit are in a contact state, the first input shaft is locked, when the first fixed unit and the first rotating unit are in a separated state, the first input shaft is unlocked;

[0025] The fourth solenoid valve includes a second fixed unit and a second rotating unit, and the second fixed unit and the second rotating unit are switched between a contact state and a separation state;

[0026] The fourth joint also includes a second input shaft, which is connected between the input end of the second reducer and the second rotating unit. When the second fixed unit and the second rotating unit are in a contact state, the second input shaft is locked, and when the second fixed unit and the second rotating unit are in a separated state, the second input shaft is unlocked.

[0027] In an exemplary embodiment of the present disclosure, the robotic arm further comprises:

[0028] The bearing assembly includes a first bearing, a second bearing, a third bearing and a fourth bearing. The first bearing is sleeved on the first output shaft and is rotatably connected to the support arm; the second bearing is sleeved on the second output shaft and is rotatably connected to the first movable arm; the third bearing is sleeved on the third output shaft and is rotatably connected to the second movable arm; the fourth bearing is sleeved on the fourth output shaft and is rotatably connected to the third movable arm.

[0029] In an exemplary embodiment of the present disclosure, there are two first bearings, two second bearings and two third bearings, which are respectively sleeved on the first output shaft, the second output shaft and the third output shaft.

[0030] In an exemplary embodiment of the present disclosure, the power assembly further includes:

[0031] A third motor, which is arranged on a side of the third joint close to the second moving arm and connected to the second moving arm and the third joint;

[0032] The first motor, the second motor and the third motor are used to drive the first moving arm, the second moving arm and the third moving arm to rotate automatically respectively, and while the first moving arm, the second moving arm and the third moving arm rotate automatically, the robot body rotates manually or remains stationary.

[0033] In an exemplary embodiment of the present disclosure, the operation resistance values ​​of the third joint and the fourth joint are smaller than the operation starting values ​​of the first motor and the second motor.

[0034] According to one aspect of the present disclosure, an interventional surgery robot is provided, comprising a robotic arm.

[0035] The present invention discloses a mechanical arm for an interventional surgical robot and an interventional surgical robot, wherein the mechanical arm comprises a support arm, a moving arm assembly, a joint assembly and a power assembly. The support arm is used to be fixedly connected to an operating table. The moving arm assembly comprises a first moving arm, a second moving arm and a third moving arm which are connected in rotation in sequence, and the first moving arm is connected in rotation with the support arm; the joint assembly comprises a first joint, a second joint, a third joint and a fourth joint, wherein the first joint is connected to the rotation connection between the support arm and the first moving arm, the second joint is connected to the rotation connection between the first moving arm and the second moving arm, the third joint is connected to the rotation connection between the second moving arm and the third moving arm, and the fourth joint is connected to the rotation connection between the third moving arm and the robot body of the interventional surgical robot; the power assembly comprises a first motor and a second motor, wherein the first motor is arranged on a side of the first joint close to the first moving arm, connected to the first moving arm and the first joint, and the second motor is arranged on a side of the second joint close to the second moving arm, connected to the second moving arm and the second joint; the first motor and the second motor respectively receive control information from the master end, and are used to drive the first moving arm and the second moving arm to rotate automatically, and while the first moving arm and the second moving arm rotate automatically, the third moving arm and the robot body rotate manually or remain stationary. The robotic arm of the present disclosure can coordinate the movements of multiple mobile arms when a doctor adjusts the mobile arms.

[0036] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0038] Figure 1 It is a schematic diagram of the structure of the robotic arm disclosed in the present invention.

[0039] Figure 2 yes Figure 1 Side view of.

[0040] Figure 3 yes Figure 2 Cross-sectional view along the AA direction.

[0041] Figure 4 It is an exploded view of the first joint of the present disclosure.

[0042] Figure 5 It is a structural schematic diagram of the first joint of the present invention.

[0043] Figure 6 yes Figure 5 Cross-sectional view along the AA direction.

[0044] Figure 7 It is an exploded view of the second joint of the present disclosure.

[0045] Figure 8 It is a structural schematic diagram of the second joint of the present invention.

[0046] Fig. 9 yes Figure 8 Cross-sectional view along the AA direction.

[0047] Fig.10 It is an exploded view of the third joint of the present disclosure.

[0048] Fig.11 It is a structural schematic diagram of the third joint of the present invention.

[0049] Fig.12 yes Fig.11 Cross-sectional view along the AA direction.

[0050] Fig.13 It is an exploded view of the fourth joint of the present disclosure.

[0051] Fig.14 It is a structural schematic diagram of the fourth joint of the present invention.

[0052] Fig.15 yes Fig.14 Cross-sectional view along the AA direction.

[0053] The main components in the figure are described as follows:

[0054] 1. Robotic arms for interventional surgery robots;

[0055] 11. Support arm; 12. Moving arm assembly; 13. Joint assembly; 14. Power assembly; 15. Bearing assembly;

[0056] 121, first moving arm; 122, second moving arm; 123, third moving arm;

[0057] 131, first joint; 132, second joint; 133, third joint; 134, fourth joint;

[0058] 141, a first motor; 142, a second motor;

[0059] 151, first bearing; 152, second bearing; 153, third bearing; 154, fourth bearing;

[0060] 1311, first fixing frame; 1312, first connecting member; 1313, first output shaft;

[0061] 1321, second fixing frame; 1322, second connecting member; 1323, second output shaft;

[0062] 1331, third fixing frame; 1332, first reducer; 1333, third output shaft; 1334, first input shaft;

[0063] 1341. Fourth fixed frame; 1342. Second reducer; 1343. Fourth output shaft; 1344. Second input shaft. DETAILED DESCRIPTION

[0064] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0065] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the diagram to another component, these terms are used in this specification only for convenience, such as according to the direction of the examples in the drawings. It is understood that if the device of the diagram is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0066] The terms "a", "an", "the", "" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first" and "second" are used merely as labels and are not intended to limit the quantity of their objects.

[0067] The disclosed embodiments provide a mechanical arm for an interventional surgical robot and an interventional surgical robot, wherein the mechanical arm includes a support arm, a moving arm assembly, a joint assembly, and a power assembly. The support arm is used to be fixedly connected to an operating table. The moving arm assembly includes a first moving arm, a second moving arm, and a third moving arm that are rotatably connected in sequence, the joint assembly includes a first joint, a second joint, a third joint, and a fourth joint, and the power assembly includes a first motor and a second motor. A plurality of joints are respectively connected between two adjacent moving arms, and the first motor and the second motor are respectively used to drive the first moving arm and the second moving arm to rotate automatically, and while the first moving arm and the second moving arm rotate automatically, the third moving arm and the robot body of the interventional surgical robot rotate manually or remain stationary, so that the movement of the plurality of moving arms can be coordinated during the doctor's adjustment of the moving arms.

[0068] During the interventional surgery, doctors will be exposed to radiation from some medical devices, which will affect their health. In addition, doctors will consume a lot of energy when operating interventional consumables to operate on the part of the patient that needs treatment. Therefore, during the operation, a vascular interventional surgery robot is set up, and an interventional surgery robot manipulator is set up on the side of the robot body away from the part of the patient that needs treatment. The doctor can operate the interventional surgery robot manipulator to perform surgery on the part of the patient that needs treatment. This can achieve the goal that the doctor does not touch the part of the patient that needs treatment, but touches the part of the patient that needs treatment through the vascular interventional surgery robot, thereby performing surgery on the patient.

[0069] It should be noted that the vascular interventional surgical robot also includes structures such as a driving mechanism and a consumable box. After the robotic arm performs the first position adjustment on the robot body, the consumable box is driven by the driving mechanism to move, so that the interventional consumables in the consumable box are intervened in the patient's treatment site as needed. The interventional consumables in the consumable box are adjusted for the second time to achieve vascular interventional surgical treatment for the patient, thereby improving the accuracy of the treatment.

[0070] In addition, since the operating table for operating the patient needs to cope with various surgical requirements during the operation, the robot body is relatively large, which will affect the normal use of the operating table when performing other types of surgical operations. The robot arm is set as a detachable structure. When vascular intervention surgery is required for the patient, the robot arm is fixed to the operating table. When vascular intervention surgery is not required for the patient, the robot arm and the operating table are disassembled and the vascular intervention surgery robot is placed in the storage area, which can facilitate the normal use of the operating table by the doctor.

[0071] According to one aspect of the present disclosure, a robotic arm 1 for an interventional surgery robot is provided. Figure 1 and Figure 2 As shown, the robot arm 1 includes a support arm 11, a moving arm assembly 12, a joint assembly 13 and a power assembly 14. The support arm 11 is used to be fixedly connected to the operating table. The specific fixing method is not limited. The support arm 11 serves as a supporting structure of the robot arm 1. When the robot arm 1 is needed, one end of the support arm 11 is fixed to the operating table, thereby achieving the fixation of the robot arm 1 to the operating table; when the robot arm 1 is not needed, one end of the support arm 11 is disassembled from the operating table, thereby placing the robot arm 1 in the storage area, which is convenient for doctors to use the operating table normally.

[0072] Among them, Figure 1 and Figure 3 As shown, the movable arm assembly 12 includes a first movable arm 121, a second movable arm 122 and a third movable arm 123 which are rotatably connected in sequence, and the first movable arm 121 is rotatably connected to the support arm 11; the joint assembly 13 includes a first joint 131, a second joint 132, a third joint 133 and a fourth joint 134, the first joint 131 is connected to the rotation connection between the support arm 11 and the first movable arm 121, the second joint 132 is connected to the rotation connection between the first movable arm 121 and the second movable arm 122, the third joint 133 is connected to the rotation connection between the second movable arm 122 and the third movable arm 123, and the fourth joint 134 is connected to the rotation connection between the third movable arm 123 and the robot body of the interventional surgery robot.

[0073] Specifically, by rotating the first joint 131, the first movable arm 121 can be driven to rotate relative to the support arm 11; by rotating the second joint 132, the second movable arm 122 can be driven to rotate relative to the first movable arm 121; by rotating the third joint 133, the third movable arm 123 can be driven to rotate relative to the second movable arm 122; by rotating the fourth joint 134, the robot body can be driven to rotate relative to the third movable arm 123. Through the independent movement or coordinated movement of the first joint 131, the second joint 132, the third joint 133 and the fourth joint 134, the robot body can be adjusted to the part of the patient that needs interventional treatment, thereby achieving the position adjustment of the robot body relative to the patient's interventional part.

[0074] Furthermore, the power assembly 14 includes a first motor 141 and a second motor 142. The first motor 141 is arranged on a side of the first joint 131 close to the first movable arm 121, and is connected to the first movable arm 121 and the first joint 131. The second motor 142 is arranged on a side of the second joint 132 close to the second movable arm 122, and is connected to the second movable arm 122 and the second joint 132. Specifically, the first motor 141 and the second motor 142 are respectively used to drive the first movable arm 121 and the second movable arm 122 to rotate automatically, and while the first movable arm 121 and the second movable arm 122 rotate automatically, the third movable arm 123 and the robot body rotate manually or remain stationary.

[0075] It is understandable that, when the doctor adjusts the robot body to intervene in the part of the patient to be treated through the robot arm 1, the doctor needs to adjust the relative positions between the multiple moving arms so as to align the robot body with the part of the patient to be treated. Since the first motor 141 and the second motor 142 are respectively used to drive the first moving arm 121 and the second moving arm 122 to rotate automatically, and while the first moving arm 121 and the second moving arm 122 rotate automatically, the third moving arm 123 and the robot body rotate manually or remain stationary.

[0076] On the one hand, the doctor can drive the first movable arm 121 and the second movable arm 122 to rotate automatically through the action of the first motor 141 and the second motor 142 without manually rotating the third movable arm 123 and the robot body, thereby driving the robot body to intervene in the part of the patient that needs treatment, which can reduce the doctor's labor intensity and physical loss. At the same time, through the control of the first motor 141 and the second motor 142, the rotation angle of the first movable arm 121 and the second movable arm 122 can be accurately controlled, thereby making the adjustment process more accurate; on the other hand, when the doctor only controls the first movable arm 121 and the second movable arm 122 through the first motor 141 and the second motor 142 and cannot make the robot body intervene in the part of the patient that needs treatment, the doctor can manually rotate the third movable arm 123 and / or the robot body while driving the first motor 141 and the second motor 142, thereby making the robot body intervene in the part of the patient that needs treatment, so that the doctor can achieve multi-angle and multi-directional adjustment of multiple movable arms at the same time, and can make the movement of multiple movable arms coordinated.

[0077] The following is a detailed description of each part of the robot arm 1:

[0078] In an exemplary embodiment of the present disclosure, the first joint 131 includes a first fixing frame 1311, a first connecting member 1312 and a first output shaft 1313. Figure 4 , Figure 5 and Figure 6 As shown, the first fixing frame 1311 is fixedly connected between the first moving arm 121 and the housing of the first motor 141, the first connecting member 1312 is fixedly connected between the first output shaft 1313 and the housing of the first motor 141, the end of the first output shaft 1313 away from the first connecting member 1312 is fixedly connected to the support arm 11, and the output end of the first motor 141 is fixedly connected to the first output shaft 1313; the second joint 132 includes a second fixing frame 1321, a second connecting member 1322 and a second output shaft 1323. Figure 7 , Figure 8 and Fig. 9 As shown, the second fixing frame 1321 is fixedly connected between the second moving arm 122 and the housing of the second motor 142, the second connecting member 1322 is fixedly connected between the second output shaft 1323 and the housing of the second motor 142, the end of the second output shaft 1323 away from the second connecting member 1322 is fixedly connected to the first moving arm 121, and the output end of the second motor 142 is fixedly connected to the second output shaft 1323. In addition, the third joint 133 includes a third fixing frame 1331, a first reducer 1332 and a third output shaft 1333. Fig.10 , Fig.11 and Fig.12As shown, the third fixing frame 1331 is fixedly connected between the third moving arm 123 and the housing of the first reducer 1332, the third output shaft 1333 is connected between the second moving arm 122 and the output end of the first reducer 1332, the output end of the first reducer 1332 is fixedly connected to the third output shaft 1333, and connected to the second moving arm 122: the fourth joint 134 includes a fourth fixing frame 1341, a second reducer 1342 and a fourth output shaft 1343. Fig.13 , Fig.14 and Fig.15 As shown, the fourth fixed frame 1341 is fixedly connected between the robot body and the outer shell of the second reducer 1342, the fourth output shaft 1343 is connected between the third movable arm 123 and the output end of the second reducer 1342, and the output end of the second reducer 1342 is fixedly connected to the fourth output shaft 1343 and connected to the third movable arm 123.

[0079] Specifically, under the driving action of the first motor 141, the output end of the first motor 141 rotates, driving the first output shaft 1313 to rotate. Since the end of the first output shaft 1313 away from the first connecting member 1312 is fixedly connected to the support arm 11, and the support arm 11 is fixedly connected to the operating table, under the action of the first output shaft 1313 on the support arm 11, the support arm 11 reacts to the first output shaft 1313, thereby driving the first movable arm 121 to rotate relative to the support arm 11, thereby realizing the rotation of the first movable arm 121. Similarly, under the driving action of the second motor 142, the second movable arm 122 rotates relative to the first movable arm 121.

[0080] Since the third joint 133 includes the first reducer 1332, when the doctor manually rotates the third joint 133 to drive the third movable arm 123 to rotate relative to the second movable arm 122, when the third movable arm 123 rotates to a desired angle, the third movable arm 123 can be controlled by the first reducer 1332 to decelerate and stop, thereby achieving accurate control of the rotation of the third movable arm 123. Similarly, since the fourth joint 134 includes the second reducer 1342, when the doctor manually rotates the fourth joint 134 to drive the robot body to rotate relative to the third movable arm 123, when the robot body rotates to a desired angle, the robot body can be controlled by the second reducer 1342 to decelerate and stop, thereby achieving accurate control of the rotation of the robot body and improving the accuracy of the control and adjustment of the robot body.

[0081] In an exemplary embodiment of the present disclosure, the robot arm 1 further includes an encoder assembly. The encoder assembly includes a first encoder and a second encoder; the first encoder is provided on the first motor 141 to determine the rotation angle of the first motor 141; the second encoder is provided on the second motor 142 to determine the rotation angle of the second motor 142.

[0082] An encoder is a device that compiles and converts signals (such as bit streams) or data into a signal form that can be used for communication, transmission and storage. The encoder converts angular displacement or linear displacement into an electrical signal. Since the first encoder is arranged on the first motor 141 to determine the rotation angle of the first motor 141, and the second encoder is arranged on the second motor 142 to determine the rotation angle of the second motor 142, the rotation and direction of the first motor 141 and / or the second motor 142 can be controlled by the action of the first encoder and / or the second encoder, and the accuracy of the first motor 141 and the second motor 142 in driving and controlling the first movable arm 121 and the second movable arm 122 can be improved, which is convenient for the doctor's surgical operation.

[0083] In an exemplary embodiment of the present disclosure, the robot arm 1 further includes a solenoid valve assembly. The solenoid valve assembly includes a first solenoid valve, a second solenoid valve, a third solenoid valve, and a fourth solenoid valve, which are respectively connected to the first joint 131, the second joint 132, the third joint 133, and the fourth joint 134, and are used to switch the first joint 131, the second joint 132, the third joint 133, and the fourth joint 134 between a locked state and an unlocked state.

[0084] Solenoid valves are industrial equipment controlled by electromagnetics. They are basic components for controlling fluid automation and belong to actuators, not limited to hydraulic and pneumatic. They are used in industrial control systems to adjust the direction, flow, speed and other parameters of the medium. Solenoid valves can be used with different circuits to achieve the desired control, and the accuracy and flexibility of the control can be guaranteed.

[0085] Since the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve are respectively connected to the first joint 131, the second joint 132, the third joint 133 and the fourth joint 134, on the one hand, the first joint 131, the second joint 132, the third joint 133 and the fourth joint 134 can be switched between a locked state and an unlocked state, thereby realizing the unlocking and locking of the first joint 131, the second joint 132, the third joint 133 and the fourth joint 134, thereby realizing different usage requirements of the first joint 131, the second joint 132, the third joint 133 and the fourth joint 134; on the other hand, when the first joint 131, the second joint 132, the third joint 133 and the fourth joint 134 are adjusted to the desired position, the movement of the first joint 131, the second joint 132, the third joint 133 and the fourth joint 134 can be stopped by the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve to avoid errors in the position adjustment of the robot body and facilitate the doctor's operation.

[0086] In an exemplary embodiment of the present disclosure, the third solenoid valve includes a first fixed unit and a first rotating unit, and the first fixed unit and the first rotating unit switch between a contact state and a separation state; the third joint 133 also includes a first input shaft 1334, and the first input shaft 1334 is connected between the input end of the first reducer 1332 and the first rotating unit. When the first fixed unit and the first rotating unit are in a contact state, the first input shaft 1334 is locked, and when the first fixed unit and the first rotating unit are in a separation state, the first input shaft 1334 is unlocked; the fourth solenoid valve includes a second fixed unit and a second rotating unit, and the second fixed unit and the second rotating unit switch between a contact state and a separation state; the fourth joint 134 also includes a second input shaft 1344, and the second input shaft 1344 is connected between the input end of the second reducer 1342 and the second rotating unit. When the second fixed unit and the second rotating unit are in a contact state, the second input shaft 1344 is locked, and when the second fixed unit and the second rotating unit are in a separation state, the second input shaft 1344 is unlocked.

[0087] Specifically, when the first fixed unit and the first rotating unit are in a contact state, the first input shaft 1334 is locked, and the input end of the first reducer 1332 connected to the first input shaft 1334 is locked, so that the first reducer 1332 does not run, and the movement of the third movable arm 123 is directly forced to be restricted by the third solenoid valve, thereby restricting the position deviation of the robot body. On the contrary, when the first fixed unit and the first rotating unit are in a separated state, the first input shaft 1334 is unlocked, and the input end of the first reducer 1332 connected to the first input shaft 1334 is unlocked, so that the first reducer 1332 runs, and the movement of the third movable arm 123 can be decelerated by the first reducer 1332, thereby making the movement process of the third movable arm 123 more stable.

[0088] Similarly, when the second fixed unit and the second rotating unit are in a contact state, the second input shaft 1344 is locked, and the input end of the second reducer 1342 connected to the second input shaft 1344 is locked, so that the second reducer 1342 does not run, and the movement of the robot body is directly forced to be restricted by the fourth solenoid valve. On the contrary, when the second fixed unit and the second rotating unit are in a separated state, the second input shaft 1344 is unlocked, and the input end of the second reducer 1342 connected to the second input shaft 1344 is unlocked, so that the second reducer 1342 runs, and the movement of the robot body can be decelerated by the second reducer 1342, so that the movement process of the robot body is more stable.

[0089] In an exemplary embodiment of the present disclosure, the robot arm 1 further includes a bearing assembly 15. The bearing assembly 15 includes a first bearing 151, a second bearing 152, a third bearing 153 and a fourth bearing 154. Fig.10 , Fig.12 , Fig.13 and Fig.15 As shown, the first bearing 151 is sleeved on the first output shaft 1313 and is rotatably connected to the support arm 11; the second bearing 152 is sleeved on the second output shaft 1323 and is rotatably connected to the first movable arm 121; the third bearing 153 is sleeved on the third output shaft 1333 and is rotatably connected to the second movable arm 122; the fourth bearing 154 is sleeved on the fourth output shaft 1343 and is rotatably connected to the third movable arm 123.

[0090] Specifically, a bearing is a mechanical element used to support and reduce friction in rotational or linear motion. It usually consists of an outer ring, an inner ring, a set of rolling elements (such as balls or rollers), a cage and seals. Since the first bearing 151 is sleeved on the first output shaft 1313 and is rotatably connected to the support arm 11; the second bearing 152 is sleeved on the second output shaft 1323 and is rotatably connected to the first movable arm 121; the third bearing 153 is sleeved on the third output shaft 1333 and is rotatably connected to the second movable arm 122; the fourth bearing 154 is sleeved on the fourth output shaft 1343 and is rotatably connected to the third movable arm 123, the first bearing 151, the second bearing 152, the third bearing 153 and the fourth bearing 154 can provide support between the first output shaft 1313 and the support arm 11, between the second output shaft 1323 and the first movable arm 121, between the third output shaft 1333 and the second movable arm 122, and between the fourth output shaft 1343 and the third movable arm 123, thereby reducing the bending moment exerted on the first joint 131, the second joint 132, the third joint 133 and the fourth joint 134, and reducing friction and wear to ensure smooth operation of the system.

[0091] In an exemplary embodiment of the present disclosure, the first bearing 151, the second bearing 152 and the third bearing 153 are each two, and are respectively arranged on the first output shaft 1313, the second output shaft 1323 and the third output shaft 1333. Specifically, since the first bearing 151, the second bearing 152 and the third bearing 153 are each two, and are respectively arranged on the first output shaft 1313, the second output shaft 1323 and the third output shaft 1333, on the one hand, a larger load can be shared, and the force and torque from the mechanical system can be jointly borne, which can reduce the load of each bearing, extend their life, and reduce the risk of bearing damage caused by overload. On the other hand, higher rigidity and stability can be provided to jointly support rotating or linear motion components, which is particularly important for mechanical systems that require high precision, high speed or high torque to ensure the stability and accuracy of the system.

[0092] In addition, vibration and noise can be reduced, and vibration caused by unbalanced or asymmetric loads can be reduced. At the same time, the axial bearing capacity of the bearing system can be increased, enabling it to withstand more axial loads.

[0093] In an exemplary embodiment of the present disclosure, the power assembly 14 further includes a third motor. The third motor is disposed on a side of the third joint 133 close to the second moving arm 122, and is connected to the second moving arm 122 and the third joint 133; the first motor 141, the second motor 142, and the third motor receive control information from the master end respectively, and are used to drive the first moving arm 121, the second moving arm 122, and the third moving arm 123 to rotate automatically, and while the first moving arm 121, the second moving arm 122, and the third moving arm 123 rotate automatically, the robot body rotates manually or remains stationary.

[0094] Since the power assembly 14 also includes a third motor, the doctor can trigger the third motor so that the third motor drives the third movable arm 123 to rotate automatically. On the one hand, the doctor's manual adjustment of multiple movable arms can be further simplified through system control, which can simplify the doctor's operation intensity and reduce the doctor's physical loss. On the other hand, compared with the doctor manually adjusting the third movable arm 123, adjusting the rotation angle of the third movable arm 123 through the third motor can more accurately control and adjust the rotation angle of the third movable arm 123, and can more reasonably arrange the rotation angle problem between the first movable arm 121, the second movable arm 122 and the third movable arm 123, so that the movement between the multiple movable arms can be more coordinated.

[0095] In an exemplary embodiment of the present disclosure, the running resistance values ​​of the third joint 133 and the fourth joint 134 are smaller than the running start values ​​of the first motor 141 and the second motor 142. Specifically, since the running resistance values ​​of the third joint 133 and the fourth joint 134 are smaller than the running start values ​​of the first motor 141 and the second motor 142, the doctor can manually adjust the third joint 133 and the fourth joint 134 first, thereby achieving preliminary adjustment of the third movable arm 123 and / or the robot body, and then achieve automatic adjustment of the first movable arm 121 and / or the second movable arm 122 through the driving of the first motor 141 and the second motor 142, thereby satisfying the doctor's coordinated adjustment of each movable arm and avoiding the situation where the movable arm can only be adjusted automatically but not manually.

[0096] As an optional embodiment, the first reducer 1332 and the second reducer 1342 are both harmonic reducers. Specifically, since the first reducer 1332 and the second reducer 1342 are both harmonic reducers, the movement of the high-speed rotating input shaft can be reduced to the required low-speed output, and have some unique characteristics and applications. On the one hand, the first reducer 1332 and the second reducer 1342 can reduce the high-speed input motion and reduce the speed of its output to the required level. This is very useful for applications that require high precision, low speed and high torque output; on the other hand, the first reducer 1332 and the second reducer 1342 have very small clearance and extremely low backlash, which enables it to provide extremely accurate output motion, suitable for applications that require high-precision position control.

[0097] As an optional embodiment, the first bearing 151, the second bearing 152 and the third bearing 153 are all ball roller bearings. Specifically, since the first bearing 151, the second bearing 152 and the third bearing 153 are all ball roller bearings, friction can be reduced when rolling inside the first bearing 151, the second bearing 152 and the third bearing 153, which leads to lower energy loss, so that the first bearing 151, the second bearing 152 and the third bearing 153 can rotate efficiently. On the other hand, ball roller bearings are suitable for high-speed rotation applications and can run at high speeds without generating excessive heat or wear. At the same time, ball roller bearings are suitable for applications that require accurate positioning and constant speed, and require less force to overcome starting friction at startup, which helps the smoothness of starting and stopping.

[0098] According to one aspect of the present disclosure, an interventional surgery robot is provided, comprising a robotic arm 1. Specifically, through the interventional surgery robot, a doctor can treat a part of a patient that needs treatment outside an operating room by manipulating a manipulation device of the interventional surgery robot, and can perform corresponding surgical operations by simply sending corresponding control instructions to the robot body through the manipulation device. The interventional surgery robot can be controlled to precisely align the interventional consumables disposed on the interventional surgery robot with the part of the patient that needs treatment, thereby achieving precise treatment of the patient.

[0099] In addition, since the interventional surgical robot includes a robotic arm 1, the movement of the robotic arm 1 can be controlled and adjusted to drive the robot body to pull the interventional consumables to intervene in the part of the patient that needs treatment, thereby facilitating the doctor's control and operation.

[0100] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The utility model is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A robotic arm for an interventional surgical robot, characterized in that: include: A support arm, used for fixed connection with the operating table; A movable arm assembly, comprising a first movable arm, a second movable arm and a third movable arm which are rotatably connected in sequence, and the first movable arm is rotatably connected to the support arm; A joint assembly, comprising a first joint, a second joint, a third joint and a fourth joint, wherein the first joint is connected to a rotational connection between the support arm and the first movable arm, the second joint is connected to a rotational connection between the first movable arm and the second movable arm, the third joint is connected to a rotational connection between the second movable arm and the third movable arm, and the fourth joint is connected to a rotational connection between the third movable arm and a robot body of the interventional surgery robot; A power assembly, comprising a first motor and a second motor, wherein the first motor is disposed on a side of the first joint close to the first moving arm and connected to the first moving arm and the first joint, and the second motor is disposed on a side of the second joint close to the second moving arm and connected to the second moving arm and the second joint; The first motor and the second motor are used to drive the first moving arm and the second moving arm to rotate automatically, respectively. When the first moving arm and the second moving arm rotate automatically, the third moving arm and the robot body rotate manually or remain stationary.

2. The robotic arm according to claim 1, characterized in that: The first joint comprises a first fixing frame, a first connecting member and a first output shaft, wherein the first fixing frame is fixedly connected between the first moving arm and the housing of the first motor, the first connecting member is fixedly connected between the first output shaft and the housing of the first motor, one end of the first output shaft away from the first connecting member is fixedly connected to the support arm, and the output end of the first motor is fixedly connected to the first output shaft; The second joint comprises a second fixing frame, a second connecting member and a second output shaft, the second fixing frame is fixedly connected between the second moving arm and the housing of the second motor, the second connecting member is fixedly connected between the second output shaft and the housing of the second motor, one end of the second output shaft away from the second connecting member is fixedly connected to the first moving arm, and the output end of the second motor is fixedly connected to the second output shaft; The third joint comprises a third fixed frame, a first reducer and a third output shaft, wherein the third fixed frame is fixedly connected between the third moving arm and the housing of the first reducer, the third output shaft is connected between the second moving arm and the output end of the first reducer, and the output end of the first reducer is fixedly connected to the third output shaft and connected to the second moving arm: The fourth joint includes a fourth fixed frame, a second reducer and a fourth output shaft. The fourth fixed frame is fixedly connected between the robot body and the housing of the second reducer. The fourth output shaft is connected between the third movable arm and the output end of the second reducer. The output end of the second reducer is fixedly connected to the fourth output shaft and connected to the third movable arm.

3. The robotic arm according to claim 2, characterized in that: The robotic arm also includes: an encoder assembly, the encoder assembly comprising a first encoder and a second encoder; The first encoder is disposed on the first motor and is used to determine the rotation angle of the first motor; The second encoder is disposed on the second motor and is used to determine the rotation angle of the second motor.

4. The robotic arm according to claim 2, characterized in that: The robotic arm also includes: A solenoid valve assembly, the solenoid valve assembly includes a first solenoid valve, a second solenoid valve, a third solenoid valve and a fourth solenoid valve, which are respectively connected to the first joint, the second joint, the third joint and the fourth joint, and are used to switch the first joint, the second joint, the third joint and the fourth joint between a locked state and an unlocked state.

5. The robotic arm according to claim 4, characterized in that: The third solenoid valve includes a first fixed unit and a first rotating unit, wherein the first fixed unit and the first rotating unit are switched between a contact state and a separation state; The third joint further includes a first input shaft, the first input shaft is connected between the input end of the first reducer and the first rotating unit, when the first fixed unit and the first rotating unit are in a contact state, the first input shaft is locked, and when the first fixed unit and the first rotating unit are in a separated state, the first input shaft is unlocked; The fourth solenoid valve includes a second fixed unit and a second rotating unit, wherein the second fixed unit and the second rotating unit are switched between a contact state and a separation state; The fourth joint also includes a second input shaft, which is connected between the input end of the second reducer and the second rotating unit. When the second fixed unit and the second rotating unit are in a contact state, the second input shaft is locked, and when the second fixed unit and the second rotating unit are in a separated state, the second input shaft is unlocked.

6. The robotic arm according to claim 5, characterized in that: The robotic arm also includes: A bearing assembly, the bearing assembly includes a first bearing, a second bearing, a third bearing and a fourth bearing, the first bearing is sleeved on the first output shaft and is rotatably connected to the support arm; the second bearing is sleeved on the second output shaft and is rotatably connected to the first movable arm; the third bearing is sleeved on the third output shaft and is rotatably connected to the second movable arm; the fourth bearing is sleeved on the fourth output shaft and is rotatably connected to the third movable arm.

7. The robotic arm according to claim 6, characterized in that: The first bearing, the second bearing and the third bearing are each two in number and are respectively sleeved on the first output shaft, the second output shaft and the third output shaft.

8. The robotic arm according to any one of claims 1 to 7, characterized in that: The power assembly also includes: a third motor, the third motor being disposed on a side of the third joint close to the second moving arm and connected to the second moving arm and the third joint; The first motor, the second motor and the third motor are respectively used to drive the first moving arm, the second moving arm and the third moving arm to rotate automatically, and while the first moving arm, the second moving arm and the third moving arm rotate automatically, the robot body rotates manually or remains stationary.

9. The robot arm according to any one of claims 1 to 7, characterized in that: The running resistance values ​​of the third joint and the fourth joint are smaller than the running starting values ​​of the first motor and the second motor.

10. An interventional surgery robot, characterized in that: A robotic arm comprising any one of claims 1 to 9.

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