Multi-dimensional surgical mechanical arm

Abstract

The utility model relates to a multi-dimensional surgical mechanical arm. The multi-dimensional surgical mechanical arm comprises an operating handle, a mounting frame, a forceps head assembly, a mechanical control assembly and an electric control assembly. The forceps head assembly comprises an outer tube, a forceps core and a forceps head body. The electric control assembly comprises a first driving motor, a second driving motor, a third driving motor and a fourth driving motor. The mechanical control assembly is configured to be capable of driving the first movable section to be bent in the direction away from the first side under the driving of the first driving motor and driving the second movable section to be bent in the direction away from the second side under the driving of the second driving motor. The third driving motor is used for driving the outer pipe to rotate by 360 degrees. The fourth driving motor is used for driving the tong core to drive the tong head body to rotate by 360 degrees. According to the multi-dimensional surgical mechanical arm, the tong head body can be accurately adjusted to the optimal surgical position, and ideal grabbing and cutting angles are obtained by rotating the tong head body by 360 degrees, so that the working intensity and the working difficulty of an operator are reduced, and the operation precision is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a multi-dimensional surgical robot arm. Background Art

[0002] At present, conventional surgical instruments are mainly straight rods with manual forceps rods, and multi-port surgery is used to complete pathological treatment. Multi-port surgery is more harmful because it requires multiple subcutaneous penetrations on the patient, and the postoperative recovery time is longer. There are also obvious postoperative scars, and the workload of doctors during surgery is high. Therefore, single-port surgery through the natural scar channel (navel) has become a necessity for conventional surgery. However, single-port surgery using conventional instruments encounters many difficulties in surgery. The first is the chopstick effect. Because single-port surgery is performed in a smaller space, multiple instruments enter the cavity almost vertically, and the interference between the instruments causes difficulties in the coordination of instruments during surgery. Therefore, the workload and difficulty of doctors in single-port surgery with conventional instruments increase exponentially. Utility Model Content

[0003] Based on this, it is necessary to provide a multi-dimensional surgical robot arm that can reduce the workload and difficulty of doctors in single-port surgery and has high operating accuracy.

[0004] A multi-dimensional surgical robot arm comprises an operating handle, a mounting frame, a clamp head assembly, a mechanical control assembly and an electric control assembly; the operating handle is mounted on the mounting frame;

[0005] The pliers assembly comprises an outer tube, a pliers core and a pliers body; one end of the outer tube is rotatably mounted on the mounting frame, and the other end is rotatably connected to the pliers body; the pliers core is inserted into the outer tube, one end is connected to the operating handle, and the other end is connected to the pliers body; the outer tube has a first movable section and a second movable section; the outer tube has a first side and a second side opposite to each other;

[0006] The electronic control component includes a first drive motor, a second drive motor, a third drive motor and a fourth drive motor; the first drive motor and the second drive motor are both transmission-connected to the mechanical control component; the mechanical control component is constructed to be able to drive the first movable section to bend in a direction away from the first side under the drive of the first drive motor, and to be able to drive the second movable section to bend in a direction away from the second side under the drive of the second drive motor; the third drive motor is used to drive the outer tube to rotate 360°; the fourth drive motor is used to drive the pliers core to drive the pliers head body to rotate 360°.

[0007] The above-mentioned multi-dimensional surgical robot arm can control the outer tube to bend unidirectionally or bidirectionally through the first drive motor and the second drive motor to adjust the operating direction and operating position of the clamp head body in the cavity; the outer tube is controlled to rotate 360° through the third drive motor to change the bending direction of the unidirectional or bidirectional bending of the outer tube again, thereby changing the operating direction and operating position of the clamp head body in the cavity again, so that the multi-dimensional surgical robot arm naturally forms a lesion treatment space after entering the body cavity, and the operator adjusts to the best surgical position as needed. The fourth drive motor controls the forceps core to drive the clamp head body to rotate 360°, so that the clamp head body can achieve the ideal grasping and cutting angle, simplifying complex surgical treatment. Furthermore, through the double bending design and 360° rotation design of the outer tube, multiple multi-dimensional surgical robot arms can be used in the same single-hole surgery at the same time, and avoid interference with each other, reducing the difficulty of cooperation between multiple multi-dimensional surgical robot arms during the operation, and further simplifying complex surgical treatment. The provision of the electronic control components makes the use of the above-mentioned multi-dimensional surgical robot arm simpler and more energy-saving, and is also conducive to improving its operating accuracy. Therefore, the above-mentioned multi-dimensional surgical robot arm can effectively reduce the operator's work intensity and difficulty, and has higher operating accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0009] Figure 1 This is a schematic diagram of the structure of the multi-dimensional surgical robot arm in a preferred embodiment of the present utility model when it is in a double bending state;

[0010] Figure 2 for Figure 1 A cross-sectional view of the multi-dimensional surgical robot arm when it is in a straight tube state;

[0011] Figure 3 for Figure 2 A partial enlarged view of the multi-dimensional surgical robot arm shown;

[0012] Figure 4 for Figure 1 A schematic diagram of the structure of the mechanical control component and the electrical control component in the multi-dimensional surgical robot arm shown;

[0013] Figure 5 for Figure 4 A bottom view of the mechanical control assembly and the electronic control assembly shown;

[0014] Figure 6 for Figure 1 The schematic diagram of the structure of the rotating axis in the multi-dimensional surgical robot arm shown;

[0015] Figure 7 for Figure 1 A schematic structural diagram of a first connecting member in the multi-dimensional surgical robotic arm shown;

[0016] Figure 8 for Figure 1 A schematic structural diagram of the second connecting member in the multi-dimensional surgical robotic arm shown;

[0017] Fig. 9 for Figure 1 A schematic structural diagram of the third connecting member in the multi-dimensional surgical robot arm shown;

[0018] Fig.10 for Figure 1 A schematic structural diagram of the fourth connecting member in the multi-dimensional surgical robotic arm is shown.

[0019] Description of the reference numerals in the specific implementation manner: 10, multi-dimensional surgical robot arm; 100, operating handle; 110, ball head slot; 200, mounting frame; 300, clamp head assembly; 310, outer tube; 311, first side; 312, second side; 313, first straight tube section; 314, first snake bone tube section; 315, second straight tube section; 316, second snake bone tube section; 317, joint tube section; 320, clamp core; 321, ball head structure; 322, keyway; 330, clamp head body; 331, first clamp head; 3311, first rotating mounting portion; 3312, first movable mounting portion; 3313, first arc groove; 332, second clamp head; 3321 , second rotating mounting portion; 3322, second movable mounting portion; 3323, second arc groove; 341, first traction wire; 342, second traction wire; 343, third traction wire; 344, fourth traction wire; 400, mechanical control component; 410, rotating shaft; 411, slide groove; 421, first slider; 422, second slider; 423, third slider; 424, fourth slider; 430, first transmission mechanism; 431, first transmission shaft; 4311, first transmission rod; 4312, first forward screw rod sleeve; 4313, first reverse screw rod sleeve; 432, first transmission nut; 433, second transmission nut; 440, second transmission mechanism; 441, second transmission shaft; 4411, second transmission rod; 4412, second forward screw sleeve; 4413, second reverse screw sleeve; 442, third transmission nut; 443, fourth transmission nut; 451, first connecting piece; 4511, first clamping part; 4512, first clamping part; 4513, fifth clamping part; 452, second connecting piece; 4521, second clamping part; 4522, second clamping part; 4523, sixth clamping part; 453, third connecting piece; 4531, third clamping part; 4532, third clamping part; 4533, seventh clamping part; 454, fourth connecting piece; 4541, fourth clamping part; 4542, fourth The engaging part; 4543, the eighth clamp part; 461, the sliding shaft; 462, the first sliding sleeve; 463, the second sliding sleeve; 464, the third sliding sleeve; 465, the fourth sliding sleeve; 500, the electronic control component; 510, the first driving motor; 520, the second driving motor; 530, the third driving motor; 540, the fourth driving motor; 550, the rotating sleeve; 551, the limiting slot; 552, the connecting slot; 560, the clamping strip; 561, the limiting part; 562, the transmission part; 570, the third transmission mechanism; 571, the first driving gear; 572, the first driven gear; 580, the fourth transmission mechanism; 581, the second driving gear; 582, the second driven gear. DETAILED DESCRIPTION

[0020] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively with reference to the accompanying drawings. The accompanying drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0022] When describing positional relationships, unless otherwise specified, when an element is referred to as being "on" another element, it can be directly on the other element or there can be an intermediate element. It is also understood that when an element is referred to as being "between" two elements, it can be the only one between the two elements, or there can be one or more intermediate elements.

[0023] In the case of using “including”, “having”, and “comprising” described herein, another component may be added unless a clear limiting term such as “only”, “consisting of”, etc. is used. Unless mentioned otherwise, a term in the singular form may include a plural form and should not be understood as being one in number.

[0024] See also Figure 1 and Figure 2 The multi-dimensional surgical robot arm 10 in the preferred embodiment of the utility model comprises an operating handle 100 , a mounting frame 200 , a clamp assembly 300 , a mechanical control assembly 400 and an electric control assembly 500 . The operating handle 100 is mounted on the mounting frame 200 .

[0025] The pliers assembly 300 includes an outer tube 310, a pliers core 320 and a pliers body 330. One end of the outer tube 310 is rotatably mounted on the mounting frame 200, and the other end is rotatably connected to the pliers body 330. The pliers core 320 is inserted into the outer tube 310, one end is rotatably connected to the operating handle 100, and the other end is connected to the pliers body 330. The outer tube 310 has a first movable section (not marked in the figure) and a second movable section (not marked in the figure). The outer tube 310 has a first side 311 and a second side 312 opposite to each other. Among them, the first side 311 and the second side 312 are only located on opposite sides of the outer tube 310, and the outer tube 310 is not limited. That is, as long as the connecting direction of the first side 311 and the second side 312 is consistent with the diameter direction of the outer tube 310, the specific position is not limited.

[0026] Please also read Figure 3 Specifically, a ball head structure 321 is formed at one end of the pliers core 320 away from the pliers head body 330. A ball head groove 110 is formed on the operating handle 100 to match the ball head structure 321. The ball head structure 321 is movably engaged in the ball head groove 110 to rotatably connect the pliers core 320 and the operating handle 100. In actual use, the operator controls the pliers core 320 to move forward and backward in the outer tube 310 through the operating handle 100 to control the pliers head body 330 to perform cutting and grasping operations.

[0027] Please also read Figure 4 and Figure 5 The electric control assembly 500 includes a first drive motor 510, a second drive motor 520, a third drive motor 530 and a fourth drive motor 540. The first drive motor 510 and the second drive motor 520 are both in transmission connection with the mechanical control assembly 400. The mechanical control assembly 400 is configured to be able to drive the first movable section to bend in a direction away from the first side 311 under the drive of the first drive motor 510, and to be able to drive the second movable section to bend in a direction away from the second side 312 under the drive of the second drive motor 520. The third drive motor 530 is used to drive the outer tube 310 to rotate 360°. The fourth drive motor 540 is used to drive the pliers core 320 to drive the pliers head body 330 to rotate 360°.

[0028] The multi-dimensional surgical robot arm 10 drives the mechanical control assembly 400 to operate through the first drive motor 510 and the second drive motor 520 to control the outer tube 310 to bend unidirectionally or bidirectionally to adjust the operating direction and operating position of the clamp head body 330 in the cavity; the outer tube 310 is controlled to rotate 360° through the third drive motor 530 to change the bending direction of the unidirectional or bidirectional bending of the outer tube 310 again, thereby changing the operating direction and operating position of the clamp head body 330 in the cavity again, so that the multi-dimensional surgical robot arm 10 naturally forms a lesion treatment space after entering the body cavity, and the operator adjusts to the best surgical position as needed. The fourth drive motor 540 controls the clamp core 320 to drive the clamp head body 330 to rotate 360°, so that the clamp head body 330 can reach the ideal grasping and cutting angle, simplifying complex surgical treatment. The provision of the electronic control component 500 makes the use of the multidimensional surgical robot arm 10 simpler and more energy-saving, and is also beneficial to improving its operating accuracy. Therefore, the multidimensional surgical robot arm 10 can effectively reduce the operator's work intensity and difficulty, and has higher operating accuracy.

[0029] In some embodiments, the outer tube 310 includes a first straight tube section 313, a first snake tube section 314 as a first movable section, a second straight tube section 315, a second snake tube section 316 as a second movable section, and a joint tube section 317 connected in sequence. The first straight tube section 313 is rotatably mounted on the mounting frame 200. One end of the clamp head body 330 is rotatably inserted into the joint tube section 317.

[0030] The clamp head assembly 300 further includes a first traction wire 341, a second traction wire 342, a third traction wire 343, and a fourth traction wire 344. One end of the first traction wire 341 and the second traction wire 342 are respectively passed through the first snake bone tube section 314 near the second side 312 and near the first side 311, and the other end is connected to the mechanical control assembly 400. One end of the third traction wire 343 and the fourth traction wire 344 are respectively passed through the second snake bone tube section 316 near the second side 312 and near the first side 311, and the other end is connected to the mechanical control assembly 400.

[0031] The mechanical control component 400 is constructed to be able to simultaneously drive the first traction wire 341 to pull back or push outward the first serpentine tube segment 314 and the second traction wire 342 to push outward or pull back the serpentine tube segment under the drive of the first drive motor 510, and to simultaneously drive the third traction wire 343 to push outward or pump the second serpentine tube segment 316 inward and the second traction wire 342 to pull back or push outward the second serpentine tube segment 316 under the drive of the second drive motor 520.

[0032] Specifically, when the first drive motor 510 drives the mechanical control component 400 to operate so as to simultaneously drive the first traction wire 341 to pull the first serpentine tube segment 314 close to the second side 312 inwardly and drive the second traction wire 342 to push the first serpentine tube segment 314 close to the first side 311 outwardly, the first serpentine tube segment 314 is switched from a straight tube state to a bent state bent in a direction away from the first side 311; when the first drive motor 510 drives the mechanical control component 400 to operate so as to simultaneously drive the first traction wire 341 to push the first serpentine tube segment 314 close to the second side 312 outwardly and drive the second traction wire 342 to pump the first serpentine tube segment 314 close to the first side 311 inwardly, the first serpentine tube segment 314 is switched from a bent state bent in a direction away from the first side 311 to a straight tube state;

[0033] When the second drive motor 520 drives the mechanical control component 400 to operate and simultaneously drives the third traction wire 343 to push the second serpentine tube segment 316 close to the second side 312 outward and drives the fourth traction wire 344 to pump the second serpentine tube segment 316 close to the first side 311 inward, the second serpentine tube segment 316 is switched from a straight tube state to a bent state bending away from the second side 312; when the second drive motor 520 drives the mechanical control component 400 to operate and simultaneously drives the third traction wire 343 to pump the second serpentine tube segment 316 close to the second side 312 inward and drives the fourth traction wire 344 to push the second serpentine tube segment 316 close to the first side 311 outward, the second serpentine tube segment 316 is switched from a bent state bending away from the first side 311 to a straight tube state.

[0034] Further, in some embodiments, the mechanical control assembly 400 includes a rotating shaft 410 having a hollow cavity, a first slider 421, a second slider 422, a third slider 423, a fourth slider 424, a first transmission mechanism 430, and a second transmission mechanism 440. The rotating shaft 410 is rotatably mounted on the mounting frame 200, one end of which is transmission-connected to the first straight tube, and the other end of which is rotationally connected to the operating handle 100. The first slider 421, the second slider 422, the third slider 423, and the fourth slider 424 are sequentially slidably disposed on the rotating shaft 410. The first slider 421 and the second slider 422 are respectively connected to one end of the first traction wire 341 and the second traction wire 342 away from the first snake bone tube section 314. The third slider 423 and the fourth slider 424 are respectively connected to one end of the third traction wire 343 and the fourth traction wire 344 away from the second snake bone tube section 316.

[0035] The first drive motor 510 and the second drive motor 520 are respectively connected to the first slider 421 and the second slider 422 through the first transmission mechanism 430, and are used to simultaneously drive the first slider 421 and the second slider 422 to slide toward or away from each other. The third drive motor 530 and the fourth drive motor 540 are respectively connected to the third slider 423 and the fourth slider 424 through the second transmission mechanism 440, and are used to simultaneously drive the third slider 423 and the fourth slider 424 to slide toward or away from each other.

[0036] In actual application, the first driving motor 510 rotates forward to simultaneously drive the first slider 421 and the second slider 422 to slide in opposite directions on the rotating shaft 410 through the first transmission mechanism 430, so as to simultaneously pull the first traction wire 341 back and push the second traction wire 342 outward; the first driving motor 510 rotates reversely to simultaneously drive the first slider 421 and the second slider 422 to slide in opposite directions on the rotating shaft 410 through the second transmission mechanism 440, so as to simultaneously push the first traction wire 341 outward and pull the second traction wire 342 inward. 2; the second drive motor 520 rotates forward to simultaneously drive the third slider 423 and the fourth slider 424 to slide in opposite directions on the rotating shaft 410 through the second transmission mechanism 440, so as to simultaneously push the third traction wire 343 outward and draw the fourth traction wire 344 inward; the second drive motor 520 rotates reversely to simultaneously drive the third slider 423 and the fourth slider 424 to slide in opposite directions on the rotating shaft 410 through the second transmission mechanism 440, so as to simultaneously draw the third traction wire 343 inward and push the fourth traction wire 344 outward.

[0037] It should be noted that forward rotation and reverse rotation are only used to limit the two opposite rotation directions of the same drive motor, and cannot limit the rotation directions of different drive motors, that is, the forward rotation direction of the first drive motor 510 is not necessarily equal to the forward rotation direction of the second drive motor 520.

[0038] Please also read Figure 6 Furthermore, in some embodiments, the rotating shaft 410 is formed with four slide grooves 411 at intervals along the circumferential direction. The slide groove 411 is a through groove extending along the axial direction of the rotating shaft 410. One end of the first traction wire 341, the second traction wire 342, the third traction wire 343 and the fourth traction wire 344 are respectively slidably arranged in the four slide grooves 411, and are respectively hooked on the first slider 421, the second slider 422, the third slider 423 and the fourth slider 424. Specifically, the other ends of the first traction wire 341, the second traction wire 342, the third traction wire 343 and the seventh traction wire are arranged in the outer tube 310.

[0039] In this way, it can be ensured that the first traction wire 341, the second traction wire 342, the third traction wire 343 and the fourth traction wire 344 do not occupy additional external space of the multi-dimensional surgical robot arm 10, thereby making the structure of the multi-dimensional surgical robot arm 10 more compact and smaller in size.

[0040] Furthermore, in some embodiments, the first transmission mechanism 430 includes a first transmission shaft 431 having a forward external thread (not marked in the figure) and a reverse external thread (marked in the figure), a first transmission nut 432, and a second transmission nut 433. The first transmission nut 432 and the second transmission nut 433 are respectively threaded with the forward external thread and the reverse external thread of the first transmission shaft 431, and are respectively fixedly connected to the first slider 421 and the second slider 422. One end of the first transmission shaft 431 is drivingly connected to the output shaft of the first drive motor 510.

[0041] The second transmission mechanism 440 includes a second transmission shaft 441 having a forward external thread and a reverse external thread, a third transmission nut 442, and a fourth transmission nut 443. The third transmission nut 442 and the fourth transmission nut 443 are respectively threadedly connected to the forward external thread and the reverse external thread on the second transmission shaft 441, and are respectively fixedly connected to the third slider 423 and the fourth slider 424. One end of the second transmission shaft 441 is drivingly connected to the output shaft of the second drive motor 520.

[0042] The first transmission shaft 431 and the first transmission nut 432, the first transmission shaft 431 and the second transmission nut 433, the second transmission shaft 441 and the third transmission nut 442, and the second transmission shaft 441 and the fourth transmission nut 443 cooperate with each other to form a screw mechanism respectively, so that the rotational motion of the first drive motor 510 and the second drive motor 520 can be converted into the linear motion of the first slider 421, the second slider 422, the third slider 423 and the fourth slider 424 respectively through the above-mentioned screw mechanism, so as to control the bending movement of the first serpentine tube segment 314 and the second serpentine tube segment 316 with high precision, thereby further improving the operating accuracy of the multi-dimensional surgical robot arm 10.

[0043] Furthermore, in some embodiments, the first transmission shaft 431 includes a first transmission rod 4311 that is transmission-connected to the output shaft of the first drive motor 510, a first forward screw sleeve 4312 that is detachably fixed to the first transmission rod 4311 and has a forward external thread, and a first reverse screw sleeve 4313 that is detachably fixed to the first transmission rod 4311 and has a reverse external thread.

[0044] The second transmission shaft 441 includes a second transmission rod 4411 transmission-connected to the output shaft of the second drive motor 520, a second forward screw sleeve 4412 detachably fixed to the second transmission rod 4411 and having a forward external thread, and a second reverse screw sleeve 4413 detachably fixed to the second transmission rod 4411 and having a reverse external thread.

[0045] In this way, after a long period of use, the external threads on the first transmission rod 4311 and the second transmission rod 4411 are very likely to slip, wear, etc. At this time, only the damaged first forward screw sleeve 4312, the first direction screw sleeve, the second forward screw sleeve 4412 or the second reverse screw sleeve 4413 needs to be replaced, which is beneficial to extending the service life of the multi-dimensional surgical robot arm 10.

[0046] Of course, in other embodiments, the first transmission shaft 431 and the second rotating shaft 410 can also be structures such as screws having both positive external threads and reverse external threads.

[0047] Please also read Figures 7 to 10 Furthermore, in some embodiments, the mechanical control component 400 also includes a first connecting member 451 having a first clamp portion 4511 and a first clamping portion 4512, a second connecting member 452 having a second clamp portion 4521 and a second clamping portion 4522, a third connecting member 453 having a third clamp portion 4531 and a third clamping portion 4532, and a fourth connecting member 454 having a fourth clamp portion 4541 and a fourth clamping portion 4542.

[0048] The first slider 421, the second slider 422, the third slider 423 and the fourth slider 424 are respectively formed with a first annular groove (not marked in the figure), a second annular groove (not marked in the figure), a third annular groove (not marked in the figure) and a fourth annular groove (not marked in the figure) along their respective circumferential directions. The first clamp portion 4511, the second clamp portion 4521, the third clamp portion 4531 and the fourth clamp portion 4541 are respectively clamped on the first transmission nut 432, the second transmission nut 433, the third transmission nut 434 and the fourth transmission nut 435. The first clamping portion 4512, the second clamping portion 4522, the third clamping portion 4532 and the fourth clamping portion 4542 are respectively slidably clamped in the first annular groove, the second annular groove, the third annular groove and the fourth annular groove.

[0049] In this way, it is only necessary to tighten the first clamping portion 4511 on the first transmission nut 432 and slidably insert the first engaging portion 4512 into the first annular groove to achieve a detachable connection between the first transmission nut 432 and the first slider 421; similarly, the detachable connection between the second transmission nut 433 and the second slider 422 can be achieved through the second connecting member 452, the detachable connection between the third transmission nut 442 and the third slider 423 can be achieved through the third connecting member 453, and the detachable connection between the fourth transmission nut 443 and the fourth slider 424 can be achieved through the fourth connecting member 454, so that the disassembly and assembly between the first transmission nut 432 and the first slider 421, the second transmission nut 433 and the second slider 422, the third transmission nut 442 and the third slider 423, and the fourth transmission nut 443 and the fourth slider 424 are more convenient, and effective transmission of power is achieved.

[0050] Furthermore, in some embodiments, the mechanical control assembly 400 further includes a sliding shaft 461 and a first sliding sleeve 462, a second sliding sleeve 463, a third sliding sleeve 464, and a fourth sliding sleeve 465 slidably sleeved on the sliding shaft 461. The sliding shaft 461 is parallel to and spaced from the first transmission shaft 431, the second transmission shaft 441, and the rotating shaft 410. The first connecting member 451, the second connecting member 452, the third connecting member 453, and the fourth connecting member 454 respectively have a fifth clamp portion 4513, a sixth clamp portion 4523, a seventh clamp portion 4533, and an eighth clamp portion 4543. The fifth clamp portion 4513, the sixth clamp portion 4523, the seventh clamp portion 4533, and the eighth clamp portion 4543 are respectively clamped on the first sliding sleeve 462, the second sliding sleeve 463, the third sliding sleeve 464, and the fourth sliding sleeve 465. Specifically, the rotating shaft 410 , the first transmission rod 4311 , and the sliding shaft 461 are distributed in a triangle, and the rotating shaft 410 , the second transmission rod 4411 , and the sliding shaft 461 are also distributed in a triangle.

[0051] In this way, the first sleeve 462, the second sleeve 463, the third sleeve 464, and the fourth sleeve 465 are slidably mounted on the sliding shaft 461, and the first sleeve 462 is detachably connected to the first slider 421 and the first transmission nut 432 respectively through the first connecting member 451, the second sleeve 463 is detachably connected to the second slider 422 and the second transmission nut 433 respectively through the second connecting member 452, the third sleeve 464 is detachably connected to the third slider 423 and the third transmission nut 442 respectively through the third connecting member 453, and the fourth sleeve 465 is detachably connected to the fourth slider 424 and the fourth transmission nut 443 respectively through the fourth connecting member 454, so as to ensure that the power of the first drive motor 510 can be stably transmitted to the first transmission nut 432 and the second transmission nut 433, and the power of the second drive motor 520 can be stably transmitted to the third transmission nut 442 and the fourth transmission nut 443, so that the operation accuracy of the multidimensional surgical robot arm 10 is higher.

[0052] In some embodiments, the pliers body 330 includes a first pliers head 331 and a second pliers head 332. One end of the pliers core 320 away from the operating handle 100 is respectively linked with the first pliers head 331 and the second pliers head 332. The operating handle 100 is configured to drive the pliers core 320 to move forward and backward in the outer tube 310 to drive the pliers mouth end of the first pliers head 331 and the pliers mouth end of the second pliers head 332 to open and close.

[0053] In actual application, the operator can move the pliers core 320 back and forth in the outer tube 310 by operating the handle 100 to push or pull the first pliers head 331 and the second pliers head 332 to rotate around the same axis to achieve the opening and closing action between the first pliers head 331 and the second pliers head 332, thereby realizing the grasping or cutting operation of the pliers head body 300.

[0054] Further, in some embodiments, the electric control assembly 500 further includes a rotating sleeve 550 rotatably mounted on the mounting frame 200 and a clamping strip 560 mounted on the rotating sleeve 550. A key slot 322 is provided at one end of the pliers core 320 away from the pliers head body 330. The pliers core 320 is inserted into the rotating sleeve 550, and one end of the clamping strip 560 is extended into the key slot 332 to drive the connection between the pliers core 320 and the rotating sleeve 550. In the axial direction of the rotating sleeve 550, the length of the key slot 332 is greater than the length of the clamping strip 560 located inside the key slot 332. The output shaft of the third drive motor 530 is drive-connected to the rotating sleeve 550 through the third transmission mechanism 570. The output shaft of the fourth drive motor 540 is drive-connected to the outer tube 310 through the fourth transmission mechanism 580.

[0055] Among them, the third transmission mechanism 570 and the fourth transmission mechanism 580 can be gear transmission mechanisms, sprocket chain transmission mechanisms, belt transmission mechanisms, etc., as long as they can transmit the rotational motion of the output shafts of their respective drive motors to the clamp core 320 or the outer tube 310.

[0056] The clamping strip 560 can be detachably connected to the rotating sleeve 550 by means of clamping, screwing, etc. Because the axial length of the key slot 332 in the rotating sleeve 550 is greater than the length of the clamping strip 560 in the key slot 332, the clamping strip 560 can slide in the axial direction of the rotating sleeve 550 in the key slot 332, but cannot slide in the circumferential direction of the rotating sleeve 550, so as to ensure that the pliers core 320 can realize axial sliding and circumferential transmission in the rotating sleeve 550.

[0057] Furthermore, in some embodiments, the third transmission mechanism 570 includes a first driving gear 571 drivingly connected to the output shaft of the third driving motor 530 and a first driven gear 572 drivingly connected to the rotating sleeve 550, and the first driving gear 571 is meshed with the first driven gear 572. The fourth transmission mechanism 580 includes a second driving gear 581 drivingly connected to the output shaft of the fourth driving motor 540 and a second driven gear 582 drivingly connected to the outer tube 310. The second driving gear 581 is meshed with the second driven gear 582.

[0058] The third transmission mechanism 570 and the fourth transmission mechanism 580 are both gear transmission mechanisms, and gear transmission has the advantages of accurate transmission, high efficiency, compact structure, reliable operation and long life. This can make the multi-dimensional surgical robot arm 10 have higher operating accuracy, more compact structure, longer service life and higher working reliability.

[0059] Furthermore, in some embodiments, a limit slot 551 is provided on the outer wall of the rotating sleeve 550. A connecting slot 552 aligned with the key slot 332 is provided at the bottom of the limit slot 551. The clamping strip 560 includes a limit portion 561 and a transmission portion 562. The limit portion 561 is clamped in the limit slot 551. The transmission portion 562 is sequentially inserted in the connecting slot 552 and the key slot 332, and can slide in the key slot 332 along the axial direction of the rotating sleeve 550.

[0060] By clamping the limiting part 562 in the limiting clamping groove 551, the installation position of the clamping strip 560 in the depth direction of the key groove 332 is limited, thereby avoiding the transmission part 562 from abutting against the bottom of the key groove 332. This ensures that the transmission part 562 can transmit the circumferential motion to the forceps core 320 while also being able to flexibly slide along the axial direction of the rotating sleeve 550 in the key groove 332, thereby improving the operational sensitivity and accuracy of the multi-dimensional surgical robot arm 10.

[0061] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A multi-dimensional surgical robot arm, characterized in that: It includes an operating handle, a mounting frame, a clamp head assembly, a mechanical control assembly and an electric control assembly; the operating handle is mounted on the mounting frame; The pliers assembly comprises an outer tube, a pliers core and a pliers body; one end of the outer tube is rotatably mounted on the mounting frame, and the other end is rotatably connected to the pliers body; the pliers core is inserted into the outer tube, one end is connected to the operating handle, and the other end is connected to the pliers body; the outer tube has a first movable section and a second movable section; the outer tube has a first side and a second side opposite to each other; The electric control component includes a first drive motor, a second drive motor, a third drive motor and a fourth drive motor; the first drive motor and the second drive motor are both in transmission connection with the mechanical control component; the mechanical control component is configured to be able to drive the first movable segment to bend in a direction away from the first side under the drive of the first drive motor, and to drive the second movable segment to bend in a direction away from the second side under the drive of the second drive motor; The third driving motor is used to drive the outer tube to rotate 360°; the fourth driving motor is used to drive the pliers core to drive the pliers head body to rotate 360°.

2. The multi-dimensional surgical robot arm according to claim 1, characterized in that: The outer tube includes a first straight tube section, a first snake tube section as a first movable section, a second straight tube section, a second snake tube section as a second movable section, and a joint tube section which are connected in sequence; the first straight tube section is rotatably mounted on the mounting frame; one end of the clamp head body is rotatably inserted into the joint tube section; The clamp head assembly also includes a first traction wire, a second traction wire, a third traction wire and a fourth traction wire; one end of the first traction wire and the second traction wire are respectively passed through the first snake bone tube section near the second side and near the first side, and the other ends are connected to the mechanical control assembly; one end of the third traction wire and the fourth traction wire are respectively passed through the second snake bone tube section near the second side and near the first side, and the other ends are connected to the mechanical control assembly; The mechanical control component is constructed to be able to simultaneously drive the first traction wire to pull back or push the first serpentine tube segment outward and the second traction wire to push outward or pull back the serpentine tube segment under the drive of the first drive motor, and to simultaneously drive the third traction wire to push outward or draw the second serpentine tube segment inward and the second traction wire to pull back or push outward the second serpentine tube segment under the drive of the second drive motor.

3. The multi-dimensional surgical robot arm according to claim 2, characterized in that: The mechanical control assembly includes a rotating shaft with a hollow cavity, a first slider, a second slider, a third slider, a fourth slider, a first transmission mechanism and a second transmission mechanism; the rotating shaft is rotatably mounted on the mounting frame, one end of which is transmission-connected to the first straight tube, and the other end of which is rotationally connected to the operating handle; the first slider, the second slider, the third slider and the fourth slider are slidably arranged on the rotating shaft in sequence; the first slider and the second slider are respectively connected to one end of the first traction wire and the second traction wire away from the first serpentine tube section; the third slider and the fourth slider are respectively connected to one end of the third traction wire and the fourth traction wire away from the second serpentine tube section; The first drive motor and the second drive motor are respectively connected to the first slider and the second slider through the first transmission mechanism, and are used to simultaneously drive the first slider and the second slider to slide toward or away from each other; the third drive motor and the fourth drive motor are respectively connected to the third slider and the fourth slider through the second transmission mechanism, and are used to simultaneously drive the third slider and the fourth slider to slide toward or away from each other.

4. The multi-dimensional surgical robot arm according to claim 3, characterized in that: The first transmission mechanism comprises a first transmission shaft having a forward external thread and a reverse external thread, a first transmission nut and a second transmission nut; the first transmission nut and the second transmission nut are respectively threadedly connected with the forward external thread and the reverse external thread of the first transmission shaft, and are respectively fixed with the first slider and the second slider; one end of the first transmission shaft is drivingly connected with the output shaft of the first drive motor; The second transmission mechanism includes a second transmission shaft having a forward external thread and a reverse external thread, a third transmission nut and a fourth transmission nut; the third transmission nut and the fourth transmission nut are respectively threadedly connected to the forward external thread and the reverse external thread of the second transmission shaft, and are respectively fixed to the third slider and the fourth slider; one end of the second transmission shaft is transmission-connected to the output shaft of the second drive motor.

5. The multi-dimensional surgical robot arm according to claim 4, characterized in that: The first transmission shaft comprises a first transmission rod drivingly connected to the output shaft of the first driving motor, a first forward screw sleeve detachably fixed to the first transmission rod and having a forward external thread, and a first reverse screw sleeve detachably fixed to the first transmission rod and having a reverse external thread; The second transmission shaft includes a second transmission rod drivingly connected to the output shaft of the second drive motor, a second forward screw sleeve detachably fixed to the second transmission rod and having a forward external thread, and a second reverse screw sleeve detachably fixed to the second transmission rod and having a reverse external thread.

6. The multi-dimensional surgical robot arm according to claim 4, characterized in that: The mechanical control assembly also includes a first connecting member having a first clamp portion and a first clamping portion, a second connecting member having a second clamp portion and a second clamping portion, a third connecting member having a third clamp portion and a third clamping portion, and a fourth connecting member having a fourth clamp portion and a fourth clamping portion; The first slider, the second slider, the third slider and the fourth slider are respectively formed with a first annular groove, a second annular groove, a third annular groove and a fourth annular groove along their respective circumferential directions; the first clamp portion, the second clamp portion, the third clamp portion and the fourth clamp portion are respectively clamped on the first transmission nut, the second transmission nut, the third transmission nut and the fourth transmission nut; the first clamp portion, the second clamp portion, the third clamp portion and the fourth clamp portion are respectively slidably clamped in the first annular groove, the second annular groove, the third annular groove and the fourth annular groove.

7. The multi-dimensional surgical robot arm according to claim 6, characterized in that: The mechanical control component also includes a sliding shaft and a first sliding sleeve, a second sliding sleeve, a third sliding sleeve, and a fourth sliding sleeve slidably mounted on the sliding shaft; the sliding shaft is parallel to the first transmission shaft, the second transmission shaft, and the rotating shaft and are spaced apart; the first connecting member, the second connecting member, the third connecting member, and the fourth connecting member respectively have a fifth clamp portion, a sixth clamp portion, a seventh clamp portion, and an eighth clamp portion; the fifth clamp portion, the sixth clamp portion, the seventh clamp portion, and the eighth clamp portion are respectively clamped on the first sliding sleeve, the second sliding sleeve, the third sliding sleeve, and the fourth sliding sleeve.

8. The multi-dimensional surgical robot arm according to claim 1, characterized in that: The pliers body includes a first pliers head and a second pliers head; one end of the pliers core away from the operating handle is linked with the first pliers head and the second pliers head respectively; the operating handle is constructed to be able to drive the pliers core to move back and forth in the outer tube to drive the pliers mouth end of the first pliers head and the pliers mouth end of the second pliers head to open and close.

9. The multi-dimensional surgical robot arm according to claim 8, characterized in that: The electronic control component also includes a rotating sleeve rotatably mounted on the mounting frame and a clamping strip mounted on the rotating sleeve; a key slot is provided at one end of the pliers core away from the pliers head body; the pliers core is inserted into the rotating sleeve, and one end of the clamping strip is extended into the key slot to transmission connect the pliers core and the rotating sleeve; in the axial direction of the rotating sleeve, the length of the key slot is greater than the length of the portion of the clamping strip located in the key slot; the output shaft of the third drive motor is transmission connected to the rotating sleeve through a third transmission mechanism; the output shaft of the fourth drive motor is transmission connected to the outer tube through a fourth transmission mechanism.

10. The multi-dimensional surgical robot arm according to claim 9, characterized in that: The third transmission mechanism comprises a first driving gear transmission-connected to the output shaft of the third driving motor and a first driven gear transmission-connected to the rotating sleeve, and the first driving gear meshes with the first driven gear; the fourth transmission mechanism comprises a second driving gear transmission-connected to the output shaft of the fourth driving motor and a second driven gear transmission-connected to the outer tube; the second driving gear meshes with the second driven gear; and / or A limit slot is provided on the outer wall of the rotating sleeve; a connecting slot aligned with the key slot is provided at the bottom of the limit slot; the clamping strip includes a limit portion and a transmission portion; the limit portion is clamped in the limit slot; the transmission portion is sequentially inserted into the limit slot and the key slot, and can slide in the key slot along the axial direction of the rotating sleeve.

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