Mechanical arm system and surgical robot

Abstract

The utility model provides a mechanical arm system and a surgical robot, and the mechanical arm system is used for the surgical robot. The mechanical arm system comprises a stand column, at least one first mechanical arm and at least one second mechanical arm. The first mechanical arm and the second mechanical arm are installed on the stand column and located on the two sides of the center plane correspondingly. The central plane passes through the longitudinal central axis of the stand column. The first robot arm and the second robot arm each comprise an adjusting arm and an operating arm, and the adjusting arm is pivotally connected to the stand column around a first axis. The operating arm is pivotally connected to the adjustment arm about a second axis, the operating arm for holding and manipulating a surgical instrument. The operation arm of the first mechanical arm and the operation arm of the second mechanical arm are in mirror symmetry. The movement space of the first operation arm and the second operation arm which are located on the two sides of the center plane respectively is increased, and collision between the adjacent operation arms in the using process is reduced.

Description

Technical Field

[0001] The utility model generally relates to the technical field of medical instruments, and more specifically to a mechanical arm system and a surgical robot. Background Art

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

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

[0004] Since the RCM point is usually set as a small hole opened in the patient's abdomen, and the small hole is usually selected at a position close to the lesion for the convenience of surgery, the arrangement of the RCM points is relatively dense for multi-hole surgery. In addition, since the transmission mechanism inside the robotic arm requires more parts and the rigidity requirement of the robotic arm is high, the size of the robotic arm is usually large. These make it easy for each robotic arm to collide with other robotic arms when driving surgical instruments to perform surgical operations, reducing the safety of the operation and limiting the flexibility of the operation.

[0005] Therefore, it is necessary to provide a robotic arm system and a surgical robot to at least partially solve the above problems. Utility Model Content

[0006] A series of simplified concepts are introduced in the utility model content section, which will be further described in detail in the detailed implementation section. The utility model content section of the utility model does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0007] In order to at least partially solve the above problems, the first aspect of the utility model provides a robotic arm system for a surgical robot, the robotic arm system comprising a column, at least one first robotic arm and at least one second robotic arm, the first robotic arm and the second robotic arm are mounted on the column and are respectively located on both sides of a central plane, the central plane passes through the longitudinal central axis of the column, the first robotic arm and the second robotic arm each comprising:

[0008] an adjustment arm pivotally connected to the column about a first axis; and

[0009] an operating arm, the operating arm being pivotally connected to the adjustment arm about a second axis, the operating arm being used to hold and manipulate a surgical instrument;

[0010] Wherein, the operating arm of the first robotic arm and the operating arm of the second robotic arm are mirror-symmetrical.

[0011] Optionally, the adjustment arm is movably mounted to the column such that the adjustment arm can move relative to the column along a longitudinal center axis of the column.

[0012] Optionally, the robotic arm system comprises:

[0013] At least two of the first mechanical arms are spaced apart along the longitudinal center axis of the column; and / or

[0014] At least two of the second mechanical arms are spaced apart and distributed along the longitudinal center axis of the column.

[0015] Optionally, the adjustment arm comprises at least two first arm rods pivotally connected in sequence, a brake is provided at the connecting joint of two adjacent first arm rods for preventing the two adjacent first arm rods from rotating relative to each other, and the rotation axis of the first arm rod is parallel to the first axis.

[0016] Optionally, a first driver is provided at a connection joint of two adjacent first arm rods, for driving the two adjacent first arm rods to rotate relative to each other.

[0017] Optionally, the robotic arm system comprises:

[0018] At least two of the first mechanical arms are spaced apart along the circumference of the column, and the number and / or length of the first arm rods of at least two of the first mechanical arms decrease along the circumference of the column toward the central plane; and / or

[0019] At least two of the second robotic arms are spaced apart along the circumference of the column, and the number and / or length of the first arm rods of the at least two of the second robotic arms decreases along the circumference of the column toward the central plane.

[0020] Optionally, the operating arm comprises at least two second arm rods pivotally connected in sequence, and the at least two second arm rods are arranged in sequence along a direction approaching the central plane.

[0021] Optionally, the operating arm includes four second arms pivotally connected in sequence, the second arm arranged at the distal end of the adjustment arm is used to install the surgical instrument, the four second arms are configured as a parallelogram linkage mechanism, so that the surgical instrument can rotate around a third axis, the third axis and the second axis intersect at a distal point, and the four second arms are driven by a pulley device.

[0022] Optionally, the operating arm also includes a second driver and a third driver, the second driver is arranged at the proximal end of the operating arm, the second driver is used to drive the pulley device, and the third driver is arranged at the distal end of the adjustment arm, the third driver is used to drive the operating arm to rotate around the second axis relative to the adjustment arm.

[0023] Optionally, the column has four mounting planes extending parallel to the longitudinal center axis of the column, and the four mounting planes are symmetrically distributed relative to the center plane.

[0024] The robotic arm system includes two of the first robotic arms and two of the second robotic arms, and the two of the first robotic arms and the two of the second robotic arms are respectively installed on the four installation planes.

[0025] A second aspect of the present invention provides a surgical robot, which comprises the robotic arm system according to the first aspect of the present invention.

[0026] Details of one or more embodiments of the present invention are set forth in the following drawings and description. Other features, objects, and advantages of the present invention will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following drawings of the embodiments of the present invention are used as part of the present invention for understanding the present invention. The drawings show the embodiments of the present invention and their descriptions, and are used to explain the principles of the present invention. In the drawings,

[0028] Figure 1 is a schematic diagram of the three-dimensional structure of a surgical robot according to a preferred embodiment of the utility model;

[0029] Figure 2 for Figure 1 The schematic diagram of the structure of the surgical robot in a top-down view;

[0030] Figure 3is a partial structural schematic diagram of a state of an operating arm according to an embodiment of the utility model; and

[0031] Figure 4 It is a schematic diagram of the three-dimensional structure of a robotic arm system according to a second preferred embodiment of the utility model, in which only the operating arm of the first robotic arm and the operating arm of the second robotic arm are shown.

[0032] Description of reference numerals:

[0033] 10: Robotic arm system 11: Base

[0034] 12: Column 13: Handle

[0035] 100: Robotic arm 101: First robot arm

[0036] 102: Second robot arm 110: Adjustment arm

[0037] 111: First arm 120: Operating arm

[0038] 121: Second arm 130: Base

[0039] 140: Equipment support frame 151: First drive

[0040] 152: Second driver 153: Third driver

[0041] AX0: longitudinal center axis AX1: first axis

[0042] AX2: Second axis AX3: Third axis

[0043] AX4: Fourth axis R: Far center point

[0044] D: vertical direction F: center plane

[0045] F': Symmetrical plane P: Mounting plane DETAILED DESCRIPTION

[0046] In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

[0047] In order to thoroughly understand the implementation of the utility model, a detailed structure will be presented in the following description. Obviously, the implementation of the utility model is not limited to the specific details familiar to those skilled in the art. The preferred implementation of the utility model is described in detail below, but in addition to these detailed descriptions, the utility model can also have other implementations and should not be interpreted as being limited to the implementations presented here.

[0048] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present invention. The singular forms "a", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof. The terms "upper", "lower", "front", "back", "left", "right" and similar expressions used in the present invention are for illustrative purposes only, indicating the relative positional relationship between the relevant parts, and do not limit the absolute positions of these relevant parts.

[0049] In this document, “equal”, “same”, etc. are not strictly limited in mathematical and / or geometric senses, but also include errors that can be understood by those skilled in the art and allowed by manufacturing or use.

[0050] Unless otherwise stated, the numerical ranges herein include not only the entire range within its two endpoints but also include several sub-ranges contained therein.

[0051] Ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of the "second component", and the term "second component" itself does not imply the existence of the "first component".

[0052] Hereinafter, specific embodiments of the present invention will be described in more detail with reference to the accompanying drawings. These drawings show representative embodiments of the present invention and are not intended to limit the present invention.

[0053] The surgical robot according to the embodiment of the utility model is a robot that can be remotely controlled to complete surgery. The surgical robot may include a surgical console, a robotic arm system 10 and a visual system, and the three can communicate with each other.

[0054] The surgical console is the core part of the surgical robot. The surgeon controls the surgical robot remotely through the console. The console is usually equipped with a high-definition display screen, allowing the doctor to observe the image of the surgical area in real time. The console is also equipped with various operating buttons and handles, which can accurately control the movement of the robot and the movement of surgical instruments to complete human-machine interaction.

[0055] The video system is the "eye" of the surgical robot. It can transmit real-time images of the surgical area to the display screen on the surgical console, allowing the doctor to clearly see the situation in the surgical area. The video system usually includes a camera and an image transmission device. The camera is used to capture the image of the surgical area, and the image transmission device transmits the image in real time to the console.

[0056] The robotic arm system 10 is usually a surgical vehicle equipped with a robotic arm 100, which is an important component of the surgical robot. The robotic arm 100 is the core mechanical structure of the surgical vehicle and is used to hold surgical instruments on the patient side to perform surgical operations. Figures 1 to 4 The structure of the robot arm system 10 of the present invention is described.

[0057] like Figures 1 to 4 As shown, a robotic arm system 10 according to an embodiment of the present invention.

[0058] The robot arm system 10 includes a column 12 and a robot arm 100, and the robot arm 100 is installed on the column 12. The robot arm 100 includes an adjustment arm 110 and an operating arm 120 connected to each other. The operating arm 120 is used to hold and manipulate surgical instruments, and the adjustment arm 110 can adjust the position of the operating arm 120 in space. The adjustment arm 110 is connected to the column 12 and can pivot relative to the column 12 around a first axis AX1. The operating arm 120 is connected to the adjustment arm 110 and can pivot relative to the adjustment arm 110 around a second axis AX2.

[0059] The robot arm 100 according to the utility model includes at least one first robot arm 101 and at least one second robot arm 102. The first robot arm 101 and the second robot arm 102 are respectively located on both sides of the center plane F. The center plane F is a plane passing through the longitudinal center axis AX0 of the column 12. The operating arm 120 of the first robot arm 101 and the operating arm 120 of the second robot arm 102 are mirror-symmetrical. That is, the operating arm 120 of the first robot arm 101 and the operating arm 120 of the second robot arm 102 are not completely identical in structure, but are arranged to be mirror-symmetrical.

[0060] by Figure 2Taking the example shown, two of the second arms 121 of the operating arm 120 of the first robot arm 101 are marked as arm A1 and arm B1, and arm B1 is connected to the right side of arm A1; two of the second arms 121 of the operating arm 120 of the second robot arm 102 are marked as arm A2 and arm B2, and arm B2 is connected to the left side of arm A2; wherein arm A1 and arm A2 are mirror-symmetrical, and arm B1 and arm B2 are mirror-symmetrical.

[0061] by Figure 4 As shown in the example, each operating arm 120 includes at least two second arm rods 121 pivotally connected in sequence, and the at least two second arm rods 121 are connected in the thickness direction (a direction perpendicular to the extension direction of the second arm rod 121, Figure 4 In the example shown, the second arms 121 are flat and narrow strips (the second arms 121 are rotatably connected in sequence, so that two adjacent second arms 121 can rotate relative to each other around an axis parallel to the thickness direction. The operating arm 120 of the first robot arm 101 and the operating arm 120 of the second robot arm 102 are mirror-symmetrical, which means that the structure of the operating arm 120 of the first robot arm 101 is symmetrical with the structure of the operating arm 120 of the second robot arm 102 with the plane perpendicular to the thickness direction as the symmetry plane F'.

[0062] It should be noted that Figure 1 and 2 The robot arms 100 of the robot arm system 10 shown are in a certain position, in which the position of the first robot arm 101 and the position of the second robot arm 102 are symmetrically distributed relative to the central plane F. In the actual operation process of the robot arm system 10, the position of each robot arm 100 needs to be adjusted according to actual needs.

[0063] The utility model sets the operating arm 120 of the first robotic arm 101 and the operating arm 120 of the second robotic arm 102 to be mirror-symmetrical, which helps to increase the distance between the proximal ends of the operating arms 120, thereby increasing the activity space of the operating arms 120 and reducing collisions between the operating arms 120 during use. At the same time, it can also meet the needs of gathering the distal ends of the operating arms 120, making it easy for the distal ends of each operating arm 120 to approach the target position (such as the lesion position) for operation in actual use.

[0064] In this document, “proximal end” refers to an end close to the column 12 , and “distal end” refers to an end away from the column 12 .

[0065] Specifically, the adjustment arm 110 includes at least two first arm rods 111 that are pivotally connected in sequence. The rotation axis of the first arm rod 111 is parallel to the first axis AX1.

[0066] Exemplarily, a brake (not shown) is provided at the connection joint of two adjacent first arms 111, and the brake is used to prevent the two adjacent first arms 111 from rotating relative to each other. In some application scenarios, after the adjustment arm 110 is adjusted into place, the brake can be operated to keep each connection joint locked, thereby preventing the adjustment arm 110 from driving the operating arm 120 to move. A first driver 151 can also be provided at the connection joint of two adjacent first arms 111. The first driver 151 can be used to drive the two adjacent first arms 111 to rotate relative to each other. Each first arm 111 of the adjustment arm 110 can move independently under the action of the brake and the first driver 151, so that the positioning of the entire robot arm 100 is more flexible. Exemplarily, the first driver 151 can select a motor. Of course, the first driver 151 can also be not provided, and each first arm 111 can be operated manually.

[0067] It can be understood that when the distal end of the adjustment arm 110 (the end away from the column 12) rotates around an axis parallel to the first axis AX1, the operating arm 120 can be driven to rotate synchronously. Figure 1 , the operating arm 120 is connected to the adjustment arm 110 through the base 130. The base 130 can pivot relative to the distal end of the adjustment arm 110 about an axis parallel to the first axis AX1, so that the operating arm 120 and the base 130 as a whole can pivot relative to the adjustment arm 110 about a direction parallel to the first axis AX1. The operating arm 120 can pivot relative to the base 130 about a second axis AX2.

[0068] Specifically, at least two second arm rods 121 of the operating arm 120 are arranged in sequence along a direction close to the central plane F. Figure 2 The operating arm 120 includes an adjacent arm A and an arm B, wherein one end of the arm A is used to be connected to the adjustment arm 110, and the other end of the arm A is connected to the arm B. The arm B is located on one side of the arm A close to the center plane F.

[0069] Therefore, for the first robot arm 101 and the second robot arm 102 located on both sides of the central plane F, the positional relationship between two adjacent second arm rods 121 in the respective operating arms 120 is different.

[0070] like Figure 2 In the positioning of the robot arm system 10 shown, the parts of the operating arm 120 on both sides of the center plane F are symmetrically distributed about the center plane F. Figure 2In the embodiment, when the arm B1 of the robot arm L1 and the arm B2 of the robot arm R1 are close to each other, there is a large distance between the arm A1 of the robot arm L1 and the arm A2 of the robot arm R1. When adjusting the second arm 121 at the distal end of the robot arm L1 and the robot arm R1 (adjusting the position of the surgical instrument), interference and collision between other second arm 121 in the operating arms 120 of the robot arm L1 and the robot arm R1 can be avoided.

[0071] Exemplarily, the operating arm 120 includes four second arm rods 121 pivotally connected in sequence from the proximal end to the distal end. Among them, the second arm rod 121 disposed at the distal end of the adjustment arm 110 is used to install the surgical instrument. The four second arm rods 121 are configured as a parallelogram linkage mechanism so that the surgical instrument can rotate around the third axis AX3. The third axis AX3 and the second axis AX2 intersect at the distal point R. For example, the second arm rod 121 disposed at the distal end of the adjustment arm 110 can be configured as an instrument support frame 140 for installing the surgical instrument. The surgical instrument can move along the fourth axis AX4, and the fourth axis AX4 passes through the distal point R. Figure 3 In the embodiment, the third axis AX3 is perpendicular to a plane formed by the second axis AX2 and the fourth axis AX4.

[0072] refer to Figure 3 , the four second arms 121 can be driven by a pulley device. The operating arm 120 also includes a second driver 152 and a third driver 153. The second driver 152 can be arranged at the proximal end of the operating arm 120, and is used to drive the pulley device, so that the four second arms 121 rotate, driving the surgical instrument to rotate around the third axis AX3. The third driver 153 can be arranged at the distal end of the adjustment arm 110, for example, it can be arranged in the base 130 connected to the distal end of the adjustment arm 110, and is used to drive the operating arm 120 to rotate relative to the adjustment arm 110 around the second axis AX2. Exemplarily, the second driver 152 can be a motor. The third driver 153 can be a motor. It is known to those skilled in the art that the parallelogram linkage mechanism is a connecting rod structure for locking the position of the distal point R, ensuring that the surgical instrument always passes through the distal point R. The detailed structure of the operating arm 120 and the pulley device of the parallelogram linkage mechanism will not be described in detail here.

[0073] It can be understood that in this embodiment, the robot arm 100 includes an operating arm 120, an adjustment arm 110, and various brakes and drivers, so that each robot arm 100 has a certain spatial volume. When the robot arm system 10 is working, it may be necessary to move the operating arm 120 part of each of the first robot arm 101 and the second robot arm 102 to a position close to the center plane F. In the utility model, the operating arm 120 part of the first robot arm 101 and the operating arm 120 part of the second robot arm 102 are arranged to be symmetrically distributed relative to the center plane F, which can increase the activity space of the operating arm 120. For example, when the operating arm 120 performs pitch and yaw movements, the risk of collision with other robot arms 100 can be reduced, and the flexibility is higher.

[0074] Optionally, the first axis AX1 may be parallel to the longitudinal center axis AX0 of the column 12. Figure 1 and Figure 2 As shown, in this embodiment, the column 12 is extended along the vertical direction D, and the longitudinal center axis AX0 of the column 12 is parallel to the vertical direction D. That is, the first axis AX1 also extends along the vertical direction D. At this time, the pivoting area of ​​the adjustment arm 110 of the robot 100 (including the first robot arm 101 and the second robot arm 102) is a horizontal space area, so that the position of the operating arm 120 can be adjusted in the horizontal direction.

[0075] The adjustment arm 110 is mounted to the column 12. Optionally, the adjustment arm 110 can move relative to the column 12 along the longitudinal center axis AX0 of the column 12. That is, the installation position of each robot arm 100 on the column 12 can be flexibly adjusted in the extension direction of the column 12 (e.g., the vertical direction D), so that the position of the operating arm 120 can be adjusted in the vertical direction D, that is, the height of the operating arm 120 can be adjusted. Therefore, the position of the robot arm 100 can be adjusted and moved according to actual use needs.

[0076] Specifically, a moving track and a limiting device can be provided on the column 12 to realize the movement of the adjustment arm 110. The adjustment arm 110 can be connected to the moving track by a pivot device, and the robot arm 100 can move along the moving track as a whole. The limiting device can be used to limit the relative position of the robot arm 100 and the moving track. Those skilled in the art can flexibly select the connection method and the connection device of the adjustment arm 110 and the column 12, so that the adjustment arm 110 can not only pivot relative to the column 12 around the first axis AX1, but also drive the operating arm 120 to move as a whole along the longitudinal center axis AX0 of the column 12.

[0077] Because the robot system 10 includes at least two robot arms 100, the adjustment arms 110 of the robot arms 100 move, so that the pivoting areas of the adjustment arms 110 of the robot arms 100 in the robot system 10 are spaced apart and distributed along the extension direction of the longitudinal center axis AX0. This can reduce or avoid interference between the adjustment arms 110 of the robot arms 100 when the robot system 10 is working.

[0078] Furthermore, when the number of the robotic arms 100 located on either side of the center plane F is two or more, the robotic arms 100 located on the same side of the center plane F can be spaced apart along the extension direction of the longitudinal center axis AX0 of the column 12 and the circumferential direction of the column 12, thereby reducing interference between the adjustment arms 110 of two adjacent robotic arms 100 located on the same side of the center plane F when the robotic arm system 10 is working.

[0079] The spacing arrangement along the circumferential direction of the column 12 refers to the arrangement around the longitudinal center axis AX0. It can be understood that when the robot arm system 10 is in use, the target operating position is usually a roughly middle position, which corresponds to a position close to the center plane F in the present invention.

[0080] Exemplarily, the robot system 10 may include at least two first robot arms 101. Optionally, when there are at least two first robot arms 101, the at least two first robot arms 101 are spaced apart along the longitudinal center axis AX0 of the column 12. The first robot arms 101 may also be spaced apart along the circumference of the column 12. Further, the pivoting spaces of the respective adjustment arms 110 of the first robot arms 101 are separated to avoid interference when the robot system 10 is working.

[0081] The robot system 10 may further include at least two second robot arms 102. Similarly, when there are at least two second robot arms 102, the at least two second robot arms 102 may be spaced apart along the longitudinal center axis AX0 of the column 12. The second robot arms 102 may also be spaced apart along the circumference of the column 12. Further, the pivoting spaces of the respective adjustment arms 110 of the second robot arms 102 are separated to avoid interference when the robot system 10 is working.

[0082] See also Figure 1 and Figure 2 In this embodiment, the first robot arm 101 is located on the left side of the center plane F. The second robot arm 102 is located on the right side of the center plane F.

[0083] The robot system 10 includes two first robot arms 101 (respectively, robot arm L1 and robot arm L2). The first axis AX1 is parallel to the longitudinal center axis AX0 of the column 12. The two first robot arms 101 are spaced apart along the extension direction of the longitudinal center axis AX0 of the column 12 and the circumferential direction of the column 12. The robot system 10 also includes two second robot arms 102 (respectively, robot arm R1 and robot arm R2). The two second robot arms 102 are spaced apart along the extension direction of the longitudinal center axis AX0 of the column 12 and the circumferential direction of the column 12.

[0084] like Figure 2 In the positioning of the robot system 10 shown, the two second robot arms 102 and the two first robot arms 101 are symmetrically distributed relative to the central plane F. Among them, the robot arm L1 and the robot arm R1 are symmetrical relative to the central plane F, and the robot arm L2 and the robot arm R2 are symmetrical relative to the central plane F. The positioning of the adjustment arm 110 of the first robot arm 101 and the positioning of the adjustment arm 110 of the second robot arm 102 are also symmetrically distributed.

[0085] refer to Figure 1 and Figure 2 When at least two first robotic arms 101 are spaced apart around the longitudinal center axis AX0, the distances that the operating arms 120 of each first robotic arm 101 need to rotate to pivot to the center plane F are different: when each first robotic arm 101 swings until the corresponding operating arm 120 reaches the target operating position, the swing range of the adjustment arm 110 of the first robotic arm 101 that is closer to the center plane F (inner side) is significantly smaller.

[0086] Therefore, the number and / or length of the first arm 111 of each first robotic arm 101 may be set to be different. Similarly, the number and / or length of the first arm 111 of each second robotic arm 102 may be set to be different. On the one hand, it is more convenient for the robotic arms 100 (the first robotic arm 101 and the second robotic arm 102) to be positioned, and on the other hand, it also reduces the collision interference of the robotic arms 100 on both sides of the central plane F when positioning.

[0087] Specifically, along the circumference of the column 12 toward the center plane F, the number and / or length of the first arms 111 of at least two first robotic arms 101 decreases. Along the circumference of the column 12 toward the center plane F, the number and / or length of the first arms 111 of at least two second robotic arms 102 decreases.

[0088] For example, the first arm 111 of the first robot 101 closer to the center plane F along the circumferential direction of the column 12 is less in number and / or shorter in length. Similarly, the first arm 111 of the second robot 102 closer to the center plane F along the circumferential direction of the column 12 is less in number and / or shorter in length.

[0089] See also Figure 2 Taking the first robot arm 101 as an example, the first robot arm 101 includes a robot arm L1 and a robot arm L2, wherein the robot arm L1 is located close to the central plane F. Figure 1 and Figure 2 As shown, from a front view or a top view of the robot system 10 , the robot arm L1 is located on the inner side (the side close to the center plane F) of the robot arm L2 .

[0090] The number of first arms 111 of robot L1 is 2, and the number of first arms 111 of robot L2 is 3. The number of first arms 111 of robot L1 is smaller than that of first arms 111 of robot L2. Also, the length of first arms 111 of robot L1 is smaller than that of first arms 111 of robot L2.

[0091] Optionally, the column 12 has four mounting planes P for mounting the robot arms 100. The mounting planes P are parallel to the longitudinal center axis AX0 of the column 12. The four mounting planes P are symmetrically distributed relative to the center plane F. The two first robot arms 101 and the two second robot arms 102 are respectively mounted on the four mounting planes P. Figure 2 As shown, the column 12 is generally in the shape of a square column, and the center plane F passes through the opposite corners of the square (see Figure 1 The column 12 extends along the vertical direction D, and the four surfaces of the column 12 in the circumferential direction can be respectively configured as mounting planes P (such as Figure 2 ). The flat surface can facilitate the installation of the robot arm 100.

[0092] Optionally, the robot system 10 also includes a base 11, and the column 12 is installed on the base 11. The base 11 is mainly used to position the robot system 10 before surgery, so as to achieve the preliminary positioning of the robot 100 before surgery. In the illustrated example, the base 11 can be placed on the ground, for example, the bottom of the base 11 can be provided with wheels for easy movement. A handle 13 can also be provided on the base 11, and the operator can use the handle 13 to assist in completing the movement of the base 11. In this embodiment, the handle 13 is located on the back side of the robot system 10. It can be understood that in this article, the back of the robot system 10 refers to the side away from the target operating position, the front of the robot system 10 is the side facing the target operating position (such as the lesion position), and the operating arm 120 is usually arranged on the front of the robot system 10.

[0093] In another example, the base 11 can also be suspended from a wall or ceiling, for example, the base 11 can be installed on a wall or ceiling via a guide rail for ease of movement. In another example, the base 11 can also be installed on an operating table, or integrated into an operating table.

[0094] The second aspect of the present invention provides a surgical robot, which includes the robotic arm system 10 according to the first aspect of the present invention. Therefore, the surgical robot has similar technical effects to the above-mentioned robotic arm system 10, which will not be described in detail here.

[0095] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. Terms such as "setting" appearing in this article may indicate that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0096] The utility model has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the utility model to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the utility model, and these variations and modifications all fall within the scope of the protection claimed by the utility model.

Claims

1. A robotic arm system for a surgical robot, characterized in that: The robotic arm system comprises a column, at least one first robotic arm and at least one second robotic arm, wherein the first robotic arm and the second robotic arm are mounted on the column and are respectively located on both sides of a central plane, wherein the central plane passes through a longitudinal central axis of the column, and each of the first robotic arm and the second robotic arm comprises: an adjustment arm pivotally connected to the column about a first axis; and an operating arm, the operating arm being pivotally connected to the adjustment arm about a second axis, the operating arm being used to hold and manipulate a surgical instrument; Wherein, the operating arm of the first robotic arm and the operating arm of the second robotic arm are mirror-symmetrical.

2. The robotic arm system according to claim 1, characterized in that: The adjustment arm is movably mounted to the post such that the adjustment arm is movable relative to the post along a longitudinal center axis of the post.

3. The robotic arm system according to claim 1, characterized in that: The robotic arm system comprises: At least two of the first mechanical arms are spaced apart along the longitudinal center axis of the column; and / or At least two of the second mechanical arms are spaced apart and distributed along the longitudinal center axis of the column.

4. The robotic arm system according to claim 1, characterized in that: The adjusting arm comprises at least two first arms pivotally connected in sequence, a brake is provided at the connecting joint of two adjacent first arms for preventing the two adjacent first arms from rotating relative to each other, and the rotation axis of the first arm is parallel to the first axis.

5. The robotic arm system according to claim 4, characterized in that: A first driver is provided at a connection joint of two adjacent first arm rods, for driving the two adjacent first arm rods to rotate relative to each other.

6. The robotic arm system according to claim 4, characterized in that: The robotic arm system comprises: At least two of the first mechanical arms are spaced apart along the circumference of the column, and the number and / or length of the first arm rods of at least two of the first mechanical arms decrease along the circumference of the column toward the central plane; and / or At least two of the second robotic arms are spaced apart along the circumference of the column, and the number and / or length of the first arm rods of the at least two of the second robotic arms decreases along the circumference of the column toward the central plane.

7. The robot arm system according to any one of claims 1 to 6, characterized in that: The operating arm comprises at least two second arm rods which are pivotally connected in sequence, and the at least two second arm rods are arranged in sequence along a direction close to the central plane.

8. The robotic arm system according to claim 7, characterized in that: The operating arm includes four second arms pivotally connected in sequence. The second arm arranged at the distal end of the adjustment arm is used to install the surgical instrument. The four second arms are constructed into a parallelogram linkage mechanism so that the surgical instrument can rotate around a third axis. The third axis and the second axis intersect at a distal point. The four second arms are driven by a pulley device.

9. The robotic arm system according to claim 8, characterized in that: The operating arm also includes a second driver and a third driver, wherein the second driver is arranged at the proximal end of the operating arm and is used to drive the pulley device, and the third driver is arranged at the distal end of the adjustment arm and is used to drive the operating arm to rotate around the second axis relative to the adjustment arm.

10. The robot arm system according to any one of claims 1 to 6, characterized in that: The column has four mounting planes extending parallel to the longitudinal center axis of the column, and the four mounting planes are symmetrically distributed relative to the center plane. The robotic arm system includes two of the first robotic arms and two of the second robotic arms, and the two of the first robotic arms and the two of the second robotic arms are respectively installed on the four installation planes.

11. A surgical robot, characterized in that: The surgical robot comprises a robotic arm system according to any one of claims 1 to 10.

Images