Slave end executing mechanism, mechanical arm and surgical robot

Abstract

The utility model discloses a slave end executing mechanism, a mechanical arm and a surgical robot. The slave end executing mechanism comprises a driving unit, a telescopic unit and a hoisting unit. The driving unit comprises a mechanism body, a driving device, a first transmission assembly connected with the driving device and a first guide part. The telescopic unit comprises a telescopic body, a second transmission assembly connected with the first transmission assembly and a second guide part. The telescopic body is located in the containing cavity of the mechanism body and movably arranged on the first guide part. The driving device drives the telescopic body to linearly move. The second transmission assembly is arranged on the telescopic body and connected with the first transmission assembly. The hoisting unit is connected with the second transmission assembly, located below the telescopic unit and movably arranged on the second guide part, the driving device drives the hoisting unit to linearly move, and the telescopic unit and the hoisting unit are the same in moving direction. The slave end executing mechanism can fully adapt to the compact space beside an affected part through the vertical stacking layout mode, and the stability and the propelling precision are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and in particular to a slave end actuator, a mechanical arm and a surgical robot. Background Art

[0002] During interventional angiography, DSA emits X-rays, which can cause doctors’ physical strength to decline quickly, making it easy for mistakes to occur during surgery, which can affect their health. Long-term work in this situation can increase doctors’ chances of developing leukemia and cancer, affecting their health. Robotic interventional surgery can solve the above problems and is a future trend.

[0003] During the process of interventional surgery performed by the robot, the actuator at the end replaces the doctor to transport the guidewire, catheter and other related surgical equipment into the patient's body. The transportation distance varies according to different surgical procedures, so a propulsion mechanism with a longer stroke is required.

[0004] Some existing slave actuators currently use a two-stage telescopic structure to increase the propulsion stroke, such as the use of double screws. However, the propulsion accuracy and stability of such mechanisms are insufficient, which places higher demands on the doctor's operation. In addition, the size is large, and the space around the patient is limited (for example, such interventional surgeries are mostly performed from the femoral artery, and the equipment needs to be placed in the narrow space between the patient's legs), which also affects installation.

[0005] Therefore, a slave-end actuator, a robotic arm, and a surgical robot are needed 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 present utility model provides a slave end actuator for a surgical robot, the slave end actuator comprising:

[0008] A drive unit, the drive unit comprising:

[0009] The mechanism body has a linearly extending accommodation cavity,

[0010] A driving device, wherein the driving device is arranged on the mechanism body,

[0011] a first transmission assembly, the first transmission assembly being disposed in the accommodating chamber and connected to the driving device,

[0012] A first guide portion, the first guide portion is disposed on the mechanism body and extends linearly;

[0013] A telescopic unit, the telescopic unit comprising:

[0014] a telescopic body, wherein the telescopic body is at least partially located in the accommodating cavity and is movably arranged on the first guide portion, the telescopic body is connected to the first transmission assembly, and the driving device is used to drive the telescopic body to move linearly relative to the first guide portion.

[0015] a second transmission assembly, the second transmission assembly being disposed on the telescopic body and connected to the first transmission assembly,

[0016] a second guide portion, the second guide portion being disposed on the telescopic body and extending linearly;

[0017] A hanging unit, wherein the hanging unit is used to install a surgical actuator, the hanging unit is at least partially located below the telescopic unit and / or the driving unit and is movably arranged on the second guide portion, the hanging unit is connected to the second transmission assembly, and the driving device is also used to drive the hanging unit to move linearly relative to the second guide portion, and the telescopic unit and the hanging unit have the same moving direction.

[0018] According to the slave-end actuator of the utility model, various levels of telescopic structures are stacked in the height direction, and the structure is compact and can fully adapt to the compact space next to the patient. Moreover, the layout guided by the guide part greatly improves the load capacity and stability of the equipment in the height direction, improves the propulsion accuracy, and is more conducive to the doctor's accurate operation.

[0019] Optionally, the first guide portion includes two first guide rails spaced apart in a height direction of the slave end actuator;

[0020] The telescopic body comprises two first matching parts spaced apart along the height direction, wherein the first matching parts are movably connected to the first guide rail.

[0021] Optionally, the second guide portion includes two second guide rails spaced apart in the height direction;

[0022] The hanging unit includes a mounting body and a connecting portion arranged above the mounting body, wherein the mounting body is located below the telescopic unit, the connecting portion at least partially extends into the telescopic body, and the connecting portion has two second matching portions arranged at intervals along the height direction, wherein the second matching portion is movably connected to the second guide rail.

[0023] Optionally, the first matching portion includes a rolling element and / or a sliding element;

[0024] The second matching portion includes a rolling element and / or a sliding element.

[0025] Optionally, the first transmission assembly includes:

[0026] a first transmission part, the first transmission part extending in a front-rear direction and the first transmission part being connected to the driving device;

[0027] The first moving part is movably arranged on the first transmission part, the driving device is used to drive the first moving part to move along the front-rear direction, and the telescopic body is fixedly connected to the first moving part.

[0028] Optionally, the first transmission assembly further comprises two first bearing seats arranged at intervals along the front-rear direction, the first bearing seats are provided with first bearings, and the first transmission part is connected between the two first bearings of the two first bearing seats;

[0029] The driving end of the driving device is connected to the end of the first transmission part through a coupling.

[0030] Optionally, the first transmission assembly further includes a limiting device, and the limiting device is fixedly arranged on the mechanism body, and the second transmission assembly includes:

[0031] Two pivoting parts, the two pivoting parts are arranged on the telescopic body at intervals along the front-to-back direction;

[0032] The second transmission part is rotatably arranged between the two pivot parts, and the second transmission part has a first part and a second part located on both sides of the pivot part, wherein the first part is fixedly connected to the limiting device, and the second part is fixedly provided with a second movable part, and the lifting unit is fixedly connected to the second movable part.

[0033] Optionally, the limiting device includes a first limiting member and a second limiting member, wherein the first limiting member is fixedly disposed on the mechanism body, the second limiting member is connected to the first limiting member, and the first part is clamped between the first limiting member and the second limiting member.

[0034] Optionally, the pivoting portion comprises a supporting portion extending along the height direction of the slave end actuator and a first rotating wheel portion and a second rotating wheel portion pivotably disposed at both ends of the supporting portion;

[0035] The second transmission part includes a first belt and a second belt, wherein the first belt is wound around the two first rotating wheel parts, the second belt is wound around the two second rotating wheel parts, and the second moving part is fixedly connected between the first belt and the second belt.

[0036] Optionally, the supporting portion includes a second bearing seat and a rotating shaft arranged in the second bearing seat, the second bearing seat is arranged on the telescopic body, second bearings are arranged at both ends of the second bearing seat, the first wheel portion and the end portions of the rotating shaft are respectively connected to the inner and outer rings of the second bearing, and the second wheel portion and the end portions of the rotating shaft are respectively connected to the inner and outer rings of the second bearing.

[0037] Optionally, the first belt comprises a belt, a steel belt or a chain; and / or

[0038] The second belt comprises a belt, a steel belt or a chain.

[0039] Optionally, the slave-end actuator includes at least two stages of telescopic units;

[0040] The telescopic unit of the first stage is telescopically arranged in the accommodating cavity of the driving unit, the second transmission assembly of the telescopic unit of the first stage is connected to the first transmission assembly, and the second transmission assembly of the telescopic unit of the last stage is connected to the hoisting unit;

[0041] In adjacent levels, the telescopic unit of the next level is telescopically arranged inside the telescopic unit of the previous level, and the telescopic body of the telescopic unit of the next level is connected to the second transmission assembly of the telescopic unit of the previous level.

[0042] Optionally, the second transmission assembly except the last stage includes an additional limiting device, and the additional limiting device is fixedly arranged on the telescopic body of the corresponding stage;

[0043] In adjacent levels, the second transmission part of the second transmission assembly of the next level is connected to the additional limiting device of the second transmission assembly of the previous level.

[0044] Optionally, the slave-end actuator further includes a stabilizing device, which is used to stabilize the surgical actuator. The stabilizing device is fixedly disposed on the lower side of the driving unit, and the stabilizing device is located in front relative to the hanging unit.

[0045] A second aspect of the present invention provides a mechanical arm for a surgical robot, the mechanical arm comprising:

[0046] The main body of the robot arm;

[0047] The slave-end actuator described in the first aspect is arranged at the end of the robot arm body.

[0048] The mechanical arm according to the utility model has a technical effect similar to that of the above-mentioned slave-end actuator.

[0049] A third aspect of the present utility model provides a surgical robot, the surgical robot comprising:

[0050] The slave actuator as described in the first aspect above; or

[0051] The robotic arm described in the second aspect above.

[0052] The surgical robot according to the utility model has a technical effect similar to that of the above-mentioned slave actuator or mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The following drawings of the present invention are used as a 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 principle of the present invention.

[0054] In the attached figure:

[0055] Figure 1 is a partial schematic diagram of a surgical robot according to an embodiment of the present application;

[0056] Figure 2 is a schematic diagram of a maximum extension state of a suspension unit of a surgical robot according to an embodiment of the present application;

[0057] Figure 3 It is a schematic diagram of a maximum contraction state of a suspension unit of a slave-end actuator of a surgical robot according to an embodiment of the present application;

[0058] Figure 4 is a cross-sectional schematic diagram of a slave-end actuator according to an embodiment of the present application;

[0059] Figure 5 is a cross-sectional schematic diagram and a cross-sectional exploded schematic diagram of a slave-end actuator according to an embodiment of the present application;

[0060] Figure 6 for Figure 5 An enlarged schematic diagram of the middle drive unit;

[0061] Figure 7 for Figure 5 Enlarged schematic diagram of the telescopic unit.

[0062] Description of reference numerals:

[0063] 10: Surgical robot 20: Robotic arm 30: Robotic arm body

[0064] 40: surgical actuator 100: slave actuator 110: drive unit

[0065] 111: Mechanism body 112: Accommodating chamber 113: First guide rail

[0066] 114: First bearing seat 116: Driving device 117: Coupling

[0067] 118: fixed plate 121: first transmission part 122: first moving part

[0068] 123: Limiting device 124: First limiting member 125: Second limiting member

[0069] 130: telescopic unit 131: telescopic body 132: first matching portion

[0070] 133: second guide rail 141: pivoting portion 142: supporting portion

[0071] 143: Second bearing seat 144: Rotating shaft 145: Second bearing

[0072] 146: first rotating wheel part 147: second rotating wheel part 148: second transmission part

[0073] 149: First strip 150: Second strip 151: First section

[0074] 152: Second part 153: Second moving part 160: Lifting unit

[0075] 161: Mounting body 162: Connecting portion 163: Second matching portion

[0076] 170: Stabilizer D1: Forward direction D2: Backward direction

[0077] D3: Height direction DETAILED DESCRIPTION

[0078] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the utility model, some technical features known in the art are not described.

[0079] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of the features, wholes, steps, operations, elements and / or components, but does not exclude the presence or transition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0080] Ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inner", "outer" and similar expressions used in this document are for illustrative purposes only and are not limiting.

[0081] Now, exemplary embodiments according to the present invention will be described in more detail with reference to the accompanying drawings.

[0082] The utility model provides a slave end actuator 100, a mechanical arm 20 and a surgical robot 10. Figures 1 to 3 A surgical robot 10 of an optional embodiment is shown. The surgical robot 10 may have at least one robotic arm 20, and the robotic arm 20 may include a robotic arm body 30 and a slave end actuator 100 disposed at the end of the robotic arm body 30. The slave end actuator 100 is used to advance or retract a surgical actuator 40. Exemplarily, the surgical actuator 40 may be a valve delivery device.

[0083] refer to Figures 1 to 7 , a slave-end actuator 100 of an optional implementation mode of the present application will be described in detail.

[0084] The slave end actuator 100 includes a driving unit 110, a telescopic unit 130 and a hanging unit 160. The telescopic unit 130 is telescopically arranged in the driving unit 110, and the hanging unit 160 is hung on the telescopic unit 130, and the hanging unit 160 is used to install the surgical actuator 40. The driving unit 110 can simultaneously drive the telescopic unit 130 and the hanging unit 160 to move together, so as to achieve a secondary telescopic movement of the surgical actuator 40 that is twice the travel of the telescopic unit 130.

[0085] More specifically, the drive unit 110 includes a mechanism body 111, a drive device 116, a first transmission assembly, and a first guide portion. The mechanism body 111 has a linearly extending accommodating cavity 112, or the accommodating cavity 112 extends along the front-to-back direction. It should be noted that the front-to-back direction refers to the forward direction D1 of the surgical actuator 40 and the backward direction D2 of the surgical actuator 40, wherein the forward direction D1 and the backward direction D2 are opposite to each other, and when the forward direction D1 and the backward direction D2 are collinear, they can be collectively referred to as the front-to-back direction.

[0086] The driving device 116 is disposed on the mechanism body 111. The first transmission assembly is disposed in the accommodating chamber 112 and connected to the driving device 116. The first guide portion is disposed on the mechanism body 111 and extends linearly along the front-rear direction.

[0087] The telescopic unit 130 includes a telescopic body 131, a second transmission assembly and a second guide portion. The telescopic body 131 is at least partially located in the accommodating cavity 112 and is movably arranged on the first guide portion. The telescopic body 131 is connected to the first transmission assembly, and the driving device 116 is used to drive the telescopic body 131 to move linearly relative to the first guide portion. The second transmission assembly is arranged on the telescopic body 131 and is connected to the first transmission assembly. The second guide portion is arranged on the telescopic body 131 and extends linearly. Among them, in order to improve the stability of the connection and the convenience of assembly, the first moving portion 122 of the first transmission assembly is preferably fixedly connected to the fixed plate 118, and the telescopic body 131 is fixedly connected to the fixed plate 118. Thereby, the telescopic body 131 and the fixed plate 118 can realize a connection method that is convenient for installation, such as bolt connection.

[0088] The hoisting unit 160 is at least partially located below the telescopic unit 130 and / or the driving unit 110 and is movably disposed on the second guide portion. The hoisting unit 160 is connected to the second transmission assembly. The driving device 116 is also used to drive the hoisting unit 160 to move linearly relative to the second guide portion, and the telescopic unit 130 and the hoisting unit 160 have the same moving direction.

[0089] According to the slave-end actuator 100 of the utility model, various levels of telescopic structures are stacked along the height direction D3, and the structure is compact and can fully adapt to the compact space next to the patient. Moreover, the layout guided by the guide part greatly improves the load capacity and stability of the equipment in the height direction D3, improves the propulsion accuracy, and is more conducive to the doctor's accurate operation.

[0090] refer to Figure 4 and Figure 5, the first guide portion and the second guide portion are preferably configured as guide rails. For example, the first guide portion includes two first guide rails 113 spaced apart along the height direction D3 of the slave end actuator 100. The telescopic body 131 includes two first matching portions 132 spaced apart along the height direction D3, wherein the first matching portion 132 is movably connected to the first guide rail 113. The first matching portion 132 may include a rolling element, such as a roller. The first matching portion 132 may also include a sliding element, such as a slider.

[0091] The second guide portion includes two second guide rails 133 spaced apart along the height direction D3. The hoisting unit 160 includes two second matching portions 163 spaced apart along the height direction D3, wherein the second matching portion 163 is movably connected to the second guide rail 133. As an optional embodiment, the hoisting unit 160 includes a mounting body 161 and a connecting portion 162. The connecting portion 162 is disposed above the mounting body 161, the mounting body 161 is located below the telescopic unit 130, the connecting portion 162 at least partially extends into the telescopic body 131, and the second matching portion 163 is disposed on the connecting portion 162. The above-mentioned second matching portion 163 may include a rolling member, such as a roller. The above-mentioned second matching portion 163 may also include a sliding member, such as a slider. The use of guide rails for bearing greatly improves the load capacity of the equipment in the height direction D3, so that the movement of the surgical actuator 40 is stable and precise.

[0092] refer to Figure 6 The first transmission assembly includes a first transmission part 121 and a first moving part 122. The first transmission part 121 extends in the front-to-back direction and is connected to the driving device 116. The first moving part 122 is movably disposed on the first transmission part 121, the driving device 116 is used to drive the first moving part 122 to move in the front-to-back direction, and the telescopic body 131 is fixedly connected to the first moving part 122.

[0093] As an optional embodiment, the first transmission part 121 is threadedly matched with the first moving part 122, and when the first transmission part 121 rotates, the first moving part 122 can move linearly along the first transmission part 121. Exemplarily, the first transmission part 121 can be a screw, and the first moving part 122 can be a screw nut. The end of the first transmission part 121 is connected to the driving device 116. Preferably, the end of the first transmission part 121 is connected to the output end of the driving device 116 via a coupling 117.

[0094] Preferably, the first transmission assembly further includes two first bearing seats 114 spaced apart in the front-to-rear direction, the first bearing seats 114 are provided with first bearings, and the first transmission part 121 is connected between the two first bearings of the two first bearing seats 114 .

[0095] The first transmission assembly also includes a limiting device 123 disposed on the mechanism body 111. The second transmission assembly includes two pivoting parts 141 and a second transmission part 148 spaced apart in the front-rear direction. The two pivoting parts 141 are disposed on the telescopic body 131. The second transmission part 148 is rotatably disposed between the two pivoting parts 141, and the second transmission part 148 has a first part 151 and a second part 152 located on both sides of the pivoting part 141, wherein the first part 151 is fixedly connected to the limiting device 123, the second part 152 is fixedly provided with a second moving part 153, and the hoisting unit 160 is fixedly connected to the second moving part 153. The limiting device 123 includes a first limiting member 124 and a second limiting member 125, wherein the first limiting member 124 is fixedly disposed on the mechanism body 111, the second limiting member 125 is connected to the first limiting member 124, and the first part 151 is clamped between the first limiting member 124 and the second limiting member 125.

[0096] Through the above arrangement, the limiting device 123 can be used to indirectly transmit the driving force of the driving device 116 to the second transmission assembly. The specific process is that when the driving device 116 drives the first moving part 122 to move in the forward direction D1, the telescopic body 131 follows the first moving part 122 to move forward, and it can be understood that the second transmission part 148 also follows and moves forward. However, the first part 151 of the second transmission part 148 is fixedly connected to the limiting device 123, so the first part 151 will be subject to the restraining force along the backward direction D2, so that the first part 151 rotates backward, and the second part 152 rotates in the opposite direction, that is, the second part 152 rotates forward. Thus, the second moving part 153 arranged on the second part 152 will also move in the forward direction D1. In this way, the second moving part 153 will not only follow the first moving part 122 to move forward, but will also be further moved forward by the rotation of the second transmission part 148, and the actual stroke of the second moving part 153 will be twice that of the first moving part 122. The situation when the driving device 116 drives the first moving part 122 in the reverse direction is opposite to the above content, which will not be repeated here. In summary, the hoisting unit 160 can perform two-stage extension and retraction through the driving action of a driving device 116. For example, Figure 2 The figure shows the state when the lifting unit 160 is extended or retracted to the extreme position. Figure 3 The drawing shows the state where the hanging unit 160 is retracted or pushed to the limit position.

[0097] refer to Figure 7, showing the second driving assembly in more detail. The pivoting portion 141 includes a supporting portion 142 extending from the height direction D3 of the end actuator 100 and a first rotating wheel portion 146 and a second rotating wheel portion 147 pivotably disposed at both ends of the supporting portion 142. The second transmission portion 148 includes a first belt 149 and a second belt 150, wherein the first belt 149 is wound around the two first rotating wheel portions 146, the second belt 150 is wound around the two second rotating wheel portions 147, and the second moving portion 153 is fixedly connected between the first belt 149 and the second belt 150. The first belt 149 and the second belt 150 both have a first portion 151 and a second portion 152. The supporting portion 142 includes a second bearing 145 seat 143 and a rotating shaft 144 arranged in the second bearing 145 seat 143. The second bearing 145 seat 143 is arranged on the telescopic body 131. Second bearings 145 are arranged at both ends of the second bearing 145 seat 143. The first wheel portion 146 and the end of the rotating shaft 144 are respectively connected to the inner and outer rings of the second bearing 145. The second wheel portion 147 and the end of the rotating shaft 144 are respectively connected to the inner and outer rings of the second bearing 145.

[0098] The first belt 149 includes a belt, a steel belt or a chain, and / or the second belt 150 includes a belt, a steel belt or a chain. When the first belt 149 and the second belt 150 are belts or steel belts, the first wheel portion 146 and the second wheel portion 147 need to be configured as transmission wheels. When the first belt 149 and the second belt 150 are chains, the first wheel portion 146 and the second wheel portion 147 need to be configured as sprockets.

[0099] The slave end actuator 100 also includes a stabilizing device 170, which is used to stabilize the surgical actuator 40. The stabilizing device 170 is fixedly arranged on the lower side of the driving unit 110, and the stabilizing device 170 is located in front of the hanging unit 160. The stabilizing device 170 is used to connect with the sheath on the patient during surgery to improve the stability and accuracy of the surgical actuator 40 entering the sheath. In addition, the stabilizing device 170 is fixed to the driving unit 110, which makes it easier to align the stabilizing device 170 with the hanging unit 160. For example, it can be directly set to a centered state without the need to perform a centering operation in the narrow space next to the patient.

[0100] The above content introduces an example of two-stage telescopic extension of the hoisting unit 160. Further, the hoisting unit 160 can also be multi-stage telescopic. For example, in an embodiment not shown, the slave end actuator 100 may include at least two stages of telescopic units 130. The telescopic unit 130 of the first stage is telescopically arranged in the accommodating cavity 112 of the driving unit 110, the second transmission assembly of the telescopic unit 130 of the first stage is connected to the first transmission assembly, and the second transmission assembly of the telescopic unit 130 of the last stage is connected to the hoisting unit 160. In the adjacent level, the telescopic unit 130 of the next level is telescopically arranged inside the telescopic unit 130 of the previous level, and the telescopic body 131 of the telescopic unit 130 of the next level is connected to the second transmission assembly of the telescopic unit 130 of the previous level. It is worth noting that the above-mentioned "previous level" and "next level", exemplarily, when the adjacent levels are the first level and the second level, the "previous level" is the first level and the "next level" is the second level. As another example, when the adjacent levels are the second level and the third level, the “previous level” is the second level and the “next level” is the third level. And so on.

[0101] Exemplarily, when the slave-end actuator 100 has two-stage telescopic units 130, the first-stage telescopic unit 130 is connected to the first transmission assembly, the second-stage telescopic unit 130 is connected to the second transmission assembly of the first-stage telescopic unit 130, and the hoisting unit 160 is connected to the second transmission assembly of the second-stage telescopic unit 130. When the slave-end actuator 100 has three-stage telescopic units 130, the first-stage telescopic unit 130 is connected to the first transmission assembly, the second-stage telescopic unit 130 is connected to the second transmission assembly of the first-stage telescopic unit 130, the third-stage telescopic unit 130 is connected to the second transmission assembly of the second-stage telescopic unit 130, and the hoisting unit 160 is connected to the second transmission assembly of the third-stage telescopic unit 130.

[0102] The second transmission assemblies except the last stage include additional stoppers (not shown), which are fixedly arranged on the corresponding stage telescopic body 131. In adjacent stages, the second transmission part of the second transmission assembly of the next stage is connected to the additional stoppers of the second transmission assembly of the previous stage.

[0103] For example, when the slave actuator 100 has two-stage telescopic units 130, the second transmission assembly of the first-stage telescopic unit 130 is provided with an additional limit device. The second transmission assembly of the second-stage telescopic unit 130 is connected to the additional limit device of the first-stage telescopic unit 130. The hoisting unit 160 is connected to the second transmission assembly of the second-stage telescopic unit 130.

[0104] When the slave-end actuator 100 has three-stage telescopic units 130, the first-stage telescopic unit 130 and the second transmission assembly of the second-stage telescopic unit 130 are provided with additional limiting devices. The second transmission assembly of the second-stage telescopic unit 130 is connected to the additional limiting device of the first-stage telescopic unit 130. The second transmission assembly of the third-stage telescopic unit 130 is connected to the additional limiting device of the second-stage telescopic unit 130. The hoisting unit 160 is connected to the second transmission assembly of the third-stage telescopic unit 130.

[0105] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. The features described herein in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise specified in the other embodiment.

[0106] The present invention has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and explanation, and the present invention is not limited to the above-mentioned embodiments. According to the teachings of the present invention, more variations and modifications can be made, and these variations and modifications all fall within the scope of protection required by the present invention.

Claims

1. A slave end actuator for a surgical robot, characterized in that: The slave-end actuator comprises: A drive unit, the drive unit comprising: The mechanism body has a linearly extending accommodation cavity, A driving device, wherein the driving device is arranged on the mechanism body, a first transmission assembly, the first transmission assembly being disposed in the accommodating chamber and connected to the driving device, A first guide portion, the first guide portion is disposed on the mechanism body and extends linearly; A telescopic unit, the telescopic unit comprising: a telescopic body, wherein the telescopic body is at least partially located in the accommodating cavity and is movably arranged on the first guide portion, the telescopic body is connected to the first transmission assembly, and the driving device is used to drive the telescopic body to move linearly relative to the first guide portion. a second transmission assembly, the second transmission assembly being disposed on the telescopic body and connected to the first transmission assembly, a second guide portion, the second guide portion being disposed on the telescopic body and extending linearly; A hanging unit, wherein the hanging unit is used to install a surgical actuator, the hanging unit is at least partially located below the telescopic unit and / or the driving unit and is movably arranged on the second guide portion, the hanging unit is connected to the second transmission assembly, and the driving device is also used to drive the hanging unit to move linearly relative to the second guide portion, and the telescopic unit and the hanging unit have the same moving direction.

2. The slave actuator according to claim 1, characterized in that: The first guide portion includes two first guide rails spaced apart in the height direction of the slave end actuator; The telescopic body comprises two first matching parts spaced apart along the height direction, wherein the first matching parts are movably connected to the first guide rail.

3. The slave actuator according to claim 2, characterized in that: The second guide portion includes two second guide rails spaced apart in the height direction; The hanging unit includes a mounting body and a connecting portion arranged above the mounting body, wherein the mounting body is located below the telescopic unit, the connecting portion at least partially extends into the telescopic body, and the connecting portion has two second matching portions arranged at intervals along the height direction, wherein the second matching portion is movably connected to the second guide rail.

4. The slave actuator according to claim 3, characterized in that: The first matching portion includes a rolling element and / or a sliding element; The second matching portion includes a rolling element and / or a sliding element.

5. The slave actuator according to claim 1, characterized in that: The first transmission assembly comprises: a first transmission part, the first transmission part extending in a front-rear direction and the first transmission part being connected to the driving device; The first moving part is movably arranged on the first transmission part, the driving device is used to drive the first moving part to move along the front-rear direction, and the telescopic body is fixedly connected to the first moving part.

6. The slave actuator according to claim 5, characterized in that: The first transmission assembly further comprises two first bearing seats spaced apart in the front-rear direction, the first bearing seats are provided with first bearings, and the first transmission part is connected between the two first bearings of the two first bearing seats; The driving end of the driving device is connected to the end of the first transmission part through a coupling.

7. The slave actuator according to claim 5, characterized in that: The first transmission assembly further includes a limiting device, which is fixedly arranged on the mechanism body. The second transmission assembly includes: Two pivoting parts, the two pivoting parts are arranged on the telescopic body at intervals along the front-to-back direction; The second transmission part is rotatably arranged between the two pivot parts, and the second transmission part has a first part and a second part located on both sides of the pivot part, wherein the first part is fixedly connected to the limiting device, and the second part is fixedly provided with a second movable part, and the lifting unit is fixedly connected to the second movable part.

8. The slave actuator according to claim 7, characterized in that: The limiting device includes a first limiting member and a second limiting member, wherein the first limiting member is fixedly arranged on the mechanism body, the second limiting member is connected to the first limiting member, and the first part is clamped between the first limiting member and the second limiting member.

9. The slave actuator according to claim 7, characterized in that: The pivoting portion comprises a supporting portion extending along the height direction of the slave end actuator and a first rotating wheel portion and a second rotating wheel portion pivotably disposed at both ends of the supporting portion; The second transmission part includes a first belt and a second belt, wherein the first belt is wound around the two first rotating wheel parts, the second belt is wound around the two second rotating wheel parts, and the second moving part is fixedly connected between the first belt and the second belt.

10. The slave actuator according to claim 9, characterized in that: The supporting portion includes a second bearing seat and a rotating shaft arranged in the second bearing seat, the second bearing seat is arranged on the telescopic body, second bearings are arranged at both ends of the second bearing seat, the first wheel portion and the end portions of the rotating shaft are respectively connected to the inner and outer rings of the second bearing, and the second wheel portion and the end portions of the rotating shaft are respectively connected to the inner and outer rings of the second bearing.

11. The slave actuator according to claim 9, characterized in that: The first belt comprises a belt, a steel belt or a chain; and / or The second belt comprises a belt, a steel belt or a chain.

12. The slave actuator according to claim 7, characterized in that: The slave-end actuator includes at least two stages of telescopic units; The telescopic unit of the first stage is telescopically arranged in the accommodating cavity of the driving unit, the second transmission assembly of the telescopic unit of the first stage is connected to the first transmission assembly, and the second transmission assembly of the telescopic unit of the last stage is connected to the hoisting unit; In adjacent levels, the telescopic unit of the next level is telescopically arranged inside the telescopic unit of the previous level, and the telescopic body of the telescopic unit of the next level is connected to the second transmission assembly of the telescopic unit of the previous level.

13. The slave actuator according to claim 12, characterized in that: The second transmission assembly except the last stage comprises an additional limiting device, and the additional limiting device is fixedly arranged on the telescopic body of the corresponding stage; In adjacent levels, the second transmission part of the second transmission assembly of the next level is connected to the additional limiting device of the second transmission assembly of the previous level.

14. The slave actuator according to any one of claims 1 to 13, characterized in that: The slave-end actuator also includes a stabilizing device, which is used to stabilize the surgical actuator. The stabilizing device is fixedly arranged on the lower side of the driving unit, and the stabilizing device is located in front of the hanging unit.

15. A mechanical arm for a surgical robot, characterized in that: The robotic arm comprises: The main body of the robot arm; According to any one of claims 1-14, the slave end actuator is arranged at the end of the robot arm body.

16. A surgical robot, characterized in that: The surgical robot comprises: a slave end actuator according to any one of claims 1 to 14; or The robotic arm according to claim 15.

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