Arm mechanism, master manipulator operation arm and master manipulator operation equipment

Abstract

The utility model provides an arm mechanism, a master manipulator operating arm and master manipulator operating equipment, and relates to the technical field of medical equipment, the arm mechanism comprises a connecting rod, a rotating shaft and a flexible transmission piece; the connecting rod comprises a rod body and rod end parts arranged at the two ends of the rod body; the rod body is of a plate structure with the opposite ends open and the circumferential direction closed, and the side face of the rod body is concaved inwards to form a plurality of weight reduction grooves. The edges of the two opposite side faces of the rod body extend outwards so that outer wire passing channels can be formed in the two sides of the rod body. The end part of the rod is provided with a shaft mounting space for mounting a rotating shaft, and the shaft mounting space is communicated with the outer wire passing channel; the flexible transmission piece is tensioned between the rotating shafts at the two ends, and the linear section of the flexible transmission piece is partially contained in the outer wire passing channel. According to the arm mechanism, the overall weight of the arm mechanism can be reduced, the lightweight design of the arm is achieved, and meanwhile wiring and adjustment of the linkage shaft structure in the arm mechanism are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to an arm mechanism, a main hand operating arm and a main hand operating device. Background Art

[0002] With the development of medical technology, the use of surgical robots to perform minimally invasive surgery has been widely adopted by many hospitals. The surgical robot usually includes a doctor's operating end and a patient's operating end. The doctor's operating end includes a main hand operating arm and other structures.

[0003] The main hand operating arm includes a main arm and a wrist mechanism. The main arm includes multiple connecting rods and a rotating joint connected between the connecting rods. In the prior art, in order to ensure that the connecting rods have high strength, the connecting rods are usually provided with a larger wall thickness, resulting in a larger overall weight of the main arm, which increases the inertial force generated by the doctor during operation, easily causing fatigue to the operator and affecting the operation effect. Utility Model Content

[0004] The purpose of the utility model is to provide an arm mechanism, a main hand operating arm and a main hand operating device, which can reduce the overall weight of the arm mechanism, realize the lightweight design of the arm, and at the same time, facilitate the wiring and adjustment of the linkage axis structure in the arm mechanism.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] The utility model provides an arm mechanism, comprising: a connecting rod, a rotating shaft and a flexible transmission member;

[0007] The connecting rod comprises a rod body and rod ends arranged at both ends of the rod body;

[0008] The rod body is a plate structure with opposite ends open and circumferentially closed, and the side surface of the rod body is inwardly recessed to form a plurality of weight-reducing grooves; the edges of the two opposite side surfaces of the rod body extend outwardly to form external wire-passing channels on both sides of the rod body;

[0009] The end of the rod is provided with a shaft installation space for installing the rotating shaft, and the shaft installation space is communicated with the outer wire passage;

[0010] The flexible transmission member is tensioned between the rotating shafts at both ends, and the straight section of the flexible transmission member is accommodated in the outer wire passage in the installed state.

[0011] Furthermore, the weight-reducing grooves are provided on the four sides of the rod body;

[0012] On the same side of the rod body, the weight-reducing grooves are arranged at intervals along the length direction of the rod body.

[0013] Furthermore, the rod end includes a first seat extending toward the outer end along the length direction of the rod body and a second seat arranged parallel to the first seat, the first seat and the second seat have an axial hole passing through both, and the axial hole and the area between the two axial holes form the shaft installation space;

[0014] A reinforcing plate is provided in the circumference of the first seat body and the second seat body. The reinforcing plate is located at the periphery of the shaft hole so that a gap for the flexible transmission member to pass through is left between the reinforcing plate and the outer wire passage.

[0015] Furthermore, a wire wheel mounting hole communicating with the shaft mounting space is reserved in the circumference of the reinforcing plate.

[0016] Furthermore, the reinforcing plate is arranged parallel to the length direction of the rod body, and the reinforcing plate overlaps the portion of the rod body close to the end of the rod and leaves the gap.

[0017] Furthermore, the rotating shaft is a hollow shaft, and at least one end of the rotating shaft is provided with a friction-reducing sleeve;

[0018] The inner hole surface of the anti-friction sheath for contacting with the cable to be passed through is configured as a smooth surface.

[0019] Further, the anti-friction sheath comprises an embedding section and a supporting section;

[0020] The embedding section is tightly inserted in the hollow shaft, and the supporting section abuts against the end edge of the hollow shaft.

[0021] Furthermore, the inner hole surface of the anti-friction sleeve and its outer end surface are connected through an arc surface transition.

[0022] Furthermore, both ends of the rotating shaft are provided with anti-friction sleeves, and the length of the embedded sections of the anti-friction sleeves at both ends is adapted to the length of the hollow shaft.

[0023] Furthermore, a cable support frame is provided on the outside of the rotating shaft near the shaft opening and is rotatable relative to the rotating shaft;

[0024] The cable support frame is provided with a cable support hole for allowing the cable to pass through.

[0025] The utility model also provides a main-hand operating arm, comprising the arm mechanism as described above.

[0026] The utility model also provides a master-hand operating device, comprising the master-hand operating arm as described above.

[0027] The arm mechanism provided by the utility model has at least the following beneficial effects:

[0028] The arm mechanism provided by the utility model includes a connecting rod, a rotating shaft and a flexible transmission member, the connecting rod includes a rod body and rod ends arranged at both ends of the rod body, on the one hand, the rod body is arranged as a plate structure, which can reduce a certain weight compared with a solid rod, on the other hand, a plurality of weight-reducing grooves are also provided on the side of the rod body, which can further reduce the weight while ensuring that it has sufficient strength, making the arm mechanism more lightweight; on the basis of achieving weight reduction, external wire-passing channels are also provided on both sides of the rod body, and the shaft installation space at the rod end is communicated with the external wire-passing channels. Therefore, in the assembled state, that is, when the flexible transmission member is tensioned between the rotating shafts at both ends, the straight section of the flexible transmission member can be accommodated in the external wire-passing channel to realize external wire-passing. Compared with the internal wire-passing of the rod body used in the prior art, the arm mechanism uses external wire-passing, which can reduce the difficulty of wiring and facilitate the adjustment of the tightness of the wiring.

[0029] In addition, in the arm mechanism, the outer line channels formed by the edges of the two opposite sides of the rod body extending outward can not only accommodate the straight section of the flexible transmission part and protect it to a certain extent, but also increase the torsional strength of the connecting rod, thereby improving the safety and reliability of the arm mechanism.

[0030] The main hand operating arm and the main hand operating device provided by the present invention both include the arm mechanism as described above. Therefore, the technical advantages and effects that can be achieved by them also include the technical advantages and effects that can be achieved by the arm mechanism, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic diagram of the structure of a master hand operating arm provided in an embodiment of the utility model;

[0033] Figure 2 A schematic diagram of the structure of the arm mechanism provided by an embodiment of the utility model;

[0034] Figure 3 for Figure 2 The arm mechanism is not shown in the structural schematic diagram of the corresponding housing;

[0035] Figure 4 is a structural schematic diagram of the connecting rod;

[0036] Figure 5 It is a schematic diagram of the connection structure of the connecting rod, the rotating shaft and the flexible transmission member;

[0037] Figure 6 is a structural schematic diagram of the rotating shaft;

[0038] Figure 7 for Figure 6 a front view of the shaft shown;

[0039] Figure 8 for Figure 7 A cross-sectional view of line AA shown;

[0040] Fig. 9 for Figure 8 A local enlarged schematic diagram of point B is shown;

[0041] Fig.10 A cross-sectional view of a cable support frame provided at the shaft opening of the rotating shaft;

[0042] Fig.11 A cross-sectional view of another structure of the rotating shaft;

[0043] Fig.12 A cross-sectional view of another structure of a rotating shaft.

[0044] icon:

[0045] 01-Wrist mechanism; 02-Arm mechanism;

[0046] 110-connecting rod; 120-connecting rod housing; 111-rod body; 112-rod end; 113-reinforcement plate; 1111-weight reduction groove; 1112-external wire passage; 1121-shaft installation space; 1122-wire wheel installation hole

[0047] 200-rotating shaft;

[0048] 300-flexible transmission parts;

[0049] 400-friction-reducing sleeve; 410-embedded section; 420-supporting section; 430-arc surface;

[0050] 500-Cable support bracket. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0054] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0055] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0056] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0058] In some technologies, a surgical robot used in a surgical operation includes a main control console (i.e., a doctor's operating end) and an operating trolley (i.e., a patient's operating end). The main control console is connected to the operating trolley in a communication manner, and the surgeon can remotely operate and control the operating trolley on the main control console. In addition, the surgical robot also includes an image processing system, and the operating trolley cooperates with the main control console and the image processing system to perform a surgical robot surgical operation on the patient.

[0059] Among them, refer to Figure 1 The main control console includes a main hand operating arm, and the main hand operating arm includes a wrist mechanism 01 and an arm mechanism 02 in this embodiment.

[0060] The specific structure of the arm mechanism 02 will be described in detail below.

[0061] Embodiment 1

[0062] Reference Figure 2 and Figure 3 The arm mechanism 02 includes two connecting rods 110, which are rotatably connected through a joint. The outer sides of the connecting rods 110 and the joints are respectively covered by a connecting rod housing 120 and a joint housing to provide safety protection.

[0063] Specifically, the two connecting rods 110 are respectively the first connecting rod 110 and the second connecting rod 110, and the two joints are respectively the L joint and the L anti-joint. The L joint is rotatably connected to the first connecting rod 110 and the second connecting rod 110 through a rotating shaft 200, and the L anti-joint is rotatably connected to the second connecting rod 110 and the wrist base through the rotating shaft 200. The connection method between the connecting rod and the joint can refer to the prior art, which is not the focus of protection of this embodiment and will not be repeated here.

[0064] Furthermore, two ends of the same connecting rod 110 are connected by a flexible transmission member 300, driving the rotating shafts 200 at both ends to rotate synchronously.

[0065] The specific structure and connection method of the connecting rod 110 will be described in detail below.

[0066] Reference Figures 3 to 5The connecting rod 110 includes a rod body 111 and rod ends 112 arranged at both ends of the rod body 111; the rod body 111 is a plate structure with opposite ends open and circumferentially closed, and the side of the rod body 111 is recessed inward to form a plurality of weight-reducing grooves 1111; the edges of the two opposite side surfaces of the rod body 111 extend outward respectively to form external wire-passing channels 1112 on both sides of the rod body 111; the rod end 112 is provided with an axis installation space 1121 for installing the rotating shaft 200, and the axis installation space 1121 is communicated with the external wire-passing channel 1112; the flexible transmission member 300 is tensioned between the rotating shafts 200 at both ends, and the straight section of the flexible transmission member 300 is accommodated in the external wire-passing channel 1112 in the assembled state.

[0067] In simple terms, according to Figure 4 As shown, four edges of the upper and lower sides of the rod body 111 extend outwards respectively to form outer wire passages 1112 on the front and rear sides of the rod body 111 respectively.

[0068] The arm mechanism 02 provided in this embodiment, on the one hand, the rod body 111 is set as a plate structure, which can reduce a certain weight compared with a solid rod. On the other hand, a plurality of weight-reducing grooves 1111 are also provided on the side of the rod body 111, which can further reduce the weight while ensuring that it has sufficient strength, making the arm mechanism 02 lighter. On the basis of achieving weight reduction, external wire-passing channels 1112 are also provided on both sides of the rod body 111, and the shaft installation space 1121 of the rod end 112 is connected to the external wire-passing channel 1112. Therefore, in the assembled state, that is, when the flexible transmission member 300 is tightened between the rotating shafts 200 at both ends, the straight section of the flexible transmission member 300 can be accommodated in the external wire-passing channel 1112 to realize external wire-passing. Compared with the internal wire-passing of the rod body 111 in the prior art, the arm mechanism 02 adopts external wire-passing, which can reduce the difficulty of wiring and facilitate the adjustment of the tightness of the wiring.

[0069] In addition, in the arm mechanism 02 of the present embodiment, the outer wire channel 1112 is formed by extending outward from the edges of the two relative sides of the rod body 111. In addition to accommodating the straight section of the flexible transmission component 300 and protecting it to a certain extent, it can also increase the torsional strength of the connecting rod 110 and improve the reliability of the arm mechanism 02.

[0070] Exemplarily, the flexible transmission member 300 may be a structure such as a steel wire rope or a synchronous belt.

[0071] Please continue to refer to Figure 4 , weight-reducing grooves 1111 are provided on the four sides of the rod body 111; on the same side of the rod body 111, the weight-reducing grooves 1111 are arranged at intervals along the length direction of the rod body 111. Such an arrangement can make the connecting rod 110 relatively uniform in force at various locations when it is under force, and it is not easy to cause failures due to uneven force.

[0072] In one implementation of the present embodiment, the rod end 112 includes a first seat body extending toward the outer end along the length direction of the rod body 111 and a second seat body arranged parallel to the first seat body. The first seat body and the second seat body have an axial hole passing through both, and the axial hole and the area between the two axial holes form an axial installation space 1121.

[0073] It should be noted that the structure of the rod end 112 is not limited, as long as the structure can realize the installation of the rotating shaft 200 and the reel, it is within the protection scope of the present utility model.

[0074] Furthermore, a reinforcing plate 113 is provided circumferentially between the first seat body and the second seat body, and the reinforcing plate 113 is located on the periphery of the shaft hole so that a gap is left between the reinforcing plate 113 and the outer wire passage 1112 for the flexible transmission member 300 to pass through. The additional reinforcing plate 113 can further increase the end strength of the connecting rod 110, thereby improving the safety and reliability of the connecting rod 110.

[0075] Reference Figure 4 or Figure 5 A pulley mounting hole 1122 communicating with the shaft mounting space 1121 is reserved on the circumference of the reinforcing plate 113. Through the pulley mounting hole 1122, during the specific installation, the pulley can be first placed into the shaft mounting space 1121 through the pulley mounting hole 1122, and then the rotating shaft 200 is inserted and the flexible transmission member 300 is installed. The tightness of the flexible transmission member 300 can be adjusted at the outer wire passing channel 1112, and the adjustment is more convenient, so that the flexible transmission member 300 is tightened between the two rotating shafts 200 to ensure that the two rotating shafts 200 can rotate synchronously.

[0076] In one implementation of the present embodiment, the reinforcing plate 113 is arranged parallel to the length direction of the rod body 111, and the reinforcing plate 113 overlaps the portion of the rod body 111 close to the rod end 112 and leaves a gap. Of course, the structure of the reinforcing plate 113 is not limited to this, and it can also be an arc-shaped plate or other types, as long as it can play a reinforcing role.

[0077] In some technologies, the arm mechanism 02 adopts external joint passing or internal joint passing, wherein the internal joint passing is that the cable passes directly through the hollow shaft, so that the cable can only be twisted and deformed during the relative movement of the rotating joint. This embodiment adopts the method of internal joint passing, and the rotating shaft 200 adopts a hollow shaft.

[0078] In the use scenario of the main hand operating arm, the shaft rotates at a low speed. Due to the rotation, the shaft and the cable inserted therein will come into contact or friction, causing the cable to wear. In addition, at the end of the shaft, since the cable needs to change direction, the friction between the cable and the shaft is the greatest, and the cable is most likely to be damaged.

[0079] In order to solve the problem of wear, this embodiment refers to Figures 6 to 8 , a friction-reducing sheath 400 is provided at at least one end of the rotating shaft 200; the inner hole surface of the friction-reducing sheath 400 for contacting with the cable to be passed through is configured as a smooth surface. By providing the friction-reducing sheath 400 at the end of the hollow shaft, even when the hollow shaft contacts or rubs against the cable, the friction between the two can be greatly reduced, thus preventing the cable from being damaged or disconnected, playing a certain protective role for the cable and extending its service life.

[0080] Specifically, refer to Figure 8 and Fig. 9 The anti-friction sleeve 400 includes an embedding section 410 and a supporting section 420; the embedding section 410 is tightly inserted into the hollow shaft, and the supporting section 420 abuts against the end edge of the hollow shaft. This arrangement can facilitate the installation of the anti-friction sleeve 400. During installation, the embedding section 410 of the anti-friction sleeve 400 can be inserted into the hollow shaft with force, and there is no need to re-process the rotating shaft 200, such as there is no need to set a mounting recess at the end of the rotating shaft 200. The overall installation is relatively convenient and the cost is relatively low.

[0081] In this embodiment, the material of the anti-friction sheath 400 can be a thermoplastic material, such as polytetrafluoroethylene, which can provide a relatively smooth surface with a small friction coefficient, so that when the cable contacts it, no large friction will be generated between the two, thereby minimizing the wear of the cable.

[0082] Reference Fig. 9 The inner hole surface of the anti-friction sheath 400 is transitionally connected to its outer end surface through an arc surface 430. Compared with the prior art, since the end edge of the anti-friction sheath 400 is set as an arc surface 430, the trend of the arc surface 430 is relatively gentle, and the cutting force of the end edge on the cable here will be greatly reduced, which can further reduce the wear on the cable.

[0083] It should be noted that the cables mentioned in this embodiment are wires connecting the actuator or control mechanism. The wires can be connected to the circuit board and pass through the hollow shaft at the joint position of the arm mechanism.

[0084] Embodiment 2

[0085] The second embodiment also provides an arm mechanism 02, which has a structure substantially the same as that of the first embodiment, except that:

[0086] Reference Fig.10 A cable support frame 500 is provided on the outside of the rotating shaft 200 near the shaft opening and rotates relative to the rotating shaft 200. The cable support frame 500 is provided with a cable support hole for allowing the cable to pass through.

[0087] Fig.10As shown, after the cable extends out from the rotating shaft 200, both ends of the cable are inserted into the cable support holes of the cable support frame 500. The cable support holes at both ends play a certain supporting role for the cable. When the cable is in a relatively tight state, the cable contacts the cable support holes of the cable support frame 500 and hardly contacts the rotating shaft 200, thereby avoiding wear on the cable during the relative rotation of the rotating shaft 200 and the cable; when the cable is in a relatively loose state, the cable contacts the cable support holes of the cable support frame 500, and partially contacts the friction-reducing sheath 400. Due to the supporting effect of the cable support holes on the cable, a small part or almost no part contacts the rotating shaft 200 other than the end, thereby effectively reducing the wear on the cable.

[0088] Furthermore, in order to reduce the wear of the cable at the cable support frame 500, the cable support hole is also set to a smooth surface. For details, please refer to the anti-friction sheath 400, which will not be repeated here.

[0089] In this embodiment, the center line of the cable support hole of the cable support frame 500 is arranged in line with the center line of the rotating shaft 200, or there is a small offset; of course, the specific installation position of the cable support frame 500 can be appropriately adjusted according to the application scenario.

[0090] In a specific application, the cable support frame 500 can be installed on the connecting rod housing 120, and the cable support frame 500 remains stationary while the rotating shaft 200 rotates.

[0091] It is understandable that when the cables are freely laid, they may come into contact or friction with areas other than the ends of the rotating shaft 200. The cable support frame 500 can provide certain support for the cables extending out of the rotating shaft 200. By arranging the cable support frame 500 and combining it with specific application scenarios, it is possible to reduce or even avoid contact between the cables and areas other than the ends of the rotating shaft 200, thereby further reducing cable wear.

[0092] Embodiment 3

[0093] The third embodiment also provides an arm mechanism 02, which is basically the same as the structure of the first embodiment, except that:

[0094] Reference Fig.11 , the thickness of the anti-friction sheath 400 increases, that is, the inner diameter of the anti-friction sheath 400 becomes smaller than that of the first embodiment. In this solution, the cable support frame 500 can be omitted, and the anti-friction sheaths 400 at both ends play a certain supporting role for the cable, which can prevent the cable from contacting with the area other than the end of the rotating shaft 200, or reduce the contact, thereby reducing the wear between the rotating shaft 200 and the cable.

[0095] Embodiment 4

[0096] The fourth embodiment also provides an arm mechanism 02, which is basically the same as the structure of the first embodiment, except that:

[0097] Reference Fig.12 Both ends of the rotating shaft 200 are provided with anti-friction sleeves 400, and the length of the embedded sections 410 of the anti-friction sleeves 400 at both ends is adapted to or equal to the length of the hollow shaft. With such a configuration, the entire inner shaft surface of the rotating shaft 200 does not contact the cable, that is, the cable only contacts the embedded section 410 of the anti-friction sleeve 400 in the entire rotating shaft 200. Therefore, the friction between the two can be reduced, thereby reducing the wear on the cable and increasing the service life of the cable.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. An arm mechanism, characterized in that: include: A connecting rod (110), a rotating shaft (200) and a flexible transmission member (300); The connecting rod (110) comprises a rod body (111) and rod ends (112) arranged at both ends of the rod body (111); The rod body (111) is a plate structure with opposite ends open and circumferentially closed, and the side surface of the rod body (111) is recessed inward to form a plurality of weight-reducing grooves (1111); the edges of the two opposite side surfaces of the rod body (111) extend outwards to form external wire-passing channels (1112) on both sides of the rod body (111); The rod end (112) is provided with a shaft installation space (1121) for installing the rotating shaft (200), and the shaft installation space (1121) is communicated with the outer wire passage (1112); The flexible transmission member (300) is tensioned between the rotating shafts (200) at both ends, and in the installed state, the straight section of the flexible transmission member (300) is accommodated in the outer wire passage (1112).

2. The arm mechanism according to claim 1, characterized in that: The four side surfaces of the rod body (111) are all provided with the weight-reducing grooves (1111); On the same side of the rod body (111), the weight-reducing grooves (1111) are arranged at intervals along the length direction of the rod body (111).

3. The arm mechanism according to claim 1, characterized in that: The rod end (112) comprises a first seat body extending toward the outer end along the length direction of the rod body (111) and a second seat body arranged parallel to the first seat body, the first seat body and the second seat body having an axial hole passing through both, the axial hole and the area between the two axial holes forming the shaft installation space (1121); A reinforcing plate (113) is provided around the first seat body and the second seat body, and the reinforcing plate (113) is located outside the shaft hole so that a gap is left between the reinforcing plate (113) and the outer wire passage (1112) for the flexible transmission member (300) to pass through.

4. The arm mechanism according to claim 3, characterized in that: A wire wheel installation hole (1122) communicating with the shaft installation space (1121) is reserved in the circumferential direction of the reinforcing plate (113).

5. The arm mechanism according to claim 3, characterized in that: The reinforcing plate (113) is arranged parallel to the length direction of the rod body (111), and the reinforcing plate (113) overlaps the portion of the rod body (111) close to the rod end (112) and leaves the gap.

6. The arm mechanism according to any one of claims 1 to 5, characterized in that: The rotating shaft (200) is a hollow shaft, and at least one end of the rotating shaft (200) is provided with a friction-reducing sleeve (400); The inner hole surface of the friction-reducing sheath (400) for contacting the cable to be passed through is configured as a smooth surface.

7. The arm mechanism according to claim 6, characterized in that: The anti-friction sleeve (400) comprises an embedding section (410) and a supporting section (420); The embedding section (410) is tightly inserted into the hollow shaft, and the supporting section (420) abuts against the end edge of the hollow shaft.

8. The arm mechanism according to claim 6, characterized in that: The inner hole surface of the anti-friction sleeve (400) and its outer end surface are transitionally connected via an arc surface (430).

9. The arm mechanism according to claim 7, characterized in that: Both ends of the rotating shaft (200) are provided with anti-friction sleeves (400), and the length of the embedded sections (410) of the anti-friction sleeves (400) at both ends is adapted to the length of the hollow shaft.

10. The arm mechanism according to claim 6, characterized in that: A cable support frame (500) is provided on the outside of the rotating shaft (200) near the shaft opening and is rotatable relative to the rotating shaft; The cable support frame (500) is provided with a cable support hole for allowing cables to pass through.

11. A master hand operating arm, characterized in that: include: The arm mechanism according to any one of claims 1 to 10.

12. A master hand operated device, characterized in that: include: The master hand operating arm of claim 11.

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