Main hand wrist, main manipulator, main operating table and surgical robot

Abstract

The utility model provides a main hand wrist, a main manipulator, a main operating table and a surgical robot, and relates to the technical field of medical equipment. The multiple wrist connecting rods are sequentially connected at the joint rotating positions through the joint rotating shafts, the first ends of the multiple wrist connecting rods are rotationally connected with the wrist base through the joint rotating shafts, and the second ends of the multiple wrist connecting rods are rotationally connected with the handle; the circuit wiring structure comprises a main body circuit board, branch circuit boards and a plurality of first cables, one ends of the plurality of first cables are connected with the main body circuit board, and the other ends of the plurality of first cables enter the wrist connecting rod from the wrist base and are connected with the corresponding branch circuit boards in the wrist connecting rod in a one-to-one correspondence manner. Through the main hand wrist, the technical problem that the service life of the main hand wrist is shortened due to the fact that the wire passing mode of the main hand wrist is generally complex and the wire harness is prone to friction damage is solved, and the technical effect of relieving cable abrasion is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a main hand wrist, a main operating hand, a main operating table and a surgical robot. Background Art

[0002] With the development of medical technology, minimally invasive surgery using surgical robots has been widely adopted by many hospitals. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] Existing surgical robots usually include a doctor's operating end and a patient's operating end. The doctor's operating end is used to send control commands to the patient's operating end according to the doctor's operation to control the patient's operating end. The patient's operating end is used to respond to the control commands sent by the doctor's operating end and perform corresponding surgical operations. The doctor's operating end includes a master operator, and the master operator establishes a mapping relationship with the end effector of the patient's operating end. The operator controls the movement of the end effector by operating the master operator. The master operator usually includes a master arm and a master wrist.

[0004] The main hand wrist includes multiple wrist links, and two adjacent wrist links are connected by joint shafts. The wire crossing of the joint shaft has always been the focus of robot structural design, which restricts the structure of the joint and the angle of relative movement. The existing main hand wrist wire crossing method uses a hollow shaft to pass the wire, or directly passes the wire on the outside of the joint shaft, which is generally complicated and the wire harness is prone to friction damage, resulting in a reduction in its service life. Utility Model Content

[0005] The purpose of the utility model is to provide a main hand wrist, a main operating hand, a main operating table and a surgical robot, so as to alleviate the technical problems existing in the prior art that the main hand wrist wire passing method is generally complicated and the wire harness is easily damaged by friction, resulting in a reduction in its service life.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] The utility model provides a master wrist, comprising:

[0008] Wrist base;

[0009] A plurality of wrist links, wherein the plurality of wrist links are sequentially connected at the joint rotation through a joint shaft, and the first ends of the plurality of wrist links are rotationally connected to the wrist base through the joint shaft, and the second ends of the plurality of wrist links are used to be rotationally connected to the handle;

[0010] A circuit wiring structure, the circuit wiring structure includes a main circuit board, a branch circuit board and a first cable, the main circuit board is arranged on the wrist base, the first cables are arranged in a plurality, one end of the plurality of first cables are connected to the main circuit board, the other ends of the plurality of first cables enter the wrist connecting rod from the wrist base, and are connected one-to-one with the corresponding branch circuit boards in the wrist connecting rod; wherein the first cables are arranged to be wound around the joint shaft along the circumference of the joint shaft to form a first winding structure;

[0011] The wire passing protection structure comprises a first accommodating space for accommodating the first winding structure, and the surface of the first accommodating space is configured as a smooth surface.

[0012] Furthermore, the wire protection structure includes a wire protection sleeve, the wire protection sleeve is hollowly sleeved on the joint shaft, and the outer peripheral surface of the wire protection sleeve is configured as the smooth surface;

[0013] The first winding structure is wound around the wire sheath.

[0014] Furthermore, a portion of the joint shaft corresponding to the first winding structure is configured as the smooth surface.

[0015] Furthermore, a cable protection disc is rotatably sleeved on the joint shaft, and a cable fixing groove for winding the first cable is provided on one side of the cable protection disc protruding from the disc surface;

[0016] The surface of the cable fixing trough in contact with the first cable is configured as the smooth surface.

[0017] Furthermore, the line protection structure also includes an outer sheath;

[0018] The outer sheath is hollowly sleeved on the outer peripheral side of the wire sheath, and the first annular accommodation space is formed between the two;

[0019] The outer sheath is provided with a wire passing hole for the first cable to pass through, and the wire passing hole is communicated with the first accommodating space.

[0020] Furthermore, the outer sheath is provided as an integral structure;

[0021] The outer sheath includes a surrounding plate and side end plates arranged on both sides of the surrounding plate, the surrounding plate is configured as a semi-closed structure, and the side end plates are provided with an axial hole for the wire sheath to pass through, and an adjustment opening connected to the axial hole and capable of adjusting the size of the axial hole;

[0022] The outer sheath is sleeved on the outer peripheral side of the wire sheath by the axial hole on the outer sheath through the adjusting opening.

[0023] Furthermore, the outer sheath is configured as a split structure;

[0024] The outer sheath comprises a surrounding plate and a side end plate arranged on one side of the surrounding plate, the surrounding plate is configured as a semi-enclosed structure, the side end plate is provided with an axial hole for the wire sheath to pass through, and an adjustment opening connected to the axial hole and capable of adjusting the size of the axial hole; the outer sheath is arranged on the outer peripheral side of the wire sheath by the adjustment opening;

[0025] A wire protection disc is provided on the other side of the enclosure, and the wire protection disc is rotatably sleeved on the joint shaft;

[0026] The cable protection disc is provided with a cable hole for the first cable to pass through.

[0027] Furthermore, a wire sleeve is fixedly provided inside the wrist connecting rod to guide the wiring track of the first cable inside the wrist connecting rod.

[0028] Furthermore, the handle is connected to the second ends of the plurality of wrist links via a rotation axis;

[0029] A sub-circuit board is arranged inside the handle;

[0030] A second cable is wound around the connection of the handle along the circumference of the rotation axis to form a second winding structure, one end of the second winding structure is connected to the circuit board, and the other end is connected to the branch circuit boards corresponding to the second ends of the plurality of wrist links;

[0031] The rotating sleeve of the rotating shaft is provided with a wire protection disc, and a second accommodating space for accommodating the second winding structure is formed between the wire protection disc and one end of the handle, and the surface of the second accommodating space is configured as a smooth surface.

[0032] Furthermore, the outer peripheral side of the rotating shaft is hollowly covered with a wire protection sleeve, and the outer peripheral surface of the wire protection sleeve is configured as the smooth surface;

[0033] The second winding structure is wound around the wire sheath.

[0034] Furthermore, one end of the handle includes a bottom plate and an annular boss disposed around the edge of the bottom plate and extending toward the direction close to the wrist link;

[0035] The wire protection disc is arranged at the opening of the annular boss;

[0036] The inner surface of the bottom plate is protruded with a shaft sleeve, and the shaft end of the rotating shaft is fixedly sleeved on the shaft sleeve.

[0037] The utility model also provides a main operating hand, comprising the main hand wrist as described above.

[0038] The utility model also provides a main operating platform, comprising the main operating hand as described above.

[0039] The utility model also provides a surgical robot, comprising the main operating table as described above.

[0040] The main hand wrist provided by the utility model has at least the following beneficial effects:

[0041] During wiring, multiple first cables are led out from the main circuit board located at the wrist base, and the multiple first cables enter the wrist link from the wrist base and are connected one by one with the corresponding branch circuit boards in the wrist link to realize the wiring of the first cables between the wrist base and the multiple wrist links. The movement operation of the multiple wrist links is realized through this wiring. Since the main wrist adopts a wiring method in which the main circuit board and multiple branch circuit boards are coordinated, the number of cables and the wiring length can be greatly reduced, which is conducive to reducing the stacking and entanglement between the cables, making the wiring between the wrist base and the multiple wrist links more simplified.

[0042] In addition, since the wrist link will rotate relative to the wrist base and there is also relative movement between the multiple wrist links, the first cable in this embodiment is arranged to be wound around the joint shaft along the circumference of the joint shaft to form a first winding structure. Such an arrangement allows the first cable to continue to wind around or loosen the corresponding joint shaft while the joint shaft drives the wrist link to rotate, and the first cable will not be damaged due to entanglement, knotting, etc., and will not interfere with the rotation of the joint shaft.

[0043] In addition, the main wrist of the present embodiment also includes a wire protection structure. The first winding structure is placed in the first accommodating space. Since the surface of the first accommodating space is configured as a smooth surface, the parts that come into contact with the first cable are all smooth surfaces, which can reduce or even avoid the friction between the first cable and the joint shaft or the wrist connecting rod housing, thereby reducing the wear on the first cable, and then playing a certain protective role for the first cable, extending its service life.

[0044] The main operator, main operating table and surgical robot provided by the present invention all include the main hand wrist 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 main hand wrist, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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.

[0046] Figure 1 A schematic diagram of the structure of the wrist of the master hand provided by an embodiment of the utility model;

[0047] Figure 2 A schematic diagram of a portion of the structure of the wrist of a master hand provided by an embodiment of the utility model;

[0048] Figure 3 for Figure 2 The main view;

[0049] Figure 4 A schematic diagram of the structure of the outer sheath;

[0050] Figure 5 is another structural schematic diagram of the outer sheath;

[0051] Figure 6 This is one of the schematic diagrams of the partial connection structure of the handle;

[0052] Figure 7 This is the second schematic diagram of the partial connection structure of the handle;

[0053] Figure 8 The third schematic diagram of the partial connection structure of the handle;

[0054] Fig. 9 A schematic diagram of a partial structure of the handle.

[0055] icon:

[0056] 100-Wrist base;

[0057] 200-Wrist Link;

[0058] 300- joint shaft;

[0059] 400-handle; 410-bottom plate; 420-annular boss; 411-shaft sleeve;

[0060] 510-main circuit board; 520-branch circuit board; 530-first cable; 540-sub-circuit board; 550-second cable;

[0061] 610-wire protection sleeve; 620-outer protection sleeve; 630-wire protection disc; 621-enclosure plate; 622-side end plate; 6221-axial hole; 6222-adjustment opening;

[0062] 700-wire sleeve;

[0063] 800-Rotation axis. DETAILED DESCRIPTION

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] In some technologies, the surgical robot used in surgical operations includes a main operating table (i.e., the doctor's operating end) and an operating trolley (i.e., the patient's operating end). The main operating table is connected to the operating trolley in communication, and the surgeon can remotely operate and control the operating trolley on the main operating table. In addition, the surgical robot also includes an image processing system, and the operating trolley cooperates with the main operating table and the image processing system to perform surgical robot surgical operations on patients.

[0072] The main operating console includes a main operator, and the main operator includes a main arm and a main wrist in this embodiment.

[0073] The specific structure of the master hand wrist will be described in detail below.

[0074] Reference Figures 1 to 3 The present embodiment provides a master wrist, including a wrist base 100; a plurality of wrist links 200, the plurality of wrist links 200 are sequentially connected at the joint rotation position through a joint shaft 300, and the first ends of the plurality of wrist links 200 are rotatably connected to the wrist base 100 through the joint shaft 300, and the second ends of the plurality of wrist links 200 are used to be rotatably connected to the handle 400; a circuit wiring structure, the circuit wiring structure includes a main circuit board 510, a branch circuit board 520 and a first cable 530, the main circuit board 510 is arranged on the wrist base 100, and the first cable 530 There are multiple cables 530, one ends of the multiple first cables 530 are connected to the main circuit board 510, and the other ends of the multiple first cables 530 enter the wrist link 200 from the wrist base 100, and are connected one by one with the corresponding branch circuit boards 520 in the wrist link 200; wherein, the first cables 530 are arranged to be wound around the joint shaft 300 along the circumference of the joint shaft 300 to form a first winding structure; a wire passing protection structure, the wire passing protection structure includes a first accommodating space for accommodating the first winding structure, and the surface of the first accommodating space is configured as a smooth surface.

[0075] It should be noted that according to Figure 1As shown, there are three multiple wrist links 200, and all of them are "L"-shaped rods. The specific connection method of the multiple wrist links 200 can refer to the prior art, and this embodiment does not change it, so it will not be repeated here. In addition, the first end of the multiple wrist links 200 is the lower end of a wrist link 200 connected to the wrist base 100, and the second end of the multiple wrist links 200 is the upper end of another wrist link 200 connected to the handle 400.

[0076] When wiring the master hand wrist of the present embodiment, three first cables 530 are led out from the main circuit board 510 located on the wrist base 100, and the three first cables 530 enter the wrist link 200 from the wrist base 100 and are connected one-to-one with the corresponding three branch circuit boards 520 in the wrist link 200, so as to realize the wiring of the first cables 530 between the wrist base 100 and the multiple wrist links 200, and the movement operation of the multiple wrist links 200 is realized through the wiring. Since the master hand wrist adopts a wiring method in which the main circuit board 510 and the multiple branch circuit boards 520 are matched, the number of cables and the length of the wiring can be greatly reduced, which is conducive to reducing the stacking and entanglement between the cables, making the wiring between the wrist base 100 and the multiple wrist links 200 more simplified.

[0077] In addition, since the wrist link 200 will rotate relative to the wrist base 100, and there is also relative movement between the multiple wrist links 200, the first cable 530 in this embodiment is arranged to be wound around the joint shaft 300 along the circumference of the joint shaft 300 to form a first winding structure. Such an arrangement allows the joint shaft 300 to drive the wrist link 200 to rotate while the first cable 530 can continue to wind around or loosen the corresponding joint shaft 300, and the first cable 530 will not be damaged due to entanglement, knotting, etc., and will not interfere with the rotation of the joint shaft 300.

[0078] In addition, the main wrist of the present embodiment also includes a wire protection structure. The first winding structure is placed in the first accommodating space. Since the surface of the first accommodating space is configured as a smooth surface, the parts that come into contact with the first cable 530 are all smooth surfaces, which can reduce or even avoid the friction between the first cable 530 and the joint shaft 300 or the wrist connecting rod housing, thereby reducing the wear on the first cable 530, and then playing a certain protective role on the first cable 530, extending its service life.

[0079] The line crossing protection structure of this embodiment can have various structural forms, and the following forms will be described in detail below.

[0080] (1) A structural form of the over-line protection structure

[0081] Reference Figure 2The wire protection structure includes a wire sheath 610. Specifically, the wire sheath 610 is hollowly sleeved on the joint shaft 300, and the outer peripheral surface of the wire sheath 610 is configured as a smooth surface; the first winding structure is wound around the wire sheath 610; the portion of the joint shaft 300 corresponding to the first winding structure is configured as a smooth surface, so that the friction between the first cable 530 and the joint shaft 300 can be reduced, and the wear on the first cable 530 can be reduced.

[0082] Exemplarily, the wire protection sleeve 610 may be sleeved on the outer peripheral side of the joint shaft 300 by means of clearance fit.

[0083] (2) Another structural form of the over-line protection structure

[0084] Compared with the previous structural form, an outer sheath 620 is added on the basis of the previous one.

[0085] Specifically, the outer sheath 620 is hollowly sleeved on the outer peripheral side of the cable sheath 610, and the two form a first annular accommodation space; the outer sheath 620 is provided with a wire hole for the first cable 530 to pass through, and the wire hole is communicated with the first accommodation space. It can be understood that the provision of the wire hole can meet the wiring requirements of the first cable 530, that is, the first cable 530 can enter the first accommodation space through the wire hole, and can pass through the first accommodation space through another corresponding wire hole.

[0086] The provision of the outer sheath 620 can reduce the friction between the first cable 530 and the outer shell of the wrist link 200. At the same time, the outer sheath 620 can limit the movement range of the first cable 530 to prevent the entangled first cable 530 from loosening. In addition, the outer sheath 620 can also guide the shape of the first cable 530 to avoid entanglement between them.

[0087] The outer sheath 620 may have the following two structural forms.

[0088] Reference Figure 4 In one structural form of the present embodiment, the outer sheath 620 is provided as an integral structure; the outer sheath 620 includes a surrounding plate 621 and side end plates 622 provided on both sides of the surrounding plate 621, the surrounding plate 621 is configured as a semi-closed structure, and the side end plates 622 are provided with an axial hole 6221 for the wire sleeve 610 to pass through, and an adjustment opening 6222 connected to the axial hole 6221 and capable of adjusting the size of the axial hole 6221.

[0089] In this structural form, there is no need to additionally set up the cable protection disc 630. By setting up the adjustment opening 6222, the axial hole 6221 on the outer sheath 620 can be set on the outer peripheral side of the cable protection sleeve 610. In this process, the adjustment opening 6222 can be opened under the action of external force to be inserted into the outer peripheral side of the cable protection sleeve 610, and after the insertion is completed, it returns to the initial opening size. In addition, the enclosure 621 is configured as a semi-enclosed structure, which can realize the insertion and exit of the first cable 530.

[0090] Reference Figure 5 In another structural form of the present embodiment, the outer sheath 620 is arranged as a split structure; the outer sheath 620 includes a surrounding plate 621 and a side end plate 622 arranged on one side of the surrounding plate 621, the surrounding plate 621 is configured as a semi-closed structure, and the side end plate 622 is provided with an axial hole 6221 for the wire sheath 610 to pass through, and an adjustment opening 6222 connected to the axial hole 6221 and capable of adjusting the size of the axial hole 6221; the outer sheath 620 is sleeved on the outer peripheral side of the wire sheath 610 by the adjustment opening 6222; a wire protection disc 630 is arranged on the other side of the surrounding plate 621, and the wire protection disc 630 is rotatably sleeved on the joint shaft 300; the wire protection disc 630 is provided with a wire passing hole for the first cable 530 to pass through.

[0091] In this structural form, the function of the adjustment opening 6222 is the same as the above-mentioned function, which will not be described in detail. In addition, the enclosure 621 here is also configured as a semi-enclosed structure, which can also realize the insertion and exit of the first cable 530.

[0092] In this embodiment, the outer sheath 620 may be made of a material with a low friction coefficient, such as polytetrafluoroethylene; or, a material layer with a low friction coefficient may be coated on the surface of the outer sheath 620 .

[0093] (3) Another structural form of the line protection structure (not shown in the figure)

[0094] A cable protection disc 630 is rotatably sleeved on the joint shaft 300 , and a cable fixing groove for winding the first cable 530 is provided on one side of the cable protection disc 630 protruding from the disc surface; the surface of the cable fixing groove in contact with the first cable 530 is configured as a smooth surface.

[0095] It should be noted that the number of turns of the wire fixing groove is set according to needs. For the joint shaft 300 that does not require a high rotation range, the wire fixing groove on the wire protection disk corresponding to the joint shaft 300 can be set to less than one turn. On the basis of realizing the winding of the first cable 530, it is also convenient for the first cable 530 to be inserted and exited.

[0096] Based on the above embodiments, Figure 2 or Figure 3A wire sleeve 700 is fixedly disposed in the wrist link 200 to guide the wiring track of the first cable 530 in the wrist link 200. In practical applications, the specific positions of the wire sleeve 700 can be set to multiple intervals according to the length of the first cable 530, and the wire sleeve 700 can be fixedly mounted on the outer shell of the wrist link 200.

[0097] The connection and wiring method between the wrist base 100 and the multiple wrist links 200 are described above. Next, the connection and wiring method between the second ends of the multiple wrist links 200 and the handle 400 are described.

[0098] Reference Figures 6 to 9 The handle 400 is connected to the second ends of the multiple wrist links 200 through the rotation axis 800; a sub-circuit board 540 is provided in the handle 400; a second cable 550 is wound around the connection of the handle 400 along the circumference of the rotation axis 800 to form a second winding structure, one end of the second winding structure is connected to the circuit board 540, and the other end is connected to the branch circuit board 520 corresponding to the second ends of the multiple wrist links 200; a wire protection disc 630 is rotatably sleeved on the rotation axis 800, and a second accommodating space for accommodating the second winding structure is formed between the wire protection disc 630 and one end of the handle 400, and the surface of the second accommodating space is configured as a smooth surface.

[0099] Similarly, in the present embodiment, the second cable 550 is arranged to be wound around the circumference of the rotation axis 800 at the rotation axis 800 to form a second winding structure. With such an arrangement, the second cable 550 can continue to wind around or loosen the corresponding rotation axis 800 while the rotation axis 800 drives the wrist link 200 to rotate, and the second cable 550 will not be damaged due to entanglement, knotting, etc.; in addition, the second winding structure can be used to connect the sub-circuit board 540 inside the handle 400 with the branch circuit board 520 outside the handle 400. The connection method is relatively simple, which effectively reduces the number of second cables 550 used and the wiring length.

[0100] Furthermore, a wire sheath 610 is hollowly provided on the outer peripheral side of the rotating shaft 800, and the outer peripheral surface of the wire sheath 610 is configured as a smooth surface; the second winding structure is wound around the wire sheath 610. Such a configuration can reduce the friction between the second cable 500 and the rotating shaft 800, and further alleviate the wear of the second cable 500.

[0101] Combination Figure 6 and Fig. 9 One end of the handle 400 includes a bottom plate 410 and an annular boss 420 arranged around the edge of the bottom plate 410 and extending toward the wrist link 200; a wire protection plate 630 is arranged at the opening of the annular boss 420 to enclose a second accommodation space.

[0102] Reference Fig. 9A shaft sleeve 411 is protruding from the inner surface of the bottom plate 410, and the shaft end of the rotating shaft 800 can be fixedly sleeved on the shaft sleeve 411 to achieve a coaxial and reliable connection between the two.

[0103] In summary, the first cable 530 and the second cable 550 of the present embodiment may both adopt a flexible printed circuit (FPC), and the flexible printed circuit may be made of polyimide or polyester film as a substrate.

[0104] In simple terms, the main circuit board 510 is at least connected to the motor, and three FPCs are led out to connect to three branch circuit boards 520 respectively. The three branch circuit boards 520 are the adjustment L-rod circuit board, the pitch L-rod circuit board and the yaw L-rod circuit board respectively. The adjustment L-rod circuit board, the pitch L-rod circuit board and the yaw L-rod circuit board are at least respectively connected to the motor to control the rotation of the corresponding adjustment L-rod, pitch L-rod and yaw L-rod. Among them, the yaw L-rod circuit board is connected to the sub-circuit board 540 through another FPC, and then connected to the micro switch and other components in the handle 400 through the sub-circuit board 540.

[0105] 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. A master wrist, characterized in that: include: Wrist base (100); A plurality of wrist links (200), wherein the plurality of wrist links (200) are sequentially connected at a joint rotation point via a joint rotating shaft (300), and the first ends of the plurality of wrist links (200) are rotationally connected to the wrist base (100) via the joint rotating shaft (300), and the second ends of the plurality of wrist links (200) are used for rotationally connecting to a handle (400); A circuit wiring structure, the circuit wiring structure comprising a main circuit board (510), a branch circuit board (520) and a first cable (530), the main circuit board (510) being arranged on the wrist base (100), the first cable (530) being arranged in a plurality, one end of each of the plurality of first cables (530) being connected to the main circuit board (510), the other end of each of the plurality of first cables (530) entering the wrist link (200) from the wrist base (100), and being connected one-to-one with the corresponding branch circuit boards (520) in the wrist link (200); wherein the first cable (530) is arranged to be wound around the joint shaft (300) along the circumference of the joint shaft (300) to form a first winding structure; The wire passing protection structure comprises a first accommodating space for accommodating the first winding structure, and the surface of the first accommodating space is configured as a smooth surface.

2. The master wrist according to claim 1, characterized in that: The wire protection structure comprises a wire protection sleeve (610), the wire protection sleeve (610) is hollowly sleeved on the joint shaft (300), and the outer peripheral surface of the wire protection sleeve (610) is configured as the smooth surface; The first winding structure is wound around the wire sheath (610).

3. The master wrist according to claim 1, characterized in that: The portion of the joint shaft (300) corresponding to the first winding structure is configured as the smooth surface.

4. The master wrist according to claim 1, characterized in that: A cable protection disc (630) is rotatably sleeved on the joint rotating shaft (300), and a cable fixing groove for winding the first cable (530) is provided on one side of the cable protection disc (630) protruding from the disc surface; The surface of the cable fixing trough in contact with the first cable (530) is configured as the smooth surface.

5. The master wrist according to claim 2, characterized in that: The wire protection structure further includes an outer sheath (620); The outer sheath (620) is hollowly sleeved on the outer peripheral side of the wire sheath (610), and the first annular accommodation space is formed between the two; The outer sheath (620) is provided with a wire hole for allowing the first cable (530) to pass through, and the wire hole is in communication with the first accommodating space.

6. The master wrist according to claim 5, characterized in that: The outer sheath (620) is provided as an integral structure; The outer sheath (620) comprises a surrounding plate (621) and side end plates (622) arranged on both sides of the surrounding plate (621), the surrounding plate (621) is configured as a semi-closed structure, and the side end plates (622) are provided with an axial hole (6221) for the wire sheath (610) to pass through, and an adjustment opening (6222) connected to the axial hole (6221) and capable of adjusting the size of the axial hole (6221); The outer sheath (620) is sleeved with the axial hole (6221) on the outer circumference of the wire sheath (610) by the adjusting opening (6222).

7. The master wrist according to claim 5, characterized in that: The outer sheath (620) is configured as a split structure; The outer sheath (620) comprises a surrounding plate (621) and a side end plate (622) arranged on one side of the surrounding plate (621); the surrounding plate (621) is configured as a semi-closed structure; the side end plate (622) is provided with an axial hole (6221) for the wire sheath (610) to pass through, and an adjustment opening (6222) connected to the axial hole (6221) and capable of adjusting the size of the axial hole (6221); the outer sheath (620) is sleeved with the axial hole (6221) on the outer peripheral side of the wire sheath (610) by the adjustment opening (6222); A wire protection disc (630) is provided on the other side of the enclosure plate (621), and the wire protection disc (630) is rotatably sleeved on the joint shaft (300); The cable protection disc (630) is provided with a cable hole for allowing the first cable (530) to pass through.

8. The master wrist according to any one of claims 1 to 7, characterized in that: A wire sleeve (700) is fixedly provided inside the wrist link (200) and is used to guide the wiring track of the first cable (530) inside the wrist link (200).

9. The master wrist according to claim 1, characterized in that: The handle (400) is connected to the second ends of the plurality of wrist links (200) via a rotation axis (800); A sub-circuit board (540) is provided inside the handle (400); A second cable (550) is wound around the connection of the handle (400) along the circumference of the rotation axis (800) to form a second winding structure, one end of the second winding structure is connected to the circuit board (540), and the other end is connected to the branch circuit board (520) corresponding to the second ends of the plurality of wrist links (200); The rotating shaft (800) is rotatably sleeved with a wire protection disc (630), and a second accommodation space for accommodating the second winding structure is formed between the wire protection disc (630) and one end of the handle (400), and the surface of the second accommodation space is configured as a smooth surface.

10. The master wrist according to claim 9, characterized in that: The outer peripheral side of the rotating shaft (800) is hollowly covered with a wire protection sleeve (610), and the outer peripheral surface of the wire protection sleeve (610) is configured as the smooth surface; The second winding structure is wound around the wire sheath (610).

11. The master wrist according to claim 9 or 10, characterized in that: One end of the handle (400) comprises a bottom plate (410) and an annular boss (420) arranged around the edge of the bottom plate (410) and extending in a direction close to the wrist link (200); The wire protection disc (630) is arranged at the opening of the annular boss (420); A shaft sleeve (411) is protruding from the inner surface of the bottom plate (410), and the shaft end of the rotating shaft (800) is fixedly sleeved on the shaft sleeve (411).

12. A master operator, characterized in that: include: The master wrist according to any one of claims 1 to 11.

13. A main operating table, characterized in that: include: The master operator as claimed in claim 12.

14. A surgical robot, characterized in that: include: The main operating station as claimed in claim 13.

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