Surgical robot and rotary joint thereof

Abstract

The utility model relates to a surgical robot and a rotating joint thereof. The rotating joint comprises a shell, a rotating shaft and a balance mechanism. The shell is used for being connected with one mechanical arm. The rotating shaft is used for being connected with the other mechanical arm. The balance mechanism comprises at least one elastic piece, one end of the elastic piece is connected with the shell, and the other end is connected with the rotating shaft. The rotating joint has an initial state and a rotating state; in an initial state, the elastic piece shrinks; when the rotating joint is switched from the initial state to the rotating state, the elastic piece is stretched, and the rotating direction of the rotating joint is the same as the direction of gravity torque borne by the rotating joint. And when the rotating joint is switched from the rotating state to the initial state, the elastic piece shrinks. By arranging the elastic piece, the elastic piece can overcome the gravity moment to do work, and therefore the effect of the gravity moment does not need to be considered in the rotating process of the servo control joint of the rotating joint.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a surgical robot and a rotary joint thereof. Background Art

[0002] During the operation, the surgical robot will place the surgical arm to the best working position. During this process, the rotating joint of the surgical robot's mechanical arm will rotate with multiple arms. Since the weight of multiple arms is relatively heavy, the surgical robot's mechanical arm will inevitably deform.

[0003] However, the deformation of the surgical robot's mechanical arm will generate a gravity torque. During the rotation of the upper arm's rotary joint, the gravity torque sometimes assists the rotation of the rotary joint and sometimes hinders the rotation of the rotary joint. At this time, the gravity torque will cause great trouble to the servo control. Utility Model Content

[0004] Based on this, it is necessary to provide a surgical robot and a rotary joint thereof to address the problem of deformation of the robotic arm of the surgical robot and generation of gravity torque.

[0005] A rotary joint for connecting two mechanical arms, the rotary joint comprising:

[0006] A housing, used to be connected to one of the two mechanical arms;

[0007] A rotating shaft, used to connect to the other of the two mechanical arms;

[0008] A balancing mechanism, comprising at least one elastic member, one end of which is connected to the housing, and the other end of which is connected to the rotating shaft;

[0009] The rotary joint has an initial state in which the elastic member is contracted and a rotary state in which the elastic member is stretched; when the rotary joint switches from the initial state to the rotary state, the rotation direction of the rotary joint is the same as the direction of the gravity torque acting on the rotary joint.

[0010] In one of the embodiments, when the rotary joint is in an initial state, a connection position between the elastic member and the housing, a connection position between the elastic member and the rotating shaft, and a center position of the rotating shaft are located on the same straight line.

[0011] In one embodiment, the number of the elastic members is two, and the two elastic members are arranged opposite to each other.

[0012] In one embodiment, the balancing mechanism includes a fixing component, the fixing component is respectively provided on the housing and the rotating shaft, and both ends of the elastic member are respectively hooked with the fixing component.

[0013] In one embodiment, hooks are respectively provided at both ends of the elastic member, the fixing assembly includes a support column and a cap provided on the support column, the hook is hooked on the support column, and the diameter of the cap is larger than the diameter of the hook.

[0014] In one embodiment, the elastic member is any one of a coil spring, a gas spring, a hydraulic tension spring and a torsion spring.

[0015] In one embodiment, the rotary joint comprises an encoder, and the encoder is coaxially arranged on the rotating shaft.

[0016] A surgical robot comprises at least two mechanical arms, wherein two adjacent mechanical arms are connected via a rotating joint.

[0017] In one embodiment, the surgical robot includes a main arm, a cross arm and an end effector which are rotatably connected end to end in sequence, the center of gravity of the end effector deviates to one side of the cross arm along the length direction, the main arm and the cross arm and / or the cross arm and the end effector are connected through the rotary joint, and when the rotary joint switches from an initial state to a rotating state, the rotation direction of the rotary joint is the same as the direction of deviation of the center of gravity of the end effector.

[0018] In one embodiment, the rotation angle of the rotary joint is ±90°.

[0019] In the above-mentioned surgical robot and its rotary joint, at the initial stage of the rotary joint, the elastic member is in a contracted state, at which time the elastic member has no effect on the housing and the rotating shaft or the force is minimal. When the rotating shaft rotates relative to the housing in the direction of the gravity torque, the rotating shaft stretches the elastic member, at which time the direction of the elastic torque generated by the elastic member is opposite to the rotation direction of the rotating shaft, that is, the direction of the elastic torque generated by the elastic member is opposite to the direction of the gravity torque, so that the gravity torque can be balanced by the elastic force of the elastic member. When the rotating shaft rotates relative to the housing to the side away from the gravity torque direction, the elastic member contracts, at which time the gravity torque direction is opposite to the rotation direction of the rotating shaft, and the direction of the elastic torque generated by the elastic member is the same as the rotation direction of the rotating shaft, that is, the direction of the elastic torque generated by the elastic member is opposite to the direction of the gravity torque, so that the gravity torque can be balanced by the elastic torque. Therefore, by setting the elastic member, the elastic member can overcome the gravity torque to do work, so that the rotary joint does not need to consider the effect of the gravity torque during the servo control joint rotation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the structure of a surgical robot in one embodiment.

[0021] Figure 2Schematic diagram of the structure of the surgical robot when the rotary joint is in an initial state in one embodiment.

[0022] Figure 3 Schematic diagram of the structure of the surgical robot when the rotary joint is in a rotating state in one embodiment.

[0023] Figure 4 Schematic diagram of the structural change when the rotary joint switches from an initial state to a rotating state in one embodiment.

[0024] Figure 5 Schematic diagram of the structural change when the rotary joint switches from a rotating state to an initial state in one embodiment.

[0025] Figure 6 A cross-sectional view of a rotary joint in one embodiment.

[0026] Figure numerals: 100, rotary joint; 110, housing; 120, rotating shaft; 130, balancing mechanism; 131, elastic member; 132, fixing assembly; 140, motor; 150, reducer; 160, encoder; 170, brake; 200, upper arm; 300, cross arm; 400, end effector; 410, actuator arm. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0028] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0029] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0031] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0033] During the operation, the surgical robot will place the actuator arm 410 in the best working position. During this process, the rotary joint 100 of the surgical robot's mechanical arm will rotate with multiple actuator arms 410. Since the weight of multiple actuator arms 410 is added together, it is easy to cause the mechanical arm of the surgical robot to deform. The deformed mechanical arm will generate gravity torque, which will cause great trouble to the servo control.

[0034] See also Figure 1 , a rotary joint 100 provided in one embodiment of the present application is used to connect two mechanical arms, and the rotary joint 100 includes a shell 110, a rotating shaft 120 and a balancing mechanism 130. The shell 110 is used to connect to one of the mechanical arms. The rotating shaft 120 is used to connect to the other mechanical arm. The balancing mechanism 130 includes at least one elastic member 131, one end of the elastic member 131 is connected to the shell 110, and the other end is connected to the rotating shaft 120. The rotary joint 100 has an initial state and a rotation state. When the rotary joint 100 is in the initial state, the elastic member 131 contracts; when the rotary joint 100 switches from the initial state to the rotation state, the elastic member 131 is stretched, and the rotation direction OX of the rotary joint 100 is the same as the direction OY of the gravitational torque exerted on the rotary joint 100; when the rotary joint 100 switches from the rotation state to the initial state, the elastic member 131 contracts.

[0035] In this embodiment, the center of gravity of one of the robotic arms is offset. Figure 4 At the beginning of the rotation joint 100, the elastic member 131 is in a contracted state. At this time, the elastic member 131 has no effect on the housing 110 and the shaft 120 or the effect is minimal. When the shaft 120 rotates relative to the housing 110 in the direction of the gravity torque OY, the shaft 120 stretches the elastic member 131. At this time, the direction of the elastic torque OZ generated by the elastic member 131 is opposite to the rotation direction OX of the shaft 120, that is, the direction of the elastic torque OZ generated by the elastic member 131 is opposite to the gravity torque direction OY, so that the gravity torque can be balanced by the elastic force of the elastic member 131. Figure 5 When the rotating shaft 120 rotates relative to the housing 110 to the side away from the gravity torque direction OY, the elastic member 131 contracts. At this time, the gravity torque direction OY is opposite to the rotation direction OX of the rotating shaft 120. The elastic torque direction OZ generated by the elastic member 131 is the same as the rotation direction OX of the rotating shaft 120, that is, the elastic torque direction OZ generated by the elastic member 131 is opposite to the gravity torque direction OY, so that the gravity torque can be balanced by the elastic torque. Therefore, by setting the elastic member 131, the elastic member 131 can overcome the gravity torque to do work, so that the rotary joint 100 does not need to consider the effect of the gravity torque during the servo control joint rotation process.

[0036] In some embodiments, when the rotary joint 100 is in an initial state, the connection position between the elastic member 131 and the housing 110 , the connection position between the elastic member 131 and the rotating shaft 120 , and the center position of the rotating shaft 120 are located on the same straight line.

[0037] That is, the rotation center of the rotating shaft 120 is located on the extension line of the elastic member 131 in the initial state. In this way, when the rotating joint 100 is in the rotating state, no matter the rotating shaft 120 rotates forward or reversely relative to the elastic member 131, the direction of the elastic torque of the elastic member 131 is opposite to the rotation direction OX of the rotating shaft 120, so that the elastic torque can balance the gravity torque.

[0038] In some embodiments, the number of the elastic members 131 is two, and the two elastic members 131 are arranged opposite to each other.

[0039] That is, when the rotary joint 100 is in the initial state, the two elastic members 131 are located on the same straight line, and the axis of the rotating shaft 120 is located on the straight line. When the rotary joint 100 rotates, the elastic torque directions OZ of the two elastic members 131 are equal, which is used to balance the gravity torque at the same time. The two elastic members 131 are provided to increase the elastic force so that the elastic torque balances the gravity torque.

[0040] Of course, the number of the elastic members 131 may also be three or four, and the number of the elastic members 131 may be selected according to the magnitude of the gravity moment. When the number of the elastic members 131 is three, the three elastic members 131 are arranged around the axis of the rotating shaft 120 at 120 degrees, and when the number of the elastic members 131 is four, the four elastic members 131 are arranged around the axis of the rotating shaft 120 at 90 degrees.

[0041] In some embodiments, the balancing mechanism 130 includes a fixing assembly 132, and the fixing assembly 132 is respectively disposed on the housing 110 and the rotating shaft 120, and both ends of the elastic member 131 are respectively hooked with the fixing assembly 132. The hooking method can increase the installation speed of the elastic member 131.

[0042] Furthermore, hooks are respectively provided at both ends of the elastic member 131 , and the fixing assembly 132 includes a support column and a cap provided on the support column, the elastic member 131 is hooked on the support column, and the diameter of the cap is larger than the diameter of the hook.

[0043] When installing the elastic member 131, first hook the hook at one end of the elastic member 131 on the support column on the housing 110, then thread the hook with the support column on the housing 110 through the cap, then hook the hook at the other end of the elastic member 131 on the support column on the shaft 120, then thread the hook with the support column on the shaft 120 through the cap. The installation of the elastic member 131 is completed.

[0044] Of course, the cap can also be welded to the support column.

[0045] In some embodiments, the elastic member 131 is any one of a coil spring, a gas spring, a hydraulic tension spring and a torsion spring. When the elastic member 131 is a coil spring, a gas spring or a hydraulic tension spring, the elastic member 131 is rotatably connected to the housing 110 and the rotating shaft 120 respectively. When the elastic member 131 is a torsion spring, the elastic member 131 is fixedly connected to the housing 110 and the rotating shaft 120 respectively.

[0046] In some embodiments, in combination Figure 6 The rotary joint 100 includes an encoder 160, which is coaxially arranged on the rotating shaft 120. The encoder 160 is used to record the joint position.

[0047] In addition, the rotary joint 100 further includes a motor 140, a reducer 150 and a brake 170. The motor 140 drives the output shaft to rotate through the reducer 150, so that the output shaft rotates relative to the housing 110. The brake 170 is arranged outside the rotating shaft 120 to prevent the joint from moving or to stop it in an emergency.

[0048] An embodiment of the present application provides a surgical robot, comprising at least two mechanical arms, wherein two adjacent mechanical arms are connected via a rotary joint 100. The rotary joint 100 is used to balance the gravitational torque generated by the offset of the center of gravity of one of the mechanical arms.

[0049] In some embodiments, in combination Figure 1 The surgical robot includes a main arm 200, a cross arm 300 and an end effector 400 which are rotatably connected in sequence head to tail. The center of gravity of the end effector 400 deviates to one side of the cross arm 300 along the length direction. The main arm 200 and the cross arm 300 and / or the cross arm 300 and the end effector 400 are connected through a rotary joint 100. When the rotary joint 100 switches from an initial state to a rotating state, the rotation direction OX of the rotary joint 100 is toward the direction of deviation of the center of gravity of the end effector 400.

[0050] Specific, combined Figure 2 When the rotary joint 100 is in the initial state, the center of gravity D borne by the end of the cross arm 300 is as follows: Figure 2 As the rotary joint 100 switches to the rotation state, the Figure 3, the cross arm 300 will gradually deform, causing the height of the center of gravity G to decrease as the end effector 400 rotates, and gravity will generate a torque to participate in the movement of the rotary joint 100. The direction of the gravity torque OY is the same as the rotation direction OX of the rotary joint 100, and the gravity torque does positive work. At this time, as the rotary joint 100 rotates, the elastic member 131 is pulled apart, and the elastic member 131 provides a torque in the opposite direction of the rotation of the rotary joint 100 to balance the gravity torque. When the rotary joint 100 switches from the rotating state to the initial state, the cross arm 300 deforms, causing the height of the center of gravity G to increase as the end effector 400 rotates, and gravity will generate a torque in the opposite direction of the rotation of the rotary joint 100 to hinder the movement of the rotary joint 100. At this time, the elastic member 131 contracts, and the elastic member 131 provides a torque in the same direction as the movement of the rotary joint 100, which is balanced with the gravity torque.

[0051] In one embodiment, the upper arm 200 and the cross arm 300 are connected by a rotating joint 100. When the center of gravity of the cross arm 300 is shifted under the drive of the end actuator 400, the torque generated by the elastic member 131 in the rotating joint 100 between the upper arm 200 and the cross arm 300 can balance the gravity torque.

[0052] In another embodiment, the cross arm 300 and the end effector 400 are connected via a rotary joint 100. When the center of gravity of the cross arm 300 is shifted due to the drive of the end effector 400, the gravity torque can be balanced by the torque generated by the elastic member 131 in the rotary joint 100 between the cross arm 300 and the end effector 400.

[0053] In other embodiments, the upper arm 200 and the cross arm 300 are connected via a rotary joint 100, and the cross arm 300 and the end effector 400 are connected via a rotary joint 100, that is, the torque generated by the elastic member 131 disposed in the two rotary joints 100 can balance the gravity torque.

[0054] In some embodiments, the rotation angle of the rotary joint 100 is ±90°, that is, the cross arm 300 can rotate 90 degrees clockwise or 90 degrees counterclockwise relative to the upper arm 200. The end effector 400 is used to perform various surgical operations on the human body. The rotation angle of the rotary joint 100 is ±90° to prevent the actuator arm 410 from rotating to the side away from the human body, and also to prevent the elastic member 131 from being damaged due to excessive elastic deformation of the elastic member 131.

[0055] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A rotary joint (100), characterized in that: Used to connect two mechanical arms, the rotary joint (100) comprises: A housing (110) used for connecting to one of the two mechanical arms; A rotating shaft (120), used for connecting to the other of the two mechanical arms; A balancing mechanism (130) comprising at least one elastic member (131), wherein one end of the elastic member (131) is connected to the housing (110), and the other end of the elastic member (131) is connected to the rotating shaft (120); The rotary joint (100) has an initial state in which the elastic member (131) is contracted and a rotational state in which the elastic member (131) is stretched; the rotation direction of the rotary joint (100) when switching from the initial state to the rotational state is the same as the direction of the gravity torque applied to the rotary joint (100).

2. The rotary joint (100) according to claim 1, characterized in that: When the rotary joint (100) is in an initial state, the connection position between the elastic member (131) and the housing (110), the connection position between the elastic member (131) and the rotating shaft (120), and the center position of the rotating shaft (120) are located on the same straight line.

3. The rotary joint (100) according to claim 2, characterized in that: The number of the elastic members (131) is two, and the two elastic members (131) are arranged opposite to each other.

4. The rotary joint (100) according to claim 1, characterized in that: The balancing mechanism (130) comprises a fixing component (132), the fixing component (132) being respectively arranged on the housing (110) and the rotating shaft (120), and both ends of the elastic member (131) are respectively hooked with the fixing component (132).

5. The rotary joint (100) according to claim 4, characterized in that: Hooks are respectively arranged at both ends of the elastic member (131); the fixing assembly (132) comprises a support column and a cap arranged on the support column; the hook is hooked on the support column; and the diameter of the cap is larger than the diameter of the hook.

6. The rotary joint (100) according to claim 1, characterized in that: The elastic member (131) is any one of a coil spring, a gas spring, a hydraulic tension spring and a torsion spring.

7. The rotary joint (100) according to claim 1, characterized in that: The rotary joint (100) comprises an encoder (160), and the encoder (160) is coaxially arranged on the rotating shaft (120).

8. A surgical robot, characterized in that: It comprises at least two mechanical arms, and two adjacent mechanical arms are connected via a rotary joint (100) according to any one of claims 1 to 7.

9. The surgical robot according to claim 8, characterized in that: The surgical robot comprises a large arm (200), a cross arm (300) and an end effector (400) which are connected to each other in a rotational manner end to end, the center of gravity of the end effector (400) is deviated to one side of the cross arm (300) along the length direction, the large arm (200) and the cross arm (300) and / or the cross arm (300) and the end effector (400) are connected via the rotary joint (100), and when the rotary joint (100) switches from an initial state to a rotational state, the rotation direction of the rotary joint (100) is the same as the direction in which the center of gravity of the end effector (400) deviates.

10. The surgical robot according to claim 8, characterized in that: The rotation angle of the rotary joint (100) is ±90°.

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