Surgical robot setting arm and surgical robot

Abstract

The utility model belongs to the technical field of medical instruments, and provides a surgical robot setting arm and a surgical robotic.The surgical robot setting arm comprises a base, a first arc sliding rod, a deflection rod and a pitching mechanism, the first arc sliding rod is slidably arranged on the base around the arc central axis of the first arc sliding rod, and the arc central axis of the first arc sliding rod forms a first axis; one end of the deflection rod is rotatably connected to the arc inner side of the first arc sliding rod, a rotating shaft of the deflection rod forms a second axis, and the second axis is perpendicular to the first axis; the pitching mechanism is connected to the other end of the deflection rod and used for installing the instrument and driving the instrument to rotate around a third axis, the third axis is perpendicular to the second axis, and the first axis, the second axis and the third axis intersect at a fixed point. According to the surgical robot setting arm provided by the invention, the adjustment range of posture adjustment of the instrument is relatively large, the adjustment operation is relatively flexible, and the size is relatively small.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a surgical robot setting arm and a surgical robot. Background Art

[0002] At present, a single-port surgical robot usually includes an instrument and a setting arm. The instrument is used to extend into the patient's abdominal cavity and other tissues for minimally invasive surgery, and the setting arm is used to adjust the position of the instrument so that the instrument can accurately reach the surgical position according to the required path. Since during the operation, the setting arm is generally outside the patient's body, and the instrument is generally connected to the setting arm at one end and the other end enters the patient's body through an opening in the patient's body, the movement of the setting arm during the operation is a movement around a fixed point, and the setting arm needs to enable the instrument to adjust its posture around a fixed point during the operation. Therefore, the flexibility of the setting arm in adjusting the posture of the instrument is a key indicator for measuring the performance of the setting arm. In addition, since in addition to placing the setting arm in the operating room, other equipment such as beds, shadowless lamps, and anesthesia towers are also needed, the surgical robot setting arm needs to be as small as possible in addition to flexibly adjusting the posture of the instrument.

[0003] In the related art, the arm of the surgical robot cannot well balance the two performance indicators of volume size and the posture adjustment range of the instrument. Utility Model Content

[0004] The present application provides a surgical robot setting arm and a surgical robot to solve the technical problem in the related art that the surgical robot setting arm cannot well take into account the two performance indicators of volume size and instrument posture adjustment range.

[0005] To achieve the above purpose, the technical solution adopted in this application is:

[0006] In a first aspect, a surgical robot setting arm is provided, the surgical robot setting arm comprising:

[0007] Pedestal;

[0008] A first arc sliding rod, wherein the first arc sliding rod is slidably disposed on the base around its own arc center axis, wherein the arc center axis of the first arc sliding rod forms a first axis;

[0009] A deflection rod, one end of which is rotatably connected to the inner side of the arc of the first arc sliding rod, and the rotation axis of the deflection rod forms a second axis, wherein the second axis is perpendicular to the first axis;

[0010] A pitch mechanism, the pitch mechanism is connected to the other end of the deflection rod, the pitch mechanism is used to install the device and drive the device to rotate around a third axis, the third axis is perpendicular to the second axis, and the first axis, the second axis and the third axis intersect at a fixed point.

[0011] In some embodiments, the pitch mechanism includes a pitch drive assembly, a first link, a second link and a third link, the deflection rod, the first link, the second link and the third link are rotatably connected in sequence, and the movements of the first link, the second link and the third link are coupled with each other to form a parallelogram mechanism, and the end of the third link away from the second link is used to install the device; the pitch drive assembly is used to drive the first link to swing.

[0012] In some embodiments, the pitch mechanism includes a pitch drive assembly and a plurality of second arc slides, wherein the plurality of second arc slides are slidably connected in sequence, wherein the arc center axis of the second arc slide coincides with the third axis, and the second arc slide slides along the path of the arc extension trajectory of the second arc slide, the first second arc slide of the plurality of second arc slides connected in sequence is fixedly connected to the deflection rod, the last second arc slide of the plurality of second arc slides connected in sequence is connected to the instrument, and the pitch drive assembly is used to drive any second arc slide to slide.

[0013] In some embodiments, the deflection rod includes a first rod segment and a second rod segment, one end of the first rod segment is rotatably connected to the inner side of the first arc sliding rod around the second axis, the second rod segment is connected to the other end of the first rod segment and is perpendicular to the first rod segment, and the pitch mechanism is connected to the end of the second rod segment away from the first rod segment.

[0014] In some embodiments, the surgical robot also includes a first sliding member and a second sliding member, the first sliding member is slidably disposed on the base along a first direction, the second sliding member is slidably disposed on the first sliding member along a second direction, the first arc sliding rod is slidably disposed on the second sliding member around the first axis, and the first direction, the second direction and the direction where the first axis is located are perpendicular to each other.

[0015] In some embodiments, the first sliding member includes a first arm and a second arm, the first arm is slidably disposed on the base along the first direction, the second arm is connected to the top of the first arm and is perpendicular to the first arm, and the second sliding member is slidably disposed on the second arm along the second direction.

[0016] In some embodiments, the second sliding member is provided with an arc groove and a receiving cavity which are interconnected, the arc groove is used to slide with the first arc slide rod, the surgical robot setting arm also includes a sliding drive assembly for driving the first arc slide rod to slide, and the receiving cavity is used to accommodate the sliding drive assembly.

[0017] In some embodiments, the surgical robot setting arm also includes a connecting member, which is connected between the first sliding member and the second sliding member, and is used to enable the second sliding member to slide relative to the first sliding member along the second direction, and to enable the second sliding member to rotate relative to the first sliding member around the first direction.

[0018] In some embodiments, the first arc slide rod includes a plurality of sub-arc slide rods, and the plurality of sub-arc slide rods are slidably connected in sequence, wherein the arc center axis of the sub-arc slide rod coincides with the first axis, and the sub-arc slide rod slides along the path of the arc extension trajectory of the sub-arc slide rod, the sub-arc slide rod at one end of the plurality of sub-arc slide rods connected in sequence is slidably connected to the base, and the sub-arc slide rod at the other end of the plurality of sub-arc slide rods connected in sequence is rotatably connected to the deflection rod.

[0019] In a second aspect, a surgical robot is provided, comprising an instrument and the surgical robot setting arm described in the first aspect, wherein the instrument is mounted on the pitch mechanism.

[0020] Compared with the related art, the surgical robot setting arm provided in the present application is provided with a base, a first arc slide bar, a deflection rod and a pitch mechanism, the first arc slide bar is slidably arranged on the base around a first axis, one end of the deflection rod is rotatably arranged on the inner side of the first arc slide bar around a second axis, and the pitch mechanism is connected to the other end of the deflection rod and can drive the instrument to rotate around a third axis, wherein the first axis, the second axis and the third axis intersect at a fixed point, the second axis is perpendicular to the first axis and the third axis, and the positions of the second axis and the third axis relative to the first axis are both adjustable. The above design enables, when using the surgical robot setting arm, the instrument can be rotated around the first axis by driving the first arc slide bar to slide, the instrument can be rotated around the second axis by driving the deflection rod to rotate, and the instrument can be rotated around the third axis by driving the pitch mechanism. That is, the surgical robot setting arm provided in the present application can make the instrument rotate around three axes intersecting at a fixed point in three-dimensional space, and the positions of two of the three axes are adjustable. The surgical robot setting arm has a large adjustment range for adjusting the posture of the instrument and the adjustment operation is flexible. There is no need to additionally set up a structure in the related technology for driving the instrument to rotate around its own axis. Since the structure for driving the instrument to rotate around its own axis usually occupies a certain space in the height direction of the surgical robot setting arm, avoiding the setting of a structure for driving the instrument to rotate around its own axis can reduce the size of the surgical robot setting arm in the height direction, so that the surgical robot setting arm has a smaller volume while flexibly adjusting the posture of the instrument, and can better take into account the two performance indicators of volume size and instrument posture adjustment range. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 A schematic diagram of the structure of a surgical robot in some embodiments of the present application from a first perspective;

[0023] Figure 2 for Figure 1 The schematic diagram of the structure of the surgical robot shown in the second viewing angle;

[0024] Figure 3 for Figure 1 The structure of the surgical robot shown in the third perspective Figure 1 ;

[0025] Figure 4 for Figure 1The schematic diagram of the structure of the surgical robot shown in the fourth perspective;

[0026] Figure 5 for Figure 1 The schematic diagram of the structure of the surgical robot shown in the fifth viewing angle;

[0027] Figure 6 for Figure 1 The structure of the surgical robot shown in the third perspective Figure 2 ;

[0028] Figure 7 for Figure 1 The structure of the surgical robot shown in the third perspective Figure 3 ;

[0029] Figure 8 This is a schematic structural diagram of a first sliding member of a surgical robot according to some embodiments of the present application;

[0030] Fig. 9 A schematic diagram of the structure of a second sliding member of a surgical robot according to some embodiments of the present application;

[0031] Fig.10 A schematic diagram of the structure of a first arc sliding bar of a surgical robot according to some embodiments of the present application;

[0032] Fig.11 A schematic diagram of the structure of a surgical robot in some other embodiments of the present application Figure 1 ;

[0033] Fig.12 for Fig.11 The structure of the surgical robot shown Figure 2 ;

[0034] Fig.13 A schematic diagram of the structure of the pitch mechanism, instrument and roll drive assembly of the surgical robot provided in some embodiments of the present application.

[0035] Among them, the reference numerals in the figure are:

[0036] 1-Surgical robots;

[0037] 10-surgical robot setting arm; 100-base; 200-first arc slide bar; 210-arc slide bar body; 220-sliding rack; 300-deflection rod; 310-first rod segment; 320-second rod segment; 400-pitch mechanism; 410-first connecting rod; 420-second connecting rod; 430-third connecting rod; 440-second arc slide bar; 500-first sliding member; 510-first arm; 520-second arm; 600-second sliding member; 610-arc slide groove; 620-accommodating chamber; 700-sliding drive assembly; 800-connecting member; 900-rolling drive assembly; 910-rolling gear; 920-pulley mechanism;

[0038] 20- instrument; 21- instrument body; 22- arc-shaped rack. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0040] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do 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 should not be understood as a limitation on the present application.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] Reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, when the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, not all references are to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics may be combined in any suitable manner.

[0043] At present, a single-port surgical robot usually includes an instrument and a setting arm. The instrument is used to extend into the patient's abdominal cavity and other tissues for minimally invasive surgery, and the setting arm is used to adjust the position of the instrument so that the instrument can accurately reach the surgical position according to the required path. Since during the operation, the setting arm is generally outside the patient's body, and the instrument is generally connected to the setting arm at one end and the other end enters the patient's body through an opening in the patient's body, the movement of the setting arm during the operation is a movement around a fixed point, and the setting arm needs to enable the instrument to adjust its posture around a fixed point during the operation. Therefore, the flexibility of the setting arm in adjusting the posture of the instrument is a key indicator for measuring the performance of the setting arm. In addition, since in addition to placing the setting arm in the operating room, other equipment such as beds, shadowless lamps, and anesthesia towers are also needed, the surgical robot setting arm needs to be as small as possible in addition to flexibly adjusting the posture of the instrument.

[0044] In order to be able to flexibly adjust the posture of the instrument, the surgical robot setting arm in the related technology is usually provided with a rotation driving structure for driving the instrument to rotate around the axis of the instrument itself. The rotation driving structure is usually arranged at one end in the length direction of the instrument. The setting of the rotation driving structure increases the length of the instrument. This requires the surgical robot setting arm to reserve more installation space for the instrument and the rotation driving structure in its height direction, which will cause the overall height of the surgical robot setting arm to increase, and further cause the surgical robot setting arm to fail to take into account the two performance indicators of volume size and posture adjustment range of the instrument.

[0045] In order to solve the above problems, the present application provides a surgical robot setting arm 10, see Figures 1 to 4 , the surgical robot setting arm 10 provided in the embodiment of the present application is now described. The surgical robot setting arm 10 includes a base 100, a first arc slide bar 200, a deflection rod 300 and a pitch mechanism 400, wherein the first arc slide bar 200 is slidably arranged on the base 100 around its own arc center axis, and the arc center axis of the first arc slide bar 200 forms a first axis O1; one end of the deflection rod 300 is rotatably connected to the inner side of the arc of the first arc slide bar 200, and the rotation axis of the deflection rod 300 forms a second axis O2, and the second axis O2 is perpendicular to the first axis O1; the pitch mechanism 400 is connected to the other end of the deflection rod 300, and the pitch mechanism 400 is used to install the instrument 20 and drive the instrument 20 to rotate around the third axis O3, the third axis O3 is perpendicular to the second axis O2, and the first axis O1, the second axis O2 and the third axis O3 intersect at the fixed point O.

[0046] Understandably, see Figure 1When the base 100 of the surgical robot setting arm 10 is placed on a flat surface, and the first arc slide bar 200, the deflection rod 300 and the pitch mechanism 400 of the surgical robot setting arm 10 are located above the flat surface, the height direction of the surgical robot setting arm 10 is perpendicular to the flat surface, that is, Figure 1 A first direction D1 shown in FIG. Figure 1 The second direction D2 is a direction parallel to the plane table top and perpendicular to the arc center axis (i.e., the first axis O1) of the first arc slide bar 200, and the third direction D3 is a direction where the arc center axis (i.e., the first axis O1) of the first arc slide bar 200 is located, wherein one of the second direction D2 and the third direction D3 is a length direction of the surgical robot arm 10, and the other is a width direction of the surgical robot arm 10.

[0047] Specifically, the travel range of the first arc sliding rod 200 on the base 100 can be set as needed, for example, see Figure 1 and Figure 2 The first arc slide bar 200 can be set to be able to rotate 10° clockwise from the initial position and 35° counterclockwise from the initial position. The central angle formed by the two ends of the first arc slide bar 200 and the center of the first arc slide bar 200 can be 30°-100°, and the base 100 can be provided with an arc slide groove 610 (see Fig. 9 ), the central angle formed by the two ends of the circular arc groove 610 and the center of the circular arc groove 610 can be 30°-100°, and the first circular arc slide rod 200 can be set so that part of its length can slide out of the circular arc groove 610. In this way, the arc length of the circular arc groove 610 can be designed to be shorter, which is conducive to making the structure of the surgical robot setting arm 10 more compact.

[0048] Specifically, the deflection rod 300 can be configured to rotate a full circle around the second axis O2. The deflection rod 300 can adopt a driving structure of a torque motor with a harmonic reducer, or a motor, a motor with a planetary reducer, or other forms of driving structures.

[0049] When using the surgical robot setting arm 10 provided in the present application, the instrument 20 can be rotated around the first axis O1 by driving the first arc slide bar 200 to slide, the instrument 20 can be rotated around the second axis O2 by driving the deflection rod 300 to rotate, and the instrument 20 can be rotated around the third axis O3 by driving the pitch mechanism 400. That is, the surgical robot setting arm 10 provided in the present application can rotate the instrument 20 around three axes intersecting at the fixed point O in a three-dimensional space, and the positions of two of the three axes are adjustable, which enables the surgical robot setting arm 10 to adjust the posture of the instrument 20. The adjustment range is large and the adjustment operation is flexible. There is no need to additionally set up a structure for driving the instrument 20 to rotate around its own axis as in the related art. Since the structure for driving the instrument 20 to rotate around its own axis usually occupies a certain space in the height direction of the surgical robot setting arm 10, avoiding the setting of a structure for driving the instrument 20 to rotate around its own axis can reduce the size of the surgical robot setting arm 10 in the height direction, so that the surgical robot setting arm 10 has a smaller volume while flexibly adjusting the posture of the instrument 20, and can better take into account the two performance indicators of volume size and posture adjustment range of the instrument 20.

[0050] Furthermore, since the positions of the second axis O2 and the third axis O3 of the surgical robot setting arm 10 provided in the present application can be adjusted, in some cases, please refer to Figure 4 , the position of the third axis O3 can be made to coincide with the first axis O1, Figure 4 The third axis O3 and the first axis O1 are both perpendicular to the paper surface. When the third axis O3 and the first axis O1 coincide, driving the first arc slide bar 200 to slide can change the pitch angle of the instrument 20, and driving the pitch mechanism 400 to move can also change the pitch angle of the instrument 20. The above two operations of adjusting the pitch angle of the instrument 20 can be superimposed, which makes the surgical robot setting arm 10 have a larger adjustment range for the pitch angle of the instrument 20. Among them, the pitch angle can be understood as the angle a between the length direction of the instrument 20 and the height direction of the surgical robot setting arm 10.

[0051] In some embodiments, see Figures 2 to 5 The pitch mechanism 400 includes a pitch drive assembly (not shown in the figure, the same below), a first link 410, a second link 420 and a third link 430. The deflection rod 300, the first link 410, the second link 420 and the third link 430 are rotatably connected in sequence, and the movements of the first link 410, the second link 420 and the third link 430 are coupled to each other and form a parallelogram mechanism. The end of the third link 430 away from the second link 420 is used to install the instrument 20; the pitch drive assembly is used to drive the first link 410 to swing.

[0052] In the technical solution of the embodiment of the present application, after the pitch drive assembly drives the first link 410 to swing, the first link 410 will drive the second link 420 to translate, and the second link 420 will drive the third link 430 to swing when it translates. In the above process, the first link 410 is always parallel to the third link 430, and the second link 420 is always parallel to the line AO ​​formed by the rotatable connection point A and the fixed point O of the first link 410 and the deflection rod 300. Since the parallelogram mechanism has good stability and accurate motion trajectory control capabilities, the device 20 on the third link 430 can stably rotate around the third axis O3.

[0053] In some embodiments, see Fig.11 and Fig.12 The pitch mechanism 400 includes a pitch drive assembly (not shown in the figure, the same below) and a plurality of second arc slides 440, wherein the plurality of second arc slides 440 are slidably connected in sequence, wherein the arc center axis of the second arc slide 440 coincides with the third axis O3, and the second arc slide 440 slides along the path of the arc extension trajectory of the second arc slide 440, the first second arc slide 440 of the plurality of second arc slides 440 connected in sequence is fixedly connected to the deflection rod 300, the last second arc slide 440 of the plurality of second arc slides 440 connected in sequence is connected to the instrument 20, and the pitch drive assembly is used to drive any second arc slide 440 to slide.

[0054] Specifically, the number of the second arc slide bars 440 may be two or more. By driving one or more second arc slide bars 440 to slide, the multiple second arc slide bars 440 may slide along the direction of their own arc extension trajectories, thereby adjusting the posture of the device 20.

[0055] In the technical solution of the embodiment of the present application, the total length of the multiple second circular arc slide bars 440 along the circumferential direction is set to be adjustable, which is beneficial for the surgical robot setting arm 10 to better avoid patients or other surgical devices. The operator can also adjust the total length of the pitch mechanism 400 along its circumferential direction by increasing or decreasing the number of second circular arc slide bars 440, thereby increasing the adaptability of the surgical robot setting arm 10; in addition, since each second circular arc slide bar 440 can be independently maintained and replaced, when the second circular arc slide bar 440 fails or needs adjustment, it can be replaced or maintained separately, which can reduce the difficulty of maintaining the pitch mechanism 400.

[0056] In some embodiments, see Figure 2The deflection rod 300 includes a first rod segment 310 and a second rod segment 320. One end of the first rod segment 310 is rotatably connected to the inner side of the first arc sliding rod 200 around the second axis O2. The second rod segment 320 is connected to the other end of the first rod segment 310 and is perpendicular to the first rod segment 310. The pitch mechanism 400 is connected to one end of the second rod segment 320 away from the first rod segment 310.

[0057] In the technical solution of the embodiment of the present application, the second rod segment 320 of the deflection rod 300 is set to deviate from the second axis O2, so that the surgical robot setting arm 10 can adjust the axis of the instrument 20 to coincide with the second axis O2, so that the instrument 20 can rotate with the rotation of the deflection rod 300, which can improve the flexibility and range of the surgical robot setting arm 10 to adjust the posture of the instrument 20. In some cases, the pitch mechanism 400 and the second rod segment 320 of the deflection rod 300 can be at the same height in the height direction of the surgical robot setting arm 10, and the height direction of the surgical robot setting arm 10 can also make the structure of the surgical robot setting arm 10 more compact.

[0058] Preferably, the first rod segment 310 and the second rod segment 320 can be connected by a circular arc rod segment transition. Such a setting can avoid the formation of a sharp angle at the connection between the first rod segment 310 and the second rod segment 320, thereby reducing the risk of the connection between the first rod segment 310 and the second rod segment 320 colliding with the inner side of the arc of the first arc slide rod 200 or the operator.

[0059] In some embodiments, see Figure 1 , Figure 6 and Figure 7 The surgical robot 1 also includes a first sliding member 500 and a second sliding member 600. The first sliding member 500 is slidably disposed on the base 100 along a first direction D1, and the second sliding member 600 is slidably disposed on the first sliding member 500 along a second direction D2. The first arc sliding rod 200 is slidably disposed on the second sliding member 600 around a first axis O1. The first direction D1, the second direction D2 and the direction where the first axis O1 are located are perpendicular to each other.

[0060] Since the first sliding member 500 is slidably disposed on the base 100 along the first direction D1, the first sliding member 500 can adjust the height of the fixed point O. In this embodiment, the height adjustment amount of the fixed point O can be 450 mm. The first sliding member 500 can be driven by a screw guide rail, a hydraulic push rod, a gear rack transmission mechanism, a chain transmission mechanism, etc. When the first sliding member 500 is at the highest position of its stroke, that is, when the first sliding member 500 is in a position where it can no longer slide upward relative to the base 100, the distance between the top of the first sliding member 500 and the flat table surface can be 1.8m, 2m, 2.2m, 2.5m, etc., and can also be designed to other heights as needed.

[0061] Since the second sliding member 600 is slidably disposed on the first sliding member 500 along the second direction D2, the second sliding member 600 can adjust the distance between the fixed point O and the base 100. In this embodiment, the distance adjustment amount of the fixed point O can be 300 mm. Similarly, the second sliding member 600 can be driven by structures such as a screw guide rail, a hydraulic push rod, a gear rack transmission mechanism, and a chain transmission mechanism.

[0062] In the technical solution of this embodiment, since a first sliding member 500 and a second sliding member 600 are provided, the first sliding member 500 can be slid upward or downward relative to the base 100, so that the position of the fixed point O can be moved up or down accordingly. The second sliding member 600 can be moved closer to or away from the first sliding member 500 along the second direction D2, so that the fixed point O can be moved closer to or away from the base 100 accordingly. The operator can adjust the position of the fixed point O intuitively and conveniently.

[0063] In some embodiments, see Figure 1 , Figure 6 , Figure 7 and Figure 8 The first sliding member 500 includes a first arm 510 and a second arm 520. The first arm 510 is slidably disposed on the base 100 along a first direction D1. The second arm 520 is connected to the top of the first arm 510 and is perpendicular to the first arm 510. The second sliding member 600 is slidably disposed on the second arm 520 along a second direction D2.

[0064] In the technical solution of this embodiment, the first arm 510 and the second arm 520 are L-shaped, and the second sliding member 600 is arranged in the space between the first arm 510 and the second arm 520, so that the first sliding member 500 and the second sliding member 600 are arranged relatively compactly in the height direction of the surgical robot setting arm 10, which is beneficial to reducing the height of the surgical robot setting arm 10, so that the surgical robot setting arm 10 can flexibly adjust the posture of the instrument 20 in a narrow surgical environment.

[0065] In some embodiments, see Fig. 9 and Fig.10 The second sliding member 600 is provided with an arc groove 610 and a receiving cavity 620 which are interconnected. The arc groove 610 is used to slide with the first arc slide rod 200. The surgical robot setting arm 10 also includes a sliding drive assembly 700 for driving the first arc slide rod 200 to slide. The receiving cavity 620 is used to accommodate the sliding drive assembly 700.

[0066] Specifically, the accommodating cavity 620 can be located outside the arc of the arc slide groove 610, so that after the sliding drive assembly 700 is installed in the accommodating cavity 620 and the first arc slide rod 200 is installed in the arc slide groove 610, the sliding drive assembly 700 is located outside the arc of the first arc slide rod 200. The above design can make full use of the space outside the first arc slide rod 200. The first arc slide rod 200, the second sliding member 600 and the sliding drive assembly 700 are arranged relatively compactly, which is conducive to reducing the overall size of the surgical robot setting arm 10.

[0067] Specifically, the first arc slide bar 200 may include an arc slide bar body 210 and a sliding rack 220 disposed on the arc outer side of the arc slide bar body 210. Correspondingly, the sliding drive assembly 700 may be configured as a gear transmission mechanism, so that the first arc slide bar 200 may be driven to slide by the engagement of the gear transmission mechanism and the sliding rack 220. The gear transmission mechanism needs to achieve a certain reduction ratio. In this embodiment, the transmission ratio of the gear transmission mechanism and the sliding rack 220 may be 10.

[0068] In the technical solution of this embodiment, an arc slide groove 610 and a accommodating cavity 620 are provided on the second sliding member 600, and the first arc slide rod 200 is installed in the arc slide groove 610, and the sliding drive assembly 700 is installed in the accommodating cavity 620. The first arc slide rod 200, the sliding drive assembly 700 and the second sliding member 600 have a high degree of integration, which is conducive to making the structure of the surgical robot setting arm 10 more compact.

[0069] In some embodiments, see Fig.11 and Fig.12 The surgical robot arm 10 also includes a connecting member 800, which is connected between the first sliding member 500 and the second sliding member 600, and is used to enable the second sliding member 600 to slide relative to the first sliding member 500 along the second direction D2, and to enable the second sliding member 600 to rotate relative to the first sliding member 500 around the first direction D1.

[0070] In one implementation, one end of the connecting member 800 is slidably connected to the first sliding member 500 along the second direction D2, and the other end of the connecting member 800 is rotatably connected to the second sliding member 600 around a fourth axis O4, and the fourth axis O4 is parallel to the first direction D1.

[0071] In another implementation, one end of the connecting member 800 is rotatably connected to the first sliding member 500 around the fourth axis O4, and the other end of the connecting member 800 is slidably connected to the second sliding member 600 along the second direction D2, and the fourth axis O4 is parallel to the first direction D1.

[0072] Specifically, the driving structure for driving the connecting member 800 to rotate and / or slide includes but is not limited to a torque motor harmonic module, a motor planetary reducer, a motor, and the like.

[0073] In the technical solution of this embodiment, the position of the fixed point O is adjusted by the first sliding member 500, the second sliding member 600 and the connecting member 800, and the adjustment method is more flexible and the adjustment range is larger.

[0074] In some embodiments, the first arc slide 200 includes a plurality of sub-arc slides (not shown in the figure, the same below), and the plurality of sub-arc slides are slidably connected in sequence, wherein the arc center axis of the sub-arc slide coincides with the first axis O1, and the sub-arc slide slides along the path of the arc extension trajectory of the sub-arc slide, and the sub-arc slide at one end of the plurality of sub-arc slides connected in sequence is slidably connected to the base 100, and the sub-arc slide at the other end of the plurality of sub-arc slides connected in sequence is rotatably connected to the deflection rod 300.

[0075] Specifically, the number of sub-arc slides can be two or more. In one case, only the sub-arc slide that is slidably connected to the base 100 can be driven to slide relative to the base 100, so that the first arc slide 200 can slide as a whole relative to the base 100; in one case, only one or more sub-arc slides that are not slidably connected to the base 100 can be driven to slide, so that the first arc slide 200 can be extended or shortened along the direction of its own arc extension trajectory; in other cases, the sub-arc slide that is slidably connected to the base 100 can be driven to slide relative to the base 100, and one or more sub-arc slides that are not slidably connected to the base 100 can be driven to slide, so that the first arc slide 200 can slide as a whole relative to the base 100, while the first arc slide 200 can be extended or shortened along the direction of its own arc extension trajectory. The above three cases can all cause the instrument 20 to rotate around the first axis O1, thereby adjusting the posture of the instrument 20.

[0076] In the technical solution of the embodiment of the present application, not only can the instrument 20 be rotated around the first axis O1 by sliding the first arc slide bar 200 as a whole relative to the base 100, but the instrument 20 can also be rotated around the first axis O1 by extending or shortening the first arc slide bar 200 along its own circumference, and the manner of adjusting the posture of the instrument 20 is relatively flexible; and, setting the length of the first arc slide bar 200 to be adjustable is conducive to the surgical robot setting arm 10 to better avoid the patient or other surgical devices, and the operator can also adjust the length of the first arc slide bar 200 by increasing or decreasing the number of sub-arc slide bars, thereby increasing the adaptability of the surgical robot setting arm 10; in addition, since each sub-arc slide bar can be independently maintained and replaced, when a sub-arc slide bar fails or needs to be adjusted, it can be replaced or maintained individually, which can reduce the difficulty of maintaining the first arc slide bar 200.

[0077] See also Figures 1 to 7 , Fig.11 and Fig.12 The present application also provides a surgical robot 1, which includes an instrument 20 and the above-mentioned surgical robot setting arm 10, and the instrument 20 is installed on a pitch mechanism 400.

[0078] Specifically, see Fig.13 The instrument 20 may include an instrument body 21 and an arc-shaped rack 22 arranged on the outer peripheral wall of the instrument body 21, and the arc-shaped rack 22 is arranged around the axis of the instrument body 21. The surgical robot setting arm 10 also includes a rolling drive component 900, and the rolling drive component 900 includes a rolling gear 910 and a pulley mechanism 920. The pulley mechanism 920 is used to drive the rolling gear 910 to rotate. The rolling gear 910 and the arc-shaped rack 22 are meshed with each other, and can drive the instrument 20 to rotate slightly around the second axis O2, which can further improve the flexibility of the posture operation of the instrument 20, and the rolling drive component 900 can be integrated in the deflection rod 300, which will not increase the volume of the surgical robot 1. It can enable the surgical robot 1 to maintain a smaller volume while allowing the instrument 20 to have a larger posture adjustment range.

[0079] In the technical solution of the embodiment of the present application, the surgical robot 1 includes the above-mentioned surgical robot setting arm 10, so that the surgical robot 1 also has the technical effects corresponding to the above-mentioned surgical robot setting arm 10, which will not be repeated here.

[0080] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A surgical robot setting arm (10), characterized in that: The surgical robot setting arm (10) comprises: Base (100); A first circular arc sliding rod (200), the first circular arc sliding rod (200) being slidably arranged on the base (100) around its own circular arc center axis, wherein the circular arc center axis of the first circular arc sliding rod (200) forms a first axis; A deflection rod (300), one end of which is rotatably connected to the inner side of the circular arc of the first circular arc sliding rod (200), and the rotation axis of the deflection rod (300) forms a second axis, wherein the second axis is perpendicular to the first axis; A pitch mechanism (400), the pitch mechanism (400) being connected to the other end of the deflection rod (300), the pitch mechanism (400) being used to install the device (20) and drive the device (20) to rotate around a third axis, the third axis being perpendicular to the second axis, and the first axis, the second axis and the third axis intersecting at a fixed point.

2. The surgical robot setting arm (10) according to claim 1, characterized in that: The pitch mechanism (400) comprises a pitch drive assembly, a first link (410), a second link (420) and a third link (430); the deflection rod (300), the first link (410), the second link (420) and the third link (430) are rotatably connected in sequence, and the movements of the first link (410), the second link (420) and the third link (430) are coupled to each other to form a parallelogram mechanism; an end of the third link (430) away from the second link (420) is used for mounting the device (20); the pitch drive assembly is used to drive the first link (410) to swing.

3. The surgical robot setting arm (10) according to claim 1, characterized in that: The pitch mechanism (400) includes a pitch drive assembly and a plurality of second circular arc slides (440), wherein the plurality of second circular arc slides (440) are slidably connected in sequence, wherein the arc center axis of the second circular arc slide (440) coincides with the third axis, and the second circular arc slide (440) slides along the path of the arc extension trajectory of the second circular arc slide, the first second circular arc slide (440) of the plurality of second circular arc slides (440) connected in sequence is fixedly connected to the deflection rod (300), and the last second circular arc slide (440) of the plurality of second circular arc slides (440) connected in sequence is connected to the device (20), and the pitch drive assembly is used to drive any second circular arc slide (440) to slide.

4. The surgical robot setting arm (10) according to any one of claims 1 to 3, characterized in that: The deflection rod (300) comprises a first rod segment (310) and a second rod segment (320); one end of the first rod segment (310) is rotatably connected to the inner side of the first arc sliding rod (200) around the second axis; the second rod segment (320) is connected to the other end of the first rod segment (310) and is perpendicular to the first rod segment (310); and the pitch mechanism (400) is connected to an end of the second rod segment (320) away from the first rod segment (310).

5. The surgical robot setting arm (10) according to any one of claims 1 to 3, characterized in that: The surgical robot (1) further comprises a first sliding member (500) and a second sliding member (600), wherein the first sliding member (500) is slidably disposed on the base (100) along a first direction, and the second sliding member (600) is slidably disposed on the first sliding member (500) along a second direction, and the first arc sliding rod (200) is slidably disposed on the second sliding member (600) around the first axis, and the first direction, the second direction and the direction where the first axis is located are perpendicular to each other.

6. The surgical robot setting arm (10) according to claim 5, characterized in that: The first sliding member (500) includes a first arm (510) and a second arm (520), the first arm (510) is slidably disposed on the base (100) along the first direction, the second arm (520) is connected to the top of the first arm (510) and is perpendicular to the first arm (510), and the second sliding member (600) is slidably disposed on the second arm (520) along the second direction.

7. The surgical robot setting arm (10) according to claim 5, characterized in that: The second sliding member (600) is provided with an arc groove (610) and a receiving cavity (620) which are interconnected, and the arc groove (610) is used for slidingly cooperating with the first arc slide rod (200). The surgical robot setting arm (10) also includes a sliding drive assembly (700) for driving the first arc slide rod (200) to slide, and the receiving cavity (620) is used for accommodating the sliding drive assembly (700).

8. The surgical robot setting arm (10) according to claim 5, characterized in that: The surgical robot setting arm (10) also includes a connecting member (800), which is connected between the first sliding member (500) and the second sliding member (600) and is used to enable the second sliding member (600) to slide relative to the first sliding member (500) along the second direction, and to enable the second sliding member (600) to rotate relative to the first sliding member (500) around the first direction.

9. The surgical robot setting arm (10) according to any one of claims 1 to 3, characterized in that: The first arc slide bar (200) includes a plurality of sub-arc slide bars, which are slidably connected in sequence, wherein the arc center axis of the sub-arc slide bar coincides with the first axis, and the sub-arc slide bar slides along the path of the arc extension trajectory of the sub-arc slide bar, the sub-arc slide bar at one end of the plurality of sub-arc slide bars connected in sequence is slidably connected to the base (100), and the sub-arc slide bar at the other end of the plurality of sub-arc slide bars connected in sequence is rotationally connected to the deflection rod (300).

10. A surgical robot (1), characterized in that: The surgical robot (1) comprises an instrument (20) and a surgical robot setting arm (10) according to any one of claims 1 to 9, and the instrument (20) is mounted on the pitch mechanism (400).

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