Joint assembly and surgical robot

Abstract

The utility model provides a joint assembly and a surgical robot, and the joint assembly comprises a first joint, a second joint, a driving unit and a transmission mechanism; the driving unit and the transmission mechanism are arranged on the first joint; the transmission mechanism comprises a first bevel gear, a second bevel gear, a first transmission shaft and a second transmission shaft, the first transmission shaft is connected with the output end of the driving unit, and the first bevel gear is coaxially connected with the first transmission shaft; the second bevel gear is meshed with the first bevel gear, and the second transmission shaft is coaxially connected with the second bevel gear; the second joint is connected with the second transmission shaft. A first limiting part is arranged on the first joint and located on the side of the second transmission shaft, and a second limiting part is arranged on the side wall of the second transmission shaft; when the second joint rotates to the two ends of the stroke relative to the first joint, the second limiting part abuts against the first limiting part, the relative position of the two joints is accurately and stably limited, rotation of the auxiliary joints is prevented from exceeding the stroke range, and the limiting stability is improved.

Description

Technical Field

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

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. With the development of robotics technology, minimally invasive surgical robots have emerged. Minimally invasive surgical robots can reduce incisions, speed up recovery, and doctors can operate remotely.

[0003] In the related art, the surgical robot includes a movable console and a slave robotic arm. The robotic arm includes multiple joints, which are movable or rotatably connected. The end joint is connected to an actuator, which can be inserted into the patient's body for surgical operations. The rotary joint has a rotation range. When driving the joint to rotate, the rotation angle of the joint needs to be precisely controlled so that it does not exceed the rotation range.

[0004] However, the travel limiting method of the rotary joint of the current surgical robot has poor stability and is prone to failure. Utility Model Content

[0005] The present application provides a joint assembly and a surgical robot to solve the technical problem in the related art that the travel limiting method of the rotary joint of the surgical robot has poor stability and is prone to failure.

[0006] In a first aspect, the present application provides a joint assembly, which includes a first joint, a second joint, a drive unit and a transmission mechanism; the drive unit and the transmission mechanism are both arranged at the first joint; the drive unit is configured to drive the second joint to rotate relative to the first joint through the transmission mechanism.

[0007] Among them, the transmission mechanism includes a first bevel gear, a second bevel gear, a first transmission shaft and a second transmission shaft. The first transmission shaft is connected to the output end of the driving unit, and the first bevel gear is coaxially connected to the first transmission shaft; the second bevel gear is meshed with the first bevel gear, and the second transmission shaft is coaxially connected to the second bevel gear; the second joint is connected to the second transmission shaft.

[0008] A first limiting portion is provided on the first joint, and the first limiting portion is located on the side of the second transmission shaft. A second limiting portion is provided on the side wall of the second transmission shaft. When the second joint rotates to both ends of the stroke relative to the first joint, the second limiting portion abuts against the first limiting portion.

[0009] In the joint assembly provided in the embodiment of the present application, the first joint is the main joint, and the second joint is the slave joint. By setting a limiting structure on the main joint and a limiting structure on the slave joint, when the slave joint rotates to the end of the stroke relative to the main joint, the two limiting structures are used to cooperate to accurately and stably limit the relative positions of the two joints, thereby preventing the rotation of the slave joint beyond the stroke range and improving the stability of the limit.

[0010] As an optional implementation, a receiving cavity is provided at the end of the first joint, and the second transmission shaft is passed through the receiving cavity; an annular protrusion surrounding the second transmission shaft is provided in the receiving cavity, and the first limiting portion is provided on the annular protrusion.

[0011] As an optional implementation, a step groove is provided on the side of the annular protrusion facing the second joint, and the first limiting portion is arranged in the step groove.

[0012] As an optional implementation, a cross-sectional dimension of the first limiting portion along the radial direction of the second transmission shaft gradually decreases from an outer edge of the step groove to an inner edge of the step groove.

[0013] As an optional embodiment, the second limiting portion may include a limiting body and a connecting portion, wherein the limiting body is located in the step groove, the connecting portion is connected to the limiting body, and the connecting portion extends along the axial direction of the second transmission shaft to the inner side of the annular protrusion.

[0014] As an optional embodiment, a countersunk hole is provided on the limiting body, and the joint assembly may also include a first fastener, which passes through the countersunk hole and is connected to the second transmission shaft; a through hole is provided on the connecting part, and the joint assembly may also include a second fastener, which passes through the through hole and is connected to the second transmission shaft.

[0015] As an optional implementation, the joint assembly may further include a brake unit, which is sleeved on the outer side of the second transmission shaft and connected to a side of the annular protrusion away from the step groove.

[0016] As an optional embodiment, there is one first limiting portion, and when the second joint rotates to two ends of the stroke relative to the first joint, the second limiting portion abuts against two sides of the first limiting portion respectively; or, there are two first limiting portions, and the two first limiting portions are circumferentially spaced around the second transmission shaft, and when the second joint rotates to two ends of the stroke relative to the first joint, the second limiting portion abuts against the two first limiting portions respectively.

[0017] As an optional embodiment, the second transmission shaft may include a first shaft section and a second shaft section, the first shaft section and the second shaft section are coaxially connected, a step portion is provided between the first shaft section and the second shaft section, the second bevel gear is coaxially connected to the first shaft section, and the second bevel gear abuts against the step portion; the second limiting portion is connected to the side wall of the second shaft section.

[0018] In a second aspect, the present application provides a surgical robot, which includes a robot body and a joint assembly of the above technical solution, wherein the joint assembly is connected to the robot body.

[0019] The present application provides a joint assembly and a surgical robot, wherein the joint assembly includes a first joint, a second joint, a driving unit and a transmission mechanism; the driving unit and the transmission mechanism are both arranged at the first joint; the driving unit is configured to drive the second joint to rotate relative to the first joint through the transmission mechanism, the transmission mechanism includes a first bevel gear, a second bevel gear, a first transmission shaft and a second transmission shaft, the first transmission shaft is connected to the output end of the driving unit, the first bevel gear is coaxially connected to the first transmission shaft; the second bevel gear is meshed with the first bevel gear, the second transmission shaft is coaxially connected to the second bevel gear; the second joint is connected to the second transmission shaft. A first limiting portion is provided on the first joint, the first limiting portion is located on the side of the second transmission shaft, and a second limiting portion is provided on the side wall of the second transmission shaft; when the second joint rotates to both ends of the stroke relative to the first joint, the second limiting portion abuts against the first limiting portion, accurately and stably limiting the relative position of the two joints, avoiding the rotation of the joint beyond the stroke range, and improving the stability of the limiting.

[0020] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the joint assembly and surgical robot provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0022] Figure 1 A schematic diagram of the structure of a joint assembly provided in an embodiment of the present application;

[0023] Figure 2 An internal structural view of a joint assembly provided in an embodiment of the present application;

[0024] Figure 3 A partial top view of the internal structure of a joint assembly provided in an embodiment of the present application;

[0025] Figure 4 A cross-sectional view of a joint assembly provided in an embodiment of the present application;

[0026] Figure 5 A schematic diagram of the cooperation between the first limiting portion and the second limiting portion in the joint assembly provided in an embodiment of the present application;

[0027] Figure 6 A partial view of a first joint in a joint assembly provided in an embodiment of the present application;

[0028] Figure 7 A schematic diagram of the connection between the second limiting portion and the second transmission shaft in the joint assembly provided in an embodiment of the present application;

[0029] Figure 8 A front view of the connection between the second limiting portion and the second transmission shaft in the joint assembly provided in an embodiment of the present application;

[0030] Fig. 9 A schematic diagram of the structure of the second limiting portion in the joint assembly provided in an embodiment of the present application;

[0031] Fig.10 A schematic diagram of the structure of the surgical robot provided in an embodiment of the present application.

[0032] Description of reference numerals:

[0033] 10- Joint assembly;

[0034] 100 - first joint; 101 - accommodating cavity; 110 - first limiting portion; 120 - annular protrusion; 121 - step groove;

[0035] 200 - second joint;

[0036] 300-Drive unit;

[0037] 400-transmission mechanism; 410-first bevel gear; 420-second bevel gear; 430-first transmission shaft; 440-second transmission shaft; 441-first shaft section; 442-second shaft section; 443-connecting flange; 450-second limiting portion; 451-limiting body; 4511-countersunk hole; 452-connecting portion; 4521-through hole;

[0038] 500-brake unit;

[0039] 20-Robot body. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0041] First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0042] Secondly, it should be noted that in the description of the present application, terms such as "up", "down", "left", "right", "front", "back", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present application.

[0043] In addition, it should be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "connected" and "connection" 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 the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0045] Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the incision size, the difficulty of minimally invasive instruments in minimally invasive surgery is greatly increased, and the fatigue and trembling of doctors during long operations will be amplified, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotics technology, minimally invasive surgical robot technology has emerged. Common minimally invasive surgical robots are composed of a doctor's console (master hand), a patient surgical platform (slave hand) and a display device. The surgeon operates the input device on the doctor's console and transmits the input to the patient surgical platform connected to the remotely operated surgical instrument, so as to perform precise surgical operations.

[0046] The patient surgical platform (from the hand) includes a movable body and a robotic arm that performs surgical operations. The operator can control the movement of the robotic arm through the console to perform surgical operations. The robotic arm includes multiple joints, which are movable or rotatably connected to each other. The end joints are connected to actuators, which can be inserted into the patient's body for surgical operations. The rotary joint has a rotation range. When driving the joint to rotate, it is necessary to accurately control the rotation angle of the joint so that it does not exceed the rotation range.

[0047] However, the rotary joints on current surgical robots are generally driven by motors, and encoders are used to detect the rotation angles of the joints. When the controller controls the rotation of the joints, the travel of the rotary joints is limited by software. Therefore, the joint rotation limit stability on current surgical robots is poor, and the software limit is prone to failure, resulting in deviations in the rotation position of the surgical robot or even control failure.

[0048] In view of the above problems, the present application provides a joint assembly and a surgical robot. The joint assembly is applied to the surgical robot. By designing a rotation limiting structure between two joints in the joint assembly, a hard limiting structure exists between the two joints during the rotation process, and the limiting structure makes full use of the internal space of the joint, thereby improving the travel limit stability of the joint assembly and reducing space occupancy.

[0049] To facilitate understanding, the application scenarios of the joint assembly and surgical robot provided in the embodiments of the present application are first described below.

[0050] The surgical robot in the embodiment of the present application includes a master-hand robot and a slave-hand robot, wherein the operator controls the master-hand robot, and the slave-hand robot performs surgical operations according to the control signal of the master-hand robot, and the joint assembly provided in the embodiment of the present application is used in the slave-hand robot. It should be noted that the surgical robot provided in the embodiment of the present application is a minimally invasive surgical robot, which is used for performing minimally invasive surgical operations, and the embodiment of the present application will not be elaborated here.

[0051] Figure 1 A schematic diagram of the structure of a joint assembly provided in an embodiment of the present application, Figure 2 This is a view of the internal structure of the joint assembly provided in the embodiment of the present application. Figure 3 A partial top view of the internal structure of a joint assembly provided in an embodiment of the present application, Figure 4 A cross-sectional view of a joint assembly provided in an embodiment of the present application, Figure 5 A schematic diagram of the cooperation between the first limiting portion and the second limiting portion in the joint assembly provided in an embodiment of the present application.

[0052] like Figures 1 to 5As shown, an embodiment of the present application provides a joint assembly 10, which includes a first joint 100, a second joint 200, a drive unit 300 and a transmission mechanism 400. The drive unit 300 and the transmission mechanism 400 are both arranged at the first joint 100. The transmission mechanism 400 is connected between the first joint 100 and the second joint 200 for transmitting power. The first joint 100 serves as a master joint, and the second joint 200 serves as a slave joint. The drive unit 300 provides power and drives the second joint 200 to rotate relative to the first joint 100 through the transmission mechanism 400.

[0053] The transmission mechanism 400 includes a first bevel gear 410, a second bevel gear 420, a first transmission shaft 430 and a second transmission shaft 440. The first transmission shaft 430 is connected to the output end of the driving unit 300, and the first bevel gear 410 is coaxially connected to the first transmission shaft 430. The second bevel gear 420 is meshed with the first bevel gear 410, and the second transmission shaft 440 is coaxially connected to the second bevel gear 420. The second joint 200 is connected to the second transmission shaft 440.

[0054] It can be understood that the driving unit 300 drives the first transmission shaft 430 to rotate, the first transmission shaft 430 is coaxially fixed with the first bevel gear 410, and the power is transmitted to the first bevel gear 410 through the first transmission shaft 430. The first bevel gear 410 drives the second bevel gear 420 to rotate, and the axial directions of the first bevel gear 410 and the second bevel gear 420 have an angle, thereby changing the output direction of the power. The second bevel gear 420 is coaxially fixed with the second transmission shaft 440, and the second transmission shaft 440 drives the second joint 200 to rotate.

[0055] In some embodiments, the first joint 100 is provided with a first limiting portion 110, the first limiting portion 110 is located on the side of the second transmission shaft 440, and the side wall of the second transmission shaft 440 is provided with a second limiting portion 450. When the second joint 200 rotates to both ends of the stroke relative to the first joint 100, the second limiting portion 450 abuts against the first limiting portion 110.

[0056] It is understandable that the first limit portion 110 is fixedly connected to the first joint 100, and the second limit portion 450 is fixedly connected to the second transmission shaft 440. When the second transmission shaft 440 drives the second joint 200 to rotate, the position of the first limit portion 110 remains unchanged, and the second limit portion 450 generates relative movement relative to the first limit portion 110. If the second joint 200 rotates to the end of the stroke relative to the first joint 100 and still has a tendency to rotate, the first limit portion 110 and the second limit portion 450 will interfere with each other, thereby preventing the second joint 200 from continuing to rotate. The stroke end may include the starting end and the ending end of the rotation stroke of the second joint 200 relative to the first joint 100.

[0057] It should be noted that in the joint assembly 10 provided in the embodiment of the present application, the hard limiting structure formed by the first limiting portion 110 and the second limiting portion 450 accurately and stably limits the relative position of the second joint 200 and the first joint 100, avoids the rotation of the second joint 200 beyond the travel range, and improves the stability of the limitation.

[0058] The structures and arrangement positions of the first limiting portion 110 and the second limiting portion 450 are described in detail below.

[0059] The axial direction of the first transmission shaft 430 is defined as the X direction, and the axial direction of the second transmission shaft 440 is defined as the Y direction. Exemplarily, the X direction may be a horizontal direction, the Y direction may be a vertical direction, the X direction may be perpendicular to the Y direction, and the first transmission shaft 430 may be perpendicular to the second transmission shaft 440. The second transmission shaft 440 may extend in the vertical direction.

[0060] In a possible implementation, a receiving cavity 101 is provided at the end of the first joint 100, and the second transmission shaft 440 is passed through the receiving cavity 101. An annular protrusion 120 surrounding the second transmission shaft 440 is provided in the receiving cavity 101, and the first limiting portion 110 is provided on the annular protrusion 120.

[0061] It is understandable that there is an annular gap between the annular protrusion 120 and the outer wall of the second transmission shaft 440 , the first limiting portion 110 extends on the annular protrusion 120 toward the second transmission shaft 440 , and the second limiting portion 450 is connected to the second transmission shaft 440 and protrudes from the outer wall of the second transmission shaft 440 .

[0062] The first limiting portion 110 and the second limiting portion 450 are both located in the annular gap between the annular protrusion 120 and the second transmission shaft 440. When the second transmission shaft 440 drives the second joint 200 to rotate relative to the first joint 100, the second limiting portion 450 moves in the annular gap, that is, the second limiting portion 450 moves circumferentially around the annular protrusion 120 on the inner side of the annular protrusion 120. The first limiting portion 110 limits the angular range of movement of the second limiting portion 450 in the annular gap.

[0063] Figure 6 A partial view of the first joint in the joint assembly provided in an embodiment of the present application, Figure 7 This is a schematic diagram of the connection between the second limiting portion and the second transmission shaft in the joint assembly provided in an embodiment of the present application, Figure 8 A front view of the connection between the second limiting portion and the second transmission shaft in the joint assembly provided in an embodiment of the present application.

[0064] Please refer to Figures 6 to 8 , and combined with Figures 1 to 5In some embodiments, a step groove 121 is provided on a side of the annular protrusion 120 facing the second joint 200 , and the first limiting portion 110 is disposed in the step groove 121 .

[0065] It is understandable that the step groove 121 provides space for forming an annular gap between the annular protrusion 120 and the second transmission shaft 440 , thereby preventing the second limiting portion 450 from interfering with the annular protrusion 120 when the second transmission shaft 440 rotates.

[0066] Exemplarily, the annular protrusion 120 may be integrally formed with the first joint 100. The first limiting portion 110, the annular protrusion 120, and the first joint 100 may be an integrally formed part.

[0067] In some embodiments, the cross-sectional dimension of the first position-limiting portion 110 along the radial direction of the second transmission shaft 440 gradually decreases from the outer edge of the step groove 121 to the inner edge of the step groove 121. In this way, the side walls of the first position-limiting portion 110 relative to the two sides may have a certain angle, so that when the second position-limiting portion 450 abuts against different sides of the first position-limiting portion 110, they can fit with the side walls of the first position-limiting portion 110 as much as possible, thereby improving the reliability of the position-limiting.

[0068] Fig. 9 This is a schematic structural diagram of the second limiting portion in the joint assembly provided in an embodiment of the present application.

[0069] Please refer to Fig. 9 , and combined with Figures 4 to 8 In one possible implementation, the second limiting portion 450 may include a limiting body 451 and a connecting portion 452, the limiting body 451 is located in the step groove 121, the connecting portion 452 is connected to the limiting body 451, and the connecting portion 452 extends along the axial direction of the second transmission shaft 440 to the inner side of the annular protrusion 120, thereby improving the connection reliability between the second limiting portion 450 and the second transmission shaft 440.

[0070] It is understandable that when the second limiting portion 450 abuts against the first limiting portion 110, and the second transmission shaft 440 has a rotation tendency beyond the rotation stroke direction, the torque on the second transmission shaft 440 will be transmitted to the second limiting portion 450, and there will be an abutment force between the second limiting portion 450 and the first limiting portion 110. The limiting body 451 and the connecting portion 452 are simultaneously connected to the side wall of the second transmission shaft 440, which can increase the connection area between the second limiting portion 450 and the second transmission shaft 440 and prevent the second limiting portion 450 from loosening.

[0071] Exemplarily, when the second limiting portion 450 is in abutment with the first limiting portion 110, the limiting body 451 is in abutment with the first limiting portion 110 at the side of the first limiting portion 110, and the connecting portion 452 serves to improve the connection strength between the second limiting portion 450 and the second transmission shaft 440. The radial dimension of the connecting portion 452 along the second transmission shaft 440 is smaller than the radial dimension of the limiting body 451 along the second transmission shaft 440.

[0072] In some embodiments, the limiting body 451 may be provided with a countersunk hole 4511, and the joint assembly 10 may further include a first fastener, which passes through the countersunk hole 4511 and is connected to the second transmission shaft 440. The connecting portion 452 is provided with a through hole 4521, and the joint assembly 10 may further include a second fastener, which passes through the through hole 4521 and is connected to the second transmission shaft 440.

[0073] It can be understood that the axial direction of the countersunk hole and the through hole 4521 both extend radially along the second transmission shaft 440. The first fastener and the second fastener simultaneously play the role of fixing the second limit portion 450 and the second transmission shaft 440. In addition, the first fastener and the second fastener can both be bolts, and the first fastener is located in the countersunk hole 4511, which can avoid the end of the first fastener from interfering with the annular protrusion 120.

[0074] For example, the limiting body 451 and the connecting portion 452 may be an integrally formed part. The material of the second limiting portion 450 may be a metal or alloy such as iron or aluminum, which is not specifically limited in the present embodiment.

[0075] It should be noted that, in some embodiments, the second limiting portion 450 and the second transmission shaft 440 may be integrally formed.

[0076] In some embodiments, the joint assembly 10 may further include a brake unit 500 , which is sleeved on the outer side of the second transmission shaft 440 , and connected to a side of the annular protrusion 120 away from the step groove 121 .

[0077] It is understandable that the step groove 121 below the annular protrusion 120 provides space for the limiting body 451 to follow the second transmission shaft 440. The upper surface of the annular protrusion 120 has a sufficiently large support and connection surface, which provides space for the installation of the brake unit 500 and improves the installation reliability of the brake unit 500. The radial dimension of the connecting portion 452 along the second transmission shaft 440 is smaller than that of the limiting body 451, so that the connecting portion 452 can avoid the annular protrusion 120 to avoid interference.

[0078] In some embodiments, there is only one first limiting portion 110 , and when the second joint 200 rotates to two ends of a stroke relative to the first joint 100 , the second limiting portion 450 abuts against two sides of the first limiting portion 110 , respectively.

[0079] In other embodiments, there are two first limit portions 110, and the two first limit portions 110 are arranged at circumferential intervals around the second transmission shaft 440. When the second joint 200 rotates to both ends of the stroke relative to the first joint 100, the second limit portion 450 abuts against the two first limit portions 110 respectively.

[0080] Exemplarily, the rotation range of the second joint 200 relative to the first joint 100 can be 10° to 350°, including but not limited to 10°, 20°, 90°, 180°, 270°, 340°, 350°, etc., which is not specifically limited in the embodiments of the present application. For example, the rotation range of the second joint 200 relative to the first joint 100 is 340°, and the position of the second limiting portion 450 located on the side of the second transmission shaft 440 away from the first limiting portion 110 is the neutral position, and the rotation range of the second joint 200 is ±170°.

[0081] In some embodiments, the second transmission shaft 440 may include a first shaft section 441 and a second shaft section 442, the first shaft section 441 and the second shaft section 442 are coaxially connected, a step portion is provided between the first shaft section 441 and the second shaft section 442, the second bevel gear 420 is coaxially connected to the first shaft section 441, and the second bevel gear 420 abuts against the step portion. The second limiting portion 450 is connected to the side wall of the second shaft section 442.

[0082] It can be understood that both ends of the second transmission shaft 440 can cooperate with the first joint 100 through bearings respectively, so that the second transmission shaft 440 can rotate relative to the first joint 100, and the first joint 100 can support the second transmission shaft 440 and the second joint 200.

[0083] In addition, a connecting flange 443 may be connected to the lower part of the second shaft segment 442 , and the second joint 200 may be connected to the connecting flange 443 via fasteners such as bolts.

[0084] Fig.10 A schematic diagram of the structure of the surgical robot provided in an embodiment of the present application.

[0085] Please refer to Fig.10 , and combined with Figure 1 An embodiment of the present application provides a surgical robot, which may include a main operating robot and a slave executing robot. The main operating robot may be operated to control the slave executing robot to perform surgery, wherein both the main operating robot and the slave executing robot may be movable on the ground.

[0086] Among them, the main operating robot can be provided with an operating platform and a display device, and the medical operator can control the slave execution robot through the operating platform, and can observe the end effector of the slave execution robot through the display device and display the operation screen.

[0087] In some embodiments, the slave execution robot in the surgical robot includes a robot body 20, a mechanical arm and the joint assembly 10 in the above technical solution, and the mechanical arm is connected to the robot body 20. The mechanical arm may include multiple joints, and the joint assembly 10 may constitute part of the joints of the mechanical arm.

[0088] It should be noted that the surgical robot provided in the embodiment of the present application may include all the technical solutions and technical effects of the flexible joint assembly 10 of the above-mentioned technical solution, which will not be repeated here.

[0089] The present application provides a joint assembly 10, which includes a first joint 100, a second joint 200, a drive unit 300 and a transmission mechanism 400; the drive unit 300 and the transmission mechanism 400 are both arranged on the first joint 100; the drive unit 300 is configured to drive the second joint 200 to rotate relative to the first joint 100 through the transmission mechanism 400, and the transmission mechanism 400 includes a first bevel gear 410, a second bevel gear 420, a first transmission shaft 430 and a second transmission shaft 440, the first transmission shaft 430 is connected to the output end of the drive unit 300, and the first bevel gear 410 is coaxially connected to the first transmission shaft 430; the second bevel gear 420 is meshed with the first bevel gear 410, and the second transmission shaft 440 is coaxially connected to the second bevel gear 420; the second joint 200 is connected to the second transmission shaft 440. A first limiting portion 110 is provided on the first joint 100, and the first limiting portion 110 is located on the side of the second transmission shaft 440. A second limiting portion 450 is provided on the side wall of the second transmission shaft 440; when the second joint 200 rotates to both ends of the stroke relative to the first joint 100, the second limiting portion 450 abuts against the first limiting portion 110, accurately and stably limiting the relative positions of the two joints, avoiding the rotation of the joint beyond the stroke range, and improving the stability of the limit.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A joint assembly, characterized in that: It comprises a first joint, a second joint, a driving unit and a transmission mechanism; the driving unit and the transmission mechanism are both arranged at the first joint; the driving unit is configured to drive the second joint to rotate relative to the first joint through the transmission mechanism; The transmission mechanism comprises a first bevel gear, a second bevel gear, a first transmission shaft and a second transmission shaft, the first transmission shaft is connected to the output end of the driving unit, and the first bevel gear is coaxially connected to the first transmission shaft; The second bevel gear is meshed with the first bevel gear, the second transmission shaft is coaxially connected with the second bevel gear; the second joint is connected with the second transmission shaft; A first limiting portion is provided on the first joint, and the first limiting portion is located on the side of the second transmission shaft. A second limiting portion is provided on the side wall of the second transmission shaft; when the second joint rotates to both ends of the stroke relative to the first joint, the second limiting portion abuts against the first limiting portion.

2. The joint assembly according to claim 1, characterized in that: An accommodating cavity is provided at the end of the first joint, and the second transmission shaft is inserted into the accommodating cavity; an annular protrusion surrounding the second transmission shaft is provided in the accommodating cavity, and the first limiting portion is provided on the annular protrusion.

3. The joint assembly according to claim 2, characterized in that: A step groove is provided on one side of the annular protrusion facing the second joint, and the first limiting portion is arranged in the step groove.

4. The joint assembly according to claim 3, characterized in that: A cross-sectional dimension of the first limiting portion along the radial direction of the second transmission shaft gradually decreases from an outer edge of the step groove to an inner edge of the step groove.

5. The joint assembly according to claim 3, characterized in that: The second limiting portion includes a limiting body and a connecting portion, the limiting body is located in the step groove, the connecting portion is connected to the limiting body, and the connecting portion extends to the inner side of the annular protrusion along the axial direction of the second transmission shaft.

6. The joint assembly according to claim 5, characterized in that: A countersunk hole is provided on the limiting body, and the joint assembly also includes a first fastener, which passes through the countersunk hole and is connected to the second transmission shaft; a through hole is provided on the connecting portion, and the joint assembly also includes a second fastener, which passes through the through hole and is connected to the second transmission shaft.

7. The joint assembly according to claim 3, characterized in that: The joint assembly further includes a brake unit, which is sleeved on the outer side of the second transmission shaft and connected to a side of the annular protrusion away from the step groove.

8. The joint assembly according to any one of claims 1 to 7, characterized in that: There is one first limiting portion, and when the second joint rotates to two ends of a stroke relative to the first joint, the second limiting portion abuts against two sides of the first limiting portion respectively; or, there are two first limiting portions, and the two first limiting portions are arranged at circumferential intervals around the second transmission shaft, and when the second joint rotates to two ends of a stroke relative to the first joint, the second limiting portion abuts against two first limiting portions respectively.

9. The joint assembly according to any one of claims 1 to 7, characterized in that: The second transmission shaft includes a first shaft section and a second shaft section, the first shaft section and the second shaft section are coaxially connected, a step portion is provided between the first shaft section and the second shaft section, the second bevel gear is coaxially connected to the first shaft section, and the second bevel gear abuts against the step portion; the second limiting portion is connected to the side wall of the second shaft section.

10. A surgical robot, characterized in that: It comprises a robot body and a joint assembly as described in any one of claims 1 to 9, wherein the joint assembly is connected to the robot body.

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