Gear-driven mechanical arm at patient operation end of minimally invasive surgery robot

Abstract

The utility model provides a mechanical arm of a patient operation end of a gear-driven minimally invasive surgery robot, which comprises an inverted L-shaped arm rod, a first connecting rod, a second connecting rod, an instrument lifting seat, a quick-change seat and a surgical instrument or an endoscope, and is characterized in that a horizontal part of the inverted L-shaped arm rod is rotatably mounted on a slave end base of the patient operation end; the quick-change seat can ascend and descend on the instrument lifting seat, the surgical instrument or the endoscope is assembled on the quick-change seat, and the transmission mode among the inverted-L-shaped arm rod, the first connecting rod and the second connecting rod is gear transmission. According to the gear-driven mechanical arm at the patient operation end of the minimally invasive surgery robot, the problems of shaking and poor transmission precision caused by insufficient rigidity of existing steel wire transmission can be solved through gear transmission, and the problem of transmission failure caused by breakage of a steel wire rope can also be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of minimally invasive surgical medical devices, and particularly relates to a robotic arm at the patient operation end of a minimally invasive surgical robot with gear drive. Background Technique

[0002] Minimally invasive surgical robots generally include a doctor operation end and a patient operation end. The doctor controls the patient operation end to perform minimally invasive surgery on the patient. The patient operation end includes a robotic arm. Referring to the utility model patent with the authorized announcement number CN211433288 U and the name of a patient robotic arm, the robotic arm includes an inverted L-shaped arm rod, a first connecting rod, a second connecting rod, an instrument lifting seat, a surgical instrument, etc. Among them, the horizontal part of the inverted L-shaped arm rod is rotatably installed on the slave end base of the patient operation end. The transmission structure of the above-mentioned robotic arm is a wire transmission structure, and the following deficiencies exist during use:

[0003] 1) Low strength: When bearing a large load, the wire is easy to break.

[0004] 2) Low stiffness: Since the wire is an elastic body, during the transmission process, if the tension is too large, the wire is prone to creep and even break; if the tension is insufficient, a transmission gap will be generated, reducing the transmission accuracy, and even severe jitter will occur during high-speed movement. Summary of the Utility Model

[0005] In order to solve the problems existing in the prior art, the present application proposes a robotic arm at the patient operation end of a minimally invasive surgical robot with gear drive.

[0006] In order to achieve the above object, the present application proposes a robotic arm at the patient operation end of a minimally invasive surgical robot with gear drive, including an inverted L-shaped arm rod, a first connecting rod, a second connecting rod, an instrument lifting seat, a quick-change seat, and a surgical instrument or an endoscope. The horizontal part of the inverted L-shaped arm rod is rotatably installed on the slave end base of the patient operation end. The quick-change seat can move up and down on the instrument lifting seat. The surgical instrument or the endoscope is assembled at the quick-change seat. A swing motor is installed on the inverted L-shaped arm rod. The swing motor can drive a first gear to rotate. A second gear meshing with the first gear is installed on a first gear connecting shaft. A third gear is installed on a second gear connecting shaft. The first gear connecting shaft and the second gear connecting shaft are connected by a first coupling. The first gear connecting shaft is connected to a first pedestal bearing. The bearing seat in the first pedestal bearing is fixed on the vertical part of the inverted L-shaped arm rod. The second gear connecting shaft is connected to a second pedestal bearing. The bearing seat in the second pedestal bearing is fixed on the vertical part of the inverted L-shaped arm rod;

[0007] One end of the first bushing is fixed at the first mounting hole at the lower end of the vertical portion of the inverted L-shaped arm rod. The other end of the first bushing is located at the lower end of the inner cavity of the first connecting rod. The first connecting rod is located on one side of the vertical portion of the inverted L-shaped arm rod. A first drive shaft is fixedly installed at the second mounting hole at the lower end of the first connecting rod. The first drive shaft passes through the first bushing, and the first drive shaft is connected to the first bushing through a bearing. The end of the first drive shaft is located on the other side of the vertical portion of the inverted L-shaped arm rod. A fourth gear meshing with the third gear is provided at the end of the first drive shaft;

[0008] A seventh gear is fixedly provided on the outer wall of the first bushing. An eighth gear meshing with the seventh gear is installed on the fourth gear connecting shaft. The fourth gear connecting shaft and the third gear connecting shaft are connected through a second coupling. A sixth gear is installed on the third gear connecting shaft. The third gear connecting shaft is connected to a third pedestal bearing. The bearing seat in the third pedestal bearing is fixed on the first connecting rod. The fourth gear connecting shaft is connected to a fourth pedestal bearing. The bearing seat in the fourth pedestal bearing is fixed on the first connecting rod;

[0009] A second drive shaft is fixedly installed at the third mounting hole at the upper end of the first connecting rod. The second drive shaft passes through the third mounting hole. The other end of the second drive shaft is located at the fourth mounting hole at the upper end of the second connecting rod. And a ninth gear is fixedly installed at the other end of the second drive shaft. At the third mounting hole, the second drive shaft is connected to a fifth gear through a bearing. The fifth gear meshes with the sixth gear. At the fourth mounting hole, the second drive shaft is connected to the second connecting rod through a bearing. The fifth gear is fixedly connected to the second connecting rod;

[0010] A tenth gear meshing with the ninth gear is installed on the fifth gear connecting shaft. An eleventh gear is installed on the sixth gear connecting shaft. The fifth gear connecting shaft and the sixth gear connecting shaft are connected through a third coupling. The fifth gear connecting shaft is connected to a fifth pedestal bearing. The bearing seat in the fifth pedestal bearing is fixed on the second connecting rod. The sixth gear connecting shaft is connected to a sixth pedestal bearing. The bearing seat in the sixth pedestal bearing is fixed on the second connecting rod;

[0011] A fifth mounting hole is provided at the lower end of the second connecting rod. A third drive shaft is installed at the fifth mounting hole and passes through the fifth mounting hole. The outer wall of the third drive shaft is connected to a twelfth gear through a bearing. The twelfth gear meshes with the eleventh gear. An adapter seat is fixed on the twelfth gear. The adapter seat is also connected to the instrument lifting seat.

[0012] In some embodiments, it further includes six clearance adjusting mechanisms for adjusting the clearances between corresponding gears. The clearance adjusting mechanism corresponding to the first gear and the second gear is denoted as the first clearance adjusting mechanism, the clearance adjusting mechanism corresponding to the third gear and the fourth gear is denoted as the second clearance adjusting mechanism, the clearance adjusting mechanism corresponding to the fifth gear and the sixth gear is denoted as the third clearance adjusting mechanism, the clearance adjusting mechanism corresponding to the eighth gear and the seventh gear is denoted as the fourth clearance adjusting mechanism, the clearance adjusting mechanism corresponding to the ninth gear and the tenth gear is denoted as the fifth clearance adjusting mechanism, and the clearance adjusting mechanism corresponding to the eleventh gear and the twelfth gear is denoted as the sixth clearance adjusting mechanism.

[0013] The beneficial effect of this solution of the present application lies in that the robotic arm at the patient operation end of the minimally invasive surgical robot with gear transmission has the following advantages:

[0014] 1) High strength: The gear transmission has high strength and will not have problems such as fracture and transmission failure.

[0015] 2) Large transmission stiffness and high precision: The gear transmission is a clearance-free rigid transmission, which can greatly improve the transmission precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. shows a schematic diagram of a state of the robotic arm at the patient operation end of the minimally invasive surgical robot with gear transmission in an embodiment.

[0017] Figure 2 FIG. shows another schematic diagram of a state of the robotic arm at the patient operation end of the minimally invasive surgical robot with gear transmission in an embodiment.

[0018] Figure 3 FIG. shows a schematic cross-sectional structure diagram of the robotic arm at the patient operation end of the minimally invasive surgical robot with gear transmission in an embodiment.

[0019] Figure 4 FIG. shows an exploded structure diagram of the robotic arm at the patient operation end of the minimally invasive surgical robot with gear transmission in an embodiment.

[0020] Reference numerals: 1. Slave base at the patient operation end; 2. Robot arm at the patient operation end; 2-1. Inverted L-shaped arm rod; 2-2. Swing motor; 2-3. First connecting rod; 2-4. Second connecting rod; 2-5. First gear; 2-6. Second gear; 2-7. First coupling; 2-8. Eighth gear; 2-9. Third gear; 2-10. Fourth gear; 2-11. Seventh gear; 2-12. Fifth gear; 2-13. Ninth gear; 2-14. Sixth gear; 2-15. Tenth gear; 2-16. Second coupling; 2-17. Third coupling; 2-18. Eleventh gear; 2-19. Twelfth gear; 2-20. First pedestal bearing; 2-21. Second pedestal bearing; 2-22. Third pedestal bearing; 2-23. Fourth pedestal bearing; 2-24. Fifth pedestal bearing; 2-25. Sixth pedestal bearing; 2-26. First gear connecting shaft; 2-27. Second gear connecting shaft; 2-28. Third gear connecting shaft; 2-29. Fourth gear connecting shaft; 2-30. Fifth gear connecting shaft; 2-31. Sixth gear connecting shaft; 2-32. First mounting seat; 2-33. Second mounting seat; 2-34. Third mounting seat; 2-35. Fourth mounting seat; 2-36. Fifth mounting seat; 2-37. Sixth mounting seat; 2-38. First bushing; 2-39. First drive shaft; 2-40. Second drive shaft; 2-41. Third drive shaft; 2-42. First bearing; 2-43. Second bearing; 2-44. Third bearing; 2-45. Fourth bearing; 2-46. Fifth bearing; 2-47. Sixth bearing; 2-48. Adapter seat; 2-49. Instrument lifting seat; 2-50. Quick-change seat; 2-51. Surgical instrument or endoscope; 6-1. First axis; 6-2. Second axis; 6-3. Third axis; 6-4. Fourth axis. Detailed implementation manners

[0021] The following further describes the detailed implementation manners of the present application in conjunction with the accompanying drawings.

[0022] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicate the orientation or position relationship 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, rather than indicating or implying 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 construed as a limitation to the present application.

[0023] As Figures 1 to 4As shown in the figure, the robotic arm at the patient's surgical end of the gear-driven minimally invasive surgical robot involved in the present application includes an inverted L-shaped arm rod 2-1, a first connecting rod 2-3, a second connecting rod 2-4, an instrument lifting seat 2-49, a quick-change seat 2-50, and a surgical instrument or an endoscope 2-51. The horizontal part of the inverted L-shaped arm rod 2-1 is rotatably mounted on the slave end base 1 at the patient's surgical end. The quick-change seat 2-50 can move up and down on the instrument lifting seat 2-49, and the surgical instrument or the endoscope 2-51 is assembled at the quick-change seat 2-50. The above structure is basically the same as the structure of the robotic arm at the patient's surgical end in the prior art and is not the focus of protection of this patent application.

[0024] A swing motor 2-2 is mounted on the inverted L-shaped arm rod 2-1. The swing motor 2-2 can drive a first gear 2-5 to rotate. A second gear 2-6 meshing with the first gear 2-5 is mounted on a first gear connecting shaft 2-26. A third gear 2-9 is mounted on a second gear connecting shaft 2-27. The first gear connecting shaft 2-26 and the second gear connecting shaft 2-27 are connected by a first coupling 2-27. The first gear connecting shaft 2-26 is connected to a first bearing pedestal bearing 2-20. The bearing pedestal in the first bearing pedestal bearing 2-20 is fixed on the vertical part of the inverted L-shaped arm rod 2-1. The second gear connecting shaft 2-27 is connected to a second bearing pedestal bearing 2-21. The bearing pedestal in the second bearing pedestal bearing 2-21 is fixed on the vertical part of the inverted L-shaped arm rod 2-1.

[0025] One end of a first bushing 2-38 is fixed at the first mounting hole at the lower end of the vertical part of the inverted L-shaped arm rod 2-1. The other end of the first bushing 2-38 is located at the lower end of the inner cavity of the first connecting rod 2-3. The first connecting rod 2-3 is located on one side of the vertical part of the inverted L-shaped arm rod 2-1. A first drive shaft 2-39 is fixedly installed at the second mounting hole at the lower end of the first connecting rod 2-3. The first drive shaft 2-39 passes through the first bushing 2-38, and the first drive shaft 2-39 is connected to the first bushing 2-38 through bearings (such as a first bearing 2-42 and a second bearing 2-43). The end of the first drive shaft 2-39 is located on the other side of the vertical part of the inverted L-shaped arm rod 2-1. A fourth gear 2-10 meshing with the third gear 2-9 is provided at the end of the first drive shaft 2-39.

[0026] On the outer wall of the first bushing 2-38, a seventh gear 2-11 is fixedly installed. An eighth gear 2-8 meshing with the seventh gear 2-11 is installed on a fourth gear connecting shaft 2-29. The fourth gear connecting shaft 2-29 and a third gear connecting shaft 2-28 are connected by a second coupling 2-16. A sixth gear 2-14 is installed on the third gear connecting shaft 2-28. The third gear connecting shaft 2-28 is connected to a third pedestal bearing 2-22. The bearing seat in the third pedestal bearing 2-22 is fixed on a first connecting rod 2-3. The fourth gear connecting shaft 2-29 is connected to a fourth pedestal bearing 2-23. The bearing seat in the fourth pedestal bearing 2-23 is fixed on the first connecting rod 2-3.

[0027] At a third mounting hole at the upper end of the first connecting rod 2-3, a second drive shaft 2-40 is fixedly installed. The second drive shaft 2-40 passes through the third mounting hole. The other end of the second drive shaft 2-40 is at a fourth mounting hole at the upper end of the second connecting rod 2-4. And a ninth gear 2-13 is fixedly installed on the other end of the second drive shaft 2-40. At the third mounting hole, the second drive shaft 2-40 is connected to a fifth gear 2-12 via a bearing (such as a third bearing 2-44). The fifth gear 2-12 meshes with the sixth gear 2-14. At the fourth mounting hole, the second drive shaft 2-40 is connected to the second connecting rod 2-4 via a bearing (such as a fourth bearing 2-45). The fifth gear 2-12 and the second connecting rod 2-4 are fixedly connected by screws.

[0028] A tenth gear 2-15 meshing with the ninth gear 2-13 is installed on a fifth gear connecting shaft 2-30. An eleventh gear 2-18 is installed on a sixth gear connecting shaft 2-31. The fifth gear connecting shaft 2-30 and the sixth gear connecting shaft 2-31 are connected by a third coupling 2-17. The fifth gear connecting shaft 2-30 is connected to a fifth pedestal bearing 2-24. The bearing seat in the fifth pedestal bearing 2-24 is fixed on the second connecting rod 2-4. The sixth gear connecting shaft 2-31 is connected to a sixth pedestal bearing 2-25. The bearing seat in the sixth pedestal bearing 2-25 is fixed on the second connecting rod 2-4.

[0029] At the lower end of the second connecting rod 2-4, there is a fifth mounting hole. A third drive shaft 2-41 is installed at the fifth mounting hole and passes through the fifth mounting hole. The outer wall of the third drive shaft 2-41 is connected to a twelfth gear 2-19 via bearings (such as a fifth bearing 2-46 and a sixth bearing 2-47). The twelfth gear 2-19 meshes with the eleventh gear 2-18. An adapter seat 2-48 is fixed on the twelfth gear 2-19. The adapter seat 2-48 is also connected to an instrument lifting seat 2-49.

[0030] The robotic arm 2 at the surgical end of the patient further includes six clearance adjusting mechanisms for adjusting the clearance between the corresponding gears, enabling the corresponding gears to mesh and drive better, and improving the transmission accuracy. In this embodiment, the clearance adjusting mechanism corresponding to the first gear 2-5 and the second gear 2-6 is denoted as the first clearance adjusting mechanism. The first clearance adjusting mechanism includes a first mounting seat 2-32, which is fixed on the vertical portion of the inverted L-shaped arm rod 2-1. A first adjusting screw is threadedly connected to the first mounting seat 2-32, and the first adjusting screw abuts against the bearing seat in the first bearing block with housing 2-20. A first long circular hole is provided in the bearing seat of the first bearing block with housing 2-20. Through the cooperation of a first connecting member (such as the cooperation of a bolt and a nut), the first long circular hole, and the first connecting hole on the inverted L-shaped arm rod 2-1, the bearing seat can be fixed on the inverted L-shaped arm rod 2-1. When it is necessary to adjust the clearance between the first gear 2-5 and the second gear 2-6, loosen the first coupling 2-7 and the first connecting member, and then adjust the screwing degree of the first adjusting screw in the first mounting seat 2-32. By the first adjusting screw abutting against the bearing seat in the first bearing block with housing 2-20, and due to the setting of the first long circular hole, the position of the bearing seat in the first bearing block with housing 2-20 can be adjusted, thereby adjusting the position of the second gear 2-6, and finally realizing the adjustment of the clearance between the first gear 2-5 and the second gear 2-6.

[0031] The structures and principles of the other five clearance adjusting mechanisms are the same as those of the first clearance adjusting mechanism. The clearance adjusting mechanism corresponding to the third gear 2-9 and the fourth gear 2-10 is denoted as the second clearance adjusting mechanism. The second clearance adjusting mechanism includes a second mounting seat 2-33, which is fixed on the vertical portion of the inverted L-shaped arm rod 2-1. A second adjusting screw is threadedly connected to the second mounting seat 2-33, and the second adjusting screw abuts against the bearing seat in the second bearing block with housing 2-21. A second long circular hole is provided in the bearing seat of the second bearing block with housing 2-21. Through the cooperation of a second connecting member (such as the cooperation of a bolt and a nut), the second long circular hole, and the second connecting hole on the inverted L-shaped arm rod 2-1, the bearing seat can be fixed on the inverted L-shaped arm rod 2-1. When it is necessary to adjust the clearance between the third gear 2-9 and the fourth gear 2-10, loosen the first coupling 2-7 and the second connecting member, and then adjust the screwing degree of the second adjusting screw in the second mounting seat 2-33. By the second adjusting screw abutting against the bearing seat in the second bearing block with housing 2-21, and due to the setting of the second long circular hole, the position of the bearing seat in the second bearing block with housing 2-21 can be adjusted, thereby adjusting the position of the third gear 2-9, and finally realizing the adjustment of the clearance between the third gear 2-9 and the fourth gear 2-10.

[0032] The clearance adjusting mechanism corresponding to the fifth gear 2-12 and the sixth gear 2-14 is denoted as the third clearance adjusting mechanism. The third clearance adjusting mechanism includes a third mounting seat 2-34, and the third mounting seat 2-34 is fixed on the first connecting rod 2-3. A third adjusting screw is threadedly connected to the third mounting seat 2-34, and the third adjusting screw abuts against the bearing seat in the third pedestal bearing 2-22. A third long circular hole is provided in the bearing seat of the third pedestal bearing 2-22. Through the cooperation of a third connecting member (such as the cooperation of a bolt and a nut), the third long circular hole and the third connecting hole on the first connecting rod 2-3, the bearing seat can be fixed on the first connecting rod 2-3. When it is necessary to adjust the clearance between the fifth gear 2-12 and the sixth gear 2-14, loosen the second coupling 2-16 and the third connecting member, and then adjust the screwing degree of the third adjusting screw in the third mounting seat 2-34. By the third adjusting screw abutting against the bearing seat in the third pedestal bearing 2-22, and due to the setting of the third long circular hole, the position of the bearing seat in the third pedestal bearing 2-22 can be adjusted, thereby adjusting the position of the sixth gear 2-14, and finally realizing the adjustment of the clearance between the fifth gear 2-12 and the sixth gear 2-14.

[0033] The clearance adjusting mechanism corresponding to the eighth gear 2-8 and the seventh gear 2-11 is denoted as the fourth clearance adjusting mechanism. The fourth clearance adjusting mechanism includes a fourth mounting seat 2-35, and the fourth mounting seat 2-35 is fixed on the first connecting rod 2-3. A fourth adjusting screw is threadedly connected to the fourth mounting seat 2-35, and the fourth adjusting screw abuts against the bearing seat in the fourth pedestal bearing 2-23. A fourth long circular hole is provided in the bearing seat of the fourth pedestal bearing 2-23. Through the cooperation of a fourth connecting member (such as the cooperation of a bolt and a nut), the fourth long circular hole and the fourth connecting hole on the first connecting rod 2-3, the bearing seat can be fixed on the first connecting rod 2-3. When it is necessary to adjust the clearance between the eighth gear 2-8 and the seventh gear 2-11, loosen the second coupling 2-16 and the fourth connecting member, and then adjust the screwing degree of the fourth adjusting screw in the fourth mounting seat 2-35. By the fourth adjusting screw abutting against the bearing seat in the fourth pedestal bearing 2-23, and due to the setting of the fourth long circular hole, the position of the bearing seat in the fourth pedestal bearing 2-23 can be adjusted, thereby adjusting the position of the eighth gear 2-8, and finally realizing the adjustment of the clearance between the eighth gear 2-8 and the seventh gear 2-11.

[0034] The clearance adjustment mechanism corresponding to the ninth gear 2-13 and the tenth gear 2-15 is denoted as the fifth clearance adjustment mechanism. The fifth clearance adjustment mechanism includes a fifth mounting seat 2-36, and the fifth mounting seat 2-36 is fixed on the second connecting rod 2-4; a fifth adjustment screw is threadedly connected to the fifth mounting seat 2-36, and the fifth adjustment screw abuts against the bearing seat in the fifth pedestal bearing 2-24. A fifth long circular hole is provided in the bearing seat of the fifth pedestal bearing 2-24. Through the cooperation of a fifth connecting member (such as the cooperation of a bolt and a nut), the fifth long circular hole, and a fifth connection hole on the second connecting rod 2-4, the bearing seat can be fixed on the second connecting rod 2-4. When it is necessary to adjust the clearance between the ninth gear 2-13 and the tenth gear 2-15, loosen the third coupling 2-17 and the fifth connecting member, and then adjust the screwing degree of the fifth adjustment screw in the fifth mounting seat 2-36. By the fifth adjustment screw abutting against the bearing seat in the fifth pedestal bearing 2-24, and due to the setting of the fifth long circular hole, the position of the bearing seat in the fifth pedestal bearing 2-24 can be adjusted, and further the position of the tenth gear 2-15 can be adjusted, and finally the adjustment of the clearance between the ninth gear 2-13 and the tenth gear 2-15 is realized.

[0035] The clearance adjustment mechanism corresponding to the eleventh gear 2-18 and the twelfth gear 2-19 is denoted as the sixth clearance adjustment mechanism. The sixth clearance adjustment mechanism includes a sixth mounting seat 2-37, and the sixth mounting seat 2-37 is fixed on the second connecting rod 2-4; a sixth adjustment screw is threadedly connected to the sixth mounting seat 2-37, and the sixth adjustment screw abuts against the bearing seat in the sixth pedestal bearing 2-25. A sixth long circular hole is provided in the bearing seat of the sixth pedestal bearing 2-25. Through the cooperation of a sixth connecting member (such as the cooperation of a bolt and a nut), the sixth long circular hole, and a sixth connection hole on the second connecting rod 2-4, the bearing seat can be fixed on the second connecting rod 2-4. When it is necessary to adjust the clearance between the eleventh gear 2-18 and the twelfth gear 2-19, loosen the third coupling 2-17 and the sixth connecting member, and then adjust the screwing degree of the sixth adjustment screw in the sixth mounting seat 2-37. By the sixth adjustment screw abutting against the bearing seat in the sixth pedestal bearing 2-25, and due to the setting of the sixth long circular hole, the position of the bearing seat in the sixth pedestal bearing 2-25 can be adjusted, and further the position of the eleventh gear 2-18 can be adjusted, and finally the adjustment of the clearance between the eleventh gear 2-18 and the twelfth gear 2-19 is realized.

[0036] During the specific use process, control the movement of the swing motor 2-2 to make the first gear 2-5 rotate forward around the first axis 6-1 by a certain angle. Through the transmission of the second gear 2-6 and the third gear 2-9, the fourth gear 2-10 can be driven to rotate forward around the second axis 6-2, and the second axis 6-2 is parallel to the first axis 6-1; the fourth gear 2-10 drives the first connecting rod 2-3 to rotate forward around the second axis 6-2 through the first drive shaft 2-39; since the first bushing 2-38 is fixed, and the first connecting rod 2-3 rotates forward around the second axis 6-2, the fifth gear 2-12 will rotate reversely around the third axis 6-3 through the transmission of the eighth gear 2-8 and the sixth gear 2-14. The third axis 6-3 is parallel to the second axis 6-2, and the fifth gear 2-12 drives the second connecting rod 2-4 to rotate reversely around the third axis 6-3 by the same angle; since the second drive shaft 2-40 is fixed on the first connecting rod 2-3, and the second connecting rod 2-4 rotates reversely around the third axis 6-3, the twelfth gear 2-19 will be driven to rotate forward around the fourth axis 6-4 through the transmission of the tenth gear 2-15 and the eleventh gear 2-18. The fourth axis 6-4 is parallel to the third axis 6-3; the twelfth gear 2-19 drives the instrument lifting seat 2-49 to rotate forward around the fourth axis 6-4 by the same angle through the adapter seat 2-48. The above actions meet the requirement of the parallelogram structure rotating by a certain angle around the fixed point.

[0037] In the robotic arm at the patient operation end of the minimally invasive surgical robot involving gear transmission in this application, the inverted L-shaped arm, the first connecting rod, and the second connecting rod form a parallelogram mechanism for realizing the movement of the surgical instrument or the endoscope around the fixed point. Due to the relatively long transmission distance of the parallelogram structure, the transmission mode between the inverted L-shaped arm, the first connecting rod, and the second connecting rod is designed as gear transmission, which solves the problems of jitter and poor transmission accuracy caused by insufficient rigidity of the existing wire transmission, and also solves the problem of transmission failure caused by the fracture of the steel wire rope.

[0038] The above is only the preferred specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application, according to the technical solution and its concept of this application, makes equivalent replacements or changes, and all should be covered within the protection scope of this application.

Claims

1. A gear-driven minimally invasive surgical robot patient surgical end mechanical arm, characterized in that: The invention comprises an inverted L-shaped arm, a first connecting rod, a second connecting rod, an instrument lifting seat, a quick-change seat, and a surgical instrument or an endoscope, wherein the horizontal portion of the inverted L-shaped arm is used to be rotatably mounted on a slave end base of a patient's surgical end, the quick-change seat can perform lifting and lowering movements on the instrument lifting seat, the surgical instrument or the endoscope is assembled at the quick-change seat, a swing motor is mounted on the inverted L-shaped arm, the swing motor can drive a first gear to rotate, a second gear meshing with the first gear is mounted on a first gear connecting shaft, a third gear is mounted on a second gear connecting shaft, the first gear connecting shaft is connected to a first seat bearing, a bearing seat in the first seat bearing is fixed on a vertical portion of the inverted L-shaped arm, the second gear connecting shaft is connected to a second seat bearing, and a bearing seat in the second seat bearing is fixed on a vertical portion of the inverted L-shaped arm; One end of the first sleeve is fixed to the first mounting hole at the lower end of the vertical portion of the inverted L-shaped arm, the other end of the first sleeve is located at the lower end of the inner cavity of the first connecting rod, the first connecting rod is located at one side of the vertical portion of the inverted L-shaped arm, a first drive shaft is fixedly installed at the second mounting hole at the lower end of the first connecting rod, the first drive shaft passes through the first sleeve, and the first drive shaft is connected to the first sleeve via a bearing, the end of the first drive shaft is located at the other side of the vertical portion of the inverted L-shaped arm, and a fourth gear meshing with the third gear is provided at the end of the first drive shaft; A seventh gear is fixedly provided on the outer wall of the first shaft sleeve, an eighth gear meshing with the seventh gear is installed on the fourth gear connecting shaft, the fourth gear connecting shaft is connected to the third gear connecting shaft through a second coupling, a sixth gear is installed on the third gear connecting shaft, the third gear connecting shaft is connected to the third seat bearing, a bearing seat in the third seat bearing is fixed on the first connecting rod, the fourth gear connecting shaft is connected to the fourth seat bearing, and a bearing seat in the fourth seat bearing is fixed on the first connecting rod; A second drive shaft is fixedly mounted at the third mounting hole at the upper end of the first connecting rod, the second drive shaft passes through the third mounting hole, the other end of the second drive shaft is at the fourth mounting hole at the upper end of the second connecting rod, and a ninth gear is fixedly mounted on the other end of the second drive shaft, at the third mounting hole, the second drive shaft is connected to the fifth gear via a bearing, the fifth gear is meshed with the sixth gear, at the fourth mounting hole, the second drive shaft is connected to the second connecting rod via a bearing, and the fifth gear is fixedly connected to the second connecting rod; The tenth gear meshing with the ninth gear is installed on the fifth gear connecting shaft, the eleventh gear is installed on the sixth gear connecting shaft, the fifth gear connecting shaft is connected to the sixth gear connecting shaft through a third coupling, the fifth gear connecting shaft is connected to the fifth seat bearing, the bearing seat in the fifth seat bearing is fixed on the second connecting rod, the sixth gear connecting shaft is connected to the sixth seat bearing, and the bearing seat in the sixth seat bearing is fixed on the second connecting rod; A fifth mounting hole is provided at the lower end of the second connecting rod, and the third driving shaft is installed at the fifth mounting hole and passes through the fifth mounting hole. The outer wall of the third driving shaft is connected to the twelfth gear through a bearing, and the twelfth gear is meshed with the eleventh gear. The adapter is fixed on the twelfth gear, and the adapter is also connected to the instrument lifting seat.

2. The mechanical arm of the patient surgical end of the gear-driven minimally invasive surgical robot according to claim 1, characterized in that: It also includes six gap adjustment mechanisms for adjusting the gaps between corresponding gears. The gap adjustment mechanism corresponding to the first gear and the second gear is recorded as the first gap adjustment mechanism, the gap adjustment mechanism corresponding to the third gear and the fourth gear is recorded as the second gap adjustment mechanism, the gap adjustment mechanism corresponding to the fifth gear and the sixth gear is recorded as the third gap adjustment mechanism, the gap adjustment mechanism corresponding to the eighth gear and the seventh gear is recorded as the fourth gap adjustment mechanism, the gap adjustment mechanism corresponding to the ninth gear and the tenth gear is recorded as the fifth gap adjustment mechanism, and the gap adjustment mechanism corresponding to the eleventh gear and the twelfth gear is recorded as the sixth gap adjustment mechanism.

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