Supporting arm and surgical robot

Abstract

The utility model discloses a supporting arm and a surgical robot, and relates to the technical field of medical instruments. The supporting arm comprises a supporting beam and a translation mechanism, the translation mechanism is arranged in the supporting beam and comprises a translation part, a translation groove is formed in one side of the supporting beam, and the translation part is arranged in the translation groove in a penetrating mode and does translation motion along the translation groove. The supporting arm further comprises a shielding mechanism, the shielding mechanism is arranged in the supporting beam and comprises at least two supporting assemblies and a shielding belt, the at least two supporting assemblies are arranged at intervals in the extending direction of the translation groove and rotationally connected with the supporting beam, and after the shielding belt surrounds the at least two supporting assemblies, the two ends of the shielding belt are both connected with the translation part. The translation piece moves along the translation groove, and the shielding belt moves along with the translation piece to cover the translation groove all the time. The shielding mechanism is simple in structure, the dustproof effect of the supporting arm is improved, and the attractiveness and safety of the supporting arm are higher; and when the operation arm is dragged to be positioned, the operation arm is hardly subjected to resistance, and the movement is smoother.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to a support arm and a surgical robot. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has been increasingly widely used due to its advantages such as small surgical trauma, short recovery time, and less patient pain. Minimally invasive surgical robots, with their characteristics of high dexterity, high control precision, and intuitive surgical images, can avoid operation limitations, such as filtering hand tremors during operations, and are widely applicable to surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity.

[0003] Currently, the largest category of minimally invasive surgical robots is laparoscopic surgical robots, which include a doctor's console and a patient surgical platform. Multiple surgical arms are provided on the patient surgical platform. The master operating arm of the doctor's console collects the operating signals of the doctor, generates control signals for the surgical arms after being processed by the control system, and the surgical arms control the surgical instruments thereon to perform surgical operations or the endoscope to perform image acquisition.

[0004] The structure of the surgical arm has various forms. The most widely used suspended surgical arm includes a suspension plate and a telescopic beam. The suspension plate rotates relative to the telescopic beam, and multiple surgical arms are connected to the suspension plate. The surgical arms can move horizontally and rotate relative to the suspension plate. Among them, a suspension horizontal axis is provided on the suspension plate, and the surgical arm moves horizontally relative to the suspension horizontal axis. Therefore, a structural notch is required on the suspension horizontal axis to avoid the horizontal movement of the moving part. For aesthetic, safety, and dust-proof needs, a curtain is generally designed to cover it.

[0005] The existing patent with the application number 202320045949.8 discloses a mechanical arm automatic retracting and shielding mechanism, including a mounting shaft, a winding drum, a rolling curtain, and a torsion spring. The winding drum is sleeved on the mounting shaft and rotatably connected to the mounting shaft. The rolling curtain is wound around the winding drum, and the torsion spring is connected between the mounting shaft and the winding drum to achieve the automatic retraction of the rolling curtain. On the one hand, the automatic shielding of the mechanical arm stroke notch is realized through the rolling curtain wound around the winding drum. On the other hand, the automatic retraction of the rolling curtain is realized through the torsion spring with a pre-tightening torque to ensure that the rolling curtain remains taut at all times during the movement of the surgical arm, thereby improving the sealing performance at the stroke notch and avoiding affecting the linear movement of the mechanical arm. However, since the operator needs to manually drag the surgical arm during pre-operative positioning, it is expected that there is no resistance or other counterforces during dragging. However, the torsion spring applies a pulling force to the rolling curtain, resulting in the operator having to overcome this pulling force during the dragging process, affecting the user experience. Moreover, the service life of the torsion spring and the rolling curtain structure is short, and due to the long length and low stiffness of the rolling curtain, it is very easy to have problems such as edge curling and flipping out during use, increasing the use and maintenance costs. Utility Model Content

[0006] The first object of the present application is to provide a support arm, which can effectively seal the stroke notch of the translation groove, reducing the use and maintenance costs.

[0007] To achieve this purpose, on the one hand, the present application adopts the following technical solutions:

[0008] Provide a support arm, including a support beam and a translation mechanism. The translation mechanism is arranged inside the support beam. The translation mechanism includes a translation member. A translation groove is provided on one side of the support beam. The translation member passes through the translation groove and makes a translation movement along the translation groove. Wherein, the support arm further includes:

[0009] A shielding mechanism, arranged inside the support beam. The shielding mechanism includes a support assembly and a shielding belt. There are at least two support assemblies. At least two support assemblies are arranged at intervals along the extending direction of the translation groove and are rotatably connected to the support beam. After the shielding belt surrounds at least two support assemblies, both ends of the shielding belt are connected to the translation member. When the translation member moves along the translation groove, the shielding belt always covers the translation groove as the translation member moves.

[0010] As an optional solution of the support arm, one end of the shielding belt is fixedly connected to the translation member, and the connection position of the other end to the translation member is adjustable.

[0011] As an optional solution of the support arm, the shielding mechanism further includes a fixing member, and the fixing member is used to fixedly connect one end of the shielding belt to the translation member.

[0012] As an optional solution of the support arm, the shielding mechanism further includes an adjusting member, and the adjusting member is used to connect the other end of the shielding belt to the translation member in an adjustable position.

[0013] As an optional solution of the support arm, the adjusting member includes a connection block and an adjusting screw. One end of the connection block is connected to the shielding belt, and the other end is connected to the translation member through the adjusting screw. The connection position of the shielding belt and the translation member is adjusted by the adjusting screw.

[0014] As an optional solution of the support arm, the support assembly includes a support shaft and a rotating sleeve. Both ends of the support shaft are respectively connected to the opposite side walls of the support beam. The rotating sleeve is sleeved on the outer periphery of the support shaft and can rotate relative to the support shaft. The rotating sleeve supports the shielding belt and provides guidance for the shielding belt.

[0015] As an alternative to the support arm, the support assembly further includes a bearing disposed between the support shaft and the rotating sleeve, and the friction coefficient between the shielding belt and the rotating sleeve is greater than that of the bearing.

[0016] As an alternative to the support arm, the shielding belt includes a steel belt, and the elastic modulus of the steel belt is greater than or equal to 180 GPa.

[0017] As an alternative to the support arm, the translation mechanism further includes a lead screw and a lead screw nut. The lead screw is rotatably disposed within the support beam. The lead screw nut is in driving connection with the lead screw, and the translation member is connected to the lead screw nut;

[0018] The lead screw is disposed on a side of the shielding mechanism away from the translation groove. The translation member is provided with an avoidance groove that penetrates through both ends. The shielding belt located on a side of the support assembly away from the translation groove passes through the avoidance groove. One side wall of the avoidance groove is connected to the lead screw nut, and the other side wall is connected to the shielding belt.

[0019] The second object of the present application is to provide a surgical robot that has a small resistance when dragging the surgical arm, thereby improving the user experience.

[0020] To achieve this object, the present application adopts the following technical solutions in another aspect:

[0021] There is provided a surgical robot, which includes a surgical arm and a support arm as described in any of the above solutions. The support arm is the suspension horizontal axis of the surgical robot, and the surgical arm is connected to the translation member.

[0022] Advantages of the present application:

[0023] The support arm and surgical robot provided by the present application. The support arm serves as the suspension horizontal axis of the surgical robot and is used to support the surgical arm. The surgical arm is connected to the translation member and moves horizontally along the translation groove on one side of the support beam. By providing an occlusion mechanism, when the translation member moves along the translation groove, the occlusion mechanism can occlude the translation groove to prevent foreign objects from entering the interior of the support beam through the translation groove, which has the functions of aesthetics, safety, and dust prevention. Specifically, at least two support components are arranged at intervals along the extension direction of the translation groove and are rotatably connected to the support beam for supporting the occlusion belt. After the occlusion belt surrounds at least two support components, both ends of the occlusion belt are connected to the translation member, so that the occlusion belt forms a ring. When the surgical arm drives the translation member to move in the translation groove, the occlusion belt moves with the translation member, driving the rotation of the two support components, so that the occlusion belt and the translation member always cover the translation groove to prevent foreign objects from entering the interior of the support arm. Moreover, the movement of the occlusion belt drives the rotation of the support components. While the support components provide support for the occlusion belt, they also provide guidance. Since there is no need for a spring structure that provides tension, the occlusion belt hardly generates resistance to the movement of the translation member, which facilitates the operation of dragging the surgical arm to position before surgery. In addition, the structure of this occlusion mechanism is simple, which reduces the manufacturing and maintenance costs. The surgical robot applying this support arm not only improves the dust prevention effect, has higher aesthetics and safety, but also when dragging the surgical arm to position, the surgical arm hardly encounters resistance and moves more smoothly. At the same time, it reduces the manufacturing and maintenance costs, bringing a better user experience to users. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic front view of the support arm provided by the specific embodiment of the present application;

[0025] Figure 2 is a schematic rear view of the support arm provided by the specific embodiment of the present application;

[0026] Figure 3 is a schematic view of the support arm after hiding the support beam housing provided by the specific embodiment of the present application;

[0027] Figure 4 is a cross-sectional view of the support arm provided by the specific embodiment of the present application;

[0028] Figure 5 is an assembly schematic view of the occlusion mechanism and the adapter provided by the specific embodiment of the present application;

[0029] Figure 6 is a cross-sectional view of the connection between the support component and the support beam provided by the specific embodiment of the present application;

[0030] Figure 7 is an exploded schematic view of the occlusion mechanism and the adapter provided by the specific embodiment of the present application.

[0031] In the figure:

[0032] 1. Support beam; 11. Support beam housing; 12. Translation groove; 13. Guide rail;

[0033] 2. Translation mechanism; 21. Translating member; 211. Avoidance groove; 22. Lead screw; 23. Lead screw nut;

[0034] 3. Shielding mechanism; 31. Support assembly; 311. Rotating sleeve; 312. Support shaft; 313. Bearing; 32. Shielding belt; 321. Fixing member; 322. Adjusting member; 3221. Connecting block; 3222. Adjusting screw;

[0035] 4. Brake;

[0036] 5. Adapter body; 51. Adapter body housing; 52. Slide block. Detailed implementation manners

[0037] To make the technical problems solved by this application, the technical solutions adopted, and the achieved technical effects clearer, the technical solutions of this application will be further described below with reference to the accompanying drawings and through specific implementation manners.

[0038] In this specification, many specific technical details are described in some places to enable those skilled in the art to understand the complete technical solution. However, it should be understood that the embodiments of this application can be implemented without these specific technical details. Such detailed descriptions of technical details should not be regarded as a limitation to this application, and the protection scope of this application is only defined by the claims. In other places, well-known structures, connection / position relationships, circuits, and / or other details may not be shown in detail to avoid misunderstanding of the inventive points of this application by the general public.

[0039] In this specification, the drawings show schematic diagrams of several embodiments of this application. However, the drawings are only schematic, and it should be understood that mechanical structures, connection / position relationships, physical compositions, electrical aspects, and steps can be changed without departing from the spirit and scope of this application. Such changes can either be substitutions or combinations using the elements of several embodiments of this application, or substitutions or combinations using well-known content.

[0040] The terms used hereinafter are for describing specific embodiments only and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", "middle", "center", "inner", "outer", "central", "edge", etc., are used for convenience in describing the relationship between one component or feature shown in the figures and another component or feature. It should be understood that spatially relative terms are used under the condition of the orientation of the device during use or operation (except for the orientation specifically defined in the figures), and are not necessarily unique and invariant. For example, if the device in the figure is flipped 180° up and down along the paper surface, the element described as "below" other components or features will become "above" other components or features. Therefore, the exemplary term "below" can cover both the upper and lower directions, depending on how the device is oriented. The device can also be oriented in other directions (e.g., rotated 90° or oriented in other directions), and the spatially relative descriptive terms used herein are accordingly interpreted.

[0041] As used herein, "a plurality of", "one", and "the" are also intended to include the plural form unless the context indicates otherwise. It should be further understood that the terms "comprising" and / or "including" specify the presence of the stated features, steps, operations, elements, and / or components, without excluding the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0042] In the description of the present application, unless otherwise clearly specified and defined, the terms "connected", "coupled", and "fixed" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0043] Overview of the master-slave teleoperated laparoscopic surgical robot:

[0044] A laparoscopic surgical robot generally includes a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits at the doctor control platform, watches the two-dimensional or three-dimensional images of the surgical area transmitted by a laparoscope (sometimes called an "endoscope") placed in the patient's body, and manipulates the movement of the robotic arm on the patient surgical platform and the surgical instruments or laparoscope attached to the robotic arm. The robotic arm is equivalent to simulating a human arm, and the surgical instrument is equivalent to simulating a human hand. The two provide a series of actions simulating the human wrist for the surgeon and can also filter the tremors of the human hand itself. Therefore, it is increasingly widely used in surgeries, especially in abdominal, thoracic, and general surgery.

[0045] A patient surgical platform generally includes a chassis, a column, a plurality of robotic arms connected to the column, and one or more surgical instrument manipulators (also known as surgical arms) at the ends of the support assemblies of each robotic arm. Surgical instruments and / or endoscopes are detachably connected to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or endoscopes operating at a surgical site within a patient. Various forms of control may be allowed for the associated surgical instruments that permit each surgical instrument manipulator to move in one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which center of motion is typically located at the position where the surgical instrument enters the body wall and which center of motion is generally referred to as the "centroid point" or "fixed point".

[0046] An image platform generally includes a video image capture function (commonly an endoscope) and one or more video displays for displaying the surgical instruments in the captured images. In some endoscopic surgical robots, an optical device including one or more imaging sensors (e.g., CCD or CMOS sensors) that transfer an image from within the patient's body to the distal end of the endoscope, and then through steps such as photoelectric conversion, the video image is transferred to the host of the image platform. Subsequently, through image processing, the processed image is displayed on the video display for other doctors or assistants to observe.

[0047] A doctor control platform generally includes a chassis, a foot pedal assembly, a stereoscopic monitor, a master control arm, and a manual controller connected to the end of the master control arm. The surgeon controls the manual controller and the foot pedal assembly to achieve specific actions and / or energy activation of the surgical instruments. The doctor control platform may be at a single location in a surgical system composed of an endoscopic surgical robot or it may be distributed at two or more locations in the system, and remote master / slave operation may be completed according to a preset degree of control. For example, at one location as the master control for the main surgeon's operation, and at another location as the slave control for the first assistant's operation. The master control completes the main surgical operations, and the slave control completes auxiliary operations such as endoscope movement or tissue retraction. In some embodiments, the manual controller may be an input device capable of performing one or more manual operations, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, and so on. These input devices collect the operation signals of the surgeon, and after being processed by the control system, generate control signals for the robotic arms and surgical instrument manipulators, thereby controlling the remote motors on the surgical instrument manipulators, and the motors then control the final movement of the surgical instruments.

[0048] Generally, the force generated by a remote-controlled motor is transmitted via a transmission system to transfer the force from the remote-controlled motor to the end effector of a surgical instrument. In some embodiments of remote-controlled surgery, the input device for controlling the manipulator can be set at a position far from the patient, inside or outside the room where the patient is located, or even in a different city. Then, the input signal of the input device is transmitted to the control system. Those familiar with remote manipulation, remote control, and telepresence surgery will understand such a system and its components, which will not be elaborated here.

[0049] Commonly, in a patient surgical platform called a "suspended four-arm configuration", it includes a column, a telescopic beam, and a suspension plate. The telescopic beam can be lifted, horizontally moved, and rotated relative to the column, and the suspension plate can be rotated relative to the telescopic beam. The surgical arm is connected to the suspension plate and can be horizontally moved and rotated relative to the suspension plate. Specifically, the suspension plate includes a suspension horizontal axis, and a translation mechanism is arranged inside the suspension horizontal axis. The surgical arm is connected to the translation mechanism. By dragging the surgical arm, the surgical arm drives the translation mechanism to move horizontally. A translation groove is arranged on one side of the suspension horizontal axis. The translation mechanism passes through the translation groove and is connected to the surgical arm, and the translation mechanism moves along the extension direction of the translation groove. For the requirements of aesthetics, safety, and dust prevention, it is usually necessary to design a shielding mechanism to shield the translation groove to prevent foreign objects from entering the inside of the suspension horizontal axis through the translation groove, and at the same time avoid the danger of accidentally touching the translation mechanism inside the suspension horizontal axis, and the aesthetics is better.

[0050] In the existing patent with the application number 202320045949.8, a robotic arm automatic retracting and shielding mechanism is disclosed, which includes a mounting shaft, a winding drum, a rolling curtain, and a torsion spring. The winding drum is sleeved on the mounting shaft and is rotatably connected to the mounting shaft. The rolling curtain is wound around the winding drum, and the torsion spring is connected between the mounting shaft and the winding drum to realize the automatic retraction of the rolling curtain. On the one hand, the automatic shielding of the stroke gap of the robotic arm is realized through the rolling curtain wound around the winding drum. On the other hand, the automatic retraction of the rolling curtain is realized through the torsion spring with a pre-tightening torque to ensure that the rolling curtain always remains in a tensioned state during the movement of the surgical arm, thereby improving the sealing performance at the stroke gap and avoiding affecting the linear movement of the robotic arm. However, since the preoperative positioning requires the operator to manually drag the surgical arm, it is expected that there is no resistance or other counterforces, but the torsion spring applies a pulling force to the rolling curtain, resulting in the operator having to overcome this pulling force during the dragging process, which affects the user experience. Moreover, the service life of the torsion spring and the rolling curtain structure is short, and due to the long length and low stiffness of the rolling curtain, there is a probability of warping and turning out during use, increasing the use and maintenance costs.

[0051] To solve the above technical problems, this embodiment provides a support arm and a surgical robot.

[0052] Embodiment 1

[0053] Such as Figures 1-5As shown, this embodiment provides a support arm, which can be used as a suspension horizontal axis in a surgical robot to support a surgical arm. The support arm includes a support beam 1 and a translation mechanism 2. The cross section of the support beam 1 is a rectangular cavity structure. A translation slot 12 is provided on one side of the support beam 1. The translation mechanism 2 includes a lead screw 22, a lead screw nut 23 and a translation member 21. The lead screw 22 is rotatably arranged in the cavity of the support beam 1. Both ends of the cavity are provided with mounting seats. Both ends of the lead screw 22 are rotatably connected to the support beam 1 through the mounting seats. The lead screw nut 23 is transmission-connected to the lead screw 22, and the translation member 21 is connected to the lead screw nut 23. The translation member 21 is inserted into the translation slot 12, and one end of the translation member 21 away from the lead screw nut 23 is connected to the adapter 5, and the translation member 21 is connected to the surgical arm through the adapter 5. Two guide rails 13 are arranged on one side of the support beam 1 close to the adapter 5. The two guide rails 13 are arranged in parallel and are respectively arranged on both sides of the translation slot 12. Two rows of sliders 52 are arranged at intervals on one side of the adapter 5 close to the support beam 1. The two rows of sliders 52 cooperate with the two guide rails 13 respectively, so that the adapter 5 is slidably arranged on the support beam 1. In this embodiment, two sliders 52 are arranged at intervals in each row, and the side surface of the adapter 5 adjacent to the side where the sliders 52 are located is used to connect the surgical arm.

[0054] A brake 4 is provided at one end of the lead screw 22. When the brake 4 is powered on, the lead screw 22 can be released and the lead screw 22 can rotate; when the brake 4 is powered off, the lead screw 22 can be tightly held to prevent the lead screw 22 from rotating, thereby achieving braking of the translation member 21.

[0055] During preoperative positioning, the control brake 4 is powered on, and the operator manually pulls the surgical arm, and the surgical arm drives the translation member 21 to move along the translation slot 12 through the adapter 5, and the translation member 21 moves through the lead screw nut 23 to drive the lead screw 22 to rotate. When the surgical arm moves to a suitable position, the control brake 4 is powered off, and the brake 4 holds the lead screw 22 tightly after the power is turned off, so that the lead screw 22 cannot rotate, thereby preventing accidental touch or misoperation of the surgical arm, resulting in a change in the position of the surgical arm, affecting the surgical position of the surgical instrument, and improving the operational safety of the surgical robot.

[0056] Furthermore, the support arm further includes a support beam housing 11, which is disposed on the support beam 1 from a side of the support beam 1 away from the translation slot 12, so that the translation slot 12 of the support beam 1 is exposed, and the translation member 21 can be connected to the surgical arm through the adapter 5. The adapter 5 further includes an adapter housing 51, which is disposed outside the adapter 5. On the one hand, the connection structure between the adapter 5, the translation member 21 and the surgical arm is protected; on the other hand, the aesthetics is improved.

[0057] The translation member 21 moves along the extending direction of the translation groove 12. During the process that the translation member 21 is stationary or moving, the stroke notch of the translation groove 12 makes the inside and outside of the support beam 1 communicate with each other, which has an impact on the dust-proof property, aesthetics and safety of the support arm.

[0058] The support arm provided in this embodiment further includes a shielding mechanism 3. The shielding mechanism 3 is arranged inside the support beam 1 and cooperates with the translation member 21, and is used to always shield the stroke notch of the translation groove 12 during the process that the translation member 21 is stationary or moving, so as to prevent the inside of the support arm from communicating with the outside through the translation groove 12. The shielding mechanism 3 includes a support assembly 31 and a shielding belt 32. There are at least two support assemblies 31. The at least two support assemblies 31 are arranged at intervals along the extending direction of the translation groove 12 and are rotatably connected to the support beam 1. After the shielding belt 32 surrounds the at least two support assemblies 31, both ends of the shielding belt 32 are connected to the translation member 21, that is, the shielding belt 32 is supported by the at least two support assemblies 31. The shielding belt 32 forms a ring around both sides of the translation member 21. When the translation member 21 moves, the shielding belt 32 moves together with the translation member 21. The support assembly 31 plays a role in supporting and guiding the shielding belt 32, so that the side of the shielding belt 32 close to the translation groove 12 always covers the translation groove 12, preventing foreign objects from entering the inside of the support arm. Moreover, the movement of the shielding belt 32 drives the support assembly 31 to rotate, and the shielding belt 32 will not generate resistance to the movement of the translation member 21, which is convenient for the operation of dragging and positioning the surgical arm before the operation; in addition, the structure of the shielding mechanism 3 is simple, reducing the manufacturing and maintenance costs.

[0059] The lead screw 22 is arranged on the side of the shielding mechanism 3 away from the translation groove 12. An avoidance groove 211 with both ends penetrating is arranged on the translation member 21. The shielding belt 32 on the side of the support assembly 31 away from the translation groove 12 passes through the avoidance groove 211. One side wall of the avoidance groove 211 is connected to the lead screw nut 23, and the other side wall is connected to the shielding belt 32. Specifically, in order to simplify the structure of the translation member 21 without affecting the connection between the translation member 21 and the adapter 5, since the translation member 21 moves with the adapter 5, the other side wall of the translation member 21 is connected between two columns of sliders 52 on the adapter 5, the shielding belt 32 is connected to the adapter 5, and both ends of the shielding belt 32 are respectively located on both sides of the other side wall of the translation member 21.

[0060] Specifically, as Figure 6 and Figure 7As shown, the support assembly 31 includes a support shaft 312 and a rotating sleeve 311. Both ends of the support shaft 312 are connected to the opposite side walls of the support beam 1 respectively. The rotating sleeve 311 is sleeved on the outer periphery of the support shaft 312 and can rotate relative to the support shaft 312. The rotating sleeve 311 supports the shielding belt 32 and provides guidance for the shielding belt 32. Milling planes are provided at both ends of the support shaft 312, and first connection holes are provided on the milling planes. Screws pass through the first connection holes and are fixedly connected to the side wall of the support beam 1. The shielding belt 32 is wound around the outer periphery of the rotating sleeve 311. The movement of the shielding belt 32 drives the rotating sleeve 311 to rotate relative to the support shaft 312, so that the shielding belt 32 can always cover the translation groove 12.

[0061] Of course, in other embodiments, the support assembly 31 can also be a pulley. The pulley rotates relative to the support beam 1 through a connecting shaft, and the shielding belt 32 is wound between the two pulleys.

[0062] Further, the support assembly 31 further includes a bearing 313. The bearing 313 is arranged between the support shaft 312 and the rotating sleeve 311. The friction coefficient between the shielding belt 32 and the rotating sleeve 311 is greater than the friction coefficient of the bearing 313. The rotating sleeve 311 is rotationally connected to the support shaft 312 through the bearing 313, which ensures the smooth rotation of the rotating sleeve 311. Moreover, there is no relative sliding between the shielding belt 32 and the rotating sleeve 311, which ensures that the rotating sleeve 311 can always rotate with the movement of the shielding belt 32, further reducing the resistance when the surgical arm drives the translation member 21 to move through the adapter 5.

[0063] There are two bearings 313. The two bearings 313 are respectively located at both ends of the rotating sleeve 311, so that the rotating sleeve 311 is balanced in force when rotating driven by the shielding belt 32, avoiding the deviation of the shielding belt 32 during movement caused by the unbalanced force of the rotating sleeve 311, resulting in a gap between one side of the shielding belt 32 and the translation groove 12 and affecting the dust-proof effect.

[0064] Of course, in other embodiments, there can also be one bearing 313, and one bearing 313 is arranged in the middle of the rotating sleeve 311.

[0065] In one embodiment, the shielding belt 32 includes a steel belt, and the elastic modulus of the steel belt is greater than or equal to 180 GPa. Compared with plastic or polymer materials, the steel belt has higher stiffness and is not prone to problems such as edge warping and turning out, prolonging the service life. In addition, the surface of the steel belt is smooth, and the friction force with the rotating sleeve 311 is small, further reducing the movement resistance of the translation member 21; and the steel belt has a certain elasticity and can be bent and wound around the circumference of the rotating sleeve 311.

[0066] Of course, in other embodiments, the shielding belt 32 may also be a conveyor belt made of hard rubber. It should be noted that on the one hand, the conveyor belt needs to ensure sufficient stiffness and strength (especially in its length direction, because the movement resistance caused by deformation needs to be avoided), and on the other hand, it also needs to ensure sufficient flexibility (especially in its thickness direction, because it needs to bypass the support assembly 31). Those skilled in the art can obtain the conveyor belt parameters (such as thickness, width, elastic modulus, etc.) that can meet the conditions through a limited number of experiments when using this kind of material.

[0067] The length of the translation groove 12 can be greater than or equal to the stroke of the translation member 21. When the length of the translation groove 12 is greater than the stroke of the translation member 21, in order to further increase the stiffness of the shielding belt 32, two steel belts can be connected by a connecting rod. The stiffness of the connecting rod is greater than that of the steel belt and the mass is lighter. Exemplarily, the connecting rod can be made of glass fiber, PEEK (polyetheretherketone), fiberglass, etc. Then, the ends of the two steel belts away from the connecting rod are both connected to the translation member 21. The lengths of the connecting rod and the two steel belts are specifically determined according to the length of the translation groove 12 and the stroke of the translation member 21 to ensure that the connecting rod does not pass through the support assembly 31 within the stroke range of the translation member 21. When the length of the translation groove 12 is equal to the stroke of the translation member 21, the shielding belt 32 is made of a single steel belt, and both ends of the steel belt are connected to the translation member 21.

[0068] For the specific number of the support assemblies 31, it can be specifically set according to the length of the translation groove 12. If the length of the translation groove 12 is short, only two support assemblies 31 need to be set, that is, one support assembly 31 is set at each end of the translation groove 12 along the length direction. If the length of the translation groove 12 is long, in addition to setting one support assembly 31 at each end of the translation groove 12, support assemblies 31 can also be arranged between the two ends of the translation groove 12 to ensure that the shielding belt 32 has a certain degree of tension during movement and better covers the translation groove 12.

[0069] When the translation slot 12 is blocked by the blocking strip 32, if the blocking strip 32 is loose, a large gap will be left between the blocking strip 32 and the translation slot 12, and external foreign objects may enter the support beam 1 through this large gap; moreover, if the blocking strip 32 is loose and falls onto the lead screw 22, it may affect the rotation of the lead screw 22 driven by the translation member 21, thereby affecting the movement of the surgical arm driving the translation member 21 through the adapter 5 and affecting the positioning of the surgical arm; at the same time, the looseness of the blocking strip 32 also affects the aesthetics of the support arm. Therefore, when installing the blocking strip 32, the tension of the blocking strip 32 needs to be adjusted so that the blocking strip 32 has a certain tension and can be smoothly attached to the inner side of the translation slot 12. Of course, after using for a period of time, the tension of the blocking strip 32 will also change. When the tension of the blocking strip 32 changes and it cannot cover the translation slot 12 well, the tension of the blocking strip 32 also needs to be adjusted.

[0070] In one embodiment, one end of the blocking strip 32 is fixedly connected to the translation member 21, and the connection position of the other end to the translation member 21 is adjustable. When installing the blocking strip 32, after the blocking strip 32 surrounds the support assembly 31, one of the two ends of the blocking strip 32 is first fixedly connected to the translation member 21, and then the other end of the blocking strip 32 is tightened. After the blocking strip 32 has a certain tension, the other end is then connected to the translation member 21, ensuring that the blocking strip 32 of the blocking mechanism 3 is always in a flat state and close to the inner side of the translation slot 12 when the translation member 21 is stationary or moving, and can cover the translation slot 12.

[0071] In one embodiment, continue to refer to Figure 4 and Figure 5 ., the blocking mechanism 3 further includes a fixing member 321 and an adjusting member 322. The fixing member 321 is used to fixedly connect one end of the blocking strip 32 to the translation member 21. The adjusting member 322 is used to connect the other end of the blocking strip 32 to the translation member 21 in an adjustable position. By respectively arranging the fixing member 321 and the adjusting member 322 at both ends of the blocking strip 32, when installing the blocking strip 32, only need to fix the fixing member 321 to the translation member 21 and adjust the connection position of the adjusting member 322 to the translation member 21, then the adjustment of the tension of the blocking strip 32 can be realized.

[0072] In one embodiment, the fixing member 321 includes a fixing block. A second connection hole is provided on the fixing block. A third connection hole is provided at one end of the blocking strip 32. A first connection screw passes through the third connection hole and the second connection hole and is fixedly connected to the adapter 5. The adjusting member 322 includes a connection block 3221 and an adjusting screw 3222. One end of the connection block 3221 is connected to the blocking strip 32, and the other end is connected to the translation member 21 through the adjusting screw 3222. The connection position of the blocking strip 32 to the translation member 21 is adjusted by the adjusting screw 3222.

[0073] Specifically, the adapter 5 includes a first side wall, and second and third side walls vertically disposed on opposite sides of the first side wall. The fixing block is connected to one end of the first side wall close to the second side wall, the connecting block 3221 is connected to one end of the first side wall close to the third side wall, and the other side wall of the translation member 21 is connected to the first side wall and is located between the fixing block and the connecting block 3221.

[0074] The connecting block 3221 is arranged in an L shape. A first threaded hole is provided on the long arm of the L-shaped connecting block 3221. A fourth connecting hole is provided at the other end of the shielding belt 32. A second connecting screw passes through the fourth connecting hole and is screwed with the first threaded hole to fix the other end of the shielding belt 32 to the connecting block 3221. A second threaded hole is provided on the short arm of the L-shaped connecting block 3221, and a third threaded hole is provided on the third side wall. When the other end of the shielding belt 32 is connected to the adapter 5, the long arm of the L-shaped connecting block 3221 after being connected to the shielding belt 32 abuts against the first side wall. The adjusting screw 3222 is screwed with the second threaded hole and extends out and then is screwed with the third threaded hole. The distance between the short arm of the L-shaped connecting block 3221 and the adapter 5 is adjusted by adjusting the screwing length of the adjusting screw 3222 with the third threaded hole, and then the relative position between the other end of the shielding belt 32 and the adapter 5 is adjusted, thereby realizing the adjustment of the tension of the shielding belt 32.

[0075] Of course, in other embodiments, the connecting block 3221 may also be arranged as a rectangular block. The end face at the bottom of the rectangular block is connected to the other end of the shielding belt 32. The adjusting screw 3222 passes through a position near the top of the rectangular block and is connected to the third side wall. Or, the rectangular block is connected to one end of the first side wall close to the third side wall. A plurality of third threaded holes are arranged at intervals along the third side wall in the direction close to the second side wall at one end of the first side wall close to the third side wall. After the adjusting screw 3222 is screwed with the second threaded hole, it is selectively screwed with one of the third threaded holes.

[0076] Embodiment Two

[0077] This embodiment also provides a surgical robot, including a surgical arm and the support arm provided in Embodiment One. The support arm is the suspension horizontal axis of the surgical robot, and the surgical arm is connected to the translation member 21 through the adapter 5. The surgical robot applying the support arm provided in Embodiment One not only improves the dust-proof effect, but also has higher aesthetics and safety; moreover, when dragging the surgical arm to swing, the surgical arm is not subject to resistance and moves more smoothly; at the same time, the manufacturing and maintenance costs are reduced, bringing a better user experience to the user.

[0078] The above content is only the preferred embodiment of the present application. For those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. The content of this specification should not be construed as a limitation to the present application.

Claims

1. Support arm, comprising a support beam (1) and a translation mechanism (2), the translation mechanism (2) is arranged inside the support beam (1), the translation mechanism (2) includes a translation member (21), a translation groove (12) is provided on one side of the support beam (1), the translation member (21) passes through the translation groove (12) and makes a translation movement along the translation groove (12); characterized in that, The support arm further includes: A shielding mechanism (3) disposed within the support beam (1). The shielding mechanism (3) includes a support assembly (31) and a shielding belt (32). There are at least two support assemblies (31). At least two support assemblies (31) are spaced along the extending direction of the translation groove (12) and are rotatably connected to the support beam (1). After the shielding belt (32) surrounds at least two support assemblies (31), both ends of the shielding belt (32) are connected to the translation member (21). The translation member (21) moves along the translation groove (12), and the shielding belt (32) always covers the translation groove (12) as the translation member (21) moves.

2. The support arm according to claim 1, wherein, One end of the shielding belt (32) is fixedly connected to the translation member (21), and the connection position of the other end to the translation member (21) is adjustable.

3. The support arm according to claim 2, characterized in that, The shielding mechanism (3) further includes a fixing member (321) for fixedly connecting one end of the shielding belt (32) to the translation member (21).

4. The support arm according to claim 2, characterized in that, The shielding mechanism (3) further includes an adjusting member (322) for adjustably connecting the other end of the shielding belt (32) to the translation member (21).

5. The support arm according to claim 4, characterized in that, The adjusting member (322) includes a connecting block (3221) and an adjusting screw (3222). One end of the connecting block (3221) is connected to the shielding belt (32), and the other end is connected to the translation member (21) through the adjusting screw (3222). The connection position between the shielding belt (32) and the translation member (21) is adjusted by the adjusting screw (3222).

6. The support arm according to claim 1, characterized in that, The support assembly (31) includes a support shaft (312) and a rotating sleeve (311). Both ends of the support shaft (312) are respectively connected to the opposite side walls of the support beam (1). The rotating sleeve (311) is sleeved on the outer periphery of the support shaft (312) and can rotate relative to the support shaft (312). The rotating sleeve (311) supports the shielding belt (32) and provides guidance for the shielding belt (32).

7. The support arm according to claim 6, wherein The support assembly (31) further includes a bearing (313) disposed between the support shaft (312) and the rotating sleeve (311). The friction coefficient between the shielding belt (32) and the rotating sleeve (311) is greater than the friction coefficient of the bearing (313).

8. The support arm according to any one of claims 1-7, characterized in that, The shielding belt (32) includes a steel belt, and the elastic modulus of the steel belt is greater than or equal to 180 GPa.

9. The support arm according to any one of claims 1-7, characterized in that, The translation mechanism (2) further includes a lead screw (22) and a lead screw nut (23). The lead screw (22) is rotatably disposed within the support beam (1). The lead screw nut (23) is in transmission connection with the lead screw (22). The translation member (21) is connected to the lead screw nut (23); The lead screw (22) is arranged on the side of the shielding mechanism (3) away from the translation groove (12). An avoidance groove (211) with both ends penetrating is arranged on the translation member (21). The shielding belt (32) located on the side of the support assembly (31) away from the translation groove (12) passes through the avoidance groove (211). One side wall of the avoidance groove (211) is connected to the lead screw nut (23), and the other side wall can be connected to the shielding belt (32).

10. Surgical robot, characterized in that, It includes a surgical arm and the support arm as described in any one of claims 1-9. The support arm is the suspension horizontal axis of the surgical robot, and the surgical arm is connected to the translation member (21).

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