Surgical operation arm and surgical robot

Abstract

The utility model relates to the technical field of surgical robots, and discloses a surgical operation arm and a surgical robot. The surgical operation arm comprises a holding arm and a connecting arm. A connecting part is arranged on the first side wall of the holding arm in a protruding mode and provided with a wire passing channel, and the wire passing channel penetrates through the first side wall and is communicated with an inner cavity of the holding arm. The other end of the connecting arm is provided with a rotating shaft extending in the first direction and provided with a notch in a cut mode, the notch is communicated with an inner cavity of the connecting arm to expose the first end of the rotating shaft, the rotating shaft is provided with a wire passing hole, one end of the wire passing hole is communicated with the inner cavity of the connecting arm, and the other end of the wire passing hole penetrates through the end face of the first end. And the wire passing channel is communicated with the wire passing hole in an aligned manner, so that a cable in the inner cavity of the holding arm can sequentially pass through the wire passing channel and the wire passing hole to enter the inner cavity of the connecting arm. According to the utility model, the cable is prevented from being exposed on the outer side of the surgical operation arm, the cable is protected and is prevented from being broken, and the surgical safety is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical robots, in particular to a surgical operating arm and a surgical robot. Background Art

[0002] Surgical robots are widely used in the medical field. They consist of a doctor's control unit and a patient's operating unit. The patient's operating unit includes a surgical manipulator arm, which holds the surgical instruments. During surgery, the doctor controls the instruments using input handles on the doctor's control unit.

[0003] A surgical manipulator typically consists of a gripper arm and a linkage mechanism, one end of which is connected to the gripper arm and the other to the surgical trolley. Surgical instruments can be mounted on the gripper arm's drive base. The gripper arm and each link in the linkage mechanism are hollow. Cables for the motor on the drive base and for the electronics within the gripper arm can pass through the gripper arm and the linkage mechanism, electrically connecting to the controller in the surgical trolley.

[0004] According to the disclosure of Chinese patent CN213641169U - Connecting Arm, Manipulator Arm, and Surgical Robot, a first connecting arm is rotatably connected to the holding arm. A pair of arm ears protrudes from one end of the first connecting arm. The holding arm's connecting base is positioned between the pair of arm ears, and a rotating shaft extends through the two arm ears. The holding arm is rotatably connected to the first connecting arm via the rotating shaft. In the prior art, to facilitate cable insertion, an opening is provided at the end of the first connecting arm where the ear is located, located between the two arm ears. A corresponding opening is also provided at the connecting base of the holding arm, with the rotating shaft positioned between the two openings. The cable passes through one of the openings, crosses the rotating shaft, and extends into the other opening. To ensure smooth rotation between the first connecting arm and the holding arm, a margin is required for the cable length. This results in a longer cable length exposed between the two openings. When the holding arm rotates, the cable may accidentally become entangled in the rotating shaft or become trapped between the holding arm and the connecting arm, increasing the risk of cable breakage and electrical leakage, compromising surgical safety and the smooth progress of the procedure.

[0005] Based on this, there is an urgent need for a surgical operating arm and a surgical machine to solve the above-mentioned problems. Utility Model Content

[0006] The purpose of the present utility model is to provide a surgical operating arm and a surgical robot to prevent cables from being exposed outside the surgical operating arm, thereby protecting the cables, preventing cable breakage, and improving the safety of the operation.

[0007] To achieve this purpose, the present invention adopts the following technical solutions:

[0008] Surgical operating arm, including:

[0009] A surgical instrument holding arm, for mounting surgical instruments, wherein a connecting portion is protruding from a first side wall of the surgical instrument holding arm, and a wire passage is defined in the connecting portion, the wire passage passes through the first side wall and communicates with an inner cavity of the surgical instrument holding arm;

[0010] A connecting arm, one end of which is used to connect to an operating trolley, and the other end of the connecting arm is provided with a rotating shaft extending along a first direction and cut with a notch, the first direction is parallel to the first side wall, the notch is connected to the inner cavity of the connecting arm to expose the first end of the rotating shaft, the rotating shaft is provided with a wire passing hole, one end of the wire passing hole is connected to the inner cavity of the connecting arm and the other end passes through the end surface of the first end, the connecting part is placed in the notch and is rotatably connected to the first end, the wire passing channel is connected to the wire passing hole directly, so that the cables in the inner cavity of the mechanical arm can pass through the wire passing channel and the wire passing hole in sequence into the inner cavity of the connecting arm.

[0011] As an optional technical solution for the surgical operating arm, a transmission member is provided on the outer side of the first end of the rotating shaft, the connecting part is connected to the transmission member, at least two bearings are provided between the transmission member and the rotating shaft, and at least two of the bearings are arranged at intervals along the axial direction of the rotating shaft.

[0012] As an optional technical solution for the surgical operating arm, a positioning groove is provided on the end surface of the connecting portion facing one end of the transmission member, and the end of the transmission member extends out of the notch and is placed in the positioning groove.

[0013] As an optional technical solution of the surgical operating arm, the connecting portion is cylindrical, the connecting portion is coaxially arranged with the rotating shaft, and the connecting portion is located on one side of the first side wall along the first direction;

[0014] The end surface of the connecting portion opposite to one end of the transmission member is a spherical surface, and the spherical surface is arched toward the side away from the transmission member. The center of the spherical surface is located on the axis of the connecting portion, and the edge of the spherical surface is connected to the side wall of the holding arm so that the spherical surface protrudes from the side wall of the holding arm.

[0015] As an optional technical solution for the surgical operating arm, a receiving groove is provided on the spherical surface, the bottom surface of the receiving groove is a plane, a through-hole is provided on the bottom surface of the receiving groove, the through-hole passes through the connecting part, a bolt is passed through the through-hole and is connected to the transmission part.

[0016] As an optional technical solution for the surgical operating arm, the end of the bolt away from the transmission member is placed in the through hole or the end face is flush with the bottom surface of the accommodating groove; a shielding member is provided in the accommodating groove, and the surface of the shielding member facing the outside of the accommodating groove is coplanar with the spherical surface.

[0017] As an optional technical solution for the surgical operating arm, the wire passing channel is at least partially opposite to the accommodating groove, and the distance between the side wall of the wire passing channel and the bottom surface of the accommodating groove is greater than the wall thickness of the robotic arm.

[0018] As an optional technical solution for the surgical operating arm, the connecting portion is located on one side of the first side wall along the first direction, the notch passes through the second side wall of the connecting arm along the first direction, and the second side wall and the connecting portion are located on the same side of the surgical operating arm along the first direction.

[0019] As an optional technical solution for the surgical operating arm, the second end of the rotating shaft away from the first end is placed in the connecting arm, and a wire outlet is provided on the end surface of the second end. The wire outlet passes through the side wall of the rotating shaft so that the cable in the wire hole can enter the connecting arm through the wire outlet.

[0020] A surgical robot comprises the surgical operating arm as described above.

[0021] Beneficial effects of the utility model:

[0022] The surgical operating arm provided by the present invention comprises a holding arm and a connecting arm, wherein the protruding connecting portion on the holding arm is placed in the notch and is rotatably connected to the rotating shaft, thereby realizing the rotatable connection between the holding arm and the connecting arm, and the cable passing channel is directly connected to the cable passing hole, so that the cables in the inner cavity of the holding arm can pass through the cable passing channel and the cable passing hole in sequence and enter the inner cavity of the connecting arm, thereby avoiding the cables from being exposed to the outside of the surgical operating arm, protecting the cables, ensuring the durability of the cables, reducing the risk of the cables being entangled on the outside of the rotating shaft, and reducing the risk of the cables being clamped by the holding arm and the connecting arm due to exposure, avoiding cable breakage, ensuring the smooth progress of the operation, reducing the risk of leakage, and improving the safety of the operation; in addition, due to the notch The setting realizes that the holding arm and the connecting arm are at least partially opposite to each other, increases the spatial overlap and structural compactness between the holding arm and the connecting arm, avoids arranging the holding arm and the connecting arm along the first direction, shortens the thickness of the overall structure formed by the connection of the holding arm and the connecting arm along the first direction, reduces the occupied space, improves the flexibility of the surgical operating arm, reduces the possibility of mutual interference between the surgical operating arms during the operation, further ensures the safety of the operation, and also expands the range of movement of the surgical operating arm and the surgical instrument, thereby expanding the scope of application of the surgical robot, and reduces the number of times the doctor adjusts the position of the input handle, which is conducive to reducing the doctor's fatigue and further improving the safety of the operation.

[0023] The surgical robot provided by the present invention includes the aforementioned surgical operating arm. This reduces the risk of cables becoming entangled in the rotating shaft, avoids cable breakage, ensures smooth surgical procedures, reduces the risk of electrical leakage, and further improves surgical safety. Furthermore, the space occupied by the surgical operating arm is reduced, the flexibility of the surgical operating arm is improved, the range of motion of the surgical operating arm and surgical instruments is expanded, and the applicable scope of the surgical robot is expanded. It also reduces the number of times the surgeon needs to adjust the position of the input handle, which helps reduce the surgeon's fatigue and further improves surgical safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of a surgical operating arm provided by an embodiment of the present utility model;

[0025] Figure 2 This is a partial structural diagram of a surgical operating arm provided by an embodiment of the present utility model;

[0026] Figure 3 is a cross-sectional view of a surgical operating arm provided by an embodiment of the present utility model;

[0027] Figure 4 This is a schematic diagram of the structure of the robotic arm provided by an embodiment of the present invention from a first perspective;

[0028] Figure 5 This is a schematic diagram of the structure of the robotic arm provided by an embodiment of the present utility model from a second perspective;

[0029] Figure 6 is a cross-sectional view of a robotic arm provided by an embodiment of the present utility model;

[0030] Figure 7 This is a schematic structural diagram of a connecting arm provided in an embodiment of the present utility model;

[0031] Figure 8 It is a structural schematic diagram of the rotating shaft provided by an embodiment of the utility model.

[0032] In the picture:

[0033] 1. Arm; 11. First side wall; 12. Connecting portion; 121. Wire passage; 122. Spherical surface; 123. Accommodating groove; 124. Perforation; 125. Shielding member; 126. Positioning groove;

[0034] 2. Connecting arm; 21. Notch; 22. Rotating shaft; 221. Wire hole; 222. Wire outlet; 23. Transmission member; 231. Threaded hole; 24. Bearing; 25. Second side wall;

[0035] 3. Intermediate connecting rod; 4. Proximal connecting rod; 6. Drive seat; 7. Trocar. DETAILED DESCRIPTION

[0036] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present invention.

[0037] In the description of this utility model, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0038] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0039] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0040] This embodiment provides a surgical robot. Specifically, the surgical robot includes a surgeon control terminal and a patient surgical terminal. The surgeon control terminal includes an input handle, while the patient surgical terminal includes a surgical manipulator arm and a surgical trolley. One end of the surgical manipulator arm is connected to the trolley, and the surgical manipulator arm is used to mount surgical instruments. During surgery, the surgeon controls the surgical instruments using the input handle.

[0041] Among them, the doctor's control end, surgical instruments and other structures of the patient's surgical end except the surgical operating arm can refer to the existing technology. They are not the protection focus of this embodiment and will not be described in detail here.

[0042] Specifically, if Figures 1-8As shown, the surgical operating arm includes a holding arm 1 and a connecting rod mechanism. The holding arm 1 is used to install surgical instruments. One end of the connecting rod mechanism is used to connect to the operating trolley, and the other end of the connecting rod mechanism is connected to the holding arm 1. A drive seat 6 is movably provided on the holding arm 1, and the surgical instrument can be installed on the drive seat 6. A puncture device 7 is also provided on the holding arm 1. When the surgical instrument is installed on the drive seat 6, the instrument rod of the surgical instrument can be extended into the puncture device 7. Among them, the connection structure between the puncture device 7 and the holding arm 1 and the connection structure between the surgical instrument and the drive seat 6 can refer to the existing technology. They are not the focus of protection of this embodiment and will not be described here.

[0043] Furthermore, if Figure 1 As shown, the linkage mechanism includes a connecting arm 2, an intermediate connecting rod 3, and a proximal connecting rod 4. The intermediate connecting rod 3 is located between the proximal connecting rod 4 and the connecting arm 2, and the proximal connecting rod 4 is used to connect to the surgical trolley. The connecting arm 2 is rotationally connected to the surgical arm 1, with the rotation axis being J1. The connecting arm 2 is rotationally connected to the intermediate connecting rod 3, with the rotation axis being J2; the intermediate connecting rod 3 is rotationally connected to the proximal connecting rod 4, with the rotation axis being J3.

[0044] A motor is housed within the drive base 6. The motor's cables, which pass sequentially through the robotic arm 1, connecting arm 2, intermediate connecting rod 3, and proximal connecting rod 4, are then electrically connected to the controller within the surgical trolley. In this embodiment, the robotic arm 1, connecting arm 2, intermediate connecting rod 3, and proximal connecting rod 4 are all hollow, facilitating the routing of cables and other components.

[0045] Furthermore, a connecting portion 12 is protruded from the first side wall 11 of the robotic arm 1 . The connecting portion 12 defines a wire passage 121 for passing a cable through. The wire passage 121 passes through the first side wall 11 and communicates with the inner cavity of the robotic arm 1 . A rotating shaft 22 extending along a first direction is fixedly provided at the end of the connecting arm 2 away from the operating trolley. The axis of the rotating shaft 22 is J1. The first direction is parallel to the first side wall 11, and a notch 21 is cut at the end of the connecting arm 2 away from the operating trolley. The notch 21 is connected to the inner cavity of the connecting arm 2 to expose the first end of the rotating shaft 22. A wire hole 221 is provided through the rotating shaft 22. One end of the wire hole 221 is connected to the inner cavity of the connecting arm 2 and the other end passes through the end face of the first end. The connecting part 12 is placed in the notch 21 and is rotatably connected to the first end. The wire channel 121 is connected to the wire hole 221 so that the cables in the inner cavity of the robotic arm 1 can pass through the wire channel 121 and the wire hole 221 in sequence to enter the inner cavity of the connecting arm 2.

[0046] The surgical operating arm provided in this embodiment includes a mechanical arm 1 and a connecting arm 2. The protruding connecting portion 12 on the mechanical arm 1 is placed in the notch 21 and is rotatably connected to the rotating shaft 22, thereby realizing the rotational connection between the mechanical arm 1 and the connecting arm 2. The cable passage 121 and the cable hole 221 are directly connected to each other, so that the cables in the inner cavity of the mechanical arm 1 can pass through the cable passage 121 and the cable hole 221 in sequence and enter the inner cavity of the connecting arm 2, thereby avoiding exposure of the cables to the outside of the surgical operating arm, protecting the cables, ensuring the durability of the cables, reducing the risk of the cables being entangled on the outside of the rotating shaft 22, and reducing the risk of the cables being clamped by the mechanical arm 1 and the connecting arm 2 due to exposure, avoiding cable breakage, ensuring the smooth progress of the operation, reducing the risk of leakage, and improving the safety of the operation. In addition, Due to the setting of the notch 21, the holding arm 1 and the connecting arm 2 are at least partially arranged opposite to each other, which increases the spatial overlap and structural compactness between the holding arm 1 and the connecting arm 2, avoids arranging the holding arm 1 and the connecting arm 2 along the first direction, shortens the thickness of the overall structure formed by the connection of the holding arm 1 and the connecting arm 2 along the first direction, reduces the occupied space, improves the flexibility of the surgical operating arm, reduces the possibility of mutual interference between the surgical operating arms during the operation, further ensures the safety of the operation, and also expands the range of activity of the surgical operating arm, thereby expanding the range of activity of the surgical instrument, thereby expanding the scope of application of the surgical robot, and reducing the number of times the doctor adjusts the position of the input handle, which is conducive to reducing the doctor's fatigue and further improving the safety of the operation.

[0047] The surgical robot provided in this embodiment includes the aforementioned surgical manipulator arm. This reduces the risk of cables becoming entangled in the rotating shaft 22, avoids cable breakage, ensures smooth surgical procedures, reduces the risk of electrical leakage, and further improves surgical safety. Furthermore, the space occupied by the surgical manipulator arm is reduced, the flexibility of the surgical manipulator arm is improved, the range of motion of the surgical manipulator arm and surgical instruments is expanded, and the applicable scope of the surgical robot is expanded. It also reduces the number of times the surgeon needs to adjust the position of the input handle, which helps reduce the surgeon's fatigue and further improves surgical safety.

[0048] In this embodiment, the rotating shaft 22 is fixedly connected to the connecting arm 2. The connecting portion 12 is rotationally connected to the first end of the rotating shaft 22, meaning that the rotation axis J1 between the holding arm 1 and the connecting arm 2 is arranged along the first direction. Furthermore, the end of the connecting arm 2 distal to the holding arm 1 is rotationally connected to the intermediate connecting rod 3, with the rotation axis J2 between the connecting arm 2 and the intermediate connecting rod 3 arranged along the first direction. The end of the intermediate connecting rod 3 distal to the connecting arm 2 is rotationally connected to the proximal connecting rod 4, with the rotation axis J3 between the intermediate connecting rod 3 and the proximal connecting rod 4 arranged along the first direction.

[0049] In this embodiment, the drive base 6 and puncture device 7 are both located on the side of the holding arm 1 opposite the first side wall 11. That is, the drive base 6 and puncture device 7 are located on either side of the first side wall 11 along the second direction of the holding arm 1. Specifically, the second direction is perpendicular to the first side wall 11. The linkage mechanism is located on the side of the holding arm 1 opposite the drive base 6 along the second direction.

[0050] Preferably, if Figure 7 As shown, a notch 21 extends through the second sidewall 25 of the connecting arm 2 along the first direction, facilitating the connection between the connecting portion 12 and the rotating shaft 22. The notch 21 extends through the end face of the connecting arm 2 facing away from the surgical trolley, and also through the sidewalls of the connecting arm 2 along both sides of the width direction. In this embodiment, the connecting arm 2 is connected to the holding arm 1 and the intermediate connecting rod 3 at both ends along its length, with the first direction being the thickness direction of the connecting arm 2.

[0051] In this embodiment, the notch 21 is arranged opposite to the rotating shaft 22. The end of the connecting arm 2 away from the operating trolley is the end of the connecting arm 2 away from the middle connecting rod 3.

[0052] As a preferred embodiment, the connecting portion 12 is located on one side of the first side wall 11 along the first direction, and the width of the connecting portion 12 along the first direction is smaller than the width of the surgical arm 1 along the first direction. The second side wall 25 and the connecting portion 12 are located on the same side of the surgical operating arm along the first direction, that is, the end of the connecting arm 2 away from the intermediate connecting rod 3 is arranged opposite the first side wall 11. The above arrangement increases the area where the surgical arm 1 and the connecting arm 2 are arranged opposite each other, further increases the spatial overlap and structural compactness between the surgical arm 1 and the connecting arm 2, shortens the thickness of the overall structure formed by the connection between the surgical arm 1 and the connecting arm 2 along the first direction, reduces the occupied space, improves the flexibility of the surgical operating arm, increases the range of motion of the surgical operating arm and the surgical instrument, and also helps to reduce the doctor's fatigue, further improving the safety of the operation.

[0053] The width of the connecting arm 2 along the first direction is the same as the width of the holding arm 1 along the first direction. Preferably, the side walls of the connecting arm 2 on opposite sides along the first direction are flush with the side walls of the holding arm 1 on opposite sides along the first direction, so that the connecting arm 2 and the holding arm 1 are arranged completely opposite each other. This further increases the spatial overlap between the holding arm 1 and the connecting arm 2 and the compactness of the structure, reduces the thickness of the overall structure formed by the holding arm 1 and the connecting arm 2 along the first direction, reduces the occupied space, improves the flexibility of the surgical operating arm, increases the range of motion of the surgical operating arm and the surgical instrument, and also helps reduce the surgeon's fatigue, further improving the safety of the operation.

[0054] Preferably, the thickness of the connecting portion 12 along the first direction is the same as the depth of the notch 21 along the first direction, which increases the area of ​​the notch 21 that the connecting portion 12 can block, thereby protecting the internal structure of the connecting arm 2 .

[0055] Preferably, the wire passage 121 is provided on the end surface of the connecting portion 12 facing the end of the rotating shaft 22, and the wire passage 121 extends through the first side wall 11 along the second direction. The above arrangement allows for a larger opening area of ​​the wire passage 121 on the end surface of the connecting portion 12, facilitating direct connection between the wire passage 121 and the wire hole 221, thereby reducing the assembly precision requirements between the rotating shaft 22 and the connecting portion 12, and also reducing the dimensional precision of the wire hole 221 and the wire passage 121, thereby facilitating production and processing.

[0056] In other embodiments, the wire-passing channel 121 may also be L-shaped, and the wire-passing channel 121 includes a first connecting portion and a second connecting portion. The first connecting portion may be opened in the middle of the connecting portion 12, and one end of the first connecting portion extends along the second direction and passes through the first side wall 11, and the other end of the first connecting portion is connected to one end of the second connecting portion, and the other end of the second connecting portion passes through the end face of the connecting portion 12 along the first direction. No limitation is made here.

[0057] Furthermore, a transmission member 23 is sleeved on the first end of the rotating shaft 22, and a bearing 24 is disposed between the transmission member 23 and the rotating shaft 22. Specifically, the inner ring of the bearing 24 is coaxially sleeved on the first end of the rotating shaft 22, and the outer ring of the bearing 24 is coaxially sleeved on the transmission member 23. The connecting portion 12 is connected to the transmission member 23. When the connecting arm 2 and the holding arm 1 rotate relative to each other, the provision of the bearing 24 can reduce the friction between the transmission member 23 and the rotating shaft 22, ensuring smooth rotation of the holding arm 1. Preferably, at least two bearings 24 are spaced axially along the rotating shaft 22 to ensure reliable support for the transmission member 23 and improve the stability of the transmission member 23 during rotation. This ensures that the holding arm 1 can reliably and stably rotate around the axis, thereby ensuring the safety of the surgery.

[0058] In this embodiment, two bearings 24 are provided. In other embodiments, the number of bearings 24 can also be adaptively selected according to actual needs, which is not limited here.

[0059] Preferably, a positioning groove 126 is formed on the end surface of the connecting portion 12 facing the transmission member 23, and the end of the transmission member 23 extends out of the notch 21 and is placed in the positioning groove 126. The provision of the positioning groove 126 facilitates determining the connection position between the connecting portion 12 and the transmission member 23, thereby improving installation convenience. The provision of the positioning groove 126 also further improves the structural compactness between the surgical arm 1 and the connecting arm 2, reduces the occupied space, and improves the flexibility of the surgical operating arm. In addition, the extension of the end of the transmission member 23 out of the notch 21 also facilitates the connection and fixation between the connecting portion 12 and the transmission member 23, further improving assembly convenience.

[0060] In this embodiment, the end surface of the transmission member 23 abuts against the bottom surface of the positioning groove 126, preventing cables from protruding into the gap formed between the end surface of the transmission member 23 and the bottom surface of the positioning groove 126. The "bottom surface of the positioning groove 126" refers to the surface of the positioning groove 126 facing away from the notch 21. The bottom surface of the positioning groove 126 is flat and parallel to the first sidewall 11. Since the transmission member 23 is annular, the positioning groove 126 is also annular.

[0061] It is understood that, due to the bearing 24 disposed between the rotating shaft 22 and the transmission member 23, there is a gap between the rotating shaft 22 and the transmission member 23. Furthermore, the first end surface of the rotating shaft 22 is flush with the bottom surface of the positioning groove 126, which reduces the possibility of cables entering the gap between the rotating shaft 22 and the transmission member 23, further reducing the risk of cables becoming entangled outside the rotating shaft 22 and the possibility of cables being clamped and broken, thereby ensuring the smooth progress of the surgery, reducing the risk of electrical leakage, and improving the safety of the surgery.

[0062] Specifically, the connecting portion 12 is cylindrical, is coaxially disposed with the rotating shaft 22 , and is located on one side of the first sidewall 11 along the first direction.

[0063] Preferably, the end surface of the connecting portion 12 opposite the transmission member 23 is a spherical surface 122, and the spherical surface 122 is arched toward the side away from the transmission member 23. The center of the spherical surface 122 is located on the axis of the connecting portion 12, and the edge of the spherical surface 122 is connected to the side wall of the robotic arm 1, so that the spherical surface 122 protrudes from the side wall of the robotic arm 1. It is understood that the slot structures such as the positioning groove 126 and the wire passage 121 in the connecting portion 12 affect the structural strength of the connecting portion 12. The provision of the spherical surface 122 increases the thickness of the connecting portion 12 along the first direction, thereby improving the structural strength of the connecting portion 12, enhancing the durability of the surgical operating arm, and extending the service life of the surgical operating arm, thereby ensuring the reliability of the robotic arm 1 during surgery and thus improving surgical safety.

[0064] The connecting portion 12 comprises a base portion and a protrusion, which are integrally formed. The base portion is cylindrical and connected to the first sidewall 11. The base portion is coaxial with the rotation axis 22 and is located on one side of the first sidewall 11 along the first direction. The end surface of the base portion opposite the rotation axis 22 is flush with the side wall of the robotic arm 1. The protrusion is provided on the end surface of the connecting portion 12 opposite the rotation axis 22, and the end surface of the protrusion opposite the rotation axis 22 is the aforementioned spherical surface 122.

[0065] As a preferred embodiment, a receiving groove 123 is formed on the spherical surface 122. The bottom surface of the receiving groove 123 is flat. A through-hole 124 is formed on the bottom surface of the receiving groove 123. The through-hole 124 extends through the connecting portion 12. A bolt is inserted through the through-hole 124 and connected to the transmission member 23. Compared to directly forming the through-hole 124 on the spherical surface 122, the provision of the receiving groove 123 allows the bolt to reliably connect the connecting portion 12 to the transmission member 23, thereby ensuring a reliable connection between the arm 1 and the transmission member 23, improving the reliability of the arm 1 during surgery, and thus enhancing surgical safety.

[0066] In this embodiment, the receiving groove 123 is annular and coaxial with the rotating shaft 22. Multiple through-holes 124 are provided along the circumference of the receiving groove 123, corresponding to the bolts. The end surface of the transmission member 23 is provided with threaded holes 231, which are spaced apart along the circumference of the transmission member 23. Each threaded hole 231 corresponds to each through-hole 124. After passing through the through-hole 124, the bolts are threadedly connected to the transmission member 23 through the threaded holes 231.

[0067] Furthermore, through-hole 124 is a countersunk hole. After the bolt is screwed to transmission member 23, the bolt head is placed in through-hole 124, and the end face of the bolt head can be placed in through-hole 124 or flush with the bottom surface of the groove 123. A shielding member 125 is provided in groove 123. The surface of shielding member 125 facing the outside of groove 123 is coplanar with spherical surface 122. The provision of shielding member 125 can shield the bolt head, preventing other structures from accidentally contacting the bolt head and unscrewing the bolt during use, thereby ensuring a reliable connection between connecting portion 12 and transmission member 23. At the same time, the outer surface of shielding member 125 is arranged to be coplanar with spherical surface 122, which also avoids the formation of ridges on spherical surface 122, thereby preventing scratches on operators or transporters, improving the aesthetics, and reducing the possibility of shielding member 125 falling off, thereby ensuring the shielding member 125's function of shielding and preventing other structures from accidentally contacting the bolt head. In this embodiment, the shielding member 125 is ring-shaped.

[0068] Preferably, the bottom surface of the receiving groove 123 is perpendicular to the first direction, the wire passage 121 and the receiving groove 123 are at least partially aligned, and the distance along the first direction between the bottom surface of the receiving groove 123 and the sidewall of the wire passage 121 is greater than the wall thickness of the robotic arm 1. This arrangement ensures a greater structural thickness between the bottom surface of the receiving groove 123 and the sidewall of the wire passage 121, reducing the possibility of structural deformation or damage between the receiving groove 123 and the wire passage 121, ensuring the structural strength of the connecting portion 12, and improving the durability of the surgical operating arm, thereby extending the service life of the surgical operating arm and ensuring the reliability of the robotic arm 1 during surgery, thereby improving surgical safety.

[0069] It is understandable that, based on the foregoing descriptions, "a through-hole 124 is provided on the bottom surface of the receiving groove 123," "a threaded hole 231 is provided on the end surface of the transmission member 23," "the bolt passes through the through-hole 124 and is threadedly connected to the transmission member 23 through the threaded hole 231," and "the end of the transmission member 23 extends out of the notch 21 and is placed in the positioning groove 126," it can be seen that the receiving groove 123 and the positioning groove 126 are at least partially arranged to face each other, and the through-hole 124 connects the receiving groove 123 and the positioning groove 126. Furthermore, the distance along the first direction between the bottom surface of the receiving groove 123 and the bottom surface of the positioning groove 126 is greater than the wall thickness of the robotic arm 1. The above arrangement ensures that the structural thickness between the bottom surface of the accommodating groove 123 and the bottom surface of the positioning groove 126 is large, reduces the possibility of structural deformation or damage between the accommodating groove 123 and the positioning groove 126, ensures the structural strength of the connecting part 12, improves the durability of the surgical operating arm, is conducive to extending the service life of the surgical operating arm, and is conducive to ensuring the reliability of the use of the robotic arm 1 during the operation, thereby improving the safety of the operation.

[0070] In this embodiment, the wire passage 121 and the positioning groove 126 are both formed on the same end surface of the connecting portion 12, and the depth of the positioning groove 126 is less than that of the wire passage 121. The wire passage 121 extends along the axis of the positioning groove 126, and the inner side of the positioning groove 126 is in communication with the wire passage 121.

[0071] As a preferred solution, the second end of the shaft 22 away from the connecting portion 12 is placed in the connecting arm 2, the wire hole 221 is coaxially arranged with the shaft 22, and the wire hole 221 passes through the shaft 22, and a wire outlet 222 is opened on the end surface of the second end, and the wire outlet 222 passes through the side wall of the shaft 22 along the radial direction of the shaft 22, that is, the wire outlet 222 is connected to the wire hole 221 and the inner cavity of the connecting arm 2, so that the cable in the wire hole 221 can enter the connecting arm 2 through the wire outlet 22, and the wire outlet 222 is between the mouth wall of the first end of the shaft 22 and the inner wall of the connecting arm 2 away from the connecting portion 12. The distance is greater than the distance between the end face of the second end of the rotating shaft 22 and the inner wall of the connecting arm 2 away from the connecting portion 12, so that when the diameter of the cable in the wire hole 221 is thicker or the number of cables is large, the cable can also enter the connecting arm 2 through the wire outlet 222, which is beneficial to shortening the distance between the second end of the rotating shaft 22 and the inner wall of the connecting arm 2, thereby shortening the thickness of the connecting arm 2 along the first direction, further reducing the occupied space of the connecting arm 2 and the surgical operating arm, and also facilitating increasing the depth of the rotating shaft 22 extending into the connecting arm 2, further improving the space utilization of the surgical operating arm.

[0072] In this embodiment, the second end of the rotating shaft 22 is disposed within the connecting arm 2, and the second end of the rotating shaft 22 is spaced apart from the corresponding inner sidewall of the connecting arm 2. In other embodiments, the second end of the rotating shaft 22 may extend through the connecting arm 2, and the wire hole 221 may not pass through the rotating shaft 22; or the end surface of the second end of the rotating shaft 22 may be attached to the inner sidewall of the connecting arm 2, which is not limited here.

[0073] Preferably, the width of the wire channel 121 is the same as the diameter of the wire hole 221, ensuring that the cable can be confined within the wire channel 121, further reducing the risk of the cable being entangled on the outside of the rotating shaft 22, and reducing the risk of the cable being broken due to being clamped, thereby ensuring the smooth progress of the operation, reducing the risk of leakage, and improving the safety of the operation.

[0074] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A surgical operating arm, characterized in that: include: A surgical instrument holding arm, for mounting surgical instruments, wherein a connecting portion is protruding from a first side wall of the surgical instrument holding arm, and a wire passage is defined in the connecting portion, the wire passage passes through the first side wall and communicates with an inner cavity of the surgical instrument holding arm; A connecting arm, one end of which is used to connect to an operating trolley, and the other end of the connecting arm is provided with a rotating shaft extending along a first direction and cut with a notch, the first direction is parallel to the first side wall, the notch is connected to the inner cavity of the connecting arm to expose the first end of the rotating shaft, the rotating shaft is provided with a wire passing hole, one end of the wire passing hole is connected to the inner cavity of the connecting arm and the other end passes through the end surface of the first end, the connecting part is placed in the notch and is rotatably connected to the first end, the wire passing channel is connected to the wire passing hole directly, so that the cables in the inner cavity of the mechanical arm can pass through the wire passing channel and the wire passing hole in sequence into the inner cavity of the connecting arm.

2. The surgical operating arm according to claim 1, characterized in that: A transmission member is sleeved on the outer side of the first end of the rotating shaft, the connecting portion is connected to the transmission member, at least two bearings are arranged between the transmission member and the rotating shaft, and at least two bearings are arranged at intervals along the axial direction of the rotating shaft.

3. The surgical operating arm according to claim 2, characterized in that: A positioning groove is provided on the end surface of the connecting portion facing one end of the transmission member, and the end of the transmission member extends out of the notch and is placed in the positioning groove.

4. The surgical operating arm according to claim 3, characterized in that: The connecting portion is cylindrical, is coaxially arranged with the rotating shaft, and is located on one side of the first side wall along the first direction; The end surface of the connecting portion opposite to one end of the transmission member is a spherical surface, and the spherical surface is arched toward the side away from the transmission member. The center of the spherical surface is located on the axis of the connecting portion, and the edge of the spherical surface is connected to the side wall of the holding arm so that the spherical surface protrudes from the side wall of the holding arm.

5. The surgical operating arm according to claim 4, characterized in that: A receiving groove is provided on the spherical surface, the bottom surface of the receiving groove is a plane, a through hole is provided on the bottom surface of the receiving groove, the through hole passes through the connecting portion, a bolt is passed through the through hole and connected to the transmission member.

6. The surgical operating arm according to claim 5, characterized in that: The end of the bolt away from the transmission member is placed in the through hole or the end face is flush with the bottom surface of the accommodating groove; a shielding member is provided in the accommodating groove, and the surface of the shielding member facing the outside of the accommodating groove is coplanar with the spherical surface.

7. The surgical operating arm according to claim 5, characterized in that: The wire-passing channel is at least partially opposite to the accommodating groove, and the distance between the side wall of the wire-passing channel and the bottom surface of the accommodating groove is greater than the wall thickness of the robotic arm.

8. The surgical operating arm according to any one of claims 1 to 7, characterized in that: The connecting portion is located on one side of the first side wall along the first direction, the notch passes through the second side wall of the connecting arm along the first direction, and the second side wall and the connecting portion are located on the same side of the surgical operating arm along the first direction.

9. The surgical operating arm according to any one of claims 1 to 7, characterized in that: The second end of the rotating shaft away from the first end is placed in the connecting arm, and a wire outlet is opened on the end surface of the second end. The wire outlet passes through the side wall of the rotating shaft so that the cable in the wire hole can enter the connecting arm through the wire outlet.

10. A surgical robot, characterized in that: Comprising a surgical operating arm as described in any one of claims 1-9.

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