Mechanical arm for vascular intervention surgical robot and vascular intervention surgical robot

Abstract

The utility model discloses a mechanical arm for a vascular interventional surgical robot and the vascular interventional surgical robot, and relates to the technical field of medical instruments.The mechanical arm for the vascular interventional surgical robot mainly comprises a first joint set, a second joint set and a lifting mechanism, and the first joint set, the second joint set and the lifting mechanism are connected through a connecting shell and a buffering structure of the lifting mechanism; meanwhile, the buffering structure is used for buffering and bearing gravity change easily occurring in the lifting or descending process, the supporting effect can be achieved, the strength requirement for a user in the operation process can be lowered, the displacement control precision can be improved, the operation requirement can be met, and under the condition that a power source does not exist, the operation efficiency can be improved. The lifting device can assist in lifting of large-mass execution end equipment, and operation implementation is facilitated. A quick release platform and a plurality of joints of the second joint group can meet the effect of quickly detaching the medical equipment, and the multi-degree-of-freedom adjustment requirement of the operation can be met by matching with the plurality of joints.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a robotic arm for a vascular interventional surgery robot and a robot for a vascular interventional surgery robot. Background Art

[0002] Currently, there are numerous robots on the market that can carry various medical devices and are used in various surgeries. For example, vascular interventional surgery robots are used in surgical procedures such as vascular intervention. They need to adjust the position of medical devices according to the patient's actual situation and replace different medical devices to meet different treatment needs.

[0003] Medical robotic arms typically integrate multiple rotational mechanisms to achieve different posture and position adjustments. Because surgical procedures require strict human control, these robotic arms are often manually driven without a power source. However, the actuators are heavy, and the rotational mechanisms required for raising and lowering require a large space, making it impossible to directly incorporate assisted lifting or lowering mechanisms. Using motors, however, cannot meet the requirements of an unpowered system. Consequently, the installation and replacement of actuators during surgery consumes medical staff's energy, impacting the reliability and stability of the surgical procedure.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Utility Model Content

[0005] The purpose of the present application is to overcome the deficiencies of the above-mentioned prior art and to provide a robotic arm and a vascular interventional surgical robot for a vascular interventional surgical robot, which can assist in lifting an execution end device with a larger mass in the absence of a power source, thereby facilitating the implementation of the surgery.

[0006] According to one aspect of the present application, a robotic arm for a vascular interventional surgical robot is provided, which mainly includes a first joint group, a second joint group and a lifting mechanism, the second joint group includes a quick-release platform and multiple joints connected in sequence, and the quick-release platform is used to connect the body of the vascular interventional surgical robot; the lifting mechanism includes a connecting shell and a buffer structure, the connecting shell is rotatably connected to the first joint group and the second joint group respectively, and the buffer structure is arranged in the connecting shell and abuts against the first joint group and the second joint group respectively.

[0007] In an exemplary embodiment of the present application, the first joint group includes a limiting member, the first end of the buffer structure and the limiting member have multiple abutment positions, and the second end of the buffer structure is rotatably connected to the second joint group.

[0008] In an exemplary embodiment of the present application, the limiting member is provided with a limiting surface, the buffer structure includes an adjusting member, an elastic member and a rolling body connected in sequence, the limiting surface gradually moves away from the buffer structure along the lifting direction of the lifting mechanism, the adjusting member is connected to the connecting shell, and the rolling body is against the limiting surface.

[0009] In an exemplary embodiment of the present application, the adjusting member includes an adjusting seat, a fastener and a push plate, the adjusting seat is rotatably connected to the second joint group, the push plate is slidably arranged, and the fastener is threadedly connected to the adjusting seat and the push plate respectively; and / or

[0010] The limiting surface is arranged in an involute shape.

[0011] In an exemplary embodiment of the present application, a tension adjustment structure is provided between the connecting housing and the second joint group to adjust the rotational friction between the two.

[0012] In an exemplary embodiment of the present application, the joint includes a first connecting seat, a first shell and a first locking structure, the first connecting seat is rotatably connected to the first shell, the first locking structure is arranged between the first connecting seat and the first shell to lock or unlock the first connecting seat and the first shell, and the first connecting seat of adjacent joints is fixedly connected to the first shell.

[0013] In an exemplary embodiment of the present application, the joint includes a first damping structure, which is arranged between the first connecting seat and the first housing to adjust the rotational friction between the two; and / or

[0014] The robotic arm for the vascular interventional surgery robot also includes a power-on mechanism, which includes a gravity sensing structure and a power-on path. The power-on path is electrically connected to the first locking structure. When the gravity sensing structure is subjected to pressure, the power-on path is disconnected, and the first connecting seat is unlocked from the first shell.

[0015] In an exemplary embodiment of the present application, the quick-release platform includes a bottom connecting seat, a mounting seat and a locking structure, the bottom connecting seat is fixedly connected to the first shell adjacent to the joint, the bottom connecting seat can be slid relative to the mounting seat, and the locking structure is arranged between the bottom connecting seat and the mounting seat to lock or unlock the bottom connecting seat and the mounting seat.

[0016] In an exemplary embodiment of the present application, the mounting seat includes a sliding groove and a locking groove, the locking groove is arranged on the side wall of the sliding groove, the bottom connecting seat includes a limiting slider adapted to the sliding groove, and the locking structure is arranged in the locking groove and pushes the limiting slider in a direction away from the locking groove.

[0017] In an exemplary embodiment of the present application, the bottom connecting seat is also provided with one or more snap-in grooves, and the one or more snap-in grooves are located on the side of the limiting slider facing the locking structure. When the locking structure is snap-fitted with the snap-in grooves, the bottom connecting seat is locked with the mounting seat.

[0018] In an exemplary embodiment of the present application, the locking structure includes a clamping member, a pushing member and an unlocking member, one end of the pushing member is fixedly connected to the side wall of the sliding groove, and the other end is fixedly connected to the pushing member, and the unlocking member is located on the side of the clamping member away from the pushing member, and is slidably connected to the mounting seat to push the clamping member to squeeze the pushing member and separate it from the clamping groove.

[0019] According to one aspect of the present application, a vascular interventional surgery robot is provided, comprising the robotic arm for the vascular interventional surgery robot as described above.

[0020] The present application discloses a robotic arm for a vascular interventional surgical robot and a vascular interventional surgical robot, wherein the robotic arm for the vascular interventional surgical robot mainly includes a first joint group, a second joint group and a lifting mechanism. The lifting mechanism connects a shell and a buffer structure to realize the function of lifting up and down. At the same time, the buffer structure buffers and bears the gravity changes that are likely to occur during the lifting or lowering process, and can play a supporting role, reduce the strength requirements of the user during the operation, improve the control accuracy of the displacement, meet the needs of the operation, and in the absence of a power source, can assist in lifting the execution end equipment with a larger mass to facilitate the implementation of the operation.

[0021] In addition, the quick-release platform and multiple joints of the second joint group can meet the needs of rapid disassembly, and combined with multiple joints can meet the multi-degree-of-freedom adjustment needs of surgery.

[0022] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0024] Figure 1 A schematic front view of a robotic arm for a vascular interventional surgery robot provided in an embodiment of the present application is shown;

[0025] Figure 2 Shown Figure 1 A schematic diagram of the front view of the lifting mechanism of the robotic arm;

[0026] Figure 3 Shown Figure 2 Schematic diagram of the three-dimensional structure of the lifting mechanism;

[0027] Figure 4 Shown Figure 2 a schematic cross-sectional view of the lifting mechanism;

[0028] Figure 5 Shown Figure 1 A partial cross-sectional schematic diagram of the lifting mechanism;

[0029] Figure 6 Shown Figure 1 A schematic diagram of the three-dimensional structure of the first joint group of the robotic arm;

[0030] Figure 7 Shown Figure 5 Schematic cross-sectional view of the first joint group;

[0031] Figure 8 Shown Figure 1 Schematic diagram of the three-dimensional structure of the second joint group of the robotic arm;

[0032] Figure 9 Shown Figure 8 a schematic cross-sectional view of the first joint of the second joint group;

[0033] Figure 10 Shown Figure 8 a schematic cross-sectional view of the second joint of the second joint group;

[0034] Figure 11 Shown Figure 8 a schematic cross-sectional view of the third joint of the second joint group;

[0035] Figure 12 Shown Figure 1 A schematic diagram of the three-dimensional structure of the quick-release platform of the second joint group of the robotic arm;

[0036] Figure 13 Shown Figure 12 A schematic cross-sectional view of a quick-release platform;

[0037] Figure 14 Shown Figure 12 A schematic diagram of the three-dimensional structure of the bottom connecting seat of the quick-release platform;

[0038] Figure 15 Shown Figure 12 A schematic diagram of the three-dimensional structure of the mounting base of the quick-release platform;

[0039] Figure 16 Shown Figure 12 A schematic diagram of the three-dimensional structure of the clamping parts of the quick-release platform;

[0040] Figure 17 Shown Figure 1 Schematic diagram of the three-dimensional structure of the third joint group of the robotic arm;

[0041] Figure 18 Shown Figure 17 Schematic cross-sectional view of the third joint group;

[0042] Figure 19 Shown Figure 1 Schematic diagram of the three-dimensional structure of the table connection base of the robotic arm.

[0043] The above drawings contain the following reference numerals:

[0044] 10. First joint assembly; 11. Limiting member; 111. Limiting surface; 12. Second housing; 13. Second fixed shaft; 14. Second locking structure; 141. Second locking plate; 142. Second rotating seat; 15. Second damping structure; 16. Second end cover; 17. Second annular plug-in unit;

[0045] 20. Second joint assembly; 21. Quick release platform; 211. Bottom connecting seat; 2111. Limiting slider; 2112. Snap-fit ​​groove; 2113. Fixed connecting platform; 212. Mounting seat; 2121. Sliding groove; 2122. Snap-fit ​​groove; 2123. Positioning hole; 2124. Adjustment hole; 2125. Adjustment channel; 2126. Limiting groove body; 213. Locking structure; 2131. Snap-fit ​​member; 21311. Positioning end; 21312. Adapter surface; 21313. Push member limiting hole; 21314. Positioning shaft connection hole; 2 132, push member; 2133, unlocking member; 2134, unlocking lever; 2135, limiting end; 22, joint; 221, first connecting seat; 2211, shaft hole; 2212, limiting ring; 222, first housing; 223, first locking structure; 2231, first locking plate; 2232, first rotating seat; 224, first damping structure; 2241, torsion plate; 2242, fixing cap; 225, first end cover; 226, first annular plug-in unit; 227, first fixed shaft; 228, connecting surface; 229, annular groove;

[0046] 30. Lifting mechanism; 31. Connecting housing; 311. First connecting housing; 312. Second connecting housing; 32. Buffer structure; 321. Adjusting member; 3211. Adjusting seat; 3212. Fastener; 3213. Push plate; 322. Elastic member; 323. Rolling element; 324. Sliding seat; 33. Tension adjustment structure;

[0047] 40. Third joint assembly; 41. Support seat; 411. Annular groove; 412. Axis hole; 42. Angle arm; 43. Third fixed axis; 44. Third locking structure; 441. Third locking plate; 442. Third rotating seat; 45. Third damping structure; 46. Third housing; 47. Third end cover; 48. Third annular plug-in unit;

[0048] 50. Table connection seat; 51. Limiting shaft hole; 52. Limiting ring groove; 53. Caliper; 54. Extension seat;

[0049] 60. Table; 61. Side rails; 100. Line card. DETAILED DESCRIPTION

[0050] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0051] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the components and configurations of specific examples are described below. Of course, these are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or configurations discussed.

[0052] For ease of description, spatially relative terms may be used herein to describe the relative position or movement of one element or feature relative to another element or feature as shown in the figures, such as "inside," "outside," "inside," "outside," "below," "beneath," "above," "above," "front," "back," and the like. Such spatially relative terms are intended to include different orientations of the device in use or operation other than the orientation depicted in the figures. For example, if the device in the figures undergoes a positional flip or a change in posture or a change in motion, then these directional indications will also change accordingly. For example, an element described as "below" or "below" another element or feature will subsequently be oriented as "above" or "above" another element or feature. Thus, the example term "below" can include both above and below orientations. The device may be oriented otherwise (rotated 90 degrees or in other orientations) and the spatially relative descriptors used herein will be interpreted accordingly.

[0053] like Figures 1 to 5 As shown, in the first aspect, some embodiments of the present application provide a robotic arm for a vascular interventional surgery robot, which mainly includes a first joint group 10, a second joint group 20 and a lifting mechanism 30. The second joint group 20 mainly includes a quick-release platform 21 and multiple joints 22 connected in sequence. The quick-release platform 21 is used to connect the body of the vascular interventional surgery robot; the lifting mechanism 30 mainly includes a connecting shell 31 and a buffer structure 32. The connecting shell 31 is rotatably connected to the first joint group 10 and the second joint group 20 respectively. The buffer structure 32 is arranged in the connecting shell 31 and abuts against the first joint group 10 and the second joint group 20 respectively.

[0054] The up and down lifting functions can be realized by connecting the shell 31 and the buffer structure 32 of the lifting mechanism 30. At the same time, the buffer structure 32 buffers and bears the gravity changes that are likely to occur during the lifting or lowering process, and can play a supporting role, reducing the strength requirements of the user during the operation, and can improve the control accuracy of the displacement to meet the needs of the operation. In the absence of a power source, it can assist in lifting the execution end equipment with a larger mass to facilitate the implementation of the operation.

[0055] In addition, the quick-release platform 21 and the multiple joints 22 of the second joint group 20 can meet the demand for quick disassembly, and the combination of the multiple joints 22 can meet the multi-degree-of-freedom adjustment demand of the surgery.

[0056] like Figure 4 and Figure 5 As shown, in some embodiments of the present application, the first joint group 10 includes a limiter 11 , the first end of the buffer structure 32 has multiple abutment positions with the limiter 11 , and the second end of the buffer structure 32 is rotatably connected to the second joint group 20 .

[0057] The buffer structure 32 is configured to apply force to the second joint assembly 20 and the stopper 11, respectively. It is understood that the buffer structure 32 cushions and supports gravity fluctuations that may occur during lifting or lowering, providing support and reducing the force required by the user during surgery. This improves displacement control accuracy to meet surgical requirements. Furthermore, in the absence of a power source, it can assist in lifting heavier actuators, facilitating surgical procedures.

[0058] It can be understood that the second joint group 20 is used to support the main body of the vascular interventional surgical robot and is subject to a large gravity load. The gravity load will be converted into torque and applied to the connection position between the second joint group 20 and the lifting mechanism 30. Using the buffer structure 32 to continuously apply thrust to the second joint group 20 can effectively reduce the torque converted by the gravity load. On the one hand, the torque applied to the connecting shell 31 is reduced, and it can be effectively protected, thereby increasing its service life. On the other hand, when lifting and lowering, the force generated by the buffer structure 32 can offset part of the gravity effect, thereby reducing the force required for lifting and facilitating the adjustment of the main body of the vascular interventional surgical robot.

[0059] like Figures 1 to 5 As shown, in some optional embodiments, the connecting shell 31 includes a first connecting shell 311 and a second connecting shell 312, and the first connecting shell 311 is rotatably connected to the first joint group 10 and the second joint group 20 respectively, and the second connecting shell 312 is rotatably connected to the first joint group 10 and the second joint group 20 respectively. The distance between the two rotation centers of the first connecting shell 311 is equal to the distance between the two rotation centers of the second connecting shell 312, and the distance between the rotation center on the left side of the first connecting shell 311 and the rotation center on the left side of the second connecting shell 312 is equal to the distance between the rotation center on the right side of the first connecting shell 311 and the rotation center on the right side of the second connecting shell 312, that is, the four rotation centers form a parallelogram. In this way, the four rotation centers restrict each other during the lifting process, and the first joint group 10 is kept perpendicular to the horizontal plane in the axial direction during the lifting process, so that the accuracy of the lifting process is guaranteed.

[0060] The positions of the single rotation centers of the first connecting shell 311 and the second connecting shell 312 are respectively clamped to set the first joint group 10 and the second joint group 20, so as to form a "J"-shaped shell structure with higher connection strength, which is suitable for the load requirements of the lifting mechanism.

[0061] The cross-sections of the first connecting shell 311 and the second connecting shell 312 are both "U"-shaped, and the inner wall of the first connecting shell 311 matches the outer wall of the second connecting shell 312 to form a square tube structure that plays a supporting and limiting role.

[0062] In an optional embodiment, a lubricating gasket is provided between the first connecting shell 311 and the first joint group 10 and the second joint group 20, and a lubricating gasket is provided between the second connecting shell 312 and the first joint group 10 and the second joint group 20, so as to self-lubricate the two during the rotation process when adjusting the height of the lifting mechanism.

[0063] like Figures 1 to 5 As shown, in some embodiments of the present application, the limiting member 11 is provided with a limiting surface 111, and the buffer structure 32 includes an adjusting member 321, an elastic member 322 and a rolling body 323 connected in sequence. The limiting surface 111 gradually moves away from the buffer structure 32 along the lifting direction of the lifting mechanism 30, the adjusting member 321 is connected to the connecting shell 31, and the rolling body 323 is against the limiting surface 111.

[0064] The adjustment member 321 is configured to adjust the compression amount of the elastic member 322 to adapt to different bodies. It is understandable that the compression amount of the elastic member 322 can store buffering forces of different sizes, thereby adapting to bodies of different weights.

[0065] The setting of the rolling body 323 is used to adapt to the changes of the limiting surface 111 of the limiting member 11. During the process of lifting or lowering, the lifting mechanism will undergo angular deflection. During this process, the rolling body 323 will be displaced relative to the limiting member 11. The two are in rigid contact. In order to avoid generating a large friction force and affecting the operator's feel during the lifting process, the sliding friction is set to rolling friction to improve the feel without affecting the lifting process.

[0066] like Figure 4 and Figure 5 As shown, in some embodiments of the present application, the adjusting member 321 includes an adjusting seat 3211, a fastener 3212 and a push plate 3213, the adjusting seat 3211 is rotatably connected to the second joint group 20, the push plate 3213 is slidably arranged, and the fastener 3212 is threadedly connected to the adjusting seat 3211 and the push plate 3213 respectively.

[0067] The adjustment seat 3211 is used to connect the second joint group 20, and plays the role of fixed support. It is rotatably connected to adapt to the rotation during the lifting process. The fastener 3212 is used to adjust the position of the push plate 3213, thereby squeezing the elastic member 322, changing its compression amount, and adjusting the buffering force. The threaded connection method can accurately push the push plate 3213, thereby controlling the adjustment range of the buffering force. It is understandable that the push plate 3213 is limited by the circumferential degree of freedom. After the threaded connection, the push plate 3213 is moved forward and backward by rotation. The threaded connection between the fastener 3212 and the push plate 3213 is used to form a self-locking, which can be fixed after the fastener 3212 is adjusted. It will not loosen and cause the fastening to fail, thereby controlling the application of the buffering force.

[0068] It should be noted that the adjustment seat 3211 includes two connecting arms and a protective surface extending in the direction of the elastic member 322. The two connecting arms serve as a support, connecting at both ends of a rotating shaft at a rotational center to buffer the transmission of applied force. The protective surface is curved, surrounding the elastic member 322 and also serves to limit the circumferential freedom of the push plate 3213.

[0069] like Figure 6 and Figure 7 As shown, in some embodiments of the present application, the limiting surface 111 is arranged as an involute.

[0070] The lifting process of the lifting mechanism 30 is actually a rotation process. Relative to the connection position of the connecting shell 31 and the limit member 11, during the lifting process, the lifting mechanism 30 actually rotates upward. At this time, the angle between the extension direction of the connecting shell 31 and the horizontal direction gradually increases. The larger the angle between the force direction of the buffer structure 32 and the horizontal plane, the greater the effect of assisting in reducing gravity, and the smaller the force applied to rotate the lifting mechanism 30. Therefore, the limit surface 111 set in an involute shape can cope with the requirement that the angle between the force direction of the buffer structure 32 and the horizontal plane gradually increases, and the smaller the force to be applied.

[0071] like Figures 1 to 5 As shown, in some embodiments of the present application, a tension adjustment structure 33 is provided between the connecting housing 31 and the second joint assembly 20 to adjust the rotational friction between the two. The tension adjustment structure 33 is used to adjust the rotational friction between the first connecting housing 311 and the second joint assembly 20 to adjust the feel during rotation.

[0072] Specifically, the tension adjustment structure 33 includes two adjusting wheels, which can squeeze the rotation center of the first connecting shell 31, so that the connection positions of the first connecting shell 311 connected to the same rotating shaft are close, and squeeze the lubricating gasket to increase the axial pressure, thereby increasing the rotational friction.

[0073] In some embodiments of the present application, eight lubricating gaskets are located at the axial holes at the rotational centers of the first connecting shell 311 and the second connecting shell 312, and are used to provide self-lubrication during rotation when adjusting the height of the lifting mechanism. A rolling element 323 is mounted on a sliding seat 324, and an elastic member 322 is sleeved on the outer end of the rear end of the sliding seat 324. The rolling element 323 is a roller that contacts the involute protrusion 111. When the lifting mechanism is adjusted in height, the sliding seat 324 as a whole releases or compresses the elastic member 322 through the up and down movement of the rolling element 323 on the limiting surface 111, thereby achieving the function of infinitely adjusting and stopping the entire lifting mechanism.

[0074] like Figure 1 、 Figures 8 to 11 As shown, in some embodiments of the present application, the joint 22 includes a first connecting seat 221, a first shell 222 and a first locking structure 223. The first connecting seat 221 is rotatably connected to the first shell 222. The first locking structure 223 is arranged between the first connecting seat 221 and the first shell 222 to lock or unlock the first connecting seat 221 and the first shell 222. The first connecting seat 221 of adjacent joints 22 is fixedly connected to the first shell 222.

[0075] The above arrangement enables the joint 22 to unlock the rotational freedom between the first connecting seat 221 and the first housing 222 through the first locking structure 223 .

[0076] In some alternative embodiments, such as Figure 1 、 Figures 8 to 11 As shown, the joint 22 also includes a first end cover 225, a first annular plug-in 226, a first fixed shaft 227, a connecting surface 228 and an annular groove body 229. The first locking structure 223 is a brake, including a first locking plate 2231 and a first rotating seat 2232. The first locking plate 2231 is axially slidably connected to the first fixed shaft 227 and has two states. When the first locking plate 2231 and the first rotating seat 2232 are separated, the first rotating seat 2232 can rotate without restriction. When the first locking plate 2231 and the first rotating seat 2232 are combined, the first locking plate 2231 and the first rotating seat 2232 are fixed circumferentially by the first locking plate 2231 and the first fixed shaft 227, thereby locking the first rotating seat 2232.

[0077] The first fixed shaft 227 is used to connect the first housing 222 and the first connecting seat 221, and serves as a mounting reference. Figure 1 、 Figures 8 to 11As shown, in some embodiments of the present application, the first connecting seat 221 is matched with the first annular plug-in 226 through a limiting ring 2212. Specifically, the circumferential size and axial size of the limiting ring 2212 and the first annular plug-in 226 are adapted to realize radial freedom restriction of the first shell 222 and the first connecting seat 221, which facilitates the insertion of the first annular plug-in 226 into the limiting ring 2212 without affecting the rotation of the first annular plug-in 226.

[0078] The cross-section of the shaft hole 2211 is a non-circular cross-section, and the cross-section of the installation section of the first fixed shaft 227 corresponding to the shaft hole 2211 is adapted thereto. Specifically, a non-diameter chord can be added to the circular cross-section, which facilitates the installation of the first fixed shaft 227. At the same time, the shaft hole 2211 serves to limit the circumferential freedom of the first fixed shaft 227, thereby preventing the first fixed shaft 227 from rotating.

[0079] like Figures 9 to 11 As shown, in some embodiments of the present application, the joint 22 includes a first damping structure 224 disposed between the first connecting seat 221 and the first housing 222 to adjust the rotational friction therebetween.

[0080] The first damping structure 224 is provided to increase damping and improve hand feel, while preventing misoperation during locking, which may cause the first rotating seat 2232 to rotate relative to the first locking piece 2231, resulting in damage to the first locking piece 2231 and failure of the first locking structure 223.

[0081] like Figures 9 to 11 As shown, in some embodiments of the present application, the first damping structure 224 includes a torsion plate 2241 and a fixing cap 2242, and a frustum is provided at the end of the first fixed shaft 227 away from the shaft hole 2211, there are two torsion plates 2241, the fixing cap 2242 is fixed to the upper torsion plate 2241 by a group of bolts, and the frustum is fixed to the lower torsion plate 2241 by a group of bolts, the two torsion plates 2241 are in elastic contact, and the fixing cap 2242 is fixedly connected to the first rotating seat 2232 by a group of bolts. By changing the connection distance between the fixing cap 2242 and the first rotating seat 2232, the contact degree of the two torsion plates 2241 is changed, thereby increasing the rotational friction between the two, thereby achieving the purpose of improving the hand feel and preventing misoperation.

[0082] like Figure 9 As shown, in some embodiments of the present application, the first housing 222 forms an installation cavity with an open top to facilitate installation of the first locking structure 223 and the first damping structure 224. After assembly, the first end cap 225 secures and seals the first locking structure 223 and the first damping structure 224, providing isolation. Specifically, the opening of the first housing 222 can be internally threaded, and the first end cap 225 can be externally threaded, with the internal and external threads threadedly connected to form a sealed isolation.

[0083] In some embodiments of the present application (not shown in the figures), the robotic arm for the vascular interventional surgery robot also includes a power-on mechanism, which includes a gravity sensing structure and a power-on path. The power-on path is electrically connected to the first locking structure 223. When the gravity sensing structure is subjected to pressure, the power-on path is disconnected, and the first connecting seat 221 is unlocked from the first shell 222.

[0084] The power-on mechanism is set up to realize the on and off of the circuits of each locking structure, so that when the user stands at the surgical position, the locking structures can be unlocked, thereby completing the unlocking of the surgical robot arm. The logical control is convenient, and there is no risk of misoperation, which is beneficial to the safety during the operation.

[0085] In some embodiments of the present application (not shown in the figures), the positions of each joint group are joint groups without power source, which are adjusted by manually applying force. No power source of the motor is required. The power-on mechanism is only used for unlocking, and the reliability and controllability are stronger. The power-on mechanism can be connected with simple wiring. Multiple line cards 100 are set along one side of the robotic arm for wiring. The principle is simple and reliable.

[0086] In some alternative embodiments, such as Figures 8 to 11 As shown, there are three joints 22, and the structure of each joint 22 is basically the same. The arrangement of the three joints 22 is used to increase the position adjustment of the execution end on the lifting mechanism 30, with more adjustment forms.

[0087] The joint 22 is provided with a connection surface 228 for fixing and connecting the quick release platform 21. Figure 1 As shown, a fixed connection platform 2113 is provided on the bottom connection seat 211 of the quick-release platform 21. Through surface contact and countersunk positioning, the fixed connection platform 2113 is fixedly connected to the connection surface 228 by bolts to realize the assembly of the quick-release platform 21.

[0088] like Figure 12 and Figure 13 As shown, in some embodiments of the present application, the quick-release platform 21 includes a bottom connecting seat 211, a mounting seat 212, and a locking structure 213. The bottom connecting seat 211 is fixedly connected to the first housing 222 of the adjacent joint 22, and the bottom connecting seat 211 can slide relative to the mounting seat 212. The locking structure 213 is provided between the bottom connecting seat 211 and the mounting seat 212 to lock or unlock the bottom connecting seat 211 and the mounting seat 212. This arrangement enables the adjustment of the mounting seat 212 while maintaining a locked state, which can meet the positioning requirements during the surgical procedure.

[0089] like Figures 12 to 15As shown, in some embodiments of the present application, the mounting base 212 includes a sliding groove 2121 and a locking groove 2122. The locking groove 2122 is provided on the side wall of the sliding groove 2121. The bottom connecting base 211 includes a limiting slider 2111 adapted to the sliding groove 2121. The locking structure 213 is provided in the locking groove 2122 and pushes the limiting slider 2111 in a direction away from the locking groove 2122. The setting of the sliding groove 2121 and the limiting slider 2111 achieves a sliding fit between the two. The fit between the locking structure 213 and the locking groove 2122 enables the locking structure 213 to push the limiting slider 2111. On the one hand, this can increase the sliding friction of the limiting slider 2111, thereby improving the driving feel. On the other hand, it provides a basis for the locking structure 213 to lock the limiting slider 2111.

[0090] like Figures 12 to 15 As shown, in some embodiments of the present application, the bottom connecting seat 211 is also provided with one or more snap-in grooves 2112, and the one or more snap-in grooves 2112 are located on the side of the limiting slider 2111 facing the locking structure 213. When the locking structure 213 is snapped with the snap-in groove 2112, the bottom connecting seat 211 is locked with the mounting seat 212.

[0091] like Figures 12 to 16 As shown, in some embodiments of the present application, the locking structure 213 includes a snap-in member 2131, a push member 2132 and an unlocking member 2133. One end of the push member 2132 is fixedly connected to the side wall of the sliding groove 2121, and the other end is fixedly connected to the push member 2132. The unlocking member 2133 is located on the side of the snap-in member 2131 away from the push member 2132, and is slidably connected to the mounting seat 212 to push the snap-in member 2131 to squeeze the push member 2132 and separate it from the snap-in groove 2112.

[0092] At least one engaging groove 2112 is provided on the side of the sidewall of the limiting slider 2111 facing the sliding groove 2121. When in the unlocked state, the unlocking member 2133 pushes the engaging member 2131 away from the engaging groove 2112, allowing the limiting slider 2111 to slide relative to the sliding groove 2121. The combination of the engaging member 2131 and the engaging groove 2112 provides a variety of options for user convenience and allows for quick position adjustment and locking.

[0093] like Figures 12 to 14 As shown, in some embodiments of the present application, the snap-in groove 2112 is located on one side of the limiting slider 2111, and there is a certain gap between the limiting slider 2111 and the sliding groove 2121. The sliding groove 2121 is provided with a snap-in groove 2122, which is used to limit the freedom of the snap-in component 2131 along the sliding direction, that is, the snap-in component 2131 will not move in the gap between the two. The snap-in component 2131 is displaced relative to the limiting slider 2111 along the sliding groove 2121, thereby ensuring the sliding accuracy.

[0094] The mounting seat 212 also includes an adjustment hole 2124, an adjustment channel 2125 and a limiting groove body 2126. The adjustment hole 2124 connects the gap between the limiting slider 2111 and the sliding groove 2121, that is, extends along the sliding direction, and is used to place the adjustment rod. The adjustment rod can drive the clamping part 2131 to adjust perpendicular to the sliding direction, that is, to unlock the clamping part 2131 and the clamping groove 2112.

[0095] The adjusting channel 2125 is connected to the limiting slot body 2126, the unlocking piece 2133 is connected to the unlocking rod 2134, the other end of the unlocking rod 2134 is connected to the limiting end 2135, the limiting end 2135 is rotatably located in the limiting slot body 2126, the unlocking rod 2134 passes through the adjusting channel 2125 and abuts against the snap-connecting piece 2131, the limiting slot body 2126 includes a locking slot and an adjusting slot, when the limiting end 2135 is located in the locking slot, the unlocking rod 2134 does not enter the gap between the limiting slider 2111 and the sliding slot 2121, the snap-connecting piece 2131 is located in the snap-connecting slot 2112, when the limiting end 2135 is located in the adjusting slot, the unlocking rod 2134 pushes the snap-connecting piece 2131 to separate from the snap-connecting slot 2112, so that it can slide.

[0096] like Figure 16 As shown, in some embodiments of the present application, the snap-in component 2131 includes a positioning end 21311, an adapting surface 21312, a push-piece limiting hole 21313 and a positioning shaft connecting hole 21314. The positioning end 21311 can be adapted to the positioning hole 2123 to facilitate determining the relative position of the snap-in component 2131 and the mounting seat 212; the adapting surface 21312 is adapted to the side of the limiting slider 2111 so that it will not interfere with the limiting slider 2111 when in a sliding state; the push-piece limiting hole 21313 is used to install the push-piece 2132, specifically a spring, which is respectively arranged in the upper and lower holes to avoid circumferential movement; the positioning shaft connecting hole 21314 is used to install the adjusting rod along the sliding direction, so as to facilitate adjustment of the snap-in component 2131 when there is a problem with the unlocking rod 2134.

[0097] like Figure 4 and Figure 7 As shown, in some embodiments of the present application, the first joint group 10 is rotatably connected to the support seat 41, the second annular plug-in 17 is arranged at one end of the second shell 12, and the other end of the second shell 12 is provided with an opening, in which the second damping structure 15, the second locking structure 14 and the second fixed shaft 13 are installed in sequence, and the second end cover 16 is threadedly connected to the opening.

[0098] The third joint assembly 40 comprises a support base 41, an angle arm 42, and a third housing 46, which are arranged in sequence. The support base 41 is used to connect to the first joint assembly 10 and is provided with an annular groove 411 and a shaft hole 412. One end of the third housing 46 is provided with a third annular insert 48, and the other end is provided with an opening. The opening is provided with a third damping structure 45, a third locking structure 44, and a third fixed shaft 43, in sequence. A third end cap 47 is threadedly connected to the opening. The angle arm 42 is provided to provide an initial height to facilitate the installation of the lifting mechanism and to increase the structural strength of the base.

[0099] The second locking structure 14 includes a second locking piece 141 and a second rotating seat 142. The shaft hole 412 is used to fix the second fixed shaft 13. The second annular plug-in 17 is inserted into the annular groove 411. The cooperation of the second fixed shaft 13, the second annular plug-in 17, the second locking piece 141 and the second rotating seat 142 realizes the rotation and locking of the first joint group 10. Its principles and beneficial effects are consistent with those of the joint 22 of the second joint group 20, and will not be repeated here.

[0100] like Figure 1 、 Figures 17 to 19 As shown, in some embodiments of the present application, the robotic arm for a vascular interventional surgical robot further includes a third joint group 40, a table connecting seat 50 and a table 60, wherein the third locking structure 44 of the third joint group 40 includes a third locking plate 441 and a third rotating seat 442, and a fixedly installed third fixed shaft 43 cooperates with the third locking plate 441 and the third rotating seat 442 to realize the rotation and locking of the third joint group 40. The principle and beneficial effects are consistent with those of the joint 22 of the second joint group 20, and will not be repeated here.

[0101] like Figure 1 、 Figures 17 to 19 As shown, in some embodiments of the present application, the table 60 includes a side slide rail 61, and the table connecting seat 50 includes an extension seat 54 and a caliper 53. The caliper 53 can slide and lock relative to the side slide rail 61, and is used to adjust the position of the robotic arm along the setting direction of the side slide rail 61. A limiting shaft hole 51 and a limiting ring groove 52 are set on the extension seat 54. The limiting shaft hole 51 is used to fix the third fixed shaft 43, and the limiting ring groove 52 is used to adapt the third annular plug-in 48, so as to realize that the third shell 46 and the table connecting seat 50 mounting seat form a rotation joint, thereby improving the degree of freedom of the robotic arm.

[0102] It should be noted that the caliper 53 can be set in sequence in multiple numbers, and the extension seat 54 has a mating surface in contact with the table 60. Both are flat and play a bearing role. The table 60 can also be an operating table for the patient to lie on, facilitating the implementation of the operation.

[0103] In a second aspect, the present application provides a vascular interventional surgery robot, comprising a robotic arm for a vascular interventional surgery robot as described in the above embodiment. The features and beneficial effects of the lifting mechanism and robotic arm included in the robotic arm are described in the above embodiment and will not be repeated here.

[0104] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the utility model disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present application are indicated by the appended claims.

Claims

1. A robotic arm for a vascular interventional surgery robot, characterized in that: include: First joint group; The second joint group includes a quick-release platform and a plurality of joints connected in sequence, wherein the quick-release platform is used to connect to the body of the vascular interventional surgery robot; The lifting mechanism includes a connecting shell and a buffer structure. The connecting shell is rotatably connected to the first joint group and the second joint group respectively. The buffer structure is arranged in the connecting shell and abuts against the first joint group and the second joint group respectively.

2. The robotic arm for vascular interventional surgery according to claim 1, characterized in that: The first joint group includes a limiting member, the first end of the buffer structure and the limiting member have a plurality of abutment positions, and the second end of the buffer structure is rotatably connected to the second joint group.

3. The robotic arm for a vascular interventional surgery robot according to claim 2, characterized in that: The limiting member is provided with a limiting surface, and the buffer structure includes an adjusting member, an elastic member and a rolling body connected in sequence. The limiting surface gradually moves away from the buffer structure along the lifting direction of the lifting mechanism. The adjusting member is connected to the connecting shell, and the rolling body is against the limiting surface.

4. The robotic arm for a vascular interventional surgery robot according to claim 3, characterized in that: The adjusting member includes an adjusting seat, a fastener and a push plate, wherein the adjusting seat is rotatably connected to the second joint assembly, the push plate is slidably arranged, and the fastener is threadedly connected to the adjusting seat and the push plate respectively; and / or The limiting surface is arranged in an involute shape.

5. The robotic arm for a vascular interventional surgery robot according to claim 1, characterized in that: A tightness adjustment structure is provided between the connecting housing and the second joint assembly to adjust the rotational friction between the two.

6. The robotic arm for a vascular interventional surgery robot according to any one of claims 1 to 5, characterized in that: The joint includes a first connecting seat, a first shell and a first locking structure. The first connecting seat is rotatably connected to the first shell. The first locking structure is arranged between the first connecting seat and the first shell to lock or unlock the first connecting seat and the first shell. The first connecting seat of adjacent joints is fixedly connected to the first shell.

7. The robotic arm for a vascular interventional surgery robot according to claim 6, characterized in that: The joint includes a first damping structure disposed between the first connecting seat and the first housing to adjust the rotational friction between the two; and / or The robotic arm for the vascular interventional surgery robot also includes a power-on mechanism, which includes a gravity sensing structure and a power-on path. The power-on path is electrically connected to the first locking structure. When the gravity sensing structure is subjected to pressure, the power-on path is disconnected, and the first connecting seat is unlocked from the first shell.

8. The robotic arm for a vascular interventional surgery robot according to claim 6, characterized in that: The quick-release platform includes a bottom connecting seat, a mounting seat and a locking structure. The bottom connecting seat is fixedly connected to the first shell adjacent to the joint. The bottom connecting seat can be slid relative to the mounting seat. The locking structure is arranged between the bottom connecting seat and the mounting seat to lock or unlock the bottom connecting seat and the mounting seat.

9. The robotic arm for a vascular interventional surgery robot according to claim 8, characterized in that: The mounting seat includes a sliding groove and a locking groove, the locking groove is arranged on the side wall of the sliding groove, the bottom connecting seat includes a limiting slider adapted to the sliding groove, and the locking structure is arranged in the locking groove and pushes the limiting slider in a direction away from the locking groove.

10. The robotic arm for a vascular interventional surgery robot according to claim 9, characterized in that: The bottom connecting seat is further provided with one or more engaging grooves, and the one or more engaging grooves are located on the side of the limiting sliding block facing the locking structure. When the locking structure is engaged with the engaging grooves, the bottom connecting seat is locked with the mounting seat.

11. The robotic arm for a vascular interventional surgery robot according to claim 10, characterized in that: The locking structure includes a clamping member, a pushing member and an unlocking member, one end of the pushing member is fixedly connected to the side wall of the sliding groove, and the other end is fixedly connected to the pushing member, and the unlocking member is located on the side of the clamping member away from the pushing member, and is slidably connected to the mounting seat to push the clamping member to squeeze the pushing member and separate it from the clamping groove.

12. A vascular interventional surgery robot, characterized in that: The invention comprises a robotic arm for a vascular interventional surgery robot according to any one of claims 1 to 11.

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