Mechanical arm for surgical robot and surgical robot
By introducing a rotary joint with two centers of rotation and a telecentric control component into the surgical robot, the problem of limited movement during the initial positioning of surgical instruments is solved, enabling a greater range of motion and flexible operation, and reducing the risk of patient injury.
Patent Information
- Application Number
- CN202422648344.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-31
- Publication Date
- 2025-10-28
- Estimated Expiration
- 2034-10-31
AI Technical Summary
Existing surgical robots have limited extension range of the telescopic arm when determining the initial position of surgical instruments, which may prevent the surgical instruments from moving to the initial position and pose a risk of injury to the patient.
By setting a rotary joint with two rotation centers and a telecentric control component, the end effector can be yawed, increasing the flexibility and range of motion of the robotic arm and ensuring that surgical instruments can move normally to their initial positions.
It improves the flexibility and range of motion of surgical instruments, avoids patient injury caused by limited movement, makes operation more in line with common habits, and has a compact structure that is easy to control.
Smart Images
Figure CN223473874U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of medical device technology, and in particular to a robotic arm for use in surgical robots and a surgical robot. Background Technology
[0002] Before performing surgery, existing surgical robots require determining the initial position of the surgical instruments. This involves the instruments entering the body after passing the RCM (Restricted Movement Center) point (a fixed point during surgery where instruments can only move in a conical motion or extend / retract along the center). The instruments then need to be tilted so they can be captured by the endoscopic lens, thus determining their initial position. During this process, it is crucial to ensure the instrument's levers move around the RCM point; otherwise, it could cause injury to the patient.
[0003] like Figure 1 As shown, in the existing surgical robot, the base 11 is connected to the end effector sequentially via a first connecting arm 21, a motion arm 22, a second connecting arm 23, a telescopic arm 24, a rotary joint 25, and a telecentric control assembly 26. In determining the initial position of the surgical robot, besides the rotary joint 25 driving the end effector to swing, this design requires the telescopic arm 24 to extend and the motion arm 22 to slide in order to ensure the instrument lever moves around the RCM point. The drawback of this design is that the limited extension range of the telescopic arm 24 may prevent the surgical instrument from moving to its initial position. Utility Model Content
[0004] To address the shortcomings of existing technologies, this invention provides a robotic arm and a surgical robot for use in surgical robots. The end effector of the robotic arm and surgical robot achieves yaw through the rotation of two rotation centers, making the movement of the robotic arm more flexible and providing a larger range of motion, thus ensuring that surgical instruments can move normally to their initial positions.
[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:
[0006] On the one hand, this utility model provides a robotic arm for a surgical robot, comprising a base, a first connecting arm, a motion arm, a first rotary joint, a second connecting arm, a second rotary joint, a telecentric control component, and an end effector connected in sequence.
[0007] The motion arm can move along the length of the first connecting arm. One end of the second connecting arm is rotatably connected to the motion arm through a first rotary joint. The other end of the second connecting arm is rotatably connected to the telecentric control assembly through a second rotary joint. The end effector is located at the end of the telecentric control assembly.
[0008] In this invention, the movement of the end effector is achieved by the combined action of the movement of the motion arm along the length of the first connecting arm, the rotation of the second connecting arm on the motion arm via the first rotary joint, and the rotation of the telecentric control component on the second connecting arm via the second rotary joint. After the end effector enters the human body through the RCM point, it needs to yaw to enter the initial position. The yaw of the end effector is achieved by the rotation of the second connecting arm and the telecentric control component.
[0009] In a further technical solution, a third rotary joint and a third connecting arm are also included. One end of the third connecting arm is rotatably connected to the moving arm through the third rotary joint, and the other end of the third connecting arm is rotatably connected to the second connecting arm through the first rotary joint.
[0010] By incorporating a third rotary joint and a third connecting arm, the motion flexibility of the end effector is further increased.
[0011] In a further technical solution, the connection method in which the two are directly connected without the use of a third-party connector is defined as a direct connection. The third rotating joint is directly connected to the third connecting arm, the third connecting arm is directly connected to the first rotating joint, the first rotating joint is directly connected to the second connecting arm, the second connecting arm is directly connected to the second rotating joint, and the second rotating joint is directly connected to the telecentric control component.
[0012] The connections from the third rotary joint to the telecentric control assembly are all direct connections, resulting in a compact structure.
[0013] In a further technical solution, the angle between the rotation axis of the third rotating joint and the rotation axis of the first rotating joint is 90 degrees.
[0014] The two rotating joints have a rotation axis of 90 degrees, corresponding to two completely perpendicular rotational movements, which is more in line with conventional operating habits.
[0015] In a further technical solution, the length direction of the first connecting arm has an angle with the vertical direction.
[0016] The length direction of the first connecting arm is the direction of motion of the moving arm. If the direction of motion of the moving arm is not vertical, then the motion of the moving arm includes lateral motion, which provides the driving basis for the lateral movement of the end effector in space.
[0017] In a further technical solution, the telecentric control component is configured with one end of the end effector as the first end and the end of the telecentric control component away from the end effector as the second end; the connection point between the second rotary joint and the telecentric control component is located between the first end and the second end.
[0018] The second rotary joint is connected between the two ends of the telecentric control component. Compared to connecting it to the far end of the telecentric control component, it can achieve the same rotation angle with a smaller range of motion of the telecentric control component. Moreover, the connection point is closer to the center of gravity of the telecentric control component, resulting in better stability.
[0019] In a further technical solution, the telecentric control assembly includes a stationary platform, a moving platform, and a plurality of telescopic elements disposed between the stationary platform and the moving platform. The side of the moving platform that is relatively far from the stationary platform is fixedly connected to the end effector, and both ends of each telescopic element are rotatably connected to the end faces of the stationary platform and the moving platform, respectively.
[0020] The connection point between the second rotary joint and the telecentric control component is located on the stationary platform.
[0021] With the telecentric control component having a certain amount of room for movement, the connection point of the second rotary joint is set on the stationary platform, which can ensure a certain degree of movement flexibility while avoiding interference between the movement of the second rotary joint and the telescopic element.
[0022] In a further technical solution, the connection point between the second rotary joint and the telecentric control component is located on the side of the stationary platform, and the side of the stationary platform is the surface located in the circumferential direction of the stationary platform between the two end faces of the stationary platform.
[0023] The connection point of the second rotary joint is located on the side of the stationary platform, which further avoids interference between the movement of the second rotary joint and the telescopic element.
[0024] In a further technical solution, the connection point between the second rotary joint and the telecentric control component is located on the side of the stationary platform, between the connection points of the two telescopic elements and the stationary platform.
[0025] The connection point of the second rotary joint avoids the connection point of the telescopic element, further preventing interference between the movement of the second rotary joint and the telescopic element.
[0026] In a further technical solution, the connection point between the second rotary joint and the telecentric control component is located on the side of the stationary platform, at the midpoint between the connection points of the two telescopic elements and the stationary platform.
[0027] The minimum distance between the middle position and the two adjacent telescopic elements is the largest, which further avoids interference between the movement of the second rotary joint and the telescopic elements.
[0028] In a further technical solution, an electrical box is provided at the end of the telecentric control component that is away from the end effector.
[0029] The electrical box is positioned away from the end effector to balance the weight of the telecentric control components and also to facilitate the storage of the wiring harness away from the end effector.
[0030] In a further technical solution, the rotation axis of the third rotating joint is in the vertical direction, and the rotation axis of the first rotating joint is in the horizontal direction.
[0031] The vertical and horizontal rotation makes it easier for the operator to predict the direction and path of movement, further facilitating the operator's control.
[0032] On the other hand, this utility model also provides a surgical robot, including a robotic arm for surgical robots as described in any of the above technical solutions, and further including:
[0033] A frame, on which the base facility is located.
[0034] In a further technical solution, the end effector includes one or more of a scalpel, ultrasonic scalpel, surgical scissors, needle holder, and surgical forceps.
[0035] The beneficial effects are:
[0036] 1. The end effector of the robotic arm and surgical robot of this utility model achieves the yaw of the end effector through the rotation of two rotation centers, making the movement of the robotic arm more flexible and having a larger range of motion, ensuring that the surgical instruments can move normally to the initial position;
[0037] 2. By setting a third rotary joint and a third connecting arm, the motion flexibility of the end effector is further increased.
[0038] 3. All connections from the third rotary joint to the telecentric control assembly are direct connections, resulting in a compact structure.
[0039] 4. The rotation axes of the two rotating joints are 90 degrees, corresponding to two completely perpendicular rotational movements, which is more in line with conventional operating habits.
[0040] 5. The length direction of the first connecting arm is the direction of motion of the moving arm. If the direction of motion of the moving arm is not vertical, then the motion of the moving arm includes lateral motion, which provides the driving basis for the lateral movement of the end effector in space.
[0041] 6. The second rotary joint is connected between the two ends of the telecentric control component. Compared with the connection at the far end of the telecentric control component, the same rotation angle can be obtained with a smaller range of motion of the telecentric control component. Moreover, the connection point is closer to the center of gravity of the telecentric control component, resulting in better stability.
[0042] 7. With the telecentric control component having a certain space for movement, the connection point of the second rotary joint is set on the stationary platform, which can ensure a certain degree of movement flexibility and avoid interference between the movement of the second rotary joint and the telescopic element.
[0043] 8. The connection point of the second rotary joint is located on the side of the stationary platform, which further avoids interference between the movement of the second rotary joint and the telescopic element.
[0044] 9. The connection point of the second rotary joint avoids the connection point of the telescopic element, further preventing interference between the movement of the second rotary joint and the telescopic element.
[0045] 10. The minimum distance between the middle position and the two adjacent telescopic elements is the largest, which further avoids interference between the movement of the second rotary joint and the telescopic elements.
[0046] 11. The electrical box is positioned away from the end effector to balance the weight of the telecentric control components and to facilitate the storage of the wiring harness away from the end effector.
[0047] 12. Vertical and horizontal rotation makes it easier for the operator to predict the direction and path of movement, further facilitating the operator's control. Attached Figure Description
[0048] Figure 1 This is a schematic diagram of the structure of a surgical robot in the prior art;
[0049] Figure 2 This is a schematic diagram of the structure of the robotic arm used in a surgical robot according to this utility model;
[0050] Figure 3 This is a comparative schematic diagram of the yaw implementation method of the end effector of the robotic arm for surgical robots according to this utility model;
[0051] Figure 4 This is a schematic diagram of the connection point of the second rotary joint on the telecentric control component in one embodiment of the present invention;
[0052] Figure 4A This is a schematic diagram of the connection point of the second rotary joint on the telecentric control assembly in another embodiment of the present invention;
[0053] Figure 4B This is a schematic diagram of the rotation of a telecentric control component in the prior art;
[0054] Figure 5 This is a schematic diagram of the connection scheme between the telecentric control component and the second rotary joint of this utility model;
[0055] Figure 6This is a schematic diagram of the telecentric control component of the robotic arm for a surgical robot according to the present invention.
[0056] Figure 7 This is a schematic diagram of the static platform of the telecentric control component of the robotic arm for a surgical robot according to this utility model.
[0057] Figure 8 This is a schematic diagram of the surgical robot of this utility model.
[0058] Figure 1 Reference numerals in the figures: 11, base; 21, first connecting arm; 22, moving arm; 23, second connecting arm; 24, telescopic arm; 25, rotating joint; 26, telecentric control assembly.
[0059] Figures 2-8 Reference numerals in the figures: 10, frame; 11, base; 21, first connecting arm; 22, moving arm; 23, second connecting arm; 24, third connecting arm; 31, first rotary joint; 32, second rotary joint; 33, third rotary joint; 40, telecentric control assembly; 41, stationary platform; 42, moving platform; 43, telescopic element; 44, electrical box; 45, rod; 50, end effector. Detailed Implementation
[0060] The present invention will be further described below with reference to the accompanying drawings:
[0061] Example:
[0062] like Figure 2 As shown, a robotic arm for a surgical robot includes a base 11, a first connecting arm 21, a motion arm 22, a first rotary joint 31, a second connecting arm 23, a second rotary joint 32, a telecentric control assembly 40, and an end effector 50 connected in sequence.
[0063] The motion arm 22 can move along the length of the first connecting arm 21. One end of the second connecting arm 23 is rotatably connected to the motion arm 22 through the first rotating joint 31, and the other end of the second connecting arm 23 is rotatably connected to the telecentric control assembly 40 through the second rotating joint 32. The end effector 50 is located at the end of the telecentric control assembly 40.
[0064] In this invention, the movement of the end effector 50 is achieved by the combined action of the movement of the motion arm 22 along the length of the first connecting arm 21, the rotation of the second connecting arm 23 on the motion arm 22 via the first rotary joint 31, and the rotation of the telecentric control component 40 on the second connecting arm 23 via the second rotary joint 32. After the end effector 50 enters the human body through the RCM point, it needs to be swayed to reach the initial position. The swaying of the end effector 50 is achieved by the rotation of the second connecting arm 23 and the telecentric control component 40.
[0065] The method of implementing the yaw of this utility model will be explained in further detail below: Figure 3 As shown, Figure 3 The left side shows a schematic diagram of the existing technology. Figure 3 The two images on the left, one above the other, are schematic diagrams of existing robotic arms moving to two extreme positions; Figure 3 The right side is a structural diagram of this solution. Figure 3 The two diagrams on the right, one above the other, illustrate the robotic arm's movement to two extreme positions in this design. The travel distance of each moving joint is limited, while the rotation range of the rotating joints is unrestricted. Figure 3 As can be seen, the end effector swing achieved by two rotational degrees of freedom has a larger swing range and better flexibility than the end effector swing achieved by one extensional degree of freedom and one rotational degree of freedom. Since the second connecting arm 23 in this solution drives the swing of the surgical instrument by rotation, this solution can drive the surgical instrument to swing at a larger angle, and it is easier to move the surgical instrument to the initial position of the surgical instrument compared with the existing technology.
[0066] In another embodiment, such as Figure 2 As shown, it also includes a third rotating joint 33 and a third connecting arm 24. One end of the third connecting arm 24 is rotatably connected to the moving arm 22 through the third rotating joint 33, and the other end of the third connecting arm 24 is rotatably connected to the second connecting arm 23 through the first rotating joint 31.
[0067] By incorporating a third rotary joint 33 and a third connecting arm 24, the motion flexibility of the end effector 50 is further increased.
[0068] In another embodiment, such as Figure 2 As shown, the connection method in which the two are directly connected without the use of a third-party connector is defined as a direct connection. The third rotating joint 33 is directly connected to the third connecting arm 24, the third connecting arm 24 is directly connected to the first rotating joint 31, the first rotating joint 31 is directly connected to the second connecting arm 23, the second connecting arm 23 is directly connected to the second rotating joint 32, and the second rotating joint 32 is directly connected to the telecentric control component 40.
[0069] The connection between the third rotary joint 33 and the telecentric control assembly 40 is a direct connection, resulting in a compact structure.
[0070] In another embodiment, such as Figure 2 As shown, the angle between the rotation axis of the third rotary joint 33 and the rotation axis of the first rotary joint 31 is 90 degrees.
[0071] The rotation axes of the two rotary joints are 90 degrees, corresponding to two completely perpendicular rotational movements, which is more in line with conventional operating habits. Furthermore, in this embodiment, the rotation axis of the first rotary joint 31 is parallel to the rotation axis of the second rotary joint 32.
[0072] In another embodiment, the length direction of the first connecting arm 21 has an angle with the vertical direction.
[0073] The length direction of the first connecting arm 21 is the direction of movement of the moving arm 22. If the direction of movement of the moving arm 22 is not vertical, then the movement of the moving arm 22 includes lateral movement, which provides a driving basis for the lateral movement of the end effector 50 in space.
[0074] In another embodiment, the telecentric control component 40 is configured with one end of the end effector 50 as the first end and the other end of the telecentric control component 40 away from the end effector 50 as the second end; the connection point between the second rotary joint 32 and the telecentric control component 40 is located between the first end and the second end.
[0075] contrast Figure 4A and Figure 4B As shown, the second rotary joint 32 is connected between the two ends of the telecentric control assembly 40, relative to... Figure 4B Compared with the existing technology, the same rotation angle can be obtained with a smaller range of motion of the telecentric control component 40, and the connection point is closer to the center of gravity of the telecentric control component 40, resulting in better stability.
[0076] In this embodiment, as Figure 5 As shown, the telecentric control assembly 40 includes a lever 45, a stationary platform, a moving platform, and multiple telescopic elements disposed between the stationary platform and the moving platform. The structures of the stationary platform, the moving platform, and the telescopic elements are existing technologies and will not be described in detail. The lever 45 is located on the side of the stationary platform, with one end connected to the stationary platform and the other end extending towards the moving platform to the middle position between the stationary and moving platforms. The lever 45 is rotatably connected to the second connecting arm 23 via a second rotating joint 32, thereby realizing the connection point between the second rotating joint 32 and the telecentric control assembly 40 between the first end and the second end. In this embodiment, the connection between the lever 45 and the stationary platform is a direct connection, and the connection between the lever 45 and the second rotating joint 32 is also a direct connection.
[0077] In another embodiment, such as Figure 6 As shown, the telecentric control assembly 40 includes a stationary platform 41, a moving platform 42, and a plurality of telescopic elements 43 disposed between the stationary platform 41 and the moving platform 42. In this embodiment, there are three telescopic elements 43, which are spaced 120° apart in the circumferential direction on the stationary platform 41 and the moving platform 42. The side of the moving platform 42 that is relatively away from the stationary platform 41 is fixedly connected to the end effector 50. Both ends of each telescopic element 43 are rotatably connected to the stationary platform 41 and the moving platform 42, respectively. The connection point between the second rotary joint 32 and the telecentric control assembly 40 is located on the stationary platform 41, and the connection between the stationary platform 41 and the second rotary joint 32 is a direct connection.
[0078] In this embodiment, the telecentric control assembly 40 relies on the extension and retraction of the three telescopic elements 43 and the rotation relative to the connection point between the static platform 41 and the moving platform 42 to drive the movement of the end effector 50 by moving itself.
[0079] In this embodiment, Figure 4 The telecentric control component of the scheme has a movement amplitude slightly greater than Figure 4A The telecentric control component has a certain range of motion, but the telecentric control component 40 itself has a certain space for movement. The connection point of the second rotary joint 32 is set on the static platform 41, which can ensure a certain degree of movement flexibility and also avoid interference between the movement of the second rotary joint 32 and the telescopic element 43.
[0080] The difference in the connection point of the second rotary joint 32 on the telecentric control assembly 40 is explained in further detail below: For example... Figure 4 and Figure 4A As shown, Figure 4 This diagram illustrates the connection point between the second rotary joint 32 and the telecentric control component 40 in this embodiment. Figure 4A This is a schematic diagram of the connection point between the second rotary joint 32 and the telecentric control component 40 in other embodiments. Figure 4B For existing technology Figure 1 A schematic diagram of the connection points between the rotary joint and the telecentric control component. Figure 4B What is shown is Figure 1 The rear of the telecentric control assembly includes a shaft segment, and the rotational joint is located at the end of the shaft segment. The rotation diagram clearly shows... Figure 4 and Figure 4A The motion amplitude of the middle scheme is less than Figure 4B The range of motion within.
[0081] Figure 4 , Figure 4A and Figure 4B The solid lines in the diagram represent the positions of the telecentric control component 40 before its movement. Figure 4 , Figure 4A and Figure 4B The dashed boxes in the diagram represent the positions of the telecentric control component 40 after its movement. Figure 4 , Figure 4A and Figure 4B The telecentric control component 40 rotates at an angle of 30° in all cases. It can be clearly seen that when the telecentric control component 40 rotates at the same angle, Figure 4 , Figure 4A The amplitude of motion of the telecentric control component 40 in the design should be less than that of the telecentric control component 40 itself. Figure 4B In the middle, the range of motion of the telecentric control component 40 itself.
[0082] In another embodiment, such as Figure 6 and Figure 7 As shown, the connection point between the second rotary joint 32 and the telecentric control assembly 40 is located on the side of the stationary platform 41, and the side of the stationary platform 41 is the surface located between the two end faces of the stationary platform 41 in the circumferential direction.
[0083] The connection point of the second rotary joint 32 is located on the side of the static platform 41, which further avoids interference between the second rotary joint 32 and the telescopic element 43.
[0084] In another embodiment, such as Figure 7 As shown, the connection point between the second rotary joint 32 and the telecentric control assembly 40 is located on the side of the stationary platform 41, between the connection points of the two telescopic elements 43 and the stationary platform 41.
[0085] The connection point of the second rotary joint 32 avoids the connection point of the telescopic element 43, further preventing interference between the movement of the second rotary joint 32 and the telescopic element 43.
[0086] In another embodiment, such as Figure 7 As shown, the connection point between the second rotary joint 32 and the telecentric control assembly 40 is located on the side of the stationary platform 41, in the middle position between the connection points of the two telescopic elements 43 and the stationary platform 41.
[0087] The minimum distance between the middle position and the two adjacent telescopic elements 43 is the largest, which further avoids interference between the movement of the second rotating joint 32 and the telescopic element 43.
[0088] In another embodiment, such as Figure 2 As shown, an electrical box 44 is provided on the end of the telecentric control assembly 40 that is away from the end effector 50.
[0089] The electrical box is positioned away from the end effector 50 to balance the weight on the telecentric control assembly 40 and to facilitate the storage of the wiring harness away from the end effector 50.
[0090] In another embodiment, such as Figure 2 As shown, the rotation axis of the third rotary joint 33 is in the vertical direction, and the rotation axis of the first rotary joint 31 is in the horizontal direction.
[0091] The vertical and horizontal rotation makes it easier for the operator to predict the direction and path of movement, further facilitating the operator's control.
[0092] A surgical robot, such as Figure 8 As shown, the robotic arm for a surgical robot, as described in any of the above embodiments, further includes:
[0093] The rack 10 and the base 11 are mounted on the rack 10.
[0094] In another embodiment, such as Figure 8 As shown, the end effector 50 includes one or more of a scalpel, ultrasonic scalpel, surgical scissors, needle holder, and surgical forceps.
[0095] In this embodiment, there are multiple robotic arms. It is understood that the end effectors 50 of the multiple robotic arms can each use one or more different surgical instruments to perform surgical operations in coordination.
[0096] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements shall fall within the scope of the present invention as claimed.
Claims
1. A robotic arm for use in a surgical robot, characterized in that, It includes a base, a first connecting arm, a moving arm, a first rotary joint, a second connecting arm, a second rotary joint, a telecentric control assembly, and an end effector connected in sequence. The motion arm can move along the length of the first connecting arm. One end of the second connecting arm is rotatably connected to the motion arm through a first rotary joint. The other end of the second connecting arm is rotatably connected to the telecentric control assembly through a second rotary joint. The end effector is located at the end of the telecentric control assembly.
2. The robotic arm for a surgical robot according to claim 1, characterized in that, It also includes a third rotary joint and a third connecting arm. One end of the third connecting arm is rotatably connected to the moving arm through the third rotary joint, and the other end of the third connecting arm is rotatably connected to the second connecting arm through the first rotary joint.
3. The robotic arm for a surgical robot according to claim 2, characterized in that, The third rotary joint is directly connected to the third connecting arm, the third connecting arm is directly connected to the first rotary joint, the first rotary joint is directly connected to the second connecting arm, the second connecting arm is directly connected to the second rotary joint, and the second rotary joint is directly connected to the telecentric control assembly.
4. The robotic arm for a surgical robot according to claim 2, characterized in that, The angle between the rotation axis of the third rotary joint and the rotation axis of the first rotary joint is 90 degrees.
5. The robotic arm for a surgical robot according to claim 1, characterized in that, The length direction of the first connecting arm forms an angle with the vertical direction.
6. The robotic arm for a surgical robot according to any one of claims 1 to 5, characterized in that, The telecentric control assembly has one end of the end effector designated as the first end, and the end of the telecentric control assembly furthest from the end effector designated as the second end; the connection point between the second rotary joint and the telecentric control assembly is located between the first end and the second end.
7. The robotic arm for a surgical robot according to any one of claims 1 to 5, characterized in that, The telecentric control assembly includes a stationary platform, a moving platform, and multiple telescopic elements disposed between the stationary platform and the moving platform. The side of the moving platform that is relatively far from the stationary platform is fixedly connected to the end effector. Both ends of each telescopic element are rotatably connected to the end faces of the stationary platform and the moving platform, respectively. The connection point between the second rotary joint and the telecentric control component is located on the stationary platform.
8. The robotic arm for a surgical robot according to claim 7, characterized in that, The connection point between the second rotary joint and the telecentric control component is located on the side of the stationary platform, which is the surface located between the two end faces of the stationary platform in the circumferential direction.
9. The robotic arm for a surgical robot according to claim 8, characterized in that, The connection point between the second rotary joint and the telecentric control assembly is located on the side of the stationary platform, between the connection points of the two telescopic elements and the stationary platform.
10. The robotic arm for a surgical robot according to claim 9, characterized in that, The connection point between the second rotary joint and the telecentric control assembly is located on the side of the stationary platform, at the midpoint between the connection points of the two telescopic elements and the stationary platform.
11. The robotic arm for a surgical robot according to claim 10, characterized in that, An electrical box is provided at the end of the telecentric control assembly that is away from the end effector.
12. A surgical robot, characterized in that, Including the robotic arm for surgical robots as described in any one of claims 1-11.