Mechanical arm with distributed motion controller and bronchoscope robot

Abstract

The utility model relates to the technical field of medical robots, and discloses a mechanical arm with a distributed motion controller and a bronchoscope robot, the mechanical arm with the distributed motion controller comprises a mechanical arm body; the driving unit comprises a plurality of motor modules, and the motor modules are arranged on the mechanical arm body at intervals in the length direction of the mechanical arm body; the control unit comprises a plurality of motion controllers, the motion controllers are arranged on the mechanical arm body and close to the motor modules in a one-to-one correspondence mode, and the motion controllers are electrically connected with the motor modules close to the motion controllers. According to the mechanical arm, the length of the power line adopted by each motor module is shortened, so that the electromagnetic compatibility problem in the mechanical arm body and the transmission delay problem of the motor modules and the motion controller are solved, and the mechanical arm is simple in wiring and easy to produce and assemble.

Description

Technical Field

[0001] This utility model relates to the field of medical robot technology, and in particular to a robotic arm and bronchoscope robot with a distributed motion controller. Background Technology

[0002] A bronchoscopic robot is an advanced medical system that applies robotic technology to traditional bronchoscopy. In the hardware control system design of a bronchoscopic robot, a common approach for motion controller layout is a centralized motion controller arrangement, where all motion controllers are integrated into a single main control area.

[0003] However, because the bronchoscopy robot's robotic arm has multiple motor modules along its length, when each motor module is electrically connected to the motion controller in the main control area, the power supply line between the motor module furthest from the main control area at the end of the robotic arm and the motion controller is relatively long. The power supply radiation typically ranges from 30MHz to 60MHz. Given the power supply radiation frequency and the speed of light, the wavelength λ can be calculated using the formula, indicating that the power supply radiation wavelength is between 5m and 10m. In contrast, the power supply line length in a centralized layout is typically around 1.5m to 4m. According to electromagnetic theory, when the power supply line length exceeds one-quarter of the wavelength, the radiated power will significantly increase. Therefore, an integrated motion controller layout results in a longer power supply line between the motor module furthest from the main control area at the end of the robotic arm and the motion controller, making the bronchoscopy robot's robotic arm prone to electromagnetic compatibility issues.

[0004] Therefore, existing technologies still need to be improved and enhanced. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a robotic arm and a bronchoscope robot with a distributed motion controller, which aims to solve the problem that the motion controller of the existing bronchoscope robot adopts an integrated layout scheme, which makes the power supply line between the motor module farthest from the main control area and the motion controller longer, resulting in electromagnetic compatibility problems for the robotic arm of the bronchoscope robot.

[0006] The technical solution adopted by this utility model to solve the technical problem is as follows:

[0007] In a first aspect, embodiments of the present invention provide a robotic arm with a distributed motion controller, comprising:

[0008] Robotic arm body;

[0009] A drive unit, the drive unit including a plurality of motor modules, each of the motor modules being spaced apart on the robotic arm body along the length direction of the robotic arm body;

[0010] The control unit includes several motion controllers, each of which is disposed on the robotic arm body and is disposed close to each of the motor modules in a one-to-one correspondence. Each motion controller is electrically connected to the motor module that is close to it.

[0011] As a further improved technical solution, the drive unit includes: a vertical arm motor module, a swing arm motor module, and a surgical arm motor module;

[0012] The control unit includes: a first motion controller, a second motion controller, and a third motion controller;

[0013] The robotic arm body includes:

[0014] A vertical arm, wherein the vertical arm motor module is electrically connected to the first motion controller and is disposed close to the vertical arm;

[0015] A connecting arm, which is slidably mounted on the vertical arm and driven to slide by the vertical arm motor module;

[0016] A swing arm, one end of which is rotatably connected to the connecting arm, and a swing arm motor module electrically connected to the second motion controller and disposed close to the other end of the swing arm;

[0017] The instrument arm has one end rotatably connected to the other end of the swing arm and driven to rotate by the swing arm motor module. The instrument arm motor module is electrically connected to the third motion controller and is disposed close to the instrument arm.

[0018] As a further improved technical solution, the drive unit also includes a wire motor module, which is slidably mounted on the instrument arm and driven by the instrument arm motor module;

[0019] The control unit also includes a fourth motion controller, which is mounted on the instrument arm and close to the wire motor module and is electrically connected to the wire motor module.

[0020] As a further improvement to the technical solution, the aforementioned robotic arm with a distributed motion controller also includes:

[0021] Host computer;

[0022] An industrial Ethernet cable is used, which is connected in series with the host computer, the first motion controller, the second motion controller, the third motion controller, and the fourth motion controller.

[0023] As a further improvement to the technical solution, the aforementioned robotic arm with a distributed motion controller also includes:

[0024] A power supply module is disposed within the robotic arm body and electrically connected to each of the motion controllers within the control unit.

[0025] As a further improvement to the technical solution, in the above-mentioned robotic arm with a distributed motion controller, the robotic arm body further includes:

[0026] A handle is fixedly mounted on one end of the instrument arm.

[0027] As a further improvement to the technical solution, in the above-mentioned robotic arm with a distributed motion controller, the robotic arm body further includes:

[0028] The first slider has a first groove along its length. The first slider is slidably mounted on the vertical arm through the first groove and is connected to the vertical arm motor module. The connecting arm is mounted on the first slider.

[0029] As a further improvement to the technical solution, in the above-mentioned robotic arm with a distributed motion controller, the robotic arm body further includes:

[0030] The second slider is provided with a second groove along the length of the instrument arm. The second slider is slidably disposed on the instrument arm through the second groove and is connected to the instrument arm motor module. The wire motor module is disposed on the second slider.

[0031] As a further improvement to the technical solution, in the above-mentioned robotic arm with a distributed motion controller, the robotic arm body further includes:

[0032] A connecting plate is detachably mounted on the instrument arm, and the third motion controller and the fourth motion controller are both fixedly mounted on the connecting plate.

[0033] Secondly, this utility model embodiment also provides a bronchoscopy robot, which includes a robotic arm with a distributed motion controller as described above.

[0034] Compared with the prior art, the embodiments of this utility model have the following advantages:

[0035] This utility model provides a robotic arm with a distributed motion controller, comprising: a robotic arm body; a drive unit including a plurality of motor modules, each motor module being spaced apart along the length of the robotic arm body; and a control unit including a plurality of motion controllers, each motion controller being disposed on the robotic arm body and closely corresponding to each of the motor modules, each motion controller being electrically connected to the motor module closest to it. In this utility model, by closely corresponding to each motor module and each motion controller, each motor module can select a shorter power supply line when connecting to a matching motion controller. By shortening the power supply line length of each motor module, electromagnetic compatibility issues within the robotic arm body and transmission delay issues between the motor modules and motion controllers are improved, and the robotic arm wiring is simplified, making production and assembly easier. Attached Figure Description

[0036] Figure 1 A first three-dimensional structural diagram of a robotic arm with a distributed motion controller provided by this utility model;

[0037] Figure 2 A second three-dimensional structural diagram of a robotic arm with a distributed motion controller provided by this utility model;

[0038] Figure 3 A network connection principle structure diagram of a robotic arm with a distributed motion controller provided by this utility model;

[0039] Figure 4 This utility model provides an electrical connection principle diagram of a robotic arm with a distributed motion controller.

[0040] In the diagram: 1. Robotic arm body; 11. Vertical arm; 111. First slide rail; 12. Connecting arm; 13. Swing arm; 14. Mechanical arm; 141. Second slide rail; 15. Handle; 16. First slider; 17. Second slider; 18. Connecting plate; 2. Drive unit; 21. Vertical arm motor module; 22. Swing arm motor module; 23. Mechanical arm motor module; 24. Wire motor module; 3. Control unit; 31. First motion controller; 32. Second motion controller; 33. Third motion controller; 34. Fourth motion controller; 4. Host computer; 5. Industrial Ethernet cable; 6. Power supply module. Detailed Implementation

[0041] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0042] Example 1

[0043] Please see Figures 1 to 4 The robotic arm with distributed motion controllers includes: a robotic arm body 1; a drive unit 2, which includes several motor modules, each of which is spaced apart on the robotic arm body 1 along its length; and a control unit 3, which includes several motion controllers, each of which is disposed on the robotic arm body 1 and is positioned close to each of the motor modules, and each motion controller is electrically connected to the motor module closest to it.

[0044] like Figure 1 and Figure 2 As shown, to address the problem that the integrated layout of motion controllers in existing bronchoscopy robots results in long power lines between the drive components of the swing arm 13 (farthest from the main control unit) and the main control unit, leading to electromagnetic compatibility issues in the robotic arm, this invention proposes an implementation method. In this implementation, the robotic arm with a distributed motion controller includes a robotic arm body 1, a drive unit 2, and a control unit 3. The robotic arm body 1 in this implementation can be a conventional multi-segment robotic arm body 1, i.e., having multiple independently movable arm joints. Each arm joint is driven by a motor module, and each motor module is electrically connected to a motion controller. The electrically connected motor modules and motion controllers are positioned close to each other on the robotic arm body 1, with a maximum distance of 1 meter between the motion controller and the corresponding motor module, typically less than 0.5 meters. This embodiment sets each motor module and each motion controller in close proximity, allowing each motor module to select a shorter power supply line when connected to a matching motion controller. By shortening the power supply line length of each motor module, electromagnetic compatibility issues within the robotic arm body 1 are improved. Furthermore, shortening the power supply line can alleviate the delay in signals from the motion controller to the motor module, making signal transmission between the two more timely.

[0045] Furthermore, in this embodiment, the drive unit 2 includes a vertical arm motor module 21, a swing arm motor module 22, and a robotic arm motor module 23. The control unit 3 includes a first motion controller 31, a second motion controller 32, and a third motion controller 33. The vertical arm motor module 21 and the first motion controller 31 are disposed close to each other at the front end of the robotic arm body 1 and are electrically connected. The swing arm motor module 22 and the second motion controller 32 are disposed close to each other at the middle part of the robotic arm body 1 and are electrically connected. The robotic arm motor module 23 and the third motion controller 33 are disposed close to each other at the tail end of the robotic arm body 1 and are electrically connected. By dividing the motor modules and motion controllers into three groups and arranging them in three segments on the robotic arm body 1, matching the segmented structure of the front, middle, and rear ends of the robotic arm body 1, the distribution of the motor modules and motion controllers is more in line with the mechanical design of the mechanical structure. This avoids excessive local weight of the robotic arm body 1 due to centralized arrangement, helps to balance the center of gravity of the robotic arm body 1, and improves operational stability. In addition, the traditional centralized control layout requires laying a long power supply line from the motor module at the rear end of the robotic arm through the entire robotic arm to the main control unit (industrial computer). Due to the small space inside the robotic arm and the existence of multiple cables such as power supply lines, encoder lines, brake lines, and limit switch lines between the motion controller and drive components, the wiring of the robotic arm is complicated and assembly is difficult in this narrow and long path environment. However, by configuring each motor module and motion controller in segments and nearby, the single segment cable can be shortened, thereby facilitating the wiring of the robotic arm body 1 during production and reducing assembly difficulty. At the same time, the segmented independent control loops can also reduce signal crosstalk between segments and improve system stability.

[0046] Furthermore, in another embodiment of this utility model, the robotic arm body 1 includes a vertical arm 11, a connecting arm 12, a swing arm 13, and a mechanical arm 14. The vertical arm 11 is provided with the vertical arm motor module 21 and the first motion controller 31. The connecting arm 12 is slidably disposed on the vertical arm 11 and driven to slide by the vertical arm motor module 21. One end of the swing arm 13 is rotatably connected to the connecting arm 12. The other end of the swing arm 13 is provided with the swing arm motor module 22 and the second motion controller 32. One end of the mechanical arm 14 is rotatably connected to the other end of the swing arm 13 and driven to rotate by the swing arm motor module 22. The mechanical arm 14 is provided with the mechanical arm motor module 23 and the third motion controller 33. Specifically, in this embodiment, the vertical arm motor module 21 can be a linear motor module or a lead screw motor module, used to slide the connecting arm 12 along the length of the vertical arm 11. A bearing is provided at one end of the connecting arm 12 connected to the swing arm 13. The swing arm 13 is rotatable through its connection to the bearing, and there is a certain friction between the end faces of the swing arm 13 and the connecting arm 12. The swing arm 13 will only rotate relative to the connecting arm 12 through the bearing after being subjected to a certain external force. The swing arm motor module 22 and the second motion controller 32 are both located inside the other end of the swing arm 13. The swing arm motor module 22 is fixedly installed inside the swing arm 13, and one end is connected to the instrument arm 14 to drive the instrument arm 14 to rotate. In this embodiment, the vertical arm 11 serves as the basic support unit, the connecting arm 12 is responsible for a large range of displacement, the swing arm 13 achieves angle adjustment, and the instrument arm 14 can carry an endoscope system. Each component functions independently yet works collaboratively, facilitating the completion of various operational tasks.

[0047] In another embodiment of this utility model, the drive unit 2 further includes a pull-wire motor module 24, and the control unit 3 further includes a fourth motion controller 34. The pull-wire motor module 24 is slidably disposed on the instrument arm 14 and driven by the instrument arm motor module 23. The fourth motion controller 34 is disposed on the instrument arm 14 and close to the pull-wire motor module 24, and is electrically connected to the pull-wire motor module 24. Specifically, the pull-wire motor module 24 is used to drive the endoscope system mounted on the instrument arm 14. In this embodiment, there are four pull-wire motor modules 24, which can slide simultaneously relative to the instrument arm 14 to drive the endoscope system to move in multiple directions. Correspondingly, there are four fourth motion controllers 34, each of which is fixedly disposed on the instrument arm 14 and electrically connected to each pull-wire motor module 24 in a one-to-one correspondence.

[0048] like Figure 3As shown, in another embodiment of this utility model, the robotic arm with a distributed motion controller further includes a host computer 4 and an industrial Ethernet cable 5. The industrial Ethernet cable 5 is connected in series with the host computer 4, the first motion controller 31, the second motion controller 32, the third motion controller 33, and the fourth motion controller 34. Industrial Ethernet (EtherCat) has the core advantages of ultra-low latency, high-precision synchronization, and high-bandwidth communication in the control network of medical surgical robots. It supports the strict coordinated movement of the multi-axis robotic arm body 1. Its distributed clock mechanism can achieve nanosecond-level synchronization, meeting the high requirements of medical scenarios for real-time performance, security, and complex data processing. In this embodiment, the host computer 4, the first motion controller 31, the second motion controller 32, the third motion controller 33, and the fourth motion controller 34 can solve the signal delay problem by transmitting signals through the industrial Ethernet cable 5.

[0049] like Figure 4 As shown, the robotic arm with distributed motion controllers further includes a power supply module 6. The power supply module 6 is located inside the robotic arm body 1 and electrically connected to each motion controller in the control unit 3. Specifically, the power supply module 6 includes, but is not limited to, existing DC-DC (direct current to direct current) or AC-DC (alternating current to direct current) switching power supply modules. The power supply module 6 is located in the middle of the robotic arm body 1 and is electrically connected to each motion controller through multiple power lines. The distance from the power supply module 6 to the front end (first motion controller 31) and the rear end (third motion controller 33) of the robotic arm body 1 is relatively balanced, which can avoid the tangling and pulling problems caused by excessively long single power lines. The host computer 4 is powered by an external power supply. The multiple power lines are distributed from the middle to both ends. Compared with the design of concentrating from one end, this can distribute the cable weight and tension more evenly, reduce the cable resistance when the robotic arm body 1 moves, and improve the smoothness and accuracy of the movement.

[0050] Furthermore, the robotic arm body 1 also includes a handle 15, which is fixedly disposed at one end of the instrument arm 14. When it is necessary to manually rotate the swing arm 13 to adjust its angle, the handle 15 can be used to push the swing arm 13 to rotate around the connecting arm 12, making it convenient for doctors to adjust the angle of the swing arm 13 during use.

[0051] In another embodiment of this utility model, the robotic arm body 1 further includes a first slider 16, and the vertical arm 11 has a first sliding groove 111 along its length direction. The first slider 16 is slidably disposed on the vertical arm 11 through the first sliding groove 111 and is connected to the vertical arm motor module 21. The connecting arm 12 is disposed on the first slider 16. Specifically, the first slider 16 and the first sliding groove 111 are a standardized mating structure, which facilitates mass production and assembly debugging. The end of the connecting arm 12 is detachably connected to the first slider 16 by bolts. When disassembling the connecting arm 12, it is only necessary to separate it from the first slider 16, without disassembling it from the vertical arm motor module 21, thus simplifying the maintenance process.

[0052] Furthermore, the robotic arm body 1 also includes a second slider 17. The robotic arm 14 has a second sliding groove 141 along its length direction. The second slider 17 is slidably disposed on the robotic arm 14 through the second sliding groove 141. The wire-pulling motor module 24 is disposed on the second slider 17. Specifically, there are four wire-pulling motor modules 24, all of which are fixedly disposed on the second slider 17, so that the robotic arm motor module 23 can drive all the wire-pulling motor modules 24 to move synchronously.

[0053] Furthermore, the robotic arm body 1 also includes a connecting plate 18, which is detachably mounted on the robotic arm 14. For example, the connecting plate 18 is connected to the robotic arm 14 by screws. The third motion controller 33 and the fourth motion controller 34 are both fixedly mounted on the connecting plate 18. Specifically, there are four fourth motion controllers 34, and all four fourth motion controllers are fixedly mounted on the connecting plate 18. By integrating the third motion controller and each of the fourth motion controllers 34 onto the connecting plate 18, the wiring length of the industrial Ethernet cable 5 between the third motion controller 33 and each of the fourth motion controllers 34 can be shortened, facilitating cable management. This also avoids the space waste caused by the third motion controller 33 and the fourth motion controller 34 being scattered on the robotic arm 14.

[0054] Example 2

[0055] This utility model embodiment also provides a bronchoscopy robot, which includes a robotic arm with a distributed motion controller as in any of the embodiments in Embodiment 1.

[0056] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0057] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0058] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0059] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0060] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0061] Of course, the above description of the embodiments of this utility model is quite detailed, but it should not be construed as a limitation on the scope of protection of this utility model. This utility model may have other various implementations. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of this utility model. The scope of protection of this utility model is subject to the appended claims.

Claims

1. A robot arm with distributed motion controllers, characterized by, The mechanical arm comprises a mechanical arm body, a driving unit, and a control unit. The driving unit comprises a plurality of motor modules, each of which is arranged on the mechanical arm body along the length direction of the mechanical arm body. The control unit comprises a plurality of motion controllers, each of which is arranged on the mechanical arm body and close to each motor module. The driving unit comprises a vertical arm motor module, a swing arm motor module, and an instrument arm motor module.

2. The robot arm with distributed motion controllers of claim 1, wherein, The control unit comprises a first motion controller, a second motion controller, and a third motion controller. The mechanical arm body comprises a vertical arm, a connecting arm, a swing arm, and an instrument arm. The vertical arm motor module is electrically connected with the first motion controller and arranged close to the vertical arm. The connecting arm is arranged on the vertical arm and driven to slide by the vertical arm motor module. One end of the swing arm is rotationally connected with the connecting arm. The other end of the swing arm is rotationally connected with the other end of the instrument arm and driven to rotate by the swing arm motor module. The instrument arm motor module is electrically connected with the third motion controller and arranged close to the instrument arm.

3. The robot arm with distributed motion controllers of claim 2, wherein, The driving unit further comprises a pull wire motor module, which is arranged on the instrument arm and driven by the instrument arm motor module. The control unit further comprises a fourth motion controller, which is arranged on the instrument arm and close to the pull wire motor module and electrically connected with the pull wire motor module.

4. The robot arm with distributed motion controllers of claim 3, wherein, The mechanical arm further comprises an upper computer and an industrial Ethernet cable. The industrial Ethernet cable is connected with the upper computer, the first motion controller, the second motion controller, the third motion controller, and the fourth motion controller in sequence. The mechanical arm further comprises a power supply module, which is arranged in the mechanical arm body and electrically connected with each motion controller in the control unit.

5. The robot arm with distributed motion controllers of claim 1, wherein, The mechanical arm body further comprises a handle, which is fixedly arranged on one end of the instrument arm. The mechanical arm body further comprises a first sliding block, which is arranged on the vertical arm through a first sliding groove and connected with the vertical arm motor module.

6. The robot arm with distributed motion controllers of claim 2, wherein, The mechanical arm body further comprises a second sliding block, which is arranged on the instrument arm through a second sliding groove and connected with the instrument arm motor module. The mechanical arm body further comprises a connecting plate, which is detachably arranged on the instrument arm and on which the third motion controller and the fourth motion controller are fixedly arranged.

7. The robot arm with distributed motion controllers of claim 2, wherein, The mechanical arm with distributed motion controllers is provided. ​ 8. The robot arm with distributed motion controllers of claim 3, wherein, ​ ​ 9. The robot arm with distributed motion controllers of claim 3, wherein, ​ ​ 10. A bronchoscope robot, characterized by, ​

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