Surgical mechanical arm and surgical robot

Abstract

The utility model relates to the field of medical instruments, in particular to a surgical mechanical arm and a surgical robot. The utility model provides a surgical mechanical arm and a surgical robot, the surgical mechanical arm comprises a mounting base, a connecting rod mechanism and an instrument holder, the mounting base comprises a first rotating joint, the connecting rod mechanism comprises a second rotating joint, the connecting rod mechanism is rotatably connected to the first rotating joint, and the instrument holder is rotatably connected to the second rotating joint; the rotating axis of the first rotating connector and the rotating axis of the second rotating connector deviate by 90 degrees. According to the surgical mechanical arm, through the multi-connecting-rod structure, the working space of the surgical mechanical arm is increased, the operation flexibility of the surgical mechanical arm is improved, and more surgical requirements can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular to a surgical mechanical arm and a surgical robot. BACKGROUND

[0002] With the rapid development of high-tech industries such as artificial intelligence and Internet of Things, the development of surgical robot systems is becoming more and more mature. Surgical robots can increase the operational dexterity in the surgical process and reduce the area of damage to patients during surgery, thereby reducing the postoperative recovery time and other side effects of patients.

[0003] Currently, when a doctor performs surgery through a surgical robot, the doctor generally sits at a surgical console and controls the movement of a slave surgical mechanical arm through a master controller system. The surgical mechanical arm can hold a related surgical instrument and insert it into the patient's body to perform the surgical process on the patient.

[0004] However, the working space of the surgical mechanical arm in the prior art is small, the mechanical arm is not flexible and stable enough in action, and the range of movement is limited. CONTENT OF THE INVENTION

[0005] To solve the above technical problems, the present application provides a surgical mechanical arm and a surgical robot. The surgical mechanical arm provided by the present application increases the working space and operational flexibility of the surgical mechanical arm through a multi-link structure, and can meet more surgical needs.

[0006] In a first aspect, the present application provides a surgical mechanical arm, which comprises a mounting base, a link mechanism and an instrument holder. The mounting base comprises a first rotary joint, the link mechanism comprises a second rotary joint, the link mechanism is rotationally connected to the first rotary joint, and the instrument holder is rotationally connected to the second rotary joint. The rotary axes of the first rotary joint and the second rotary joint are offset by 90 degrees.

[0007] The surgical mechanical arm provided by the present application controls the movement of a surgical instrument through a link mechanism, an instrument holder and related rotary joints. The first rotary joint controls the deflection movement of the link mechanism and the instrument holder, and the second rotary joint controls the pitch movement of the instrument holder. By designing the rotary axes of the first rotary joint and the second rotary joint to be perpendicular to each other, the working space of the surgical mechanical arm can be increased to meet more surgical needs.

[0008] As an optional implementation, the link mechanism comprises a first link, a second link, a third link and a plurality of coupling joints. The first link, the second link and the third link are rotationally connected through the plurality of coupling joints.

[0009] In this way, the operational flexibility of the surgical mechanical arm can be increased through multi-link coupling.

[0010] As an optional implementation, the plurality of coupling joints comprises a first coupling joint and a second coupling joint, the first connecting rod and the second connecting rod are rotationally connected through the first coupling joint, and the second connecting rod and the third connecting rod are rotationally connected through the second coupling joint.

[0011] In this way, the structural stability of the connecting rod mechanism can be improved.

[0012] As an optional implementation, the connecting rod mechanism further comprises a third rotational joint, and an end of the first connecting rod away from the second connecting rod is rotationally connected with the third rotational joint.

[0013] In this way, the third rotational joint can increase the rotation dimension of the connecting rod mechanism and increase the movement space of the surgical robot arm.

[0014] As an optional implementation, the third rotational joint is fixedly connected with the first rotational joint, and the rotation axis of the third rotational joint and the rotation axis of the first rotational joint are offset by 90 degrees.

[0015] In this way, the second rotational joint can be offset by 90 degrees from the first rotational joint to increase the movement space of the surgical robot arm.

[0016] As an optional implementation, the first rotational joint and the third rotational joint each comprise a rotating shell, and the rotating shell of the first rotational joint is fixedly connected with the rotating shell of the third rotational joint.

[0017] In this way, the connection stability between the mounting base and the connecting rod mechanism can be improved.

[0018] As an optional implementation, the surgical robot arm further comprises a first driving module and a second driving module, the first driving module is installed in the rotating shell of the first rotational joint, and the first driving module is configured to drive the first rotational joint to rotate; the second driving module is installed in the shell of the third rotational joint, and the second driving module is configured to drive the third rotational joint to rotate.

[0019] In this way, the relevant rotational joints can be driven to rotate by the driving modules, and the motion control precision of the surgical robot arm can be improved.

[0020] As an optional implementation, the instrument holder comprises a telescopic shaft and a third driving module, and the third driving module is configured to drive the telescopic shaft to perform telescopic movement.

[0021] In this way, the telescopic shaft can be driven to move by the third driving module, and the movement space of the surgical robot arm can be increased.

[0022] As an optional implementation, the instrument holder has a clamping portion, the clamping portion is located at the end of the instrument holder, and the clamping portion is used to clamp a surgical instrument.

[0023] In this way, the instrument holder can hold the surgical instrument through the clamping part to drive the surgical instrument to move, thereby increasing the stability of the surgical instrument during movement.

[0024] In a second aspect, the present application provides a surgical robot comprising the surgical manipulator.

[0025] The surgical robot provided by the present application can control the surgical instrument through the surgical manipulator to perform surgery, thereby increasing the operation space and flexibility during surgery.

[0026] The present application provides a surgical manipulator and a surgical robot. The surgical manipulator comprises a mounting base, a linkage mechanism, and an instrument holder. The mounting base comprises a first rotary joint. The linkage mechanism comprises a second rotary joint. The linkage mechanism is rotatably connected to the first rotary joint. The instrument holder is rotatably connected to the second rotary joint. The rotary axes of the first rotary joint and the second rotary joint are offset by 90 degrees. The surgical manipulator provided by the present application comprises a multi-linkage structure, thereby increasing the working space and flexibility of the surgical manipulator and meeting more surgical requirements.

[0027] In addition to the technical problems solved by the embodiments of the present application described above, the technical features constituting the technical solutions, and the beneficial effects brought by these technical features, other technical problems solved by the surgical manipulator and the surgical robot provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0029] Figure 1 The surgical manipulator structure provided by the embodiments of the present application is shown in the figure;

[0030] Figure 2 The surgical manipulator movement provided by the embodiments of the present application is shown in the figure;

[0031] Figure 3 The surgical manipulator perspective view provided by the embodiments of the present application is shown in the figure.

[0032] Explanation of reference signs:

[0033] 100-surgical manipulator;

[0034] 101 - first parallelogram;

[0035] 102 - second parallelogram;

[0036] 103 - center of manipulation;

[0037] 110 - mounting base;

[0038] 111 - first rotary joint;

[0039] 112 - rotary housing;

[0040] 120 - linkage mechanism;

[0041] 121 - second rotary joint;

[0042] 122 - third rotary joint;

[0043] 123 - first link;

[0044] 124 - second link;

[0045] 125 - third link;

[0046] 126 - first coupling joint;

[0047] 127 - second coupling joint;

[0048] 130 - instrument holder;

[0049] 131 - clamping portion;

[0050] 140 - first drive module;

[0051] 150 - second drive module;

[0052] 160 - third drive module;

[0053] 170 - telescopic shaft;

[0054] 180 - deflection axis;

[0055] 190 - pitch axis. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of the present application.

[0057] The terms "first", "second", "third", "fourth", and the like in the description and in the claims of the present application and above-mentioned drawings are used for distinguishing between similar objects and not necessarily for describing a specific sequential or chronological order. It is to be understood that the use of these terms herein is to be construed to cover the use of any of the terms in the broader sense, and that the use of these terms in the description and claims of this application is not intended to limit the position of the corresponding part or to limit any unclaimed aspect of the present application to being the "first", "second", "third", "fourth", etc. aspect described and claimed.

[0058] Depending on the context, the word "if' as used herein can be interpreted to mean "when" or "while" or "in response to the determination of".

[0059] Also, as used in the description herein and throughout this application, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0060] It will be further understood that the terms "comprises" and "comprising", "includes" and / or "including", when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, and / or groups but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, items, and / or groups thereof.

[0061] The terms "or" and "and / or" as used herein are to be interpreted as inclusive, i.e., as meaning one or any combination of the items. Thus, "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C". An exception to this definition will occur only when two or more elements are in some way either incompatible with each other, or the combination of elements is expressly stated to be mutually exclusive.

[0062] With the rapid development of high-tech industries such as artificial intelligence and Internet of Things, the development of surgical robot systems is also becoming more and more mature. Surgical robots can increase the operational dexterity in the surgical process, reduce the area of damage to patients during surgery, and thus reduce the postoperative recovery time and other side effects.

[0063] At present, during the operation, the surgeon sits at the operation console, directly observes the three-dimensional image of the operation area transmitted by the endoscope placed in the patient's body, and then controls the movement of the slave mechanical arm through the master controller system, so that the mechanical arm simulates the human arm to perform the operation process on the patient. The surgical mechanical arm can hold the relevant surgical instruments inserted into the patient's body to perform the operation process on the patient. Before the operation, the surgeon manually adjusts the center of operation of the end of the mechanical arm to be located at the incision on the surface of the patient, and locks the position during the operation to keep it fixed.

[0064] However, the surgical mechanical arm structure in the prior art still has some deficiencies, such as small working space, not flexible and stable mechanical arm movement, and limited movement range.

[0065] To address the aforementioned technical issues, this application provides a surgical robotic arm and a surgical robot. By offsetting the rotation axes of the first and second rotary joints by 90 degrees and using a multi-link structure, the working space and operational flexibility of the surgical robotic arm are increased, enabling it to meet more surgical needs.

[0066] Figure 1 This is a schematic diagram of the surgical robotic arm structure provided in an embodiment of this application; Figure 2 A diagram showing the movement of a surgical robotic arm provided in an embodiment of this application; Figure 3 This is a perspective view of the surgical robotic arm provided in an embodiment of this application.

[0067] like Figures 1 to 3 This application provides a surgical robotic arm 100, including a mounting base 110, a linkage mechanism 120, and an instrument holder 130. The mounting base 110 includes a first rotary joint 111, the linkage mechanism 120 includes a second rotary joint 121, the linkage mechanism 120 is rotatably connected to the first rotary joint 111, and the instrument holder 130 is rotatably connected to the second rotary joint 121; wherein the rotation axes of the first rotary joint 111 and the second rotary joint 121 are offset by 90 degrees.

[0068] It should be noted that the rotation axis of the first rotary joint 111 can intersect with the axis of the surgical instrument held by the instrument holder 130. Figure 3 The deflection axes 180 shown coincide, and the linkage mechanism 120 and the instrument holder 130 can be deflected and rotated about the deflection axis 180 through the first rotary joint 111; the rotation axis of the second rotary joint 121 can be offset to... Figure 3 The pitch axis 190 shown allows the instrument holder 130 to pitch and rotate around the pitch axis 190 via the second rotary joint 121. The deflection axis 180, the pitch axis 190, and the axis of the surgical instrument held by the instrument holder 130 intersect at the control center 103, which remains stationary relative to the patient, i.e., the point of contact where the surgical instrument is inserted into the patient's skin. The deflection axis 180 is perpendicular to the pitch axis 190, i.e., the rotation axes of the first rotary joint 111 and the second rotary joint 121 are offset by 90 degrees. In this way, the surgical robotic arm 100 can obtain a larger working space.

[0069] It can be understood that the mounting base 110, as a fixed base of the surgical manipulator 100, is usually installed on an operating table, a manipulator support or a mobile platform and remains fixed relative to a patient; the first rotary joint 111 provides a rotational degree of freedom of ±180° around the deflection axis 180 for the linkage mechanism 120 and the instrument holder 130; the second rotary joint 121 provides a rotational degree of freedom of ±180° around the pitch axis 190 for the instrument holder 130; the linkage mechanism 120 transmits motion through a plurality of links, so that the surgical manipulator 100 can be bent into different shapes, and the instrument holder 130 can ensure that the center of operation 103 remains stationary relative to the patient during multidimensional rotation; and the instrument holder 130 is used to hold a related surgical instrument for surgery.

[0070] In the mounting base 110, a high-rigidity material can be used to suppress vibration, or a damping device can be installed to suppress vibration, to ensure operation accuracy during surgery; the linkage mechanism 120 can use a lightweight and high-rigidity material such as carbon fiber, and the length thereof can be adjusted to adapt to different patient sizes; and the instrument holder 130 can rotate 360° around an axis to enable the surgical instrument to work 360° circumferentially.

[0071] In a possible implementation, the linkage mechanism 120 includes a first link 123, a second link 124, a third link 125 and a plurality of coupling joints, and the first link 123, the second link 124 and the third link 125 are rotationally connected through the plurality of coupling joints.

[0072] It should be noted that the first link 123 is connected to the mounting base 110 and serves as a main support arm to bear a main load; the second link 124 serves as an intermediate transition arm to adjust a motion trajectory and finely adjust the motion trajectory; and the third link 125 is connected to the instrument holder 130 to finely adjust a position and an angle of the instrument holder 130. The multi-link structure can realize multi-degree-of-freedom motion and increase flexibility of the surgical manipulator 100.

[0073] Optionally, the linkage mechanism 120 can also increase or reduce the number of links according to specific surgical requirements, for example, a fourth link and a fifth link are added to further improve the operation flexibility of the surgical manipulator, or the third link is removed to simplify the structure and reduce the cost under the condition of meeting the surgical requirements.

[0074] In a possible implementation, the plurality of coupling joints includes a first coupling joint 126 and a second coupling joint 127, and the first link 123 and the second link 124 are rotationally connected through the first coupling joint 126, and the second link 124 and the third link 125 are rotationally connected through the second coupling joint 127.

[0075] It can be understood that the first coupling joint 126 and the second coupling joint 127 are used to control the rotation of the second connecting rod 124 and the third connecting rod 125, and the rotation angle range of the second connecting rod 124 and the third connecting rod 125 can be limited according to actual scenes. For example, the rotation angle range of the second connecting rod 124 and the third connecting rod 125 is 45° to 60°, which can meet most surgical requirements.

[0076] In a possible implementation, the connecting rod mechanism 120 further includes a third rotation joint 122, and one end of the first connecting rod 123 away from the second connecting rod 124 is rotationally connected with the third rotation joint 122.

[0077] It can be understood that the third rotation joint 122 is used to control the rotation of the first connecting rod 123. For example, the rotation angle range of the first connecting rod 123 is 45° to 60°, which can meet most surgical requirements.

[0078] It should be noted that the first coupling joint 126, the second coupling joint 127, the second rotation joint 121 and the third rotation joint 122 control the rotation of the first connecting rod 123, the second connecting rod 124, the third connecting rod 125 and the instrument holder 130 around the pitch axis 190, and the first connecting rod 123, the second connecting rod 124, the third connecting rod 125 and the instrument holder 130 form a parallelogram rotation structure as shown in Figure 2 , in which the center of operation 103 and the third rotation joint 122 remain fixed, and the parallelogram rotation structure can perform telescopic motion to swing the surgical instrument part in the patient cavity around the center of operation 103.

[0079] For example, as shown in Figure 2 , in the first position, the connecting rod mechanism 120, the instrument holder 130 and the surgical instrument form a first parallelogram 101, the driving module drives the first coupling joint 126, the second coupling joint 127, the second rotation joint 121 and the third rotation joint 122 to rotate, the first parallelogram 101 changes into a second parallelogram 102, and the surgical instrument part in the patient cavity approaches the mounting base 110, and the swinging is completed.

[0080] In a possible implementation, the third rotation joint 122 is fixedly connected with the first rotation joint 111, and the rotation axis of the third rotation joint 122 and the rotation axis of the first rotation joint 111 are offset by 90 degrees.

[0081] For example, the third rotary joint 122 is connected to the first rotary joint 111 by welding, the third rotary joint 122 is welded to the upper side of the first rotary joint 111, the rotary axis of the third rotary joint 122 and the rotary axis of the first rotary joint 111 are perpendicular to each other but not in the same plane, that is, the rotary axis of the third rotary joint 122 and the rotary axis of the first rotary joint 111 are offset by 90 degrees. In this way, when the first rotary joint 111 rotates, it can drive the connecting rod mechanism 120 and the instrument holder 130 to rotate around the deflection axis 180, that is, the entire parallelogram structure rotates around the deflection axis 180, so that the surgical instrument part in the patient cavity can swing in another dimension. In this way, the swing range of the surgical instrument part in the patient cavity forms a circular cone with the center of operation 103 as the vertex.

[0082] In a possible implementation, the first rotary joint 111 and the third rotary joint 122 each include a rotary housing 112, and the rotary housing 112 of the first rotary joint 111 is fixedly connected to the rotary housing 112 of the third rotary joint 122.

[0083] It can be understood that the rotary structure of the first rotary joint 111 and the third rotary joint 122 is arranged in the rotary housing 112, and the rotary housings 112 of the first rotary joint 111 and the third rotary joint 122 can be connected by welding, so that the rotation of the first rotary joint 111 drives the third rotary joint 122 to rotate around the deflection axis 180.

[0084] In a possible implementation, the surgical robot arm 100 further includes a first driving module 140 and a second driving module 150, the first driving module 140 is installed in the rotary housing 112 of the first rotary joint 111, and the first driving module 140 is configured to drive the first rotary joint 111 to rotate; the second driving module 150 is installed in the rotary housing 112 of the third rotary joint 122, and the second driving module 150 is configured to drive the third rotary joint 122 to rotate.

[0085] It can be understood that the first driving module 140 and the second driving module can be a motor and a speed reducer, the motor is used to provide driving force and output torque to make the first rotary joint 111 and the third rotary joint 122 rotate, and the speed reducer can reduce the output speed of the motor while amplifying the torque, or make the first rotary joint 111 and the third rotary joint 122 rotate in opposite directions.

[0086] Among them, the first connecting joint 126 and the second connecting joint 127 can be connected with the third rotary joint 122 through a connecting rod, and the first connecting joint 126 and the second connecting joint 127 are driven to rotate by the third rotary joint 122. A driving module can also be provided for the first connecting joint 126 and the second connecting joint 127 to realize fine adjustment.

[0087] In a possible implementation, the instrument holder 130 comprises a telescopic shaft 170 and a third driving module 160, the third driving module 160 is configured to drive the telescopic shaft 170 to perform telescopic movement.

[0088] It can be understood that the third driving module 160 can be a motor and a speed reducer, the motor is used to provide driving force to make the telescopic shaft 170 perform telescopic movement, and the speed reducer can reduce the output rotating speed of the motor or make the telescopic shaft 170 extend or retract, since the movable range of the surgical instrument part in the patient cavity is a cone, the volume of the cone changes after the telescopic shaft 170 performs telescopic movement, so that the movable range of the surgical instrument can be adjusted and flexibility is increased.

[0089] In a possible implementation, the instrument holder 130 has a clamping part 131, the clamping part 131 is located at the end of the instrument holder 130, and the clamping part 131 is used to clamp a surgical instrument.

[0090] It can be understood that the instrument holder 130 can fix the surgical instrument by means of a clamping jaw, a bolt, magnetic attraction or the like, and the surgical instrument is selected according to surgical needs, such as forceps, scissors and the like.

[0091] The application further provides a surgical robot, the surgical robot can further comprise a console used to control the surgical robot arm 100.

[0092] The application provides a surgical robot arm 100 and a surgical robot, the surgical robot arm 100 comprises a mounting base 110, a connecting rod mechanism 120 and an instrument holder 130, the mounting base 110 comprises a first rotary joint 111, the connecting rod mechanism 120 comprises a second rotary joint 121, the connecting rod mechanism 120 is rotationally connected to the first rotary joint 111, and the instrument holder 130 is rotationally connected to the second rotary joint 121; wherein the rotary axes of the first rotary joint 111 and the second rotary joint 121 are offset by 90 degrees. The surgical robot arm 100 provided by the application increases the working space and operation flexibility of the surgical robot arm 100 through a multi-connecting rod structure, and can meet more surgical needs.

[0093] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the application, and not to limit them; although the application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

Claims

1. A surgical robot arm (100) characterised in that, The surgical robot arm (100) comprises a mounting base (110), a linkage mechanism (120) and a surgical instrument holder (130), the mounting base (110) comprises a first rotary joint (111), the linkage mechanism (120) comprises a second rotary joint (121), the linkage mechanism (120) is rotatably connected to the first rotary joint (111), and the surgical instrument holder (130) is rotatably connected to the second rotary joint (121). The rotary axes of the first rotary joint (111) and the second rotary joint (121) are offset by 90 degrees.

2. The surgical manipulator arm (100) according to claim 1, characterized in that The linkage mechanism (120) comprises a first linkage (123), a second linkage (124), a third linkage (125) and a plurality of coupling joints, the first linkage (123), the second linkage (124) and the third linkage (125) are rotatably connected through the plurality of coupling joints.

3. The surgical manipulator arm (100) according to claim 2, characterized in that The plurality of coupling joints comprises a first coupling joint (126) and a second coupling joint (127), the first linkage (123) and the second linkage (124) are rotatably connected through the first coupling joint (126), and the second linkage (124) and the third linkage (125) are rotatably connected through the second coupling joint (127).

4. The surgical manipulator arm (100) according to claim 2 or 3, characterized in that The linkage mechanism (120) further comprises a third rotary joint (122), and one end of the first linkage (123) away from the second linkage (124) is rotatably connected to the third rotary joint (122).

5. The surgical manipulator arm (100) according to claim 4, characterized in that The third rotary joint (122) is fixedly connected to the first rotary joint (111), and the rotary axis of the third rotary joint (122) is offset by 90 degrees from the rotary axis of the first rotary joint (111).

6. The surgical manipulator arm (100) according to claim 5, characterized in that The first rotary joint (111) and the third rotary joint (122) each comprise a rotary housing (112), and the rotary housing (112) of the first rotary joint (111) is fixedly connected to the rotary housing (112) of the third rotary joint (122).

7. The surgical manipulator arm (100) according to claim 6, characterized in that The surgical robot arm (100) further comprises a first driving module (140) and a second driving module (150), the first driving module (140) is installed in the rotary housing (112) of the first rotary joint (111) and is configured to drive the first rotary joint (111) to rotate, and the second driving module (150) is installed in the rotary housing (112) of the third rotary joint (122) and is configured to drive the third rotary joint (122) to rotate.

8. The surgical manipulator arm (100) according to claim 1, characterized in that The surgical instrument holder (130) comprises a telescopic shaft (170) and a third driving module (160), and the third driving module (160) is configured to drive the telescopic shaft (170) to perform telescopic movement.

9. The surgical manipulator arm (100) according to claim 1, characterized in that The surgical instrument holder (130) has a clamping portion (131) at the end thereof, and the clamping portion (131) is used for clamping a surgical instrument.

10. A surgical robot, characterized by The surgical robot arm (100) comprises the surgical instrument holder (130) according to any one of claims 1-9.

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