Universal medical mechanical arm with automatic leveling function

Abstract

The utility model provides a universal medical mechanical arm with an automatic leveling function. Comprising a movable base, a horizontal moving mechanism arranged on the base, an up-down lifting mechanism arranged on the horizontal moving mechanism, a rotating joint set connected to the up-down lifting mechanism, and a pitching joint connected to the tail end of the rotating joint set, wherein the rotating axis of the pitching joint extends in the horizontal direction. The rotating joint set comprises a plurality of rotating joints which extend in the horizontal direction and are sequentially connected, the rotating shaft axes of the rotating joints extend in the vertical direction, the pitching joints are provided with universal interfaces connected with the surgical instruments, different types of surgical instruments can be connected, and universality is improved; all the hydraulic cylinders are connected in series, the pedal pump for controlling the hydraulic cylinders to stretch out and draw back is arranged on the base, when the base moves in place, the pedal pump is treaded, the hydraulic cylinders can be used for jacking up the base and keeping the base horizontal, automatic leveling is achieved, the degree of freedom is high, the moving range is large, and the application range is wide.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a general-purpose medical robotic arm with automatic leveling function. Background Technology

[0002] Medical robotic arms are a product of the combination of robotics technology and modern medicine. They are designed to assist or replace doctors in performing complex medical procedures through high-precision, automated mechanical systems. Their development involves multiple disciplines, including robotics, medical imaging, artificial intelligence, control engineering, and human-computer interaction.

[0003] Existing medical robotic arms are usually designed for specific surgical procedures, such as robotic arms for bronchoscopic interventional surgery, vascular interventional surgery, and particle implantation surgery. Their clamping structure and reach are limited by specific surgical procedures, making it difficult to accommodate multiple surgical procedures and resulting in poor versatility.

[0004] Depending on the nature of the surgical procedure, existing medical robotic arms can be broadly categorized into two types: fixed and mobile. Fixed robotic arms cannot be moved as a whole; their moving parts are mostly mounted on a track, as disclosed in Chinese patent CN218136313U. This track itself is fixed to the ground, requiring anchor bolts, which is incompatible with the operating room environment. These robotic arms have relatively limited degrees of freedom. Mobile robotic arms, on the other hand, can be moved as a whole. Examples of such robotic arms are disclosed in Chinese patents CN206548603U and CN119750097A. However, these robotic arms primarily use a trolley for support. Limited by the trolley structure, their load capacity is generally low. Furthermore, because the trolley moves via casters, which are in point contact with the ground, the overall level of the robotic arm is difficult to meet surgical requirements when the ground is uneven. This necessitates repeated trolley movements to adjust the level, making operation inconvenient. Additionally, the point-contact support is not stable, causing the robotic arm to wobble during operation, significantly impacting the surgeon's work. Utility Model Content

[0005] The purpose of this invention is to overcome one or more shortcomings of the prior art and provide a universal medical robotic arm with automatic leveling function, which can accommodate surgical procedures such as bronchoscopic interventional surgery, vascular interventional surgery, and particle implantation surgery.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is a general-purpose medical robotic arm with automatic leveling function, comprising:

[0007] Movable base;

[0008] A horizontal moving mechanism is provided on the base;

[0009] A vertical lifting mechanism is provided on the horizontal moving mechanism;

[0010] A rotary joint assembly connected to the lifting mechanism, the rotary joint assembly comprising multiple rotary joints extending horizontally and connected in sequence, the rotation axis of the rotary joints extending vertically.

[0011] A pitch joint is connected to the end of the rotary joint assembly, and the axis of rotation of the pitch joint extends in the horizontal direction.

[0012] The pitch joint is provided with a universal interface for connecting surgical instruments. The bottom of the base is provided with multiple retractable hydraulic cylinders, all of which are connected in series. The base is also provided with a foot pump to control the extension and retraction of the hydraulic cylinders. When the base moves into position, the foot pump is stepped on, and the hydraulic cylinders lift the base and keep it horizontal.

[0013] Preferably, the base includes a base plate whose projection in the vertical direction is rectangular. The short side of the base plate is provided with a short side notch for embedding the foot pump, and the long side of the base plate is provided with at least three long side notches for embedding the movable caster fixing block. The bottom surface of the movable caster fixing block is connected to a movable caster for the base to move.

[0014] More preferably, there are four hydraulic cylinders connected to the four corners of the bottom of the base plate, the telescopic rods of the hydraulic cylinders can extend downwards or retract, and the foot pump is integrated with a three-way valve for pressure relief.

[0015] More preferably, the upper surface of the base is provided with a plurality of counterweights, and the bottom edge of the base is connected with a skirt, which covers the hydraulic cylinder and the movable casters.

[0016] More preferably, the horizontal moving mechanism includes a linear slide rail, a translation base plate, a rack, a gear, and a drive assembly. There are two linear slide rails, which are arranged parallel to each other on the upper surface of the base plate and extend in a direction parallel to the long side of the base plate. The translation base plate is slidably mounted on the two linear slide rails by a slider. The rack is arranged parallel to the two slide rails. The gear is rotatably mounted on the bottom of the translation base plate and meshes with the rack. The drive assembly is mounted on the translation base plate for driving the gear to rotate.

[0017] More preferably, the horizontal moving mechanism further includes a limiting block fixed to the upper surface of the translation base plate. The limiting block is close to the end of the linear slide rail and abuts against the end face of the linear slide rail. The limiting block is used to prevent the translation base plate from detaching from the linear slide rail when it slides.

[0018] More preferably, the driving assembly includes a reducer disposed on the upper surface of the translation base plate and a drive motor connected to the upper end of the reducer. The output axis of the reducer passes downward through the translation base plate and is connected to the gear. When the drive motor is working, it can drive the gear to rotate, so that the translation base plate slides along the linear slide rail.

[0019] More preferably, the horizontal moving mechanism further includes a limit switch and a limit switch baffle. The limit switch is connected to the bottom of the translation base plate, and the limit switch baffle is fixed to the upper surface of the base plate and is correspondingly arranged with the limit switch. When the translation base plate slides along the linear slide rail and the limit switch touches the limit switch baffle, the limit switch is triggered and the drive motor stops working.

[0020] More preferably, the horizontal moving mechanism further includes a cable chain, one end of which is fixed to the base plate and the other end is connected to the translation base plate.

[0021] More preferably, the lifting mechanism includes an outer column, an inner column, and a linear drive motor. The lower end of the outer column is fixedly connected to the upper surface of the translation base plate, and the upper end of the outer column extends vertically upward. The inner column is movably inserted into the outer column. The linear drive motor is fixed inside the outer column via a flange. The head of the extension rod of the linear drive motor is fixedly connected to the inner column. When the extension rod extends, the inner column rises, and when the extension rod retracts, the inner column descends.

[0022] More preferably, both the outer column and the inner column have rectangular cross-sections, a gap plate is fixed to the top of the outer column, and a square plug is fixed to the top of the inner column.

[0023] More preferably, the general-purpose medical robotic arm further includes a control box and a handle, the control box and the handle being respectively disposed on two adjacent side walls of the outer column.

[0024] More preferably, the lifting mechanism further includes a nylon block and a nylon block connecting plate disposed between the outer column and the inner column, wherein the nylon block is connected to the outer column through the nylon block connecting plate.

[0025] Preferably, adjacent rotary joints are staggered in the vertical direction. Each rotary joint includes a swing arm extending in the horizontal direction and a rotary drive unit embedded at one end of the swing arm. The other end of the swing arm is embedded with the rotary drive unit of the adjacent rotary joint, so that the head end of the rotary joint assembly is the free end of the swing arm connected to the vertical lifting mechanism, and the end end of the rotary joint assembly is the rotary drive unit connected to the pitch joint.

[0026] More preferably, the rotary drive unit includes an electronic clutch, a reducer, a connecting key, and a connecting shaft. The electronic clutch is fixed to the end of one of the adjacent swing arms, and the reducer is fixed to the end of the other adjacent swing arm. The electronic clutch is connected to the reducer via the connecting key and the connecting shaft. When the electronic clutch is disengaged, the adjacent swing arms can rotate relative to each other through the action of the reducer. When the electronic clutch is closed, the relative positions of the adjacent swing arms remain locked.

[0027] Preferably, the pitch joint includes a pitch joint base, a pitch drive unit, and a pitch base plate. The pitch joint base is hollow and has a vertical end and transverse ends located on the left and right sides of the vertical end. The vertical end is connected to the end of the rotary joint assembly. A rotatable adapter plate is provided on the transverse end. The rotation axis of the adapter plate extends in the left-right direction. The adapter plate includes an output adapter plate and a driven adapter plate arranged coaxially. The pitch drive unit is located in the pitch joint base and is used to drive the output adapter plate to rotate. The pitch base plate is used to install the universal interface. The pitch base plate is arc-shaped and spaced apart below the pitch joint base. The two ends of the pitch base plate are respectively connected to the extension ends of the output adapter plate and the driven adapter plate.

[0028] More preferably, the pitch drive unit includes a servo motor and a reducer connected to the output end of the servo motor. The servo motor is fixedly connected to the inner wall of the pitch joint base via a motor mount. The output shaft of the servo motor is connected to the input end of the reducer, and the output end of the reducer is connected to the output adapter plate.

[0029] More preferably, the universal interface includes a first universal interface located at the bottom of the pitch base plate and a second universal interface located on the outer wall of the output adapter plate.

[0030] More preferably, the pitch joint further includes a joint connector disposed between the vertical end and the end of the rotary joint assembly, the joint connector being used to cover the reducer connecting the rotary joint and the vertical end.

[0031] More preferably, an end cap is connected to the lateral end of the driven adapter plate, and the end cap has two symmetrical protrusions along its diameter direction. The protrusions are provided with a proximity switch for detecting the position of the extended end of the driven adapter plate.

[0032] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art:

[0033] This utility model provides a universal medical robotic arm with automatic leveling function, including a movable base, a horizontal moving mechanism on the base, a vertical lifting mechanism on the horizontal moving mechanism, a rotary joint assembly connected to the vertical lifting mechanism, and a pitch joint connected to the end of the rotary joint assembly with its rotation axis extending horizontally. The rotary joint assembly includes multiple rotary joints extending horizontally and connected sequentially, with their rotation axes extending vertically. By setting a universal interface for connecting surgical instruments on the pitch joint, different types of surgical instruments can be connected, improving versatility. By setting multiple retractable hydraulic cylinders at the bottom of the base, all hydraulic cylinders are connected in series. A foot pump is set on the base to control the extension and retraction of the hydraulic cylinders. When the base moves to the correct position, stepping on the foot pump can use the hydraulic cylinders to lift the base and keep it horizontal, achieving automatic leveling. It has high degree of freedom, a large range of motion, and a wide range of applications. Attached Figure Description

[0034] Figure 1 This is a perspective view of a preferred embodiment of the present invention.

[0035] Figure 2 yes Figure 1 A 3D diagram of the central base.

[0036] Figure 3 yes Figure 2 A schematic diagram of the assembly and disassembly.

[0037] Figure 4 yes Figure 1 A three-dimensional schematic diagram of the horizontal moving mechanism and the base plate.

[0038] Figure 5 yes Figure 4 A schematic diagram of the assembly and disassembly.

[0039] Figure 6 yes Figure 1 A three-dimensional schematic diagram of the vertical lifting mechanism.

[0040] Figure 7 yes Figure 6 A schematic diagram of the assembly and disassembly.

[0041] Figure 8 yes Figure 1 A three-dimensional schematic diagram of the mid-rotation joint assembly.

[0042] Figure 9 yes Figure 8 A schematic diagram of the assembly and disassembly.

[0043] Figure 10 yes Figure 1 A magnified 3D diagram of the pitch joint.

[0044] Figure 11 yes Figure 10 A schematic diagram of the assembly and disassembly.

[0045] The components are as follows: 100. Base; 101. Hydraulic cylinder; 102. Foot pump; 103. Base plate; 104. Short side notch; 105. Movable caster fixing block; 106. Long side notch; 107. Movable caster; 108. Counterweight block; 109. Skirt; 110. Groove; 200. Horizontal moving mechanism; 201. Linear slide rail; 202. Translation base plate; 203. Rack; 204. Gear; 205. Slider; 206. Reducer; 207. Drive motor; 208. First limit stop; 209. Second limit stop; 210. Third limit stop; 211. Fourth limit stop; 212. Left limit switch; 213. 214. Right limit switch; 215. Left limit switch stop plate; 216. Right limit switch stop plate; 217. Cable chain; 218. Cable chain support block; 300. Lifting mechanism; 301. Outer column; 302. Inner column; 303. Linear drive motor; 304. Gap plate; 305. Square plug; 306. Front nylon block; 307. Rear nylon block; 308. Left nylon block; 309. Right nylon block; 310. Front nylon block connecting plate; 311. Rear nylon block connecting plate; 312. Left nylon block connecting plate; 313. Right nylon block connecting plate; 400. Rotary joint assembly; 410. First rotary joint; 411. ... 412. First swing arm; 413. First electronic clutch; 414. First reducer; 415. First connecting key; 416. First connecting shaft; 420. Second rotary joint; 421. Second swing arm; 422. Second electronic clutch; 423. Second reducer; 424. Second connecting key; 425. Second connecting shaft; 430. Third rotary joint; 431. Third swing arm; 432. Third electronic clutch; 433. Third reducer; 434. Third connecting key; 435. Third connecting shaft; 500. Pitch joint; 501. Pitch joint base; 502. Pitch base plate; 503. Vertical end; 504. Lateral end; 505. 506. Output adapter plate; 507. Slave adapter plate; 508. Servo motor; 509. Motor mount; 510. Single-stage reducer; 511. Pitch reducer; 512. Coupling; 513. First universal interface; 514. Second universal interface; 515. First adapter flange; 516. Second adapter flange; 517. Joint connector; 518. End cover; 519. Protrusion; 520. Flexible button; 521. Wiring plug; 522. End inlet cover plate; 523. Bushing; 524. Flat washer; 525. Nylon buffer pad; 526. Flat washer; 527. Rubber plug; 600. Control box; 700. Handle. Detailed Implementation

[0046] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art.

[0047] like Figures 1 to 11 As shown, the universal medical robotic arm with automatic leveling function provided by this utility model includes: a movable base 100, a horizontal moving mechanism 200 disposed on the base 100, a vertical lifting mechanism 300 disposed on the horizontal moving mechanism 200, a rotary joint assembly 400 connected to the vertical lifting mechanism 300, and a pitch joint 500 connected to the end of the rotary joint assembly 400. The rotary joint assembly 400 includes three rotary joints extending horizontally and connected sequentially, namely a first rotary joint 410, a second rotary joint 420, and a third rotary joint 430. The rotation axes of joint 410, the second rotation joint 420, and the third rotation joint 430 all extend vertically, while the rotation axis of pitch joint 500 extends horizontally. Pitch joint 500 is provided with a universal interface for connecting surgical instruments. The bottom of base 100 is provided with multiple retractable hydraulic cylinders 101, all of which are connected in series. Base 100 is also provided with a foot pump 102 for controlling the extension and retraction of hydraulic cylinders 101. When base 100 moves into position (when it moves to the position required during surgery), the foot pump 102 is pressed, and the hydraulic cylinders 101 lift base 100 and keep it horizontal.

[0048] The advantages of this design are that it can connect different types of surgical instruments using a universal interface, improving versatility, and can automatically level the base by using multiple tandem hydraulic cylinders to lift it and keep it horizontal, requiring less flatness of the ground. It can adapt to various working environments without affecting its control accuracy. Through the coordination of the horizontal movement mechanism, the vertical lifting mechanism, and three sets of sequentially connected rotary and pitch joints, the surgical instruments connected to the universal interface can also achieve horizontal, vertical, rotary, and vertical pitch movements, realizing six degrees of freedom adjustment. This provides higher degrees of freedom and a larger range of motion, improving the convenience of surgery for doctors and expanding the applicability of this medical robotic arm.

[0049] In this embodiment, the base 100 includes a rectangular base plate 103 projected vertically. The base plate 103 has a short side notch 104 for embedding the foot pump 102 on its short side. Each long side of the base plate 103 has three long side notches 106 for embedding movable caster fixing blocks 105. The bottom surface of the movable caster fixing blocks 106 is connected to movable casters 107 for the base 100 to move. Furthermore, four hydraulic cylinders 101 are connected to the four corners of the bottom of the base plate 103. The telescopic rods of the hydraulic cylinders 101 can extend downwards or retract. Before surgery, the doctor raises the base plate 103 by stepping on the foot pump 102 until it is fully supported. Because the four hydraulic cylinders 101 are connected in series, the extension height can be automatically matched according to different ground conditions. The base plate 100 is also integrated with a three-way valve for pressure relief. After surgery or when the position needs to be adjusted, the three-way valve can be turned to switch the foot pump 102. At this time, the doctor can step on the foot pump 102 to lower the base plate 103 completely, so that the base plate 103 is supported on the six movable casters 107, so as to facilitate the movement of the base 100. To improve the stability of the base 100, the upper surface of the base 100 is provided with six counterweights 108. These six counterweights 108 are embedded in the groove 110 opened in the middle of the upper surface of the base plate 103 and are evenly distributed along the long side (left and right direction) of the base plate 103. To improve safety, the bottom edge of the base 103 is also connected with a skirt 109, which covers the hydraulic cylinder 101 and the movable casters 107.

[0050] The medical robotic arm is designed to carry a load of 25kg and has a safety factor of 2. It can adapt to the surgical instruments required for various surgical procedures. The hydraulic cylinder is integrated into the bottom of the base plate, making the overall structure of the medical robotic arm relatively compact. Without affecting the overall rigidity, it can maintain the posture stability of the medical robotic arm and improve its flexibility.

[0051] In this embodiment, the horizontal moving mechanism 200 includes a linear slide rail 201, a translation base plate 202, a rack 203, a gear 204, and a drive assembly. There are two linear slide rails 201, which are parallel and spaced apart on the upper surface of the base plate 103 and extend in a direction parallel to the long side of the base plate 103 (left-right direction). These two linear slide rails 201 are located on the front and rear sides of the counterweight 108. The translation base plate 202 is slidably mounted on these two linear slide rails 201 via a slider 205. The rack 203 is parallel to the two slide rails 201. The gear 204 is rotatably mounted on the bottom of the translation base plate 202 and meshes with the rack 203. The drive assembly is mounted on the translation base plate 202 to drive the gear 204 to rotate. Specifically, the driving assembly includes a reducer 206 mounted on the upper surface of the translation base plate and a drive motor 207 connected to the upper end of the reducer 206. The output shaft of the reducer 206 passes downward through the translation base plate 202 and is connected to a gear 204 (the gear 204 is sleeved on the output shaft of the reducer 206 and rotates synchronously with it). When the drive motor 207 is working, it can drive the gear 204 to rotate through the reducer 206. Through the meshing of the gear 204 and the rack 203, the translation base plate 202 slides along the linear slide rail 201. Through the cooperation of the gear 204, the rack 203, the drive motor 207, and the reducer 206, the translation base plate 202 can be moved left and right, which facilitates the doctor's adjustment of the horizontal position of the medical device during the operation.

[0052] Furthermore, the horizontal moving mechanism 200 also includes four limiting blocks fixed to the upper surface of the translation base plate 202. These four limiting blocks are a first limiting block 208, a second limiting block 209, a third limiting block 210, and a fourth limiting block 211. These limiting blocks are respectively close to the end of the linear slide rail 201 and in contact with the end face of the linear slide rail 201. These limiting blocks play a hard limiting role to prevent the translation base plate 202 from detaching from the linear slide rail 201 when it slides along the linear slide rail 201.

[0053] Furthermore, the horizontal movement mechanism 200 also includes limit switches and limit switch stops. The limit switches include a left limit switch 212 and a right limit switch 213, and the limit switch stops include a left limit switch stop 214 and a right limit switch stop 215. The left limit switch 212 is connected to the bottom left side of the translation base plate 202, and the left limit switch stop 214 is fixed to the left end of the upper surface of the base plate 103 and is correspondingly arranged with the left limit switch 212. When the translation base plate 202 slides along the linear slide rail 201, the left limit switch 214... When switch 212 touches the left limit switch stop plate 214, the left limit switch 212 is triggered, and the drive motor 207 stops working. The right limit switch 213 is connected to the bottom right side of the translation base plate 202, and the right limit switch stop plate 215 is fixed to the right end of the upper surface of the base plate 103 and is set corresponding to the right limit switch 213. When the translation base plate 202 slides along the linear slide rail 201, the right limit switch 213 touches the right limit switch stop plate 215, triggering the right limit switch 213 and stopping the drive motor 207.

[0054] To facilitate wiring, the horizontal moving mechanism 200 further includes a drag chain 216. The left end of the drag chain 216 is fixed to the base plate 103, and the right end is connected to the translation base plate 202 through the drag chain support block 217. The drag chain 216 is used to store the connecting wires of components such as the drive motor 207, the reducer 206, the left limit switch 212, and the right limit switch 213.

[0055] In this embodiment, the lifting mechanism 300 includes an outer column 301, an inner column 302, and a linear drive motor 303. The lower end of the outer column 301 is fixedly connected to the upper surface of the translation base plate 202, and the upper end of the outer column 301 extends vertically upward. The inner column 302 is movably inserted into the outer column 301. The linear drive motor 303 is fixed inside the outer column 301 by a flange. The head of the extension rod of the linear drive motor 303 is fixedly connected to the inner column 302. When the extension rod extends, the inner column 302 rises, and when the extension rod retracts, the inner column 302 falls. Specifically, the cross-sections of the outer column 301 and the inner column 302 are both rectangular. A gap plate 304 is fixed to the top of the outer column 301, and a square plug 305 is fixed to the top of the inner column 302.

[0056] To facilitate the vertical movement of the inner column 302, the vertical lifting mechanism further includes nylon blocks and nylon block connecting plates disposed between the outer column 301 and the inner column 302. The nylon blocks are connected to the outer column via the nylon block connecting plates. Specifically, the nylon blocks include a front nylon block 306, a rear nylon block 307, a left nylon block 308, and a right nylon block 309 disposed on the four sides of the inner column 302. The nylon block connecting plates include a front nylon block connecting plate 310, a rear nylon block connecting plate 311, a left nylon block connecting plate 312, and a right nylon block connecting plate 313. The front nylon block 306 is connected to the outer column via the front nylon block connecting plate 310. The inner wall of the outer column 301 is connected to the front side. The rear nylon block 307 is connected to the rear inner wall of the outer column 301 through the rear nylon block connecting plate 311. The left nylon block 308 is connected to the left inner wall of the outer column 301 through the left nylon block connecting plate 312. The right nylon block 309 is connected to the right inner wall of the outer column 301 through the right nylon block connecting plate 313. By cooperating with the linear drive motor 303, the inner column 302 can be raised and lowered and friction can be reduced. This allows the rotary joint assembly 400 connected to the inner column 302 to be raised and lowered, making it convenient for doctors to adjust the height of the medical device during surgery.

[0057] Furthermore, the medical robotic arm also includes a control box 600 and a handle 700, which are respectively located on two adjacent side walls of the outer column 301. Specifically, the control box 600 is located on the rear side wall of the outer column 301, and the handle 700 is located on the left side wall of the outer column 301. The doctor can control the translation base plate 202 to move to the left by moving the left lever on the handle 700, thereby adjusting the relative position of the medical device to the left. The doctor can also control the translation base plate 202 to move to the right by moving the right lever on the handle 700, thereby adjusting the relative position of the medical device to the right.

[0058] In this embodiment, adjacent rotary joints are staggered in the vertical direction. Specifically, the first rotary joint 410 is higher than the second rotary joint 420 and higher than the third rotary joint 430. The first rotary joint 410 includes a first swing arm 411 extending in the horizontal direction and a first rotary drive unit embedded at one end of the first swing arm 411. The second rotary joint 420 includes a second swing arm 421 extending in the horizontal direction and a second rotary drive unit embedded at one end of the second swing arm 421. The third rotary joint 430 includes a third swing arm 431 extending in the horizontal direction and a third swing arm 431 embedded at one end of the third swing arm 431. The third rotary drive unit has a first rotary drive unit embedded at the other end of the second swing arm 421 (the end away from the second rotary drive unit), and a second rotary drive unit embedded at the other end of the third swing arm 431 (the end away from the third rotary drive unit), so that the head end of the rotary joint assembly 400 is the free end of the first swing arm 411 (the end away from the first rotary drive unit) connected to the upper end of the inner column 302 in the lifting mechanism 300, and the end of the rotary joint assembly 400 is the third rotary drive unit connected to the pitch joint 500.

[0059] In this embodiment, the first rotary drive unit, the second rotary drive unit, and the third rotary drive unit have the same structure. Specifically, the first rotary drive unit includes a first electronic clutch 412, a first reducer 413, a first connecting key 414, and a first connecting shaft 415. The first electronic clutch 412 is fixed to the end of the first swing arm 411, and the first reducer 413 is fixed to the end of the second swing arm 421 away from the second rotary drive unit. The first electronic clutch 412 is connected to the first reducer 413 via the first connecting key 414 and the first connecting shaft 415. The first and third phases are connected. When the first electronic clutch 412 is disengaged, the second swing arm 421 and the first swing arm 411 can rotate relative to each other through the action of the first reducer 413. When the first electronic clutch 412 is closed, the relative position of the second swing arm 421 and the first swing arm 411 remains locked. The second rotary drive unit includes a second electronic clutch 422, a second reducer 423, a second connecting key 424, and a second connecting shaft 425. The second electronic clutch 422 is fixed to the end of the second swing arm 421 away from the first swing arm 411, and the second reducer... 423 is fixed to the end of the third swing arm 431 away from the third rotary drive unit. The second electronic clutch 422 is connected to the second reducer 423 via the second connecting key 424 and the second connecting shaft 425. When the second electronic clutch 422 is disengaged, the third swing arm 431 and the second swing arm 421 can rotate relative to each other through the action of the second reducer 423. When the second electronic clutch 422 is closed, the relative position of the third swing arm 431 and the second swing arm 421 remains locked. The third rotary drive unit includes the third electronic clutch 432, the second electronic clutch 423, the second electronic clutch 423, the second electronic clutch 423, the second electronic clutch 424, the second electronic clutch 425 ... The three reducers 433, the third connecting key 434, the third connecting shaft 435, and the third electronic clutch 432 are fixed at the end of the third swing arm 431 away from the second swing arm 421. The third electronic clutch 432 is connected to the third reducer 433 through the third connecting key 434 and the third connecting shaft 435. With the three sets of swing arms cooperating with the two sets of clutches and reducers, the second swing arm 421 and the third swing arm 431 can be freely rotated and locked, which facilitates the doctor's adjustment of the horizontal position and horizontal angle of the medical instruments during the operation, so as to better carry out different surgical procedures.

[0060] In this embodiment, the first reducer 413, the second reducer 423 and the third reducer 433 are all RV reducers. When the power is cut off and the device stops at a certain position, the RV reducer can keep each swing arm stationary.

[0061] The medical robotic arm also includes flexible buttons (not shown in the figure) for controlling the posture adjustment of each arm. During the operation, the doctor can control the opening and closing of each electronic clutch through the flexible buttons, thereby facilitating the adjustment of the posture of the corresponding arm. For ease of control, in this embodiment, the electronic clutches corresponding to all arms are controlled to open and close through a single flexible button, which greatly facilitates the doctor's adjustment of the posture of the medical device.

[0062] In this embodiment, the pitch joint 500 includes a pitch joint base 501, a pitch drive unit, and a pitch base plate 502. The pitch joint base 501 is hollow tee-shaped and has a vertical end 503 and transverse ends 504 located on the left and right sides of the vertical end 503. The vertical end 503 is connected to the end of the rotary joint assembly 400. Specifically, the vertical end 503 is connected to the bottom of the third reducer 433, and the transverse end 504 is provided with a rotatable adapter plate. The rotation axis of the adapter plate extends in the left-right direction. The adapter plate includes an output adapter plate 505 and a driven adapter plate 506 arranged coaxially. The pitch drive unit is located in the pitch joint base 501 and is used to drive the output adapter plate 505 to rotate. The pitch base plate 502 is used to install a universal interface. The pitch base plate 502 is arc-shaped and spaced below the pitch joint base 501. The two ends of the pitch base plate 502 are respectively connected to the extension ends of the output adapter plate 505 and the driven adapter plate 506.

[0063] Furthermore, the pitch drive unit includes a servo motor 507 and a reducer connected to the output end of the servo motor 507. The servo motor 507 is fixedly connected to the inner wall of the pitch joint base 501 through a motor mount 508. Specifically, the motor mount 508 passes through the left side hole of the pitch joint base 501 and is fixed to the pitch joint base 501. A flat pad 526 for lubrication is also provided between the motor mount 508 and the pitch joint base 501.

[0064] The output shaft of the servo motor 507 is connected to the input end of the reducer unit, and the output end of the reducer unit is connected to the output adapter plate 505. Specifically, the reducer unit includes a single-stage reducer 509 and a pitch reducer 510. The input end of the single-stage reducer 509 is connected to the output end of the servo motor 507, and the output end of the single-stage reducer 509 is connected to the input end of the pitch reducer 510 through a coupling 511. The pitch reducer 510 is fixed on the right side of the pitch joint base 501, and the output end of the pitch reducer 510 is fixedly connected to the output adapter plate 505. The housing of the single-stage reducer 509 is fixedly connected to the motor base 508.

[0065] For ease of expansion, in this embodiment, the universal interface includes a first universal interface 512 located at the bottom of the pitch base plate 502 and a second universal interface 513 located on the outer wall of the output adapter plate 505. Specifically, the first universal interface 512 is connected to the middle position of the bottom of the pitch base plate 502 via a first adapter flange 514, and the second universal interface 513 is connected to the middle position of the outer wall of the output adapter plate 505 via a second adapter flange 515. By setting two vertical first adapter flanges 514 and second adapter flanges 515, the diverse needs of hospitals and the needs of different surgical procedures can be met.

[0066] To enhance safety, the pitch joint 500 further includes a joint connector 516, which is located between the vertical end 503 and the end of the rotary joint assembly 400 (the third rotary joint 430). The joint connector 516 is fixed to the vertical end 503 of the pitch joint base 501 and is used to cover the third reducer 433 that connects the third rotary joint 430 and the vertical end 503.

[0067] To facilitate posture and position limitation, in this embodiment, an end cap 517 is connected to the lateral end 504 on one side of the driven adapter plate 506. The end cap 517 is fixed on the motor base 508. The end cap 517 has two symmetrical protrusions 518 along its diameter. The protrusions 518 are provided with proximity switches 519 for detecting the position of the extended end of the driven adapter plate 506. When the pitch base plate 502 moves to the limit position, the proximity switch 519 senses and triggers a signal, causing the servo motor 507 to stop. This is a safety self-locking mechanism to prevent the medical device from touching other parts.

[0068] In this embodiment, the pitch joint 500 also includes a flexible button 520, a connector 521, an end inlet cover 522, a bushing 523, a flat washer 524, and a nylon buffer pad 525. The flexible button 520 is fixed to the outer wall of the pitch joint base 501, allowing the surgeon to control the flexible dragging and suspension of each joint. The connector 521 is connected to the outer wall of the pitch joint base 501 via the end inlet cover 522, and has pre-installed multi-wire connectors for easy matching with different surgical procedures. The signal and power channels required for the therapeutic device can be quickly installed without disassembly. The bushing 523 is installed on the left side of the pitch joint base 501. The driven adapter plate 506 is also installed on the left side of the pitch joint base 501 and is fitted onto the bushing 523. The flat washer 524 is installed between the driven adapter plate 506 and the pitch joint base 501. The bushing 523 and the flat washer 524 can play a self-lubricating role when the driven adapter plate 506 rotates. The nylon buffer pad 525 is fixed on the pitch base plate 502 and plays a rigid limiting role.

[0069] This medical robotic arm features high precision, high load capacity, and stable performance, providing stable support for high-load end effects in the medical industry and filling a gap in the field. It boasts a unique 6-DOF design specifically for medical surgery: 1. Horizontal movement freedom, with a horizontal travel distance of approximately 1.5m; 2. Lifting freedom, with a lifting height of approximately 1 meter; 3. Three rotational degrees of freedom in horizontal planes, with a rotation range of 0-270°, avoiding wire entanglement and maximizing the rotation range; 4. One pitch freedom in a vertical plane, with a 90° pitch angle design and multiple mounting positions, significantly improving the pitch range. Overall, it offers a wide range of capabilities, fully matching the routine movements required for common transbronchial, vascular, and particle implantation surgeries. It can stably drive various related medical devices, exhibiting strong versatility and ease of use. Installation and replacement are convenient, allowing for flexible dragging, compatibility with multiple surgical procedures, and adaptability to different ground environments while maintaining structural stability.

[0070] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A general-purpose medical robotic arm with automatic leveling function, comprising: Movable base; A horizontal moving mechanism is provided on the base; A vertical lifting mechanism is provided on the horizontal moving mechanism; A rotary joint assembly connected to the lifting mechanism, the rotary joint assembly comprising multiple rotary joints extending horizontally and connected in sequence, the rotation axis of the rotary joints extending vertically. A pitch joint is connected to the end of the rotary joint assembly, and the axis of rotation of the pitch joint extends in the horizontal direction. Its features are: The pitch joint is provided with a universal interface for connecting surgical instruments. The bottom of the base is provided with multiple retractable hydraulic cylinders, all of which are connected in series. The base is also provided with a foot pump to control the extension and retraction of the hydraulic cylinders. When the base moves into position, the foot pump is stepped on, and the hydraulic cylinders lift the base and keep it horizontal.

2. The universal medical robotic arm according to claim 1, characterized in that: The base includes a rectangular base plate projected in the vertical direction. The short side of the base plate has a short side notch for embedding the foot pump, and the long side of the base plate has at least three long side notches for embedding the movable caster fixing blocks. The bottom surface of the movable caster fixing blocks is connected to movable casters for the base to move.

3. The universal medical robotic arm according to claim 2, characterized in that: The hydraulic cylinders are four in number and connected to the four corners of the bottom of the base plate. The telescopic rods of the hydraulic cylinders can extend downwards or retract. The foot pump is equipped with a three-way valve for pressure relief.

4. The universal medical robotic arm according to claim 2, characterized in that: The upper surface of the base is provided with multiple counterweights, and the bottom edge of the base is connected with a skirt that covers the hydraulic cylinder and the movable casters.

5. The universal medical robotic arm according to claim 2, characterized in that: The horizontal moving mechanism includes linear slide rails, a translation base plate, a rack, a gear, and a drive assembly. There are two linear slide rails, which are arranged parallel to each other on the upper surface of the base plate and extend in a direction parallel to the long side of the base plate. The translation base plate is slidably mounted on the two linear slide rails by a slider. The rack is arranged parallel between the two slide rails. The gear is rotatably mounted on the bottom of the translation base plate and meshes with the rack. The drive assembly is mounted on the translation base plate to drive the gear to rotate.

6. The universal medical robotic arm according to claim 5, characterized in that: The horizontal moving mechanism further includes a limiting block fixed to the upper surface of the translation base plate. The limiting block is close to the end of the linear slide rail and abuts against the end face of the linear slide rail. The limiting block is used to prevent the translation base plate from detaching from the linear slide rail when it slides.

7. The universal medical robotic arm according to claim 5, characterized in that: The driving assembly includes a speed reducer disposed on the upper surface of the translation base plate and a drive motor connected to the upper end of the speed reducer. The output axis of the speed reducer passes downward through the translation base plate and is connected to the gear. When the drive motor is working, it can drive the gear to rotate, so that the translation base plate slides along the linear slide rail.

8. The universal medical robotic arm according to claim 7, characterized in that: The horizontal moving mechanism also includes a limit switch and a limit switch baffle. The limit switch is connected to the bottom of the translation base plate, and the limit switch baffle is fixed to the upper surface of the base plate and is correspondingly arranged with the limit switch. When the translation base plate slides along the linear slide rail and the limit switch touches the limit switch baffle, the limit switch is triggered and the drive motor stops working.

9. The universal medical robotic arm according to claim 5, characterized in that: The horizontal moving mechanism also includes a drag chain, one end of which is fixed to the base plate and the other end is connected to the translation base plate.

10. The universal medical robotic arm according to claim 5, characterized in that: The lifting mechanism includes an outer column, an inner column, and a linear drive motor. The lower end of the outer column is fixedly connected to the upper surface of the translation base plate, and the upper end of the outer column extends vertically upward. The inner column is movably inserted into the outer column. The linear drive motor is fixed inside the outer column via a flange. The head of the extension rod of the linear drive motor is fixedly connected to the inner column. When the extension rod extends, the inner column rises; when the extension rod retracts, the inner column descends.

11. The universal medical robotic arm according to claim 10, characterized in that: Both the outer column and the inner column have rectangular cross-sections. A gap plate is fixed to the top of the outer column, and a square plug is fixed to the top of the inner column.

12. The universal medical robotic arm according to claim 11, characterized in that: The general-purpose medical robotic arm also includes a control box and a handle, which are respectively located on two adjacent side walls of the outer column.

13. The universal medical robotic arm according to claim 10, characterized in that: The lifting mechanism further includes a nylon block and a nylon block connecting plate disposed between the outer column and the inner column, wherein the nylon block is connected to the outer column through the nylon block connecting plate.

14. The universal medical robotic arm according to claim 1, characterized in that: The adjacent rotary joints are staggered in the vertical direction. Each rotary joint includes a swing arm extending in the horizontal direction and a rotary drive unit embedded in one end of the swing arm. The other end of the swing arm is embedded with the rotary drive unit of the adjacent rotary joint, so that the head end of the rotary joint group is the free end of the swing arm connected to the vertical lifting mechanism, and the end end of the rotary joint group is the rotary drive unit connected to the pitch joint.

15. The universal medical robotic arm according to claim 14, characterized in that: The rotary drive unit includes an electronic clutch, a reducer, a connecting key, and a connecting shaft. The electronic clutch is fixed to the end of one of the adjacent swing arms, and the reducer is fixed to the end of the other adjacent swing arm. The electronic clutch is connected to the reducer through the connecting key and the connecting shaft. When the electronic clutch is disengaged, the adjacent swing arms can rotate relative to each other through the action of the reducer. When the electronic clutch is closed, the relative position of the adjacent swing arms remains locked.

16. The universal medical robotic arm according to claim 1, characterized in that: The pitch joint includes a pitch joint base, a pitch drive unit, and a pitch base plate. The pitch joint base is hollow and has a vertical end and transverse ends located on the left and right sides of the vertical end. The vertical end is connected to the end of the rotary joint assembly. A rotatable adapter plate is provided on the transverse end. The rotation axis of the adapter plate extends in the left-right direction. The adapter plate includes an output adapter plate and a driven adapter plate arranged coaxially. The pitch drive unit is located in the pitch joint base and is used to drive the output adapter plate to rotate. The pitch base plate is used to install the universal interface. The pitch base plate is arc-shaped and spaced apart below the pitch joint base. The two ends of the pitch base plate are respectively connected to the extension ends of the output adapter plate and the driven adapter plate.

17. The universal medical robotic arm according to claim 16, characterized in that: The pitch drive unit includes a servo motor and a reducer connected to the output end of the servo motor. The servo motor is fixedly connected to the inner wall of the pitch joint base through a motor mount. The output shaft of the servo motor is connected to the input end of the reducer, and the output end of the reducer is connected to the output adapter plate.

18. The universal medical robotic arm according to claim 16, characterized in that: The universal interface includes a first universal interface located at the bottom of the pitch base plate and a second universal interface located on the outer wall of the output adapter plate.

19. The universal medical robotic arm according to claim 16, characterized in that: The pitch joint also includes a joint connector, which is located between the vertical end and the end of the rotary joint assembly. The joint connector is used to cover the reducer that connects the rotary joint and the vertical end.

20. The universal medical robotic arm according to claim 16, characterized in that: The driven adapter plate has an end cap connected to its lateral end. The end cap has two symmetrical protrusions along its diameter. The protrusions are provided with a proximity switch for detecting the position of the extended end of the driven adapter plate.

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