Rotary joint grounding structure and robot

Abstract

The application relates to the technical field of robots, in particular to a rotary joint grounding structure and a robot, which comprises an end control arm, a metal transmission rod and a driving module; the first end of the metal transmission rod is connected with the end control arm, and the second end of the metal transmission rod is provided with a metal component for grounding; the metal component comprises a metal spring plate and a metal ring which are in abutment with each other to realize electrical connection; the driving module drives the end control arm to rotate through the metal transmission rod, and relative movement occurs between the metal spring plate and the metal ring. The application can realize reliable grounding, and improve the electrical safety and electromagnetic compatibility in the operation process.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a rotary joint grounding structure and a robot. Background Technology

[0002] In teleoperated surgical robot applications, such as natural orifice, neurosurgical, and laparoscopic surgical robots, the end joints of the master control arm typically employ an infinitely rotating structure to provide greater flexibility and operating range. However, this design presents several technical challenges to the system. While traditional wired connections ensure signal transmission stability and reliability, they face significant problems with infinite rotation: as the control arm rotates continuously, cables inevitably become entangled, increasing mechanical damping and consequently affecting the surgical robot's operational accuracy and user experience. Slip rings, as a solution to the cable entanglement problem, can alleviate these issues to some extent, but the presence of contact points leads to decreased signal stability and also increases mechanical damping.

[0003] To overcome the shortcomings of wired connections and slip ring solutions, wireless charging and wireless communication technologies have been introduced as solutions, aiming to eliminate cable tangling and improve signal stability. However, this approach is not without its flaws. Due to the infinite rotational nature of the control arm, the rotating parts cannot form an effective ground, which directly reduces the electrical safety performance at the joints, thus compromising the operator's protection capabilities and also worsening the electromagnetic compatibility (EMC) requirements for electrostatic discharge protection. Therefore, ensuring both the operational flexibility of the surgical robot and the electrical safety and EMC of the system has become a key issue for those skilled in the art to address. Utility Model Content

[0004] The purpose of this application is to provide a rotary joint grounding structure and robot that can achieve reliable grounding and improve electrical safety and electromagnetic compatibility during operation.

[0005] This application is implemented as follows: In a first aspect, this application provides a rotary joint grounding structure, including an end control arm, a metal transmission rod, and a drive module; a first end of the metal transmission rod is connected to the end control arm, and a second end of the metal transmission rod is provided with a metal component for grounding; the metal component includes a metal spring and a metal ring that abut against each other to achieve electrical connection; the drive module drives the end control arm to rotate through the metal transmission rod, and relative movement occurs between the metal spring and the metal ring.

[0006] As an optional implementation, a grounding wire is connected to the metal ring; the metal spring is connected to the metal transmission rod, the metal transmission rod drives the metal spring to rotate, and the metal spring and the metal ring remain in contact.

[0007] As an optional implementation, an annular groove is formed on the metal ring, one end of the metal spring is connected to the metal transmission rod, and the other end extends into the annular groove and abuts against the inner wall of the annular groove; the rotation path of the abutting end of the metal spring is consistent with the trajectory of the annular groove.

[0008] As an optional implementation, a grounding wire is connected to the metal spring; the metal ring is connected to the metal transmission rod; the metal transmission rod drives the metal ring to rotate, and the metal spring slides on the surface of the metal ring and maintains contact with the metal ring.

[0009] As an optional implementation, the rotation center axis of the drive module intersects perpendicularly with the metal transmission rod; it also includes a transmission gear set, which includes a driven bevel gear sleeved on the metal transmission rod and a main bevel gear disposed at the drive end of the drive module; the main bevel gear meshes with the driven bevel gear.

[0010] As an optional implementation, the rotation center axis of the drive module coincides with the center axis of the metal transmission rod.

[0011] As an alternative implementation, the drive module is connected to the end of the metal drive rod away from the end control arm; or, the drive module is connected to the portion of the metal drive rod between the end control arm and the metal assembly.

[0012] As an optional implementation, the end effector arm is provided with an operating mechanism for performing grasping operations.

[0013] As an optional implementation, a wireless control unit is also included, which includes a wireless transmitting board and a wireless receiving board installed in the end control arm; the wireless receiving board is electrically connected to the operating mechanism and is used to receive signals transmitted by the wireless transmitting board.

[0014] Secondly, this application provides a robot, including a robotic arm and a rotary joint grounding structure as described above; the end control arm of the rotary joint grounding structure is mounted at the end of the robotic arm.

[0015] The beneficial effects of this application include: The rotary joint grounding structure and robot provided in this application, by constructing a dynamic grounding path composed of metal springs and metal rings in the infinitely rotating joint, can effectively achieve a continuous and reliable electrical connection between the end control arm and the system ground, significantly improving the electrical safety of the surgical robot in wireless power supply and communication mode, preventing the risk of electric shock due to static electricity accumulation or insulation failure, while reducing common-mode interference, improving electromagnetic compatibility performance, reducing interference to wireless signal transmission, ensuring stable system operation, and avoiding the wear, noise, and signal attenuation problems caused by traditional slip rings. Thus, while ensuring operational flexibility, it improves the overall system safety, reliability, and control accuracy. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is one of the structural schematic diagrams of the rotary joint grounding structure in the embodiments of this application; Figure 2 This is a second schematic diagram of the rotating joint grounding structure according to an embodiment of this application; Figure 3 This is the third schematic diagram of the rotating joint grounding structure in the embodiments of this application; Figure 4 This is a schematic diagram illustrating an application scenario of a surgical robot system according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an operating device in a surgical robot system according to an embodiment of this application; Figure 6 This is a partial structural diagram of the end of the operating device according to an embodiment of this application.

[0018] Icons: 100-End control arm; 101-Metal transmission rod; 102-Drive module; 103-Metal spring; 104-Metal ring; 105-Grounding wire; 106-Driven bevel gear; 107-Main bevel gear; 108-Operating mechanism; 109-Wireless control unit; 110-Wireless transmitter board; 111-Wireless receiver board; 112-Fixed structural component; 200-Operating device; 210-Robotic arm assembly; 211-Flexible robotic arm; 220-Drive device; 230-Base assembly; 300-Supporting device; 400-Imaging device; 500-Main operating device. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0021] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] In teleoperated surgical robot applications, such as natural orifice, neurosurgical, and laparoscopic surgical robots, the end joints of the master control arm typically employ an infinitely rotating structure to provide greater flexibility and operating range. However, this design presents several technical challenges to the system. While traditional wired connections ensure signal transmission stability and reliability, they face significant problems with infinite rotation: as the control arm rotates continuously, cables inevitably become entangled, increasing mechanical damping and consequently affecting the surgical robot's operational accuracy and user experience. Slip rings, as a solution to the cable entanglement problem, can alleviate these issues to some extent, but the presence of contact points leads to decreased signal stability and also increases mechanical damping.

[0024] To overcome the shortcomings of wired connections and slip ring solutions, wireless charging and wireless communication technologies have been introduced as solutions, aiming to eliminate cable tangling and improve signal stability. However, this approach is not without its flaws. Due to the infinite rotational nature of the control arm, the rotating parts cannot form an effective ground, which directly reduces the electrical safety performance at the joints, thus compromising the operator's protection capabilities and also worsening the electromagnetic compatibility (EMC) requirements for electrostatic discharge protection. Therefore, ensuring both the operational flexibility of the surgical robot and the electrical safety and EMC of the system has become a key issue for those skilled in the art to address.

[0025] To solve the above technical problems, refer to Figure 1 , Figure 2 As shown, this application embodiment provides a rotary joint grounding structure, including an end control arm 100, a metal transmission rod 101, and a drive module 102; the first end of the metal transmission rod 101 is connected to the end control arm 100, and the second end of the metal transmission rod 101 is provided with a metal component for grounding; the metal component includes a metal spring piece 103 and a metal ring 104 that abut against each other to achieve electrical connection; the drive module 102 drives the end control arm 100 to rotate through the metal transmission rod 101, and relative movement occurs between the metal spring piece 103 and the metal ring 104.

[0026] It should be noted that the metal transmission rod 101 in this embodiment is a mechanical power transmission component. The metal transmission rod 101 can transmit the torque of the drive module 102 to the end control arm 100. On the other hand, the metal transmission rod 101 is also part of the conductive path, playing the role of a conductor bridge. The end control arm 100 in this embodiment directly participates in human-computer interaction and can sense the doctor's operating force and posture; therefore, its electrical safety needs to be ensured.

[0027] The metal assembly in this embodiment is located at the second end of the metal transmission rod 101 and includes a metal ring 104 and a metal spring 103. It should be noted that the metal ring 104 can be fixed and grounded, and one end of the metal spring 103 is connected to the metal ring 104, while the other end elastically abuts against the metal transmission rod 101. Alternatively, one end of the metal spring 103 can be connected to the metal transmission rod 101, while the other end elastically abuts against the inner wall of the metal ring 104.

[0028] For example, one end of the metal spring 103 is connected to the metal ring 104, and the other end elastically abuts against the metal transmission rod 101. In this structure, the metal ring 104 can be fixedly installed on a stationary frame or housing and reliably grounded through the grounding wire 105. One end of the metal spring 103 is fixedly connected to the metal ring 104, and the other end is pressed against the outer surface of the rotating metal transmission rod 101 in an elastic contact manner. When the drive module 102 drives the metal transmission rod 101 and the end control arm 100 to rotate, the metal spring 103 and the outer surface of the metal transmission rod 101 experience sliding friction. However, since the end of the spring is always in close contact with the surface of the metal transmission rod 101 by elastic force, a continuous conductive path is formed from the end control arm 100, the metal transmission rod 101, the metal spring 103, and the metal ring 104. The advantage of this method is that the metal ring 104 has high stability as a rigid support, the grounding path is clear, and it is suitable for structures with limited axial space but radially arranged springs.

[0029] For example, a grounding wire 105 is connected to the metal ring 104; the metal spring 103 is connected to the metal transmission rod 101, the metal transmission rod 101 drives the metal spring 103 to rotate, and the metal spring 103 and the metal ring 104 remain in contact.

[0030] It should be noted that when the drive module 102 of this application embodiment drives the metal transmission rod 101 to rotate, the metal spring 103 rotates along with it; however, since the metal ring 104 is fixed, relative sliding occurs between the two; with the help of the elastic deformation capability of the metal spring 103, the metal spring 103 always adheres tightly to the inner surface of the metal ring 104, maintaining stable electrical contact; therefore, regardless of the rotation angle, the current can be continuously conducted to the ground through this sliding contact interface. The structure of this application embodiment is similar to an "embedded brush," with the advantage that the follow-up design of the metal spring 103 reduces the need for external space, and the contact interface is less affected by external contamination, resulting in better sealing, making it suitable for medical equipment environments with high protection requirements.

[0031] This embodiment of the application constructs a dynamic grounding path composed of a metal spring 103 and a metal ring 104 in an infinitely rotating joint, which can effectively achieve a continuous and reliable electrical connection between the end effector arm 100 and the system ground. This significantly improves the electrical safety of the surgical robot in wireless power supply and communication mode, prevents the risk of electric shock caused by static electricity accumulation or insulation failure, reduces common-mode interference, improves electromagnetic compatibility performance, reduces interference to wireless signal transmission, ensures stable system operation, and avoids the wear, noise, and signal attenuation problems caused by traditional slip rings. Thus, while ensuring operational flexibility, it improves the overall system safety, reliability, and control accuracy.

[0032] Reference Figure 1 , Figure 2As shown, in one optional implementation, an annular groove is formed on the metal ring 104, one end of the metal spring 103 is connected to the metal transmission rod 101, and the other end extends to the annular groove and abuts against the inner wall of the annular groove; the rotation path of the abutting end of the metal spring 103 is consistent with the trajectory of the annular groove.

[0033] It should be noted that the metal ring 104 in this embodiment of the application is provided with an annular groove. One end of the metal spring piece 103 is fixedly connected to the rotating metal transmission rod 101, and the other end extends into the annular groove and maintains elastic contact with the inner wall of the annular groove. The movement trajectory of its contact end is completely consistent with the annular groove. That is to say, the contact end of the metal spring piece 103 can be inserted into the annular groove and slide.

[0034] The annular groove can be designed as a U-shaped structure. The abutting end of the metal spring 103 can be inserted into the U-shaped structure to increase the contact surface and ensure a reliable electrical connection.

[0035] When the metal transmission rod 101 drives the end control arm 100 to rotate infinitely, the metal spring 103 rotates accordingly, and its end slides smoothly within the annular groove, always maintaining reliable electrical contact with the grounded metal ring 104. Furthermore, this embodiment of the application uses the annular groove to precisely constrain and guide the sliding path of the metal spring 103, effectively preventing contact offset, jumps, or detachment, significantly improving the stability and reliability of the grounding connection, while reducing wear and extending service life, further ensuring the electrical safety and electromagnetic compatibility of the surgical robot under long-term, high-frequency operation.

[0036] Reference Figure 3 As shown, in one optional implementation, the metal spring 103 is fixed and a grounding wire 105 is connected to the metal spring 103; the metal ring 104 is connected to the metal transmission rod 101; the metal transmission rod 101 drives the metal ring 104 to rotate, and the metal spring 103 slides on the surface of the metal ring 104 and maintains abutment with the metal ring 104.

[0037] One end of the metal spring 103 can be fixed to the fixed structure 112, and the other end elastically abuts against the metal ring 104. When the metal ring 104 rotates with the metal transmission rod 101, the abutting end of the metal spring 103 slides on the metal ring 104.

[0038] Reference Figure 3 Alternatively, one end of the metal spring 103 can be fixed to the metal ring 104, and the other end of the metal spring 103 can slide against the annular fixing structure 112. At this time, the fixing structure 112 is a metal structure and is connected to the grounding wire 105; the metal ring 104 drives the abutting end of the metal spring 103 to slide on the annular path of the fixing structure 112.

[0039] It should be noted that in this embodiment, the metal ring 104 is fixedly connected to the metal transmission rod 101 and rotates synchronously with it. The metal spring 103 is fixedly mounted on the stationary component, and a grounding wire 105 is connected to it. The contact end of the metal spring 103 maintains elastic contact with the surface of the rotating metal ring 104. When the drive module 102 drives the metal transmission rod 101 and the end control arm 100 to rotate infinitely, the metal ring 104 rotates accordingly, while the fixed metal spring 103 continues to slide on its surface and maintains electrical connection, thereby forming a stable grounding path from the end control arm 100, the metal transmission rod 101, the metal ring 104, the metal spring 103, and the grounding wire 105.

[0040] The structure provided in this application embodiment places the grounding wire 105 on the stationary metal spring 103, avoiding the risk of entanglement or breakage caused by the rotation of the grounding wire 105, improving the reliability of electrical connection and maintenance convenience. At the same time, through the sliding contact between the metal spring 103 and the metal ring 104, continuous conduction between the rotating component and the fixed ground is realized, effectively ensuring the electrical safety and electromagnetic compatibility of the surgical robot under unlimited rotation conditions.

[0041] Reference Figure 1 As shown, in one optional implementation, the rotation center axis of the drive module 102 intersects perpendicularly with the metal transmission rod 101; it also includes a transmission gear set, which includes a driven bevel gear 106 sleeved on the metal transmission rod 101 and a main bevel gear 107 disposed at the drive end of the drive module 102; the main bevel gear 107 meshes with the driven bevel gear 106.

[0042] It should be noted that in this embodiment, the rotation center axis of the drive module 102 intersects perpendicularly with the metal transmission rod 101, and power transmission is achieved through a transmission gear set including a main bevel gear 107 and a driven bevel gear 106: the main bevel gear 107 is mounted on the output end of the drive module 102 and rotates with it, while the driven bevel gear 106 is sleeved on the metal transmission rod 101 and meshes with the main bevel gear 107. When the drive module 102 is started, power is transmitted through the main bevel gear 107 to the driven bevel gear 106 that meshes with it perpendicularly, thereby driving the metal transmission rod 101 to rotate around its own axis, realizing the attitude adjustment of the end control arm 100. The vertical transmission structure of this embodiment can change the direction of torque transmission in a compact space, which is beneficial to the layout optimization of the drive module 102 and the miniaturization of the overall structure; at the same time, since the metal transmission rod 101 also has a conductive function, in conjunction with the grounding metal spring 103 and metal ring 104 structure, a continuous grounding path can still be ensured during the rotation process, taking into account mechanical transmission efficiency, motion flexibility and electrical safety.

[0043] Reference Figure 2As shown, in one optional implementation, the rotation center axis of the drive module 102 coincides with the center axis of the metal transmission rod 101.

[0044] It should be noted that the rotation center axis of the drive module 102 coincides with the center axis of the metal transmission rod 101, meaning that the output shaft of the drive module 102 is directly or coaxially connected to the metal transmission rod 101. When the drive module 102 is working, its output shaft rotates synchronously with the metal transmission rod 101, directly driving the end control arm 100 to achieve precise movement. The coaxial arrangement in this embodiment has a simple structure and a short transmission path, reducing mechanical losses, gap errors, and assembly complexity caused by intermediate transmission links, which is beneficial to improving control accuracy and response speed. At the same time, under this structure, a continuous dynamic grounding path can still be constructed by setting a metal spring 103 that elastically slides in contact with the grounding metal ring 104 at the rotating end of the metal transmission rod 101, ensuring that the electrical safety and electromagnetic compatibility of the end control arm 100 are not affected during infinite rotation, thereby achieving a safe and reliable electrical connection while ensuring high-performance motion control.

[0045] Reference Figure 1 , Figure 2 as well as Figure 3 As shown, in one optional implementation, the drive module 102 is connected to the end of the metal drive rod 101 away from the end control arm 100; or, the drive module 102 is connected to the metal drive rod 101 at the portion between the end control arm 100 and the metal assembly.

[0046] It should be noted that the drive module 102 in this embodiment can be connected to the end of the metal transmission rod 101 away from the end control arm 100, or to the middle part of the metal transmission rod 101 located between the end control arm 100 and the metal assembly. When the drive module 102 is connected to the far end, power is input from the end of the transmission rod and transmitted to the end control arm 100 through the entire rod body. This is beneficial for concentrating the drive components in a fixed or easily maintained area, simplifying the structure of the rotating part. When the drive module 102 is connected to the middle section, torque input can be achieved through local support or gear coupling, which facilitates optimization of the overall structural layout and center of gravity distribution. Regardless of the connection method, the metal transmission rod 101 serves as a composite carrier of mechanical transmission and electrical conduction. While driving the end control arm 100 to rotate infinitely, it continuously establishes a reliable grounding path from the end control arm 100 to the system ground through its sliding electrical contact with the metal assembly.

[0047] Reference Figure 1 , Figure 2 as well as Figure 3 As shown, the end control arm 100 of this application embodiment is provided with an operating mechanism 108, which is used to perform grasping operations.

[0048] The operating mechanism 108 in this embodiment simulates the end effector function of a surgical instrument, performing fine operations such as clamping, grasping, and pulling to achieve precise control of tissues or instruments. The operating mechanism 108 may consist of a pair of openable jaws. Its movement is linked to the control handle at the main control end via a transmission mechanism (such as a pull wire, push rod, or gear linkage) inside the metal transmission rod 101, thereby transmitting the surgeon's operating force and movements at one end to the other end in real time and accurately. Combined with the rotary joint grounding structure of this application, while the end control arm 100 has unlimited rotation capability, it ensures that the entire rotating component, including the operating mechanism 108, is reliably grounded through the sliding electrical contact between the metal transmission rod 101, the metal spring 103, and the metal ring 104, effectively preventing safety risks caused by static electricity accumulation or insulation failure.

[0049] Reference Figure 1 , Figure 2 as well as Figure 3 As shown, as an optional implementation, it also includes a wireless control unit 109, which includes a wireless transmitting board 110 and a wireless receiving board 111 installed in the end control arm 100; the wireless receiving board 111 is electrically connected to the operating mechanism 108 and is used to receive signals transmitted by the wireless transmitting board 110.

[0050] The wireless control unit 109 of this application embodiment consists of a wireless transmitting board 110 and a wireless receiving board 111 installed inside the end control arm 100. The wireless transmitting board 110 is located at the fixed end, specifically installed on an external static structure such as a housing, and is used to transmit control commands wirelessly (such as Wi-Fi, Bluetooth, or dedicated radio frequency). The wireless receiving board 111 is integrated inside the rotating end control arm 100 and is electrically connected to the operating mechanism 108, responsible for receiving commands and driving actions such as grasping. This design completely eliminates traditional cable connections, avoids cable tangling problems caused by infinite rotation, and improves operational flexibility and system reliability. At the same time, combined with the dynamic grounding structure of this application—a continuous grounding path formed by the metal transmission rod 101, the metal spring 103, and the metal ring 104—the problem of electromagnetic interference and common-mode noise accumulation of the wireless communication module on a non-grounded rotating body is effectively solved, ensuring the stability and real-time performance of wireless signal transmission.

[0051] This application provides a robot, including a robotic arm and a rotary joint grounding structure as described above; the end control arm 100 of the rotary joint grounding structure is mounted at the end of the robotic arm.

[0052] The robot provided in this application embodiment, by integrating the aforementioned rotary joint grounding structure at the end of the robotic arm, not only achieves infinite rotation and flexible operation of the end control arm 100, meeting the high degree of freedom movement requirements in complex surgical scenarios, but also ensures a reliable electrical connection between the rotating components and the system ground through the dynamic grounding path formed by the metal transmission rod 101, the metal spring 103, and the metal ring 104. The structure of this application embodiment effectively solves the grounding loss problem caused by rotation in the wireless control unit 109 in the cableless design, significantly improving the robot's electrical safety, anti-static capability, and electromagnetic compatibility, ensuring the stability and control accuracy of wireless signal transmission, thereby achieving highly flexible, entangle-free operation while taking into account the stringent safety and reliability requirements of medical equipment.

[0053] Please see Figure 4 , Figure 4 An application scenario of a surgical robot system is illustrated. The surgical robot system in this embodiment includes a master operating device 500 (i.e., a control device) and a slave operating device 200 (i.e., a surgical robot) controlled by the master operating device 500.

[0054] The main operating device 500 has a control input device that can send control commands to the slave operating device 200 based on the operator's hand and / or foot movements, so as to drive and adjust the posture of the robotic arm assembly of the slave operating device 200, and drive the actuator of the robotic arm assembly to perform corresponding operations.

[0055] like Figure 5 and Figure 6 As shown, the operating device 200 includes a robotic arm assembly for performing surgical actions, a drive device 220 for driving the robotic arm assembly 210 according to control commands, and a base assembly 230 for adjusting the position of the drive device 220. The robotic arm assembly 210 includes at least one flexible robotic arm 211, the end of which can be loaded with an instrument for performing different or the same surgical operations. The surgical operations that the instruments can perform include, but are not limited to, clamping, cutting, scissing, suturing, electrocautery, electrocoagulation, or suction. For example, the instruments can be any of, but are not limited to, needle forceps, scissors, grippers, clamping clamps, and suction devices. Needle forceps are generally used for clamping, suturing, and knotting operations; scissors are generally used for cutting sutures, dissecting, and cutting operations; grippers are generally used for grasping and pulling operations; and clamping clamps are generally used in conjunction with ligation clips for ligation.

[0056] Optionally, the surgical robot system also includes an imaging device 400, which acquires surgical field images of the target location (within the patient's body cavity or on the surface of tissue) captured by the endoscope, performs image processing on the surgical field images, and transmits them to a first display device of the imaging device 400 and / or a second display device (not shown) of the main operating device 500 for display, so that the operator can observe the surgical field images. The surgical field images include, but are not limited to, the type and number of instruments, their position and orientation within the body cavity or on the surface of tissue, the target organ or tissue to be operated on, and the morphology of surrounding blood vessels, etc. Furthermore, a flexible robotic arm 211 of the robotic arm assembly 210 of the operating device 200 can also be equipped with an endoscope for assisting in acquiring images within the surgical field, which can then be displayed via the first display device and / or the second display device. It should be understood that the images displayed by the imaging device 400 can be two-dimensional or three-dimensional. The endoscope can include various endoscopes used in surgery, such as thoracoscopes, arthroscopes, and rhinoscopes.

[0057] Optionally, refer to Figure 4 As shown, the surgical robot system also includes a support device 300 (e.g., an operating table) for supporting the surgical subject during surgery. The support device 300 may also be replaced with other surgical platforms depending on the type of surgery, and this embodiment is not limited to this.

[0058] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A rotary joint grounding structure, characterized in that, The device includes an end control arm (100), a metal transmission rod (101), and a drive module (102). The first end of the metal transmission rod (101) is connected to the end control arm (100), and the second end of the metal transmission rod (101) is provided with a metal component for grounding. The metal component includes a metal spring (103) and a metal ring (104) that abut against each other to achieve electrical connection. The drive module (102) drives the end control arm (100) to rotate through the metal transmission rod (101), and relative movement occurs between the metal spring (103) and the metal ring (104).

2. The rotary joint grounding structure according to claim 1, characterized in that, A grounding wire (105) is connected to the metal ring (104); the metal spring (103) is connected to the metal transmission rod (101), the metal transmission rod (101) drives the metal spring (103) to rotate, and the metal spring (103) and the metal ring (104) remain in contact.

3. The rotary joint grounding structure according to claim 2, characterized in that, An annular groove is formed on the metal ring (104). One end of the metal spring (103) is connected to the metal transmission rod (101), and the other end extends to the annular groove and abuts against the inner wall of the annular groove. The rotation path of the abutting end of the metal spring (103) is consistent with the trajectory of the annular groove.

4. The rotary joint grounding structure according to claim 2, characterized in that, A grounding wire (105) is connected to the metal spring (103); the metal ring (104) is connected to the metal transmission rod (101); the metal transmission rod (101) drives the metal ring (104) to rotate, and the metal spring (103) slides on the surface of the metal ring (104) and maintains contact with the metal ring (104).

5. The rotary joint grounding structure according to any one of claims 1-4, characterized in that, The rotation center axis of the drive module (102) intersects perpendicularly with the metal transmission rod (101); it also includes a transmission gear set, which includes a driven bevel gear (106) sleeved on the metal transmission rod (101) and a main bevel gear (107) disposed at the drive end of the drive module (102); the main bevel gear (107) meshes with the driven bevel gear (106).

6. The rotary joint grounding structure according to any one of claims 1-4, characterized in that, The rotation center axis of the drive module (102) coincides with the center axis of the metal transmission rod (101).

7. The rotary joint grounding structure according to claim 6, characterized in that, The drive module (102) is connected to the end of the metal transmission rod (101) away from the end control arm (100); or, the drive module (102) and the metal transmission rod (101) are connected at the part between the end control arm (100) and the metal assembly.

8. The rotary joint grounding structure according to any one of claims 1-4, characterized in that, The end control arm (100) is provided with an operating mechanism (108), which is used to perform grasping operations.

9. The rotary joint grounding structure according to claim 8, characterized in that, It also includes a wireless control unit (109), which includes a wireless transmitting board (110) and a wireless receiving board (111) installed in the end control arm (100); the wireless receiving board (111) is electrically connected to the operating mechanism (108) and is used to receive signals transmitted by the wireless transmitting board (110).

10. A robot, characterized in that, It includes a robotic arm and a rotary joint grounding structure as described in any one of claims 1-9; the end control arm (100) of the rotary joint grounding structure is mounted at the end of the robotic arm.

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