Surgical operation arm and surgical robot

Abstract

Embodiments of the present application provide a surgical operation arm and a surgical robot. The surgical operation arm includes a linear drive mechanism (100), a linear transmission mechanism (200), a linear movement mechanism (300), a speed reduction mechanism (400), and a first detection assembly (500). The linear transmission mechanism (200) includes a transmission member (210) and an engagement member (220) screwed to the transmission member (210). The transmission member (210) is connected to the output end of the linear drive mechanism (100) and is driven by the linear drive mechanism (100) to rotate. The linear movement mechanism (300) includes a moving block (310) and a linear guide member (320). The moving block (310) is connected to the engagement member (220) and moves along the linear guide member (320). The input end of the speed reduction mechanism (400) is fixedly provided on the transmission member (210), and the first detection assembly (500) detects the rotational speed and / or angle and / or position of the output end of the speed reduction mechanism (400).

Description

Technical Field

[0001] This application is filed based on a Chinese patent application with an application number of 2022109392154, a filing date of August 5, 2022, and a title of "Surgical Operating Arm and Surgical Robot", and claims the priority of the Chinese patent application. All the contents of the Chinese patent application are incorporated herein by reference.

[0002] This application relates to the technical field of medical devices, and particularly to surgical operating arms and surgical robots.

Background Art

[0003] A surgical robot is a robot that completes surgeries on behalf of a doctor through remote control. Since the operation of the surgical robot is stable, it can reduce the risk of surgical errors and the mental and physical stress of doctors, and is widely applied to minimally invasive surgeries.

[0004] Since surgical robots are directly related to the life, health, and safety of patients, the control requirements for surgical robots that control surgical instruments to complete surgeries are very strict. In some cases, multiple operating arms are prone to interfering with each other during surgeries.

Summary of the Invention

Problems to be Solved by the Invention

[0005] Some embodiments of this application aim to provide a surgical operating arm and a surgical robot that can solve the problem of multiple operating arms interfering with each other during surgeries and ensure the control accuracy of the surgical instruments of the surgical robot.

Means for Solving the Problems

[0006] The surgical operation arm according to the embodiment of the present application includes a linear drive mechanism, a linear transmission mechanism, a linear movement mechanism, a speed reduction mechanism, and a first detection assembly. The linear drive mechanism has a rotating output end. The linear transmission mechanism includes a rotatable transmission member and an engaging member screwed to the transmission member. The transmission member is rotatable around itself, connected to the output end of the linear drive mechanism, and driven by the linear drive mechanism to perform a rotational movement. The linear movement mechanism includes a moving block and a linear guide member. The moving block is fixedly connected to the engaging member of the linear transmission mechanism and moves along the linear guide member. The speed reduction mechanism has an input end and an output end. The input end is fixedly provided with respect to the transmission member of the linear transmission mechanism. The transmission member rotates to drive the input end of the speed reduction mechanism to move. The first detection assembly is provided at the output end of the speed reduction mechanism and detects the rotational speed and / or angle and / or position of the output end of the speed reduction mechanism.

[0007] In some embodiments, the transmission ratio between the input end and the output end of the speed reduction mechanism is greater than 1.

[0008] In some embodiments, the transmission ratio i between the input end and the output end of the speed reduction mechanism satisfies 10 ≤ i ≤ 50.

[0009] In some embodiments, when the moving block moves the linear movement mechanism through a full stroke, the rotational angle of the output end of the speed reduction mechanism is less than 360°.

[0010] In some embodiments, the first detection assembly is set as an absolute encoder including an encoder fixed part and an encoder movable part. The encoder movable part is fixedly provided at the output end of the speed reduction mechanism. The encoder fixed part detects the rotational speed and / or angle and / or position of the encoder movable part.

[0011] In some embodiments, when the moving block moves the linear movement mechanism through a full stroke, the rotational angle of the output end of the speed reduction mechanism is greater than 360°.

[0012] In some embodiments, the first detection assembly is configured as an incremental encoder including an encoder fixed part and an encoder movable part. The encoder movable part of the incremental encoder is fixedly provided at the output end of the speed reducer mechanism, and the encoder fixed part of the incremental encoder detects the rotational speed and / or angle and / or position of the encoder movable part of the incremental encoder.

[0013] In some embodiments, the surgical operation arm further includes a second detection assembly that detects the rotational speed and / or angle of the output end of the linear drive mechanism.

[0014] In some embodiments, the speed reducer mechanism includes a worm gear and a worm wheel. The worm wheel is fixedly provided with respect to the transmission member, meshes with the worm gear, and the worm gear is the output end of the speed reducer mechanism. The first detection assembly detects the rotational speed and / or angle and / or position of the worm gear.

[0015] In some embodiments, the speed reducer mechanism includes at least two sets of gear groups.

[0016] In some embodiments, the speed reducer mechanism includes a first-stage gear group and a second-stage gear group. The first-stage gear group includes a first gear and a second gear. The first gear is fixedly provided coaxially with the transmission member of the linear transmission mechanism. The second gear meshes with the first gear and has a diameter larger than that of the first gear. The second-stage gear group includes a third gear and a fourth gear. The third gear is fixedly provided coaxially with the second gear and has a diameter smaller than that of the second gear. The fourth gear meshes with the third gear and has a diameter larger than that of the third gear, and is the output end of the speed reducer mechanism.

[0017] In some embodiments, the speed reducer mechanism includes at least two sets of planetary gear groups.

[0018] In some embodiments, the speed reduction mechanism includes a first planetary gear set and a second planetary gear set. The first planetary gear set includes a first sun gear and a plurality of first planetary gears. The first sun gear is fixedly provided coaxially with the transmission member of the linear transmission mechanism. The first planetary gears mesh with the first sun gear for transmission, and have a diameter larger than that of the first sun gear. A first planetary carrier is connected to the plurality of first planetary gears. The second planetary gear set includes a second sun gear and a plurality of second planetary gears. The second sun gear is fixedly provided coaxially with the output end of the first planetary carrier. The second planetary gears mesh with the second sun gear for transmission, and have a diameter larger than that of the second sun gear. A second planetary carrier is connected to the plurality of second planetary gears. The output end of the second planetary carrier is the output end of the speed reduction mechanism.

[0019] In some embodiments, the input end of the speed reduction mechanism and the transmission member of the linear transmission mechanism are directly fixedly connected, indirectly fixedly connected, or integrally provided.

[0020] The surgical robot according to the second aspect of the embodiments of the present application includes the above-described surgical operation arm, a device driving member fixedly connected to the moving block of the surgical operation arm, a surgical device connected to the device driving member, and a surgical connection arm movably connected to an end of the device driving member of the surgical operation arm and spaced apart therefrom.

[0021] In some embodiments, there are a plurality of surgical connection arms, and the plurality of surgical connection arms are movably connected in sequence. The end of the device driving member of the surgical operation arm that is spaced apart is movably connected to the surgical connection arm located at the end.

Advantages of the Invention

[0022] In the surgical operation arm and surgical robot according to the embodiments of the present application, the transmission member is driven and rotated by a linear drive mechanism, and the engagement member is driven to linearly displace along the axial direction of the transmission member, so that the moving block connected to the engagement member is displaced together with the engagement member. And, the input end of the speed reduction mechanism is fixedly provided with respect to the transmission member, and the first detection assembly detects the rotational speed and / or angle and / or position of the output end of the speed reduction mechanism, so that the linear position in the linear guide member of the moving block and the rotational position of the output end of the speed reduction mechanism are made to correspond one-to-one. Thereby, the rotational angle or position of the output end of the speed reduction mechanism is used as a reference for driving the rotation of the transmission member by the linear drive mechanism to achieve accurate adjustment of the position of the moving block. In this process, since the detection assembly is provided in a region outside the linear transmission region of the surgical operation arm, the space of the linear movement portion of the surgical operation arm is saved, and there is no need to provide detection components in the linear transmission region of the surgical operation arm, and the volume of the surgical operation arm is reduced to a certain extent, preventing interference between a plurality of surgical operation arms of the surgical robot with each other, ensuring the control accuracy for the surgical instrument, and improving the safety when performing surgery by the surgical robot.

Brief Description of the Drawings

[0023] To more clearly explain the technical means of the embodiments of the present application, the drawings necessary for the embodiments of the present application are briefly described below. A person skilled in the art can obtain other drawings based on these drawings without creative effort. One or more embodiments are exemplarily illustrated by the figures in the corresponding drawings. These exemplary descriptions do not limit the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. Unless otherwise specified, the figures in the drawings do not limit the proportion.

[0024]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

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Figure 7

Modes for Carrying Out the Invention

[0025] Hereinafter, the features and exemplary embodiments of each aspect of the present application will be described in detail. To make the objectives, technical means, and advantages of the present application clearer, the present application will be further described in more detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described in this specification are only for interpreting the present application and do not limit the present application. It will be apparent to those skilled in the art that the present application can be implemented without these specific details. The following description of the embodiments is provided only to better understand the present application by showing examples of the present application.

[0026] In this specification, relational terms such as first and second are only for distinguishing one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Also, the terms "comprising", "including", or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements not expressly listed, or further includes elements inherent to such a process, method, article, or apparatus. Without further limitation, an element limited by the phrase "comprising..." does not exclude the presence of other similar elements in the process, method, article, or apparatus that includes the said element.

[0027] FIG. 1 shows a schematic configuration diagram of a surgical operation arm according to an embodiment of the present application.

[0028] As shown in FIG. 1, the surgical operation arm 10 according to the first aspect of the embodiment of the present application includes a linear drive mechanism 100, a linear transmission mechanism 200, a linear movement mechanism 300, a speed reduction mechanism 400, and a first detection assembly 500. The linear drive mechanism 100 has a rotating output end. The linear transmission mechanism 200 includes a rotatable transmission member 210 and an engaging member 220 screwed to the transmission member 210. The transmission member 210 is rotatable around itself, is connected to the output end of the linear drive mechanism 100, and is driven by the linear drive mechanism 100 to perform a rotational movement. The linear movement mechanism 300 includes a moving block 310 and a linear guide member 320. The moving block 310 is fixedly connected to the engaging member 220 of the linear transmission mechanism 200 and moves along the linear guide member 320. The speed reduction mechanism 400 has an input end and an output end. The input end is fixedly provided with respect to the transmission member 210 of the linear transmission mechanism 200. The transmission member 210 rotates to drive the input end of the speed reduction mechanism 400 to move. The first detection assembly 500 is provided at the output end of the speed reduction mechanism 400 and detects the rotational speed and / or angle and / or position of the output end of the speed reduction mechanism 400.

[0029] The linear drive mechanism 100 may be a brush motor or a brushless motor, or any other device capable of driving the rotation of the transmission member 210 of the linear transmission mechanism 200, such as a servo motor. Naturally, the linear drive mechanism 100 may also be a manual mode drive mechanism, that is, a method of artificially controlling the rotation of the transmission member 210 of the linear transmission mechanism 200 is also within the protection scope of the present application. Correspondingly, when the linear drive mechanism 100 is a motor, the output end of the linear drive mechanism 100 may be the output shaft or the rotor of the motor.

[0030] The transmission member 210 of the linear transmission mechanism 200 may be a lead screw, may be a screw, or the transmission member 210 of the linear transmission mechanism 200 may be a worm wheel or any other structure capable of being screwed to the transmission member 210.

[0031] As can be understood, the moving block 310 and the linear guide member 320 of the linear movement mechanism 300 may have a combined structure of a slide block and a slide rail, or may have a combined structure of a moving block 310 and a guide bar. Naturally, any other structure that can be used for linear movement and guiding is also within the protection scope of this application.

[0032] The speed reduction mechanism 400 may have a speed reduction structure of a worm gear and a worm wheel, or may have a gear speed reduction structure, a planetary gear speed reduction structure, etc., or may have a structure in which a gear and a rack mesh, a structure in which a worm wheel and a rack mesh, etc. It may be a single-stage speed reduction mechanism, or may be a two-stage speed reduction mechanism or a multi-stage speed reduction mechanism. As can be understood, in the speed reduction mechanism 400, by detecting the rotational speed and / or angle and / or position of the output end and combining the transmission ratio between the input end and the output end, the rotational speed and / or angle and / or position of the corresponding input end of the speed reduction mechanism 400 can be calculated or matched.

[0033] As can be understood, in the embodiment of this application, in the process of adjusting the position of the moving block 310, with the output end of the speed reduction mechanism 400 as a reference, the first detection assembly 500 detects the rotational speed and / or angle and / or position of the output end of the speed reduction mechanism 400, and based on the transmission ratio of the speed reduction mechanism 400, the rotational speed and / or angle and / or position of the corresponding input end of the speed reduction mechanism 400 can be calculated. Since the rotational speed and / or angle and / or position of the corresponding input end of the speed reduction mechanism 400 are the rotational speed and / or angle and / or position of the transmission member 210, based on the rotational speed and / or angle and / or position of the transmission member 210, the corresponding target linear position of the moving block 310 is calculated, and the rotational position of the output end of the speed reduction mechanism 400 is made to correspond one-to-one with the linear position in the linear guide member 320 of the moving block 310. Thereby, when adjusting the position of the moving block 310 to the target linear position, with the output end of the speed reduction mechanism 400 as a reference, if the output end of the speed reduction mechanism 400 is made to reach the rotational position corresponding to the target linear position, accurate adjustment of the position of the moving block 310 can be realized.

[0034] In the surgical operation arm 10 according to the embodiment of the present application, the transmission member 210 is driven and rotated by the linear drive mechanism 100, and the engaging member 220 is driven to linearly displace along the axial direction of the transmission member 210, so that the moving block 310 connected to the engaging member 220 is displaced together with the engaging member 220. And, the input end of the speed reduction mechanism 400 is fixedly provided with respect to the transmission member 210, and the first detection assembly 500 detects the rotational speed and / or angle and / or position of the output end of the speed reduction mechanism 400, so that the linear position in the linear guide member 320 of the moving block 310 and the rotational position of the output end of the speed reduction mechanism 400 are made to correspond one-to-one. Thereby, the rotational angle or position of the output end of the speed reduction mechanism 400 is used as a reference for driving the rotation of the transmission member 210 by the linear drive mechanism 100 to realize accurate adjustment of the position of the moving block 310. In this process, since the detection assembly is provided in a region outside the linear transmission region of the surgical operation arm 10, the space of the linear moving part of the surgical operation arm 10 is saved, and there is no need to provide detection components in the linear transmission region of the surgical operation arm 10. The volume of the surgical operation arm 10 is reduced to a certain extent, preventing interference between the plurality of surgical operation arms 10 of the surgical robot, ensuring the control accuracy for the surgical instrument 30, and improving the safety when performing surgery by the surgical robot.

[0035] In some embodiments, the transmission ratio between the input end and the output end of the speed reduction mechanism 400 is greater than 1. As can be understood, based on the transmission ratio between the input end and the output end of the speed reduction mechanism 400, when the moving block 310 moves a predetermined distance along the linear guide member 320 to reach the target linear position, the rotation angle and / or position of the output end of the speed reduction mechanism 400 can be calculated. The fact that the transmission ratio between the input end and the output end of the speed reduction mechanism 400 is greater than 1 means that the rotation speed of the output end of the speed reduction mechanism 400 is slower than the rotation speed of the input end, and / or, within the same time, the rotation angle of the output end of the speed reduction mechanism 400 is smaller than the rotation angle of the input end, and / or, within the same time, the rotated position of the output end of the speed reduction mechanism 400 is smaller than the rotated position of the input end. At this time, when the moving block 310 moves the linear guide member 320 in a full stroke, compared with the case where the transmission ratio is 1 or less, the rotated angle and / or position of the output end of the speed reduction mechanism 400 when the transmission ratio is greater than 1 is smaller. Thus, when adjusting the position of the moving block 310 with reference to the output end of the speed reduction mechanism 400, the position of the moving block 310 becomes more accurate.

[0036] For example, assume that the transmission ratio of the speed reduction mechanism 400 is 10 and it is necessary to adjust the position of the moving block 310 to a predetermined target linear position. When the transmission member is driven to rotate by the linear drive mechanism 100 and it is assumed that the transmission member 210 needs to rotate 10 times when moving the moving block 310 to the target linear position, in this process, the output end of the speed reduction mechanism 400 rotates only once. Therefore, with reference to the output end of the speed reduction mechanism 400, when the first detection assembly 500 detects that the output end of the speed reduction mechanism 400 has rotated once, the linear drive mechanism 100 is stopped. At this time, the moving block 310 can accurately reach the target linear position, thereby realizing an accurate adjustment of the position of the moving block 310.

[0037] As can be understood, when the transmission ratio between the input end and the output end of the speed reduction mechanism 400 is 10, compared with the rotation angle of the transmission member 210, the movement stroke of the engaging member moving along the transmission member is larger, and the rotation angle of the output end of the speed reduction mechanism 400 is smaller.

[0038] In some embodiments, the transmission ratio i between the input end and the output end of the speed reduction mechanism 400 satisfies 10 ≤ i ≤ 50. In this embodiment, since the stroke of the transmission member 210 of the moving block 310 in the axial direction is long, when adjusting the linear position of the moving block 310 based on the rotation angle and / or position of the output end of the speed reduction mechanism 400, by setting the transmission ratio of the speed reduction mechanism 400 so as to satisfy 10 ≤ i ≤ 50, the rotation angle and / or position of the output end of the speed reduction mechanism 400 can be made to correspond one-to-one with each linear position of the moving block 310, and the proportion of the entire surgical operation arm 10 occupied by the speed reduction mechanism 400 can be reduced to a certain extent.

[0039] As another specific embodiment, in actual applications, based on the actual situation, the transmission ratio between the input end and the output end of the speed reduction mechanism 400 may be less than 10 or greater than 50.

[0040] In some embodiments, when the moving block 310 moves the linear movement mechanism 300 through a full stroke, the rotation angle of the output end of the speed reduction mechanism 400 is less than 360°. In this embodiment, when the moving block 310 moves the linear guide member 320 through a full stroke, the rotation angle of the output end of the speed reduction mechanism 400 is less than 360°. Each linear position of the moving block 310 on the linear guide member 320 has a corresponding rotation position of the output end of the speed reduction mechanism 400. That is, when it is necessary to adjust the moving block 310 to a certain target linear position on the linear guide member 320, the transmission member 210 can be driven to rotate by the linear drive mechanism 100, and the output end of the speed reduction mechanism 400 can be rotated to the rotation position corresponding to the target linear position, thereby realizing the position adjustment of the moving block 310 without the need to calculate the position of the moving block 310 multiple times, and thereby simplifying the position adjustment process of the moving block 310.

[0041] FIG. 2 is a schematic configuration diagram of a part of the surgical operation arm according to the embodiment of the present application.

[0042] As shown in FIG. 2, in some embodiments, the first detection assembly 500 is configured as an absolute encoder including an encoder fixed part 510 and an encoder movable part 520. The encoder movable part is fixedly provided at the output end of the speed reducer 400, and the encoder fixed part detects the rotational speed and / or angle and / or position of the encoder movable part.

[0043] As can be understood, the absolute encoder has the characteristics that the position is absolutely unique, has anti-interference ability, and does not require a power-down memory. In the embodiment, a plurality of scales corresponding to the rotational position of the output end of the speed reducer 400 are engraved on the encoder disk of the absolute encoder. Therefore, when detecting the output end of the speed reducer 400 by the absolute encoder, by calculating based on the transmission ratio at the initial detection, the rotational position of the speed reducer 400 and the linear position on the linear guide member 320 of the moving block 310 may be made to correspond one-to-one. At this time, since the scales on the encoder disk of the absolute encoder correspond one-to-one to the linear position on the linear guide member 320 of the moving block 310, in the subsequent position adjustment process of the moving block 310, the encoder fixed part detects the encoder movable part located at the output end of the speed reducer 400. When the encoder movable part rotates until it corresponds to a certain scale on the encoder disk, if the drive of the linear drive mechanism 100 is stopped, the moving block 310 can be moved to the target linear position corresponding to the scale, and it is not necessary to calculate the position of the moving block 310 multiple times. Thereby, the position calculation time of the moving block is saved, and the position adjustment process of the moving block 310 is simplified.

[0044] And by using the first detection assembly 500 as an absolute encoder, when the power of the linear drive mechanism 100 is turned off and then turned on again, the absolute encoder can directly read the accurate position on the linear guide member 320 of the moving block 310. Thereby, it is not necessary to detect the position of the moving block 310 before adjusting the position of the moving block 310, the position adjustment process of the moving block 310 is simplified, and the adjustment efficiency is improved.

[0045] In some embodiments, when the moving block 310 moves the linear motion mechanism 300 for a full stroke, the rotation angle of the output end of the speed reduction mechanism 400 is greater than 360°. In this embodiment, when the moving block 310 moves the linear motion mechanism 300 for a full stroke, the rotation angle of the output end of the speed reduction mechanism 400 is greater than 360°. At this time, since the rotation position of the output end of the speed reduction mechanism 400 and the linear position in the linear guide member 320 of the moving block 310 do not correspond one-to-one, every time the position of the moving block 310 is adjusted, it is necessary to detect the rotation speed and / or angle and / or position of the output end of the speed reduction mechanism 400 by the first detection assembly 500, and calculate the linear position of the moving block 310. In the above-described manner, the possibility of moving the moving block 310 to a linear position other than the target linear position can be reduced, and the probability of the position of the moving block 310 being incorrect can be reduced.

[0046] As shown in FIG. 2, in some embodiments, the first detection assembly 500 is set as an incremental encoder including an encoder fixed part and an encoder movable part. The encoder movable part of the incremental encoder is fixedly provided at the output end of the speed reduction mechanism 400, and the encoder fixed part of the incremental encoder detects the rotation speed and / or angle and / or position of the encoder movable part of the incremental encoder.

[0047] As can be understood, an incremental encoder refers to an encoder that converts angular displacement or linear displacement into a periodic electrical signal, converts the electrical signal into pulses, and outputs them. Since the incremental encoder can achieve multiple infinite accumulations and measurements, when the moving block 310 moves the linear movement mechanism 300 through a full stroke, no matter how large the rotation angle of the output end of the reduction mechanism 400 is, the rotation speed and / or angle and / or position of the output end of the reduction mechanism 400 can be detected, thereby realizing the position adjustment of the moving block 310. However, since the incremental encoder does not have a power-down memory function, every time the output end of the reduction mechanism 400 is detected, it is necessary to perform zero reset and calibration, that is, every time it is necessary to adjust the position of the moving block 310, it is necessary to detect the rotation speed and / or angle and / or position of the output end of the reduction mechanism 400 by the incremental encoder, and calculate the linear position of the moving block 310, thereby reducing the possibility of moving the moving block 310 to a linear position other than the target linear position, and reducing the probability that the position of the moving block 310 is incorrect.

[0048] In the embodiment, the encoder fixed part of the incremental encoder can detect the rotation speed and / or angle and / or position of the encoder movable part of the incremental encoder, thereby calculating the rotation speed and / or angle and / or position of the input end of the reduction mechanism 400, that is, the transmission member 210, based on the transmission ratio of the reduction mechanism 400, and finally calculating the target linear position of the moving block 310.

[0049] For better understanding, even for the encoder fixing part of the above-mentioned absolute encoder or the encoder fixing part of the incremental encoder, an encoder sensor may be used. Naturally, other devices used for position detection and / or speed detection and / or angle detection, such as infrared sensors and ultrasonic sensors, may also be used. Even for the encoder movable part of the above-mentioned absolute encoder or the encoder movable part of the incremental encoder, a grating or a magnet may be used, and other elements detectable by the corresponding encoder fixing part may also be used. That is to say, for either an absolute encoder or an incremental encoder, either a magnetic encoder or a grating encoder may be used.

[0050] As shown in FIG. 2, in some embodiments, the surgical operation arm 10 further includes a second detection assembly 600 for detecting the rotational speed and / or angle of the output end of the linear drive mechanism 100. Since the second detection assembly 600 can detect the rotational speed and / or angle of the output end of the linear drive mechanism 100, by combining the rotational speed and / or angle of the output end of the speed reducer 400 detected by the first detection assembly 500, the accurate transmission ratio of the speed reducer 400 can be calculated. Thereby, when adjusting the linear position of the moving block 310, based on the accurate transmission ratio, the target linear position of the moving block 310 can be accurately calculated, ensuring the accuracy of the position adjustment of the moving block 310.

[0051] In some embodiments, the second detection assembly 600 may be an encoder or any other detection assembly capable of detecting the rotational speed and / or angle. For example, the second detection assembly 600 may be a magnetic encoder or a grating encoder, and may be an absolute encoder or an incremental encoder. Naturally, the second detection assembly 600 may also be other types of encoders.

[0052] In an embodiment, taking the example that the second detection assembly 600 is an encoder, the second detection assembly 600 may include an encoder fixed part (not shown) and an encoder movable part (not shown). The encoder movable part is fixedly connected to the transmission member 210, or fixedly connected to the input end of the speed reduction mechanism 400, or fixedly connected to the output end of the linear drive mechanism 100. The encoder fixed part detects the rotation speed and / or angle of the encoder movable part, and combines with the rotation speed and / or angle of the output end of the speed reduction mechanism 400 detected by the first detection assembly 500 to calculate the accurate transmission ratio of the speed reduction mechanism 400. Thereby, when adjusting the linear position of the moving block 310, based on the accurate transmission ratio, the target linear position of the moving block 310 is accurately calculated to ensure the accuracy of the position adjustment of the moving block 310.

[0053] As shown in FIG. 2, in some embodiments, the speed reduction mechanism 400 includes a worm gear 410 and a worm wheel 420. The worm wheel 420 is fixedly provided with respect to the transmission member 210, meshes with the worm gear 410. The worm gear 410 is the output end of the speed reduction mechanism 400, and the first detection assembly 500 detects the rotation speed and / or angle and / or position of the worm gear 410. In the embodiment, since the worm wheel 420 is fixedly provided with respect to the transmission member 210, in the process of driving the transmission member 210 to rotate by the linear drive mechanism 100, the worm wheel 420 rotates together with the transmission member 210. Because the worm gear 410 meshes with the worm wheel 420, the worm gear 410 is driven to rotate. In the process of adjusting the position of the moving block 310, with the worm gear 410 as a reference, by driving the transmission member 210 to rotate by the linear drive mechanism 100, the worm gear 410 rotates to a position corresponding to the target linear position of the moving block 310 to accurately control the position of the moving block 310.

[0054] In some embodiments, the speed reduction mechanism 400 includes at least two sets of gear groups. As can be understood, the speed reduction mechanism 400 may include two or more sets of gear groups. For example, the speed reduction mechanism 400 may include a first-stage speed reduction gear group and a second-stage speed reduction gear group, or may include a first-stage speed reduction gear group, a second-stage speed reduction gear group, and a third-stage speed reduction gear group. The specific number and stages of the gear groups can be determined based on the actual situation. In this embodiment, at least two sets of gear groups of the speed reduction mechanism 400 further improve the transmission ratio between the input end and the output end of the speed reduction mechanism 400, so that in the process of adjusting the position of the moving block 310 with reference to the output end of the speed reduction mechanism 400, the position of the moving block 310 can be controlled more accurately.

[0055] FIG. 3 shows a schematic configuration diagram of a speed reduction mechanism of a surgical operation arm according to another embodiment of the present application.

[0056] As shown in FIG. 3, in some embodiments, the speed reduction mechanism 400 includes a first-stage gear group 430 and a second-stage gear group 440. The first-stage gear group 430 includes a first gear 431 and a second gear 432. The first gear 431 is fixedly provided coaxially with the transmission member 210 of the linear transmission mechanism 200. The second gear 432 meshes with the first gear 431 and has a diameter larger than that of the first gear 431. The second-stage gear group 440 includes a third gear 441 and a fourth gear 442. The third gear 441 is fixedly provided coaxially with the second gear 432 and has a diameter smaller than that of the second gear 432. The fourth gear 442 meshes with the third gear 441 and has a diameter larger than that of the third gear 441, which is the output end of the speed reduction mechanism 400.

[0057] In this embodiment, the first gear 431 meshes with the second gear 432, the third gear 441 is provided coaxially with the second gear 432, and meshes with the fourth gear 442. Therefore, when the transmission member 210 is driven to rotate by the linear drive mechanism 100, the first gear 431 rotates together with the transmission member 210, drives the second gear 432 to rotate. Since the third gear 441 is provided coaxially with the second gear 432, the third gear 441 rotates together with the second gear 432 to drive the fourth gear 442 to rotate. Thereby, the rotational speed and / or angle and / or position of the fourth gear 442 are detected, and the transmission ratio between the meshing gears is calculated to obtain the target linear position of the moving block 310. In this process, the diameter of the second gear 432 is larger than the diameter of the first gear 431, the diameter of the third gear 441 is smaller than the diameter of the second gear 432, and the diameter of the fourth gear 442 is larger than the diameter of the third gear 441. Therefore, by making both the transmission ratio of the first-stage gear group 430 and the transmission ratio of the second-stage gear group 440 of the speed reduction mechanism 400 larger than 1, the accuracy of the position adjustment of the moving block 310 is further improved.

[0058] In some embodiments, the speed reduction mechanism 400 includes at least two sets of planetary gear groups. As can be understood, in this embodiment, the transmission ratio between the input end and the output end of the speed reduction mechanism 400 is further improved by the two sets of planetary gear groups of the speed reduction mechanism 400, so that the position of the moving block 310 can be more accurately controlled in the process of adjusting the position of the moving block 310 with reference to the output end of the speed reduction mechanism 400.

[0059] FIG. 4 shows a partially enlarged view of the speed reduction mechanism of the surgical operation arm according to another embodiment of the present application.

[0060] As shown in FIG. 4, in some embodiments, the speed reduction mechanism 400 includes a first planetary gear set 450 and a second planetary gear set 460. The first planetary gear set 450 includes a first sun gear 451 and a plurality of first planetary gears 452. The first sun gear 451 is fixedly provided coaxially with the transmission member 210 of the linear transmission mechanism 200. The first planetary gears 452 mesh with and are transmitted by the first sun gear 451, and have a diameter larger than that of the first sun gear 451. A first planetary carrier 453 is connected to the plurality of first planetary gears 452. The second planetary gear set 460 includes a second sun gear 461 and a plurality of second planetary gears 462. The second sun gear 461 is fixedly provided coaxially with the output end of the first planetary carrier 453. The second planetary gears 462 mesh with and are transmitted by the second sun gear 461, and have a diameter larger than that of the second sun gear 461. A second planetary carrier 463 is connected to the plurality of second planetary gears 462. The output end of the second planetary carrier 463 is the output end of the speed reduction mechanism 400.

[0061] In this embodiment, the first sun gear 451 is provided coaxially with the transmission member 210 and meshes with the first planetary gear 452. Therefore, when the transmission member 210 is driven to rotate by the linear drive mechanism 100, the first sun gear 451 drives the first planetary gear 452 to rotate. A plurality of first planetary gears 452 are connected to the first planetary carrier 453, and the second sun gear 461 is fixed coaxially with the output end of the first planetary carrier 453. Therefore, during the rotation process of the first planetary gear 452, the first planetary carrier 453 drives the second sun gear 461 to rotate. The second sun gear 461 meshes with the second planetary gear 462, and a plurality of second planetary gears 462 are connected to the second planetary carrier 463. Therefore, the second planetary gear 462 and the second planetary carrier 463 are driven to rotate by the second sun gear 461. Thereby, by detecting the rotational speed and / or angle and / or position of the output end of the second planetary carrier 463, the position adjustment of the moving block 310 is realized. Since the diameter of the first planetary gear 452 is larger than the diameter of the first sun gear 451, and the diameter of the second planetary gear 462 is larger than the diameter of the second sun gear 461, by making both the transmission ratio of the first planetary gear group and the transmission ratio of the second planetary gear group larger than 1, the accuracy of the position adjustment of the moving block 310 is further improved.

[0062] In some embodiments, the input end of the speed reduction mechanism 400 and the transmission member 210 of the linear transmission mechanism 200 are directly fixedly connected or indirectly fixedly connected, or integrally provided.

[0063] As can be understood, the fact that the input end of the speed reduction mechanism 400 and the transmission member 210 of the linear transmission mechanism 200 are indirectly fixedly connected means that the input end of the speed reduction mechanism 400 and the transmission member 210 are fixedly connected via a shaft coupling. The fact that the input end of the speed reduction mechanism 400 and the transmission member 210 are directly fixedly connected means that the input end of the speed reduction mechanism 400 and the transmission member 210 are directly rigidly connected, and there is no need for the two to be fixed by other connection structures and they are interference-fitted, thereby reducing the transmission error between the input end of the speed reduction mechanism 400 and the transmission member 210 and improving the transmission accuracy. The fact that the input end of the speed reduction mechanism 400 and the transmission member 210 are integrally provided means that the input end of the speed reduction mechanism 400 uses at least a part of the transmission member 210 as the input end, thereby maximizing the synchronous rotation between the input end of the speed reduction mechanism 400 and the transmission member 210, reducing the transmission error between the input end of the speed reduction mechanism 400 and the transmission member 210, and improving the transmission accuracy.

[0064] In this embodiment, by directly fixedly connecting or indirectly fixedly connecting the input end of the speed reduction mechanism 400 and the transmission member 210 of the linear transmission mechanism 200, or integrally providing them, the synchronous rotation between the speed reduction mechanism 400 and the transmission member 210 can be realized, and the structure of the surgical operation arm 10 can be made more compact, thereby reducing the transmission error during rotation and improving the transmission accuracy.

[0065] As shown in FIG. 1, in some embodiments, the surgical operation arm 10 is fixed to the transmission member 210 and further includes a braking assembly 700 for stopping the transmission member 210 or maintaining the stopped state of the transmission member 210. Specifically, the braking assembly 700 may be various brakes such as an electromagnetic brake and a powder brake. Naturally, the braking assembly 700 may also be other instruments that can stop the transmission member 210 or maintain its stopped state, such as a brake and a stop valve.

[0066] In this embodiment, by fixedly providing the braking assembly 700 on the transmission member 210, when the moving block 310 reaches the target linear position, the braking assembly 700 timely stops the rotation of the transmission member 210, preventing the transmission member 210 from affecting the position accuracy of the moving block 310 due to inertia. And after the moving block 310 moves to the target linear position, by maintaining the stopped state of the transmission member 210 with the braking assembly 700, it can be guaranteed that the position of the moving block 310 does not change due to external factors such as gravity or inertia.

[0067] FIG. 5 shows a partial cross-sectional view of the surgical operation arm according to an embodiment of the present application, and FIG. 6 shows a schematic configuration diagram of the surgical operation arm from another perspective according to an embodiment of the present application.

[0068] As shown in FIGS. 5 and 6, in some embodiments, the surgical operation arm 10 further includes an arm body 800 having a housing cavity 810. An opening 820 for communicating the housing cavity 810 with the outside of the arm body 800 is provided on the arm body 800. The linear drive mechanism 100, the speed reduction mechanism 400, and the first detection assembly 500 are housed in the housing cavity 810, and a part of the linear moving member passes through the opening 820 and protrudes outside the arm body 800 and is connected to the device drive member 20.

[0069] FIG. 7 is a partial schematic configuration diagram of the surgical robot according to an embodiment of the present application.

[0070] As shown in FIG. 7, the surgical robot according to the second aspect of the embodiment of the present application includes the above-described surgical operation arm 10, a device drive member 20 fixedly connected to the moving block 310 of the surgical operation arm 10, a surgical device 30 connected to the device drive member 20, and a surgical connection arm 40 movably connected to an end of the device drive member 20 of the surgical operation arm 10 away from the device drive member 20.

[0071] In the surgical robot according to the embodiment of the present application, since the surgical operation arm 10 is connected to the device driving member 20, the displacement accuracy in the axial direction of the transmission member 210 of the device driving member 20 is improved to a certain extent, and the stability and safety when driving the surgical device 30 by the device driving member 20 to perform surgery are ensured. And since the end of the surgical operation arm 10 that is separated from the device driving member 20 is connected to the surgical connection arm 40, the surgical operation arm 10 can obtain degrees of freedom in other directions by the surgical connection arm 40, whereby, when driving the surgical device 30 by the device driving member 20 to perform surgery, it can be operated more flexibly.

[0072] As shown in FIG. 7, in order to make the device driving member more flexible under the control of the surgical operation arm 10, in some embodiments, there are a plurality of surgical connection arms 40, and the plurality of surgical connection arms 40 are movably connected in sequence. The end of the surgical operation arm 10 that is separated from the device driving member 20 is movably connected to the surgical connection arm 40 located at the end. As can be understood, since the plurality of surgical connection arms 40 are movably connected in sequence and the end of the surgical operation arm 10 that is separated from the device driving member 20 is movably connected to the surgical connection arm 40 located at the end, the surgical operation arm 10 can move along each direction more than the plurality of surgical connection arms 40. Thereby, the device driving member 20 becomes more flexible under the control of the surgical operation arm 10, and the reliability and safety when driving the surgical device 30 by the device driving member 20 to perform surgery are improved.

[0073] In the surgical operation arm 10 according to the embodiment of the present application, the transmission member 210 is driven and rotated by the linear drive mechanism 100, and the engagement member 220 is driven to linearly displace along the axial direction of the transmission member 210, so that the moving block 310 connected to the engagement member 220 is displaced together with the engagement member 220. And, the input end of the speed reduction mechanism 400 is fixedly provided with respect to the transmission member 210, and the first detection assembly 500 detects the rotational speed and / or angle and / or position of the output end of the speed reduction mechanism 400, whereby the linear position of the linear guide member 320 of the moving block 310 is made to correspond one-to-one with the rotational position of the output end of the speed reduction mechanism 400. Thereby, in the process of adjusting the position of the moving block 310, the position of the output end of the speed reduction mechanism 400 is used as a reference for driving the rotation of the transmission member 210 by the linear drive mechanism 100 to achieve accurate adjustment of the position of the moving block 310, ensure the operation accuracy of the surgical instrument 30, and improve the safety when performing surgery with the surgical robot.

[0074] The above content is only a specific embodiment of the present application. Those skilled in the art can refer to the corresponding processes in the embodiments of the foregoing methods for the specific operation processes of the above-described systems, modules, and units for the sake of convenience of description and simplicity. Here, the description is omitted. The protection scope of the present application is not limited thereto. Those skilled in the art can easily conceive of various equivalent changes or substitutions within the technical scope disclosed in the present application, and it should be understood that any of these changes or substitutions belongs to the protection scope of the present application.

Claims

1. A linear drive mechanism having a rotating output end, a rotatable transmission member, and an engaging member screwed to the transmission member, wherein the transmission member is rotatable about its own axis, connected to the output end of the linear drive mechanism, and driven by the linear drive mechanism to perform a rotational movement, a linear transmission mechanism; a linear movement mechanism including a moving block and a linear guide member, wherein the moving block is fixedly connected to the engaging member of the linear transmission mechanism and moves along the linear guide member; a speed reduction mechanism having an input end and an output end, wherein the input end is fixedly provided with respect to the transmission member of the linear transmission mechanism, and the transmission member rotates to drive the input end to move; a first detection assembly provided at the output end of the speed reduction mechanism for detecting the rotational speed and / or angle and / or position of the output end of the speed reduction mechanism; a surgical operation arm.

2. The transmission ratio between the input end and the output end of the speed reduction mechanism is greater than 1. The surgical operation arm according to Claim 1.

3. The transmission ratio i between the input end and the output end of the speed reduction mechanism satisfies 10 ≤ i ≤ 50. The surgical operation arm according to Claim 2.

4. When the moving block moves the linear movement mechanism through a full stroke, the rotational angle of the output end of the speed reduction mechanism is less than 360°. The surgical operation arm according to any one of Claims 1 to 3.

5. The first detection assembly is set as an absolute encoder including an encoder fixed part and an encoder movable part. The encoder movable part is fixedly provided at the output end of the speed reduction mechanism. The encoder fixed part detects the rotational speed and / or angle and / or position of the encoder movable part. The surgical operation arm according to Claim 4.

6. When the moving block moves the linear movement mechanism through a full stroke, the rotational angle of the output end of the speed reduction mechanism is greater than 360°. The surgical operation arm according to any one of Claims 1 to 3.

7. The first detection assembly is set as an incremental encoder including an encoder fixed part and an encoder movable part. The encoder movable part of the incremental encoder is fixedly provided at the output end of the speed reduction mechanism. The encoder fixed part of the incremental encoder detects the rotational speed and / or angle and / or position of the encoder movable part of the incremental encoder. The surgical operation arm according to claim 6.

8. Further comprising a second detection assembly for detecting the rotational speed and / or angle of the output end of the linear drive mechanism. The surgical operation arm according to claim 7.

9. The speed reduction mechanism includes a worm gear and a worm wheel. The worm wheel is fixedly provided with respect to the transmission member, meshes with the worm gear. The worm gear is the output end of the speed reduction mechanism. The first detection assembly detects the rotational speed and / or angle and / or position of the worm gear. The surgical operation arm according to any one of claims 1 to 8.

10. The speed reduction mechanism includes at least two sets of gear groups. The surgical operation arm according to any one of claims 1 to 8.

11. The speed reduction mechanism includes a first-stage gear group and a second-stage gear group. The first-stage gear group includes a first gear and a second gear. The first gear is fixedly provided coaxially with the transmission member of the linear transmission mechanism. The second gear meshes with the first gear and has a diameter larger than that of the first gear. The second-stage gear group includes a third gear and a fourth gear. The third gear is fixedly provided coaxially with the second gear and has a diameter smaller than that of the second gear. The fourth gear meshes with the third gear and has a diameter larger than that of the third gear, and is the output end of the speed reduction mechanism. The surgical operation arm according to claim 10.

12. The speed reduction mechanism includes at least two sets of planetary gear groups. The surgical operation arm according to any one of claims 1 to 8.

13. The speed reduction mechanism includes a first planetary gear group and a second planetary gear group. The first planetary gear group includes a first sun gear and a plurality of first planetary gears. The first sun gear is fixedly provided coaxially with the transmission member of the linear transmission mechanism. The first planetary gear meshes with the first sun gear and is transmitted, and has a diameter larger than that of the first sun gear. A first planetary carrier is connected to the plurality of first planetary gears. The second planetary gear group includes a second sun gear and a plurality of second planetary gears. The second sun gear is fixedly provided coaxially with the output end of the first planetary carrier. The second planetary gear meshes with the second sun gear and is transmitted, and has a diameter larger than that of the second sun gear. A second planetary carrier is connected to the plurality of second planetary gears. The output end of the second planetary carrier is the output end of the speed reduction mechanism. The surgical operation arm according to claim 12.

14. The input end of the speed reduction mechanism and the transmission member of the linear transmission mechanism are directly fixedly connected, indirectly fixedly connected, or integrally provided. The surgical operation arm according to any one of claims 1 to 8.

15. The surgical operation arm according to any one of claims 1 to 14, a device drive member fixedly connected to the moving block of the surgical operation arm, a surgical device connected to the device drive member, and a surgical connection arm movably connected to an end of the surgical operation arm spaced apart from the device drive member. A surgical robot.

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