Portable, multi-degree-of-freedom robotic arm for minimally invasive surgery

Abstract

A portable minimally invasive surgical robotic arm with multiple degrees of freedom, the grip joint assembly for movably mounting a shaft portion (8) of a grip (5), the grip joint assembly having first and second rotational axes perpendicular to each other to allow the shaft portion (8) to rotate about the first and second rotational axes, respectively, the first rotational axis (14) coinciding with the axis of the shaft portion (8) and the second rotational axis perpendicular to the arm member (3). A control mechanism connects the shaft portion (8) and the chord joint assembly (12) to transmit the motion of the grip (5) to the chord joint assembly (12). The control mechanism includes a four-bar linkage, which includes an input member, two push levers (11), and an output member, the two push levers (11) being connected to the input member and the output member, respectively, the input member receiving the output motion of the shaft portion (8), and the output member being a part of the chord joint assembly (12). A user can control the cutting edge joint assembly (2) simply by the movement of the wrist joint of the gripping hand, which can simplify the operation method by avoiding the need for two-handed operation.

Description

[Technical field]

[0001] The present invention relates to the medical device field, and more specifically to a portable, multi-degree-of-freedom, minimally invasive surgical robot arm. [Background technology]

[0002] With the advancement of medical technology, minimally invasive surgery, which has the advantages of low trauma, low pain, and rapid recovery, is becoming more and more widely used in clinical treatment. In the application scenes represented by laparoscopy and thoracoscope, the robotic arm dedicated to minimally invasive surgery, such as laparoscopic surgical forceps, has become a necessary tool for performing surgery.

[0003] When performing various laparoscopic surgeries, surgical instruments can only be inserted into the patient's body through a small incision of about 1 cm in order to perform complex surgical operations such as exploration, cutting, hemostasis, and suturing, and there is a high requirement for the freedom of the robot arm. At present, advanced minimally invasive surgical systems represented by Da Vinci surgical robots are accurate, efficient, and powerful, and both doctors and patients have a good practical experience, but their structure is complex, costly, large in volume, and has high requirements for use and maintenance, making it difficult to spread quickly, and their price is also unaffordable for patients with poor financial means.

[0004] Therefore, various types of minimally invasive surgical robot arms have become the most convenient choice in minimally invasive surgery at present. The basic structure of the current minimally invasive surgical robot arm includes a cutting edge, a cutting edge joint assembly, an arm member, and a handle, the cutting edge and the handle are respectively attached to both ends of the arm member, a control cord is installed in the arm member, and a cord joint assembly is installed at one end close to the handle for controlling the operation of the cutting edge joint at the other end through the handle. The robot arms in the prior art often have limited degrees of freedom, the movement of the cutting edge joint assembly is not flexible enough, and the operation is cumbersome, and the handle grip is coaxial with the arm member, and the gripping posture during use does not meet the ergonomic requirements and is prone to fatigue, and such restrictions have a detrimental effect on the efficiency and safety of surgery. Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a portable, multi-degree-of-freedom robotic arm for minimally invasive surgery that allows free bending and rotation of the cutting edge, is easy to operate, and improves the ergonomics of the robotic arm. [Means for solving the problem]

[0006] A portable minimally invasive surgical robot arm with multiple degrees of freedom includes a cutting edge, a cutting edge joint assembly, an arm member, and a handle, the cutting edge is attached to one end of the arm member via the cutting edge joint assembly, the handle is attached to the other end of the arm member, the arm member includes a plurality of control cords and a cord joint assembly provided at the other end, the cord joint assembly and the cutting edge joint assembly are linked via the plurality of control cords, and the handle includes a grip, a grip joint assembly, and a control mechanism. The grip includes a gripping portion for holding and a shaft portion. The grip joint assembly is for movably mounting the shaft portion of the grip, and the grip joint assembly has the first rotation axis and the second rotation axis to allow the shaft portion to rotate around the first rotation axis and the second rotation axis that are perpendicular to each other, respectively, the first rotation axis coincides with the axis of the shaft portion, and the second rotation axis is perpendicular to the arm member. A control mechanism connects the shaft and the cord joint assembly so as to transmit the motion of the grip to the cord joint assembly, the control mechanism comprising a four-bar linkage, the four-bar linkage comprising an input member, two push levers, and an output member, the two push levers being connected to the input member and the output member, respectively, the input member receiving the output motion of the shaft, and the output member being a part of the cord joint assembly.

[0007] Preferably, the grip is provided on one side of the arm member such that the gripping direction of the grip intersects with the axial direction of the arm member.

[0008] A user can grasp and operate the robot arm with relatively natural gestures, which is convenient and improves ergonomics. A user can control the cutting edge joint assembly only by the movement of the wrist joint of the grasping hand, which avoids two-handed operation and simplifies the operation method.

[0009] Preferably, the handle further comprises a housing fixedly attached to the arm member for accommodating the grip joint assembly and the control mechanism, the grip joint assembly comprising an inner cylinder having an axis about the first rotation axis, the inner cylinder being inserted into and attached to the housing, the inner cylinder being rotatable relative to the housing about its own axis, the shaft portion being attached to the inner cylinder via a pivot and arranged coaxially with the inner cylinder, the pivot being provided along the second axis.

[0010] Preferably, the handle further comprises a housing fixedly attached to the arm member for accommodating the grip joint assembly and the control mechanism, the grip joint assembly comprising an inner cylinder and an outer cylinder which fit together about the first rotation axis, the shaft being provided on the inner cylinder and rotatable relative to the outer cylinder about its own axis, the outer cylinder being attached to the housing via a pivot which is provided along the second rotation axis.

[0011] Preferably, the handle further comprises a housing fixedly attached to the arm member for accommodating the grip joint assembly and the control mechanism, the grip joint assembly being a ball-head joint having a joint ball head and a support socket, the joint ball head being attached to one end of the shaft closer to the arm member, the support socket being fixedly attached to the housing, and an opening of the support socket being centered about the first axis of rotation.

[0012] Preferably, the cord joint assembly has a third rotation axis and a fourth rotation axis perpendicular to each other, allowing the cord joint assembly to rotate in the same direction as the rotation of the shaft, and further moving the control cord to realize the bending of the blade tip joint. The cord joint assembly can make the bending direction of the movable joint of the blade tip coincide with the movement direction of the wrist of the user, and can better suit the operating habits.

[0013] Preferably, the input member of the four-bar linkage is a push lever disc, the center of the push lever disc is on the first rotation axis, and the push lever disc and the shaft are hinged in a direction parallel to the second rotation axis. During operation, the push lever disc can rotate about the axis of the first rotation axis, making the structure of the control mechanism compact, and the hinge connection with the shaft reduces the bending moment experienced by the push lever and improves the service life of parts.

[0014] Preferably, the handle further includes a lock mechanism, the lock mechanism having a lock switch, a lock transmission member, and a brake member, the lock switch is attached to the grip, the lock transmission member has one end connected to the lock switch and one end connected to the brake member, the lock switch has two states, a lock state and a release state, when the lock switch is in the lock state, the lock cord moves the brake member to a lock position to lock the input member of the grip joint assembly or the four-bar linkage, and makes the four-bar linkage inoperable, while when the lock switch is in the release state, the brake member moves away from the brake position to return the input member to a movable state. During surgery, the blade joint assembly can be locked by the lock mechanism, and the blade can be fixed in a surgical operation position, thereby improving the safety of the use process.

[0015] Preferably, the handle further comprises a blade opening / closing lever and a blade opening / closing control cord, the blade opening / closing lever being connected to the blade via the blade opening / closing control cord to control the opening and closing of the blade, the blade opening / closing lever being attached to the grip and arranged in a "human" shape with the grip to allow a user to move the blade opening / closing lever with a finger when holding the grip, the handle further comprises a blade opening knob, the blade opening / closing lever being connected to the blade via an elastic shaft to control rotation about the axis of the blade, the blade opening / closing lever being attached to the grip and arranged above the blade opening / closing lever to allow a user to move the blade opening / closing lever with an index finger when holding the grip, and the lock switch being attached to a side of the grip to allow a user to move the lock switch with a thumb when holding the grip. By simply holding the handle with one hand, the user can perform operations such as bending, rotating, locking, and opening and closing the blade tip on the robotic arm, eliminating the need for two-handed operation, simplifying the operational flow, and improving surgical efficiency.

[0016] Preferably, the cutting edge comprises an electrosurgical instrument, the arm member and handle comprise lines for supplying power to the electrosurgical instrument, and the handle further comprises an electrosurgical instrument switch mounted adjacent the cutting edge knob to allow a user to operate the electrosurgical instrument switch with an index finger when gripping the handle.

[0017] Preferably, the shaft is hollow to allow the blade opening / closing control cord and the elastic shaft to pass through the shaft. The hollow shaft makes the handle structure more compact, optimizing volume and reducing weight.

[0018] Preferably, the arm member includes a straight portion and a curved portion, the straight portion is connected to the handle via the curved portion, and the grip portion of the handle is located on an extension of the straight portion. The curved portion allows the relative positions of the handle and the blade tip to be arranged according to an actual usage scene so that operation is more flexible. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is a schematic diagram of the structure of a portable, multi-degree-of-freedom, minimally invasive surgical robot arm. [Diagram 2] FIG. 2 is a schematic diagram of the control mechanism and grip joint assembly. [Diagram 3] FIG. 3 is a cross-sectional schematic view of a grip joint assembly. [Figure 4] FIG. 4 is a schematic diagram of a chord joint assembly. [Diagram 5] FIG. 5 is a structural schematic diagram of a multi-degree-of-freedom portable minimally invasive surgical robotic arm, in which the cutting edge joint assembly is curved in the xz plane. [Figure 6] FIG. 6 is a schematic diagram of the control mechanism and grip joint assembly when the cutting edge joint assembly is bent in the xz plane. [Figure 7] FIG. 7 is a structural schematic diagram of a multi-degree-of-freedom portable minimally invasive surgical robotic arm, in which the cutting edge joint assembly is curved in the xy plane. [Figure 8] FIG. 8 is a cross-sectional schematic view of the grip joint assembly when the cutting edge joint assembly is curved in the xy plane. [Figure 9] FIG. 9 is a schematic diagram of the control mechanism when the cutting edge joint assembly is curved in the xy plane. [Figure 10] FIG. 10 is a schematic diagram of the structure of a handle in one embodiment. [Figure 11] FIG. 11 is a cross-sectional schematic view of an alternative embodiment of a gripping joint assembly. [Figure 12] FIG. 12 is a structural schematic diagram of a control mechanism in another embodiment. [Figure 13] FIG. 13 is a structural schematic diagram of a grip joint assembly in another embodiment. [Figure 14] FIG. 14 is a structural schematic diagram of a robot arm according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] The above drawings are intended to explain the technical ideas of the embodiments of the present invention in more detail, and do not constitute limitations on the embodiments of the present invention. In the drawings, x, y, and z are coordinate systems established in the drawings to facilitate the description of positional relationships. The meanings of the symbols and coordinate systems in each drawing are all consistent. It should be understood that the above drawings only provide a schematic description of the component structures designed in the technical solution of the present invention, and do not depict all component structures and detailed structures in detail and strictly according to scale.

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in more detail with reference to the drawings and specific embodiments.

[0022] FIG. 1 is a structural schematic diagram of a portable minimally invasive surgical robot arm with multiple degrees of freedom, in which a cutting edge 1 is connected to one end of an arm member 3 via a cutting edge joint assembly 2, and the other end of the arm member 3 is connected to a handle 4. The handle 4 includes a housing 6 fixed relatively to the arm member 3, a control mechanism 7 attached inside the housing 6, and a grip 5. In accordance with FIG. 2, one end of the grip 5 is a shaft portion 8, which enters the inside of the housing 6, and a user operates the robot arm by holding the gripping portion, which is the other end of the grip 5. When the user holds the grip 5, the thumb is located in the positive direction of the z-axis with respect to the palm, and this direction is the gripping direction.

[0023] As shown in FIG. 2 and FIG. 3, a grip joint assembly having an outer cylinder 15, an inner cylinder 16, and a second rotation axis pivot 17 is also mounted in the housing 6. The inner cylinder 16 is rotatable relative to the outer cylinder 15 around a first rotation axis 14 in the z-axis direction, and the axial direction of the second rotation axis pivot 17 is a second rotation axis. The shaft portion 8 is connected to the inner cylinder 16 via the second rotation axis pivot 17, and the shaft portion 8 is rotatable around the second rotation axis via the second rotation axis pivot 17. A fulcrum lever 9 is fixedly mounted to the shaft portion 8 and is connected to the control mechanism 7. The control mechanism 7 includes a push lever disk 10 and two push levers 11. The push lever disk 10 is hingedly connected to the fulcrum lever 9 so as to allow it to rotate around the y-axis direction relative to the fulcrum lever 9, and the position of the connection point is on the axis 14 of the first rotation axis. 9, two push levers 11 are hingedly connected to the cord joint assembly 12, and the push lever disk 10, the push lever 11 and the cord joint assembly 12 constitute a four-joint linkage mechanism, in which the push lever disk 10, as an input member, receives motion input from the fulcrum lever 9 to move the cord joint assembly 12. The fulcrum lever 9 and the push lever 11 are rod members having a certain degree of flexibility.

[0024] As shown in Fig. 4, the structure of the chord joint assembly 12 includes two sets of pivots provided on the third rotation axis 18 of the chord joint and the fourth rotation axis 19 of the chord joint to allow the chord joint assembly 12 to rotate around the third rotation axis 18 and the fourth rotation axis 19, respectively. In accordance with Fig. 9, the two push levers 11 are hinged to a portion above the fourth rotation axis 19 of the chord joint assembly. One end of a plurality of control cords 13 is fixed to the chord joint assembly 12, and the other end is fixed to the cutting edge joint assembly 2 (including the case where the control cords 13 are fixed to the cutting edge joint assembly 2).

[0025] When operating the robotic arm, the arm member 3 enters the patient's body through the surgical notch, and its position is relatively fixed. The user's operating hand grasps the grip 5, rotates the shaft 8 by moving the wrist of the operating hand, and further pulls the blade joint assembly to bend the blade in the orientation required for the surgery.

[0026] FIG. 5 is a schematic diagram showing the cutting edge 1 bending and swinging in the xz plane. When it is necessary to bend the cutting edge 1 in the negative direction of the z axis, the handle 5 is operated to rotate counterclockwise around the second rotation axis 17 along the direction of the arrow, and the movable joint 2 is bent in the negative direction of the z axis via the control mechanism 7. The operation of the control mechanism 7 at this time will be described with reference to FIG. 6. The handle 5 rotates counterclockwise around the second rotation axis 17 along the direction of the arrow to move the fulcrum lever 9 and the push lever disk 10, and the push lever disk 10 moves the push lever 11 in the positive direction of the x axis, and rotates the chord joint assembly 12 counterclockwise around the fourth rotation axis 19 of the chord joint, at this time the upper control cord 13 is relaxed and the lower control cord 13 is tensed, thereby bending the bending joint 2 in the negative direction of the z axis. The stopper 28 serves to limit the range of motion of the push lever disk 10 so that the movement position of the push lever disk 10 does not exceed the allowable range of the chord joint assembly 12.

[0027] Since the fulcrum lever 9 and the push lever 11 are lever members having a certain degree of flexibility, the component of movement of the push lever disc 10 in the z-axis direction following the rotation of the fulcrum lever 9 around the second rotation axis 17 is absorbed by the elastic deformation of the fulcrum lever 9 and the push lever 11, reducing the stress on the hinge portion, and the push lever disc 10 is hinged to the fulcrum lever 9 and can rotate around the y-axis, eliminating the angle change caused by the rotation of the fulcrum lever 9, keeping the push lever disc 10 always parallel to the xy plane, improving the stress state of the hinge portion of the fulcrum lever 9 and the push lever disc 10. This extends the service life of the related parts and improves the reliability of the robot arm.

[0028] FIG. 7 is a schematic diagram showing the cutting edge 1 bending in the negative direction of the y-axis. When the cutting edge needs to be bent in the negative direction of the y-axis as shown in FIG. 7, the shaft portion 8 rotates clockwise around the first rotation shaft axis 14 along the arrow direction, as shown in FIG. 8, and bends the cord joint assembly 12 to the right via the control mechanism 7. As shown in FIG. 9, the push lever disk 10 rotates clockwise around the first rotation shaft axis 14 together with the shaft portion 8, and rotates the cord joint assembly 12 clockwise around the third rotation axis 18 of the cord joint via the two push levers 11, at which time the left control cord 13 is relaxed and the right control cord 13 is tensed, thereby bending the cutting edge joint assembly 2 in the negative direction of the y-axis.

[0029] As shown in FIG. 1 and FIG. 2, the handle 4 further includes a lock mechanism having a lock switch 20, a lock cord 21, a brake member 22, and an elastic return portion 23. The lock transmission member 21 is a lock cord, one end of which is connected to the lock switch 20 and the other end of which is connected to the brake member 22, which is connected to the housing 6 via the elastic return portion 23. As shown in FIG. 6, after the cutting edge joint assembly is bent to a predetermined position, the lock switch 20 is triggered to a lock position, and the lock cord 21 is pulled to move the brake member 22 and press the push lever disc 10, thereby immobilizing the push lever disc 10 and locking the cutting edge joint assembly 2. When the lock switch 20 is triggered to a release position, the lock cord 21 is relaxed, and the brake member 22 is separated from the push lever disc 10 via the elastic return portion 23, thereby releasing the lock on the cutting edge joint assembly 2.

[0030] The braking member 22 is arranged as a friction piece, and the elastic return portion 23 is arranged as a reed or spring rotation axis, and when the lock switch 20 is in the locked position, the braking member 22 swings in the negative direction of the z-axis and presses the push lever disc 10 together with the stopper 28 to immobilize the push lever disc 10 by frictional force. When the lock switch 20 is in the released state, the braking member 22 swings in the positive direction of the z-axis via the elastic force of the elastic return portion 23 and separates from the push lever disc 10, recovering its freedom of movement.

[0031] According to another embodiment, as shown in Fig. 12, the push lever disc 10 is replaced by a "Y" shaped fork arm, one end of which is hinged to the fulcrum lever 9 to allow the fork arm to rotate about the y-axis direction relative to the fulcrum lever 9, and the other end of which is hinged to two push levers 11 to allow the fork arm to rotate about the axis 14 of the first rotation shaft via the fulcrum lever 9. The braking member 22 is arranged as a braking caliper which clamps the fork arm against movement when the lock switch 20 is in the locked position, while releasing the fork arm to recover its freedom of movement when the lock switch 20 is in the released position.

[0032] According to another embodiment, an electrosurgical instrument comprising a high frequency electric knife, an ultrasonic knife or an argon knife is integrated into the cutting edge 1. As shown in Figure 10, the handle 4 is provided with a power supply line 26 and an electrosurgical instrument switch 27 for supplying and controlling power to the electrosurgical instrument.

[0033] The handle 4 is further provided with a cutting edge opening / closing lever 24 and a cutting edge knob 25. As shown in FIG. 10, the cutting edge opening / closing control cord 29 penetrates the arm member 2, one end of which is connected to the cutting edge 1, and the other end of which is connected to the cutting edge opening / closing lever 24. During use, by moving the cutting edge opening / closing lever 24, the cutting edge opening / closing control cord 29 can be pulled to control the opening and closing of the cutting edge 1. The cutting edge knob 25 is connected to the cutting edge via an elastic shaft 30, and by rotating the cutting edge knob 25, the cutting edge can be rotated around the x-axis. The cutting edge opening / closing lever 24 is arranged in a "V" shape with the gripping part of the grip 5. When the user grips the grip 5, by placing the palm against the gripping part and moving the cutting edge opening / closing lever 24 with the finger, the opening and closing control of the cutting edge 1 can be realized. The cutting edge knob 25 is provided above the cutting edge opening / closing lever 24, so that when the user grips the grip 5, the cutting edge knob 25 can be moved with the index finger to rotate the cutting edge 1 around the x-axis. The lock switch 20 is provided on the side surface of the grip 5, and when the user grips the grip 5, the lock switch can be moved with the thumb to lock the cutting edge joint assembly 2. The electrosurgical instrument switch 27 is installed below the cutting edge knob 25 so that the user can operate the electrosurgical instrument with the index finger when gripping the grip 5. Depending on the difference in the electrosurgical instrument integrated in the cutting edge 1, the operations to be performed include surgical operations such as high-frequency electrocautery, electrocoagulation, ultrasonic cutting, ultrasonic coagulation, and argon plasma coagulation.

[0034] In the state shown in FIG. 8, since the second rotation axis pivot 17 rotates around the first rotation axis 14 following the shaft portion 8, it does not become parallel to the y-axis and the fourth rotation axis 19 of the cord joint. At this time, the operator grips the grip 5 and rotates around the second rotation axis line 17. The push lever disk 10 in FIG. 9 generates a movement component in the y-axis direction. In order to maintain the movement of the four-bar linkage mechanism composed of the push lever disk 10, the fulcrum lever 11, and the cord joint assembly 12, the fulcrum lever 9 and the push lever 11 will receive an additional bending moment.

[0035] Another preferred embodiment shown in Figure 11 improves upon this situation: the inner cylinder 16 of the grip joint assembly is attached directly to the shaft 8 and inserted into the outer cylinder 15, so that the shaft 8 can rotate relative to the outer cylinder 15 about a first rotation axis 14. The first rotation axis outer cylinder 15 is connected to the housing via a second rotation axis pivot 17 so that the shaft 8, inner cylinder 16 and outer cylinder 15 rotate together about the second rotation axis pivot 17.

[0036] When the grip 5 rotates around the second rotation axis pivot 17, the outer cylinder is moved and rotates therewith, while when the grip 5 rotates around the first rotation axis axis 14, the parallel relationship between the second rotation axis pivot 17 and the y-axis does not change, and thus the second rotation axis pivot 17 is always kept parallel to the fourth rotation axis 19 of the chord joint. This ensures that the rotations of the grip 5 around the first rotation axis 14 and the second rotation axis pivot 17 do not interfere with each other, and the additional stress applied to the control mechanism by the simultaneous rotation of the grip 5 around the first rotation axis 14 and the second rotation axis pivot 17 in actual operation is reduced, improving the life of the parts and contributing to smoother bending operation of the cutting edge joint assembly 2 in surgical operations.

[0037] According to another embodiment, as shown in FIG. 13, the grip joint assembly is a ball head joint having a joint ball head 31 and a support socket 33, the joint ball head 31 is provided at the tip of the shaft portion 8, and the fulcrum lever 9 is connected to the joint ball head 31. The axis of the opening of the support socket 33 is the first rotation axis 14, and the axis parallel to the y-axis of the joint ball head is the second rotation axis. The ball joint allows the grip to rotate around the first rotation axis 14 and to swing in the xz plane. The joint ball head 31 is provided with a brake window 32, and a rubber brake pressing piece 34 is provided at a position corresponding to the brake window 32 on the inside of the support socket 33, and the lock switch 20 is connected to a brake lever 22 having a rubber presser via a lock transmission member 21, and the lock transmission member 21 is a lever fixed to a brake fulcrum 35. When the lock switch 20 is triggered, the lever 21 rotates around the braking fulcrum 35, and the braking lever 22 is pressed against the braking pressing piece through the braking window 32, and the frictional force prevents the joint ball head 31 from rotating relative to the support socket 33, thus achieving the braking effect. The ball head joint can reduce the parts of the grip joint assembly and reduce the complexity of manufacturing and maintenance.

[0038] Preferably, the support socket 33 is provided with a stopper structure so that the joint ball head can only rotate around the z-axis and y-axis, but cannot rotate around the x-axis, thereby reducing the excessive bending moment that the fulcrum lever 9 receives and improving the reliability of the parts.

[0039] Preferably, a spring rotation shaft is provided at the brake fulcrum 35, and when the lock switch 20 is triggered to the release position, the elasticity of the spring rotation shaft cooperates in rotating the lever 21, quickly separating the brake lever 22 and the brake pressing piece 34, improving the responsiveness of the robot arm to the brake release operation and further reducing the labor required for operation.

[0040] According to another embodiment, a rubber brake pressing piece is provided on the outside of the joint ball head 31, one end of the lock transmission member 21 is connected to the lock switch 20, and the other end is connected to a brake lever provided in the support socket 33, and the brake lever is provided with a rubber presser that abuts against the arc surface of the joint ball head. When the lock switch 20 is triggered, the lock transmission member 21 moves the brake lever to press the brake pressing piece from the outside of the joint ball head 31, and the frictional force prevents the joint ball head 31 from rotating relative to the support socket 33, thereby achieving a braking effect. The presser of the brake lever is provided on the outside of the joint ball head 31, which can contribute to frictional braking with a larger contact area, thereby achieving a higher braking effect.

[0041] According to yet another embodiment, as shown in FIG. 14, the arm member 3 is provided with a curved portion 36 so that the cutting edge 1 and the upper end of the grip 5 are on the same axis, making the operation of the robotic arm more compatible with the usage habits of typical laparoscopic instruments.

[0042] The above-mentioned examples are intended to explain the present invention in more detail with the aid of drawings so that those skilled in the art can understand the technical idea of ​​the present invention, and are not intended to limit the embodiments of the present invention. Within the scope of the claims of the present invention, the equivalent replacement or improvement of the parts and structures of the present invention, and the combination of each embodiment under the premise that there is no structural conflict, all fall within the protection scope of the present invention. [Explanation of symbols]

[0043] 1 - cutting edge, 2 - cutting edge joint assembly, 3 - arm member, 4 - handle, 5 - grip, 6 - housing, 7 - control mechanism, 8 - shaft, 9 - fulcrum lever, 10 - push lever disc, 11 - push lever, 12 - chord joint assembly, 13 - control cord, 14 - first axis of rotation, 15 - outer barrel, 16 - inner barrel, 17 - second axis of rotation pivot, 18 - third axis of rotation of chord joint, 19 - cord a fourth rotation axis of the hand joint, 20-lock switch, 21-lock transmission member, 22-brake lever, 23-elastic return portion, 24-blade opening / closing lever, 25-blade knob, 26-power supply line, 27-electrosurgical instrument switch, 28-stopper, 29-blade opening / closing control cord, 30-elastic shaft, 31-joint ball head, 32-brake window, 33-support socket, 34-brake pressure piece, 35-brake fulcrum, 36-curved portion.

Claims

1. A portable minimally invasive surgical robot arm having multiple degrees of freedom, comprising a cutting edge, a cutting edge joint assembly, an arm member, and a handle, the cutting edge being attached to one end of the arm member via the cutting edge joint assembly, the handle being attached to the other end of the arm member, the arm member comprising a plurality of control cords and a cord joint assembly provided at the other end, the cord joint assembly and the cutting edge joint assembly being linked together via the plurality of control cords, The handle is A grip having a gripping portion and a shaft portion for gripping; a grip joint assembly for movably mounting the shank of the grip, the grip joint assembly having a first axis of rotation and a second axis of rotation for allowing the shank to rotate about mutually perpendicular first and second axes of rotation, the first axis of rotation coinciding with the axis of the shank and the second axis of rotation perpendicular to the arm member; and a control mechanism that connects the shaft and the chord joint assembly so as to transmit the motion of the grip to the chord joint assembly, the control mechanism comprising a four-bar linkage, the four-bar linkage comprising an input member, two push levers, and an output member, the two push levers being connected to the input member and the output member, respectively, the input member receiving the output motion of the shaft, and the output member being a part of the chord joint assembly.

2. 2. The portable, multi-degree-of-freedom, minimally invasive surgical robot arm of claim 1, wherein the grip is provided on one side of the arm member such that a gripping direction of the grip intersects with an axial direction of the arm member.

3. 2. The portable minimally invasive surgical robot arm with multiple degrees of freedom according to claim 1, wherein the handle further comprises a housing fixedly attached to the arm member for accommodating the grip joint assembly and the control mechanism, the grip joint assembly comprising an inner cylinder having an axis centered on the first rotation axis, the inner cylinder being inserted into and attached to the housing, the inner cylinder being rotatable relative to the housing around its own axis, the shaft portion being attached to the inner cylinder via a pivot and being arranged coaxially with the inner cylinder, the pivot being provided along the second rotation axis.

4. 2. The portable minimally invasive surgical robot arm with multiple degrees of freedom according to claim 1, wherein the handle further comprises a housing fixedly attached to the arm member for accommodating the grip joint assembly and the control mechanism, the grip joint assembly comprising an inner cylinder and an outer cylinder that are fitted together with the first rotation axis as an axis center, the shaft portion being provided on the inner cylinder and rotatable relative to the outer cylinder around its own axis, and the outer cylinder being attached to the housing via a pivot, the pivot being provided along the second rotation axis.

5. 2. The portable minimally invasive surgical robot arm with multiple degrees of freedom according to claim 1, wherein the handle further comprises a housing fixedly attached to the arm member for accommodating the grip joint assembly and the control mechanism, the grip joint assembly being a ball-head joint, the ball-head joint having a joint ball head and a support socket, the joint ball head being attached to one end of the shaft portion closer to the arm member, the support socket being fixedly attached to the housing, and an opening of the support socket being axially centered on the first rotation axis.

6. The multi-degree-of-freedom portable minimally invasive surgical robot arm according to any one of claims 1 to 5, characterized in that the chord joint assembly has a third rotation axis and a fourth rotation axis perpendicular to each other, allowing the chord joint assembly to rotate in the same direction as the rotation of the first rotation axis and the second rotation axis of the shaft portion, and further moving the control chord to realize bending of the cutting edge joint assembly.

7. The input member of the four-bar link mechanism is a push lever disk, the center of the push lever disk is on the first rotation axis, and the push lever disk and the shaft portion are hinged in a direction parallel to the second rotation axis. The multi-degree-of-freedom portable minimally invasive surgical robot arm according to any one of claims 1 to 5, characterized in that.

8. The handle further includes a locking mechanism, the locking mechanism has a lock switch, a lock transmission member, and a braking member, the lock switch is attached to the grip, one end of the lock transmission member is connected to the lock switch, and one end is connected to the braking member. The lock switch has two states of lock and release. When the lock switch is in the locked state, the lock braking member moves the braking member to the locked position to lock the grip joint assembly or the input member of the four-bar link mechanism, making the four-bar link mechanism inoperable. On the other hand, when the lock switch is in the released state, the braking member moves away from the braking position to return the input member to the movable state. The multi-degree-of-freedom portable minimally invasive surgical robot arm according to any one of claims 1 to 5, characterized in that.

9. The handle further includes a blade tip opening and closing lever and a blade tip opening and closing control cord. The blade tip opening and closing lever is connected to the blade tip via the blade tip opening and closing control cord so as to control the opening and closing of the blade tip. The blade tip opening and closing lever is attached to the grip and arranged in a "V" shape with the grip portion so as to allow the user to move the blade tip opening and closing lever with a finger when gripping the grip portion. The handle further includes a blade tip knob. The blade tip knob is connected to the blade tip via an elastic shaft so as to control the rotation around the axis of the blade tip. The blade tip knob is attached to the grip and arranged above the blade tip opening and closing lever so as to allow the user to move the blade tip knob with an index finger when gripping the grip portion. The lock switch is attached to the side surface of the grip portion so as to allow the user to move the lock switch with a thumb when gripping the grip portion. The multi-degree-of-freedom portable minimally invasive surgical robot arm according to claim 8, characterized in that.

10. 10. The multi-degree-of-freedom portable minimally invasive surgical robotic arm of claim 9, wherein the cutting edge comprises an electrosurgical instrument, the arm member and the handle comprise lines for supplying power to the electrosurgical instrument, and the handle further comprises an electrosurgical instrument switch, the electrosurgical instrument switch mounted adjacent the cutting edge knob to allow a user to operate the electrosurgical instrument switch with an index finger when gripping the gripping portion.

11. 10. The portable, minimally invasive surgical robot arm with multiple degrees of freedom according to claim 9, wherein the shaft portion is hollow to allow the blade tip opening / closing control cord and the elastic shaft to pass through the shaft portion.

12. 2. The portable, multi-degree-of-freedom, minimally invasive surgical robot arm of claim 1, wherein the arm member comprises a straight portion and a curved portion, the straight portion being connected to the handle via the curved portion, and the gripping portion of the handle being located on an extension of the straight portion.

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