Surgical robot and medical system

Abstract

A surgical robot and a medical system. The surgical robot comprises: an orientation part and at least two load arms. The at least two load arms are connected to the orientation part and can rotate relative to the orientation part, and the rotation centers of the at least two load arms relative to the orientation part are located on the same axis. In the present application, by configuring the fixed orientation part to support the rotation of the load arms, the degrees of freedom of the mechanical arms are simplified, and thus the overall convenience in the use of the surgical robot is improved.

Description

Surgical robot and medical system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the Chinese patent application with application number "202311872535.3" and application date of December 29, 2023, the Chinese patent application with application number "202410854907.8" and application date of June 27, 2024, and the Chinese patent application with application number "202410854619.2" and application date of June 27, 2024, and claims the priority of the above-mentioned Chinese patent applications. The entire contents of the above-mentioned Chinese patent applications are hereby incorporated into this application by introduction. Technical Field

[0003] The present application belongs to the field of medical device technology, and in particular relates to a surgical robot and a medical system. Background Art

[0004] Surgical robots offer advantages such as accurate positioning, stable operation, strong dexterity, a large working range, and resistance to radiation and infection, making them widely used in various surgeries. By manipulating micro-instruments to perform surgeries, surgical robots help improve surgical precision and address issues such as hand tremors, fatigue, and muscle and nerve feedback. They enable surgeons to perform surgeries in the most comfortable state, playing a significant role in improving surgical success rates and alleviating patient pain. In recent years, their research has become a new area of ​​medical device application.

[0005] However, existing surgical robot products still have defects such as redundant structural freedom and high structural complexity. These defects bring difficulties to preoperative settings and inconvenience to surgical implementation. Summary of the Invention

[0006] The purpose of this application is to provide a surgical robot and a medical system to solve or improve at least one of the defects of existing surgical robots, such as redundant degrees of freedom and high structural complexity.

[0007] A first aspect of the present application provides a surgical robot comprising an orientation unit and at least two load arms, wherein the two load arms are connected to the orientation unit and rotatable relative to the orientation unit, and the rotation centers of the at least two load arms relative to the orientation unit are located on the same axis.

[0008] The above-mentioned surgical robot is provided with an orienting part, which can rotate the load arm and the setting arm connected to the load arm around the orienting part. Compared with the existing multi-arm separate robot configuration, the space occupied by the load arm and the setting arm is saved. At the same time, the same orienting part can be provided with multiple load arms, which also reduces the complexity of the structure.

[0009] A second aspect of the present application provides a medical system, comprising: the above-mentioned surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the following is a brief introduction to the drawings required for use in the implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] FIG1 is a schematic diagram of a medical system of the present application;

[0012] FIG2 is a schematic structural diagram of a surgical robot according to the present application;

[0013] FIG3 is a schematic diagram of the principle of a surgical robot;

[0014] FIG4 is a structural diagram of a specific embodiment of the connection structure between the orientation part and the load arm of a surgical robot of the present application;

[0015] FIG5 is a schematic diagram of another state of the embodiment of FIG4;

[0016] FIG6 is a schematic structural diagram of an embodiment of the surgical robot of the present application;

[0017] FIG7 is a schematic structural diagram of another embodiment of the surgical robot of the present application;

[0018] FIG8 is a schematic structural diagram of another embodiment of the surgical robot of the present application;

[0019] FIG9 is a schematic structural diagram of an embodiment of a connection structure between an orientation portion and a load arm of a surgical robot of the present application;

[0020] FIG10 is a schematic structural diagram of another embodiment of the connection structure between the orientation portion and the load arm of the surgical robot of the present application;

[0021] FIG11 is a schematic structural diagram of another embodiment of the connection structure between the orientation portion and the load arm of the surgical robot of the present application;

[0022] FIG12 is a schematic structural diagram of another embodiment of the connection structure between the orientation portion and the load arm of the surgical robot of the present application;

[0023] FIG13 is a schematic structural diagram of an embodiment of the surgical robot of the present application;

[0024] FIG14 is a schematic top view of the orienting portion and the load arm according to an embodiment of the present application;

[0025] FIG15 is a perspective structural diagram of an orientation portion and a load arm of the surgical robot of the present application;

[0026] FIG16 is a schematic structural diagram of an embodiment of a mechanical motion structure between an orientation unit and a load arm of a surgical robot of the present application;

[0027] FIG17 is an enlarged view of portion A in FIG15 ;

[0028] FIG18 is a perspective partial cross-sectional view of the mechanical motion structure between the orientation portion and the load arm shown in FIG15;

[0029] FIG19 is a top cross-sectional view of the mechanical motion structure between the orientation portion and the load arm shown in FIG15;

[0030] FIG20 is a schematic structural diagram of another embodiment of the mechanical motion structure between the orienting portion and the load arm of the present application;

[0031] FIG21 is a top cross-sectional view of the mechanical motion structure between the orientation portion and the load arm shown in FIG20;

[0032] FIG22 is a schematic structural diagram of another orientation portion and load arm of the surgical robot of the present application;

[0033] FIG23 is a schematic top view of the mechanical motion structure between the orienting portion and the load arm shown in FIG22;

[0034] FIG24 is a perspective schematic diagram of the mechanical motion structure between the orienting portion and the load arm shown in FIG22;

[0035] FIG25 is a perspective cross-sectional view of the mechanical motion structure between the orientation portion and the transmission device shown in FIG22;

[0036] FIG26 is a top cross-sectional view of the mechanical motion structure between the orientation portion and the load arm shown in FIG22;

[0037] FIG27 is a perspective exploded schematic diagram of the transmission device shown in FIG26 . DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, each embodiment of the present application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will appreciate that many technical details are provided in each embodiment of the present application to help readers better understand the present application. However, even without these technical details and various variations and modifications based on the following embodiments, the technical solutions claimed in the present application can still be implemented.

[0039] In the embodiments of this application, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" to indicate positions or locations are based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0040] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0041] Furthermore, the terms "installed," "set," "provided with," "opened," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0042] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0043] The terms "distal" and "proximal" are used in this disclosure as directional terms, which are commonly used in the field of interventional medical devices. "Distal" refers to the end away from the operator during surgery, while "proximal" refers to the end closer to the operator. In a teleoperated surgical robotic system, the "operator" refers to the patient-side robot that grips and actuates the surgical instruments.

[0044] The terms "center," "parallel," "perpendicular," and similar expressions used in the present invention do not necessarily have to be exact, but may include typical engineering tolerances.

[0045] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings.

[0046] 1 , an embodiment of the present application provides a medical system 1 , which is a surgical robot system that can be remotely controlled to perform surgery. The medical system may include a doctor's console 100 , a surgical robot 200 , and an imaging device 300 .

[0047] The doctor's console 100 features a display unit for displaying the surgical instrument environment, operator control mechanisms, and armrests. The display unit includes an observation window for the doctor's observation, the operator control mechanisms are designed to correspond to the movements of the surgical instruments, and the armrests are used to support the doctor's arms. Additionally, the console 100 includes other control switches that can be easily touched or pressed by hands or feet to operate various functions and facilitate human-computer interaction.

[0048] The imaging apparatus 300 has a display screen, an endoscope controller, system electronics, an image processor, and the like.

[0049] As shown in FIG2 , a surgical robot 200 may include multiple robotic arms, each of which may include a setup arm 210 and an operating arm 220. The setup arm 210 and the operating arm 220 enable the end of the robotic arm to achieve multiple degrees of freedom (e.g., seven degrees of freedom, with varying degrees of freedom depending on the surgical instrument). An instrument arm 230 is provided at the end of the robotic arm, and an end effector assembly 240 is detachably mounted on the instrument arm 230. The end effector assembly 240 may be an instrument for performing surgical operations, such as an electric cauterizer, clamps, or a vascular occluder, or a camera for capturing images of the surgical area, such as an endoscope, or other surgical instruments.

[0050] In some application scenarios, the robotic arm can be configured to mechanically move around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is defined as the port for accessing the patient's abdominal cavity during surgery. During the procedure, the robotic arm is manipulated so that the instrument arm 230 drives the end effector 240 to achieve pitch, yaw, insertion, and rotation. During this movement, the longitudinal axis of the end effector 240 always passes through the RCM point to prevent the end effector 240 from causing non-surgical damage to the patient's abdominal incision.

[0051] The end effector assembly 240 may include tools for performing surgical operations such as cutting tissue, such as hooks, shovels, clamps, scissors, etc., and may also be an endoscope lens for image acquisition, etc.

[0052] As shown in FIG3 , the surgical robot 200 of the present application further includes: an orientation part 10 and at least two load arms 20 connected to the orientation part 10 , the load arms 20 are connected to the setting arm 210 , and the load arms 20 can be regarded as part of the robotic arm.

[0053] Among them, the orienting part 10 is the supporting component of the load arm 20, the setting arm 210 and the operating arm 220, and the entire weight of the load arm 20, the setting arm 210 and the operating arm 220 is borne by the orienting part 10. In fact, the entire weight of the robotic arm is borne by the orienting part 10.

[0054] The orienting unit 10 can be configured as an annular component or a component having an annular structure. Each load arm 20 is individually connected to the orienting unit and can rotate relative to the orienting unit 10. By rotating around the orienting unit 10, the position of the setting arm 210 and the operating arm 220 can be adjusted. The rotation center of each load arm 20 relative to the orienting unit 10 is located on the same rotation axis AX1, which can be, for example, the central axis of the annular component.

[0055] The surgical robot 200 in this embodiment simplifies the freedom of the robotic arm by providing an orientation portion 10 to support the rotation of the load arm 20, avoids mechanism redundancy, improves the overall convenience of the use of the surgical robot 200, facilitates the setting of the control program of the robotic arm, has clear control logic, and improves the accuracy of the surgical operation.

[0056] In one embodiment, as shown in FIG. 3 , each load arm 20 includes a connecting end 21 and a load end 22 .

[0057] The connecting end 21 is the end of the load arm 20 connected to the orienting portion 10, and the load end 22 is the free end of the load arm 20. The load end 22 is used to connect to the setting arm 210. In some embodiments, multiple load arms 20 are radially arranged on the orienting portion 10, and the line connecting the connecting end 21 and the load end 22 of each load arm 20 can intersect the rotation axis AX1 of the load arm 20. The load arm 20 as a whole can be generally linear or a special-shaped structure different from a linear shape, but generally has at least a partially extended length.

[0058] In some cases, for example, the load arm 20 of a surgical robot needs to be stored and arranged in a neat state when not in operation, and the radially arranged load arms 20 cannot be folded, which takes up a large space. In some embodiments, referring to Figure 4, each load arm 20 includes a straight section 221, and the straight section 221 of each load arm 20 can be folded. That is, when all the load arms are in the stored state, the straight section 221 of each load arm 20 is folded in parallel or side by side. Specifically, referring to Figure 5, each load arm 20 includes at least a straight section 221 extending to the load end 22. At the same time, some load arms 20 may include a bent section 211 extending to the connecting end 21 and a straight section 221 extending to the load end 22. The bent sections 211 of these load arms each include a bent structure 211a, and the bent structure 211a of each load arm 20 may be different. For example, referring to FIG4 , taking an even number of load arms 20 as an example, with the midline between two load arms 20 as the axis of symmetry, the bending structure of the load arms closer to the midline has a smaller bending angle, or may even lack a bending structure or bending section, while the bending structure 211a of the load arms 20 farther from the midline has a larger bending angle. The bending structure 211a of each load arm allows the load arms 20 to be stowed when not in operation, allowing all load arms 20 to be moved to a closed state. In some embodiments, the number of load arms 20 can be an odd number, with the midline of a load arm as the axis of symmetry. This load arm may or may not include a bending section, and of the remaining load arms located on either side of this load arm, the load arm farther from the midline has a larger bending angle.

[0059] In one embodiment, referring to Figures 2 and 3 , each load arm 20 is connected to a setting arm 210. Referring to Figures 4 and 5 , the setting arm 210 can be connected to the straight section 221 of the load arm 20 and can actively or passively move along the straight section of the load arm. The movement of the setting arm 210 along the straight section 221 of the load arm is limited. All setting arms 210 have the same minimum radius of rotation about the rotation center or axis AX1, and the same maximum radius of rotation about the rotation center or axis AX1. The range of movement of all setting arms 210 should be within the same annular region R. That is, within the movable range defined on the corresponding load arm 20, all setting arms have the same minimum distance R2 from the rotation axis AX1, and all setting arms have the same maximum distance R1 from the rotation axis AX1. Movement of the setting arm within the annular region R between this minimum and maximum distances can occur, either horizontally relative to the load arm or rotationally driven by the load arm. In some embodiments, the moving range of the annular area R of the multiple setting arms is limited. On the one hand, the moving range of the operating arm 220 connected to the multiple setting arms 210 can be limited to a certain space, thereby reducing the free redundancy of the surgical robot while still meeting the usage requirements. On the other hand, it is also more friendly to the mechanical motion control of the operating arm 220.

[0060] In one embodiment, as shown in Figures 2 and 6 , the load arms 20 are positioned at the same height as the orienting unit 10, and the rotation planes of at least two load arms 20 are coplanar, which is the same horizontal plane. In Figure 2 , the orienting unit 10 is provided with four load arms 20, and the rotation planes of the four load arms 20 are coplanar. The rotation centers of the four load arms 20 relative to the orienting unit 10 are still located on the same rotation axis AX1.

[0061] In FIG6 , three load arms 20 are provided on the orienting portion 10 , and the rotation planes of the three load arms 20 are coplanar. The rotation centers of the three load arms 20 relative to the orienting portion 10 are still located on the same rotation axis AX1 .

[0062] In one embodiment, as shown in FIG7 and FIG8 , the load arms 20 are located at different heights of the orienting portion 10 , and the rotation planes of at least two load arms 20 are not coplanar, and the rotation planes of at least two load arms 20 are horizontal planes at different heights.

[0063] The orienting portion 10 shown in FIG7 includes two parts in the height direction, and the radius of the two parts of the orienting portion 10 can be the same. In the example, the two parts of the orienting portion 10 are respectively located above and below the telescopic cantilever 64, and the radius of the orienting portion 10 of the two parts can be the same. The first part 10a of the orienting portion 10 located at the bottom is connected to three load arms 20a, and the second part 10b of the orienting portion 10 located at the top is connected to one load arm 20b, so that the rotation plane of the load arm 20b connected to the second part 10b is not coplanar with the rotation plane of the three load arms 20a connected to the first part 10a, and is located at different heights. The rotation center of these four load arms 20 relative to the orienting portion 10 is still located on the same rotation axis AX1.

[0064] As shown in FIG8 , the orienting unit 10 includes two portions in the height direction. In this example, the first portion 10a of the orienting unit 10 is located at the end of the telescopic cantilever 64, and the second portion 10b of the orienting unit 10 is located below the first portion 10a. The first and second portions 10a, 10b of the orienting unit 10 may have different radii. The second portion 10b of the orienting unit 10 is connected to three load arms 20b. The first portion 10a of the orienting unit 10 is connected to one load arm 20a. The rotational planes of the load arm 20a located in the first portion 10a and the three load arms 20b located in the second portion 10b are not coplanar, and the load arms 20b are located at different heights. The rotational centers of these four load arms 20 relative to the orienting unit 10 remain located on the same rotation axis AX.

[0065] In combination with the above embodiment, as shown in FIG6 , FIG7 , and FIG8 , the load arms 20 are located at different heights of the orienting portion 10 , and correspondingly, the rotation planes of at least two of the at least three load arms 20 are coplanar.

[0066] In combination with the above embodiment, as shown in FIG6 , FIG7 , and FIG8 , the load arms 20 are located at different heights of the orienting portion 10 , and the rotation planes of at least two of the at least three load arms 20 are not coplanar.

[0067] In one embodiment, referring to Figures 4 and 5, the surgical robot 200 includes a guide rail 11, which is fixed relative to the orienting portion 10. The guide rail is configured as a complete annular structure or at least a partial annular structure, and the arc center of the guide rail is located on the rotation axis AX1.

[0068] The guide rail 11 is a guide component for the load arm 20 to rotate relative to the orienting unit 10. The guide rail 11 may be an integral component of the orienting unit 10 or a separate component mounted on the orienting unit 10. The guide rail 11 may be configured as a complete annular structure, allowing the load arm 20 to rotate around the orienting unit 10 to an angle exceeding 360 degrees. The guide rail may also be configured as at least a partial annular structure, allowing the load arm 20 to rotate around a partial annular structure.

[0069] In one embodiment, referring to FIG. 2 and FIG. 6 , all load arms 20 of the surgical robot 200 rotate in the same plane, and all load arms 20 may share the same guide rail.

[0070] When a guide rail is provided, the guide rail may be provided as a complete annular structure or as at least a partial annular structure.

[0071] In one embodiment, referring to Figures 7 and 8, the surgical robot 200 has at least two load arms 20 that rotate out of the same plane, and the at least two load arms 20 that rotate out of the same plane are respectively equipped with two different guide rails, and the at least two load arms 20 move along their respective connected guide rails.

[0072] Referring to Figures 9, 10, 11, and 12, in an embodiment of the present application, the surgical robot may further include an active drive device 30 / 30'. For example, the active drive device 30 / 30' may be configured as a motor or a combination of a motor and a reduction assembly. The active drive device 30 / 30' may include an active device body 31 / 31' and an active device output end 32 / 32'. The active drive device 30 may be disposed on the load arm 20, and the active device output end 32 may be connected to the orientation unit 10 via a transmission device 40. The active drive device 30 can rotate along with the load arm 20 about the rotation axis AX1. The active drive device 30' may also be disposed on the orientation unit 10, and the active device output end 32' of the active drive device 30' may be connected to the load arm 20 via a transmission device 40'. Therefore, the active drive device 30' cannot rotate along with the load arm 20, but the active drive device 30' can drive the load arm 20 to rotate.

[0073] Specifically, in one embodiment, as shown in FIG9 and FIG10 , the active drive device 30 can be disposed on the load arm 20 , with the active device body 31 fixed relative to the load arm 20 , and the active device output end 32 rotating about its own rotation axis AX2 . The transmission device 40 includes a transmission input end 41 and a transmission output end. The transmission input end 41 is actuated by the active device output end 32 , and the transmission output end is fixed relative to the orienting portion 10 . For example, the transmission output end is fixed to the outer periphery of the annular structure of the orienting portion 10 (for example, a gear meshing transmission as described below), or the transmission output end includes at least a portion fixed to the orienting portion 10 (for example, a roller transmission driven by a transmission member such as a rope, chain, or belt as described below). The active drive device 30 drives the transmission device 40 and drives the load arm 20 to rotate relative to the orienting portion 10. Further, in some embodiments, the transmission input end 41 is configured as a rotatable component, and the transmission output end is configured as a mating component that cooperates with the rotatable component. The active drive device 30 drives the mating component, thereby driving the rotation of the rotatable component, thereby driving the load arm 20 to move circumferentially along the orienting portion 10 . Furthermore, in some embodiments, the transmission input or rotatable component is configured as a small gear structure rotatably mounted on the load arm 20. The small gear structure can be fixedly or transmission-connected to the active device output 32. The transmission output or mating component can be configured as a large gear structure fixedly mounted on the orienting portion 10, with the small gear structure and the large gear structure forming a meshing transmission relationship. In some embodiments, the transmission input or rotatable component can be configured as a roller structure, and the transmission output or mating component can be configured as a rope, chain, belt, etc. that drives the roller to rotate. In this embodiment, AX1 is the central axis of the orienting portion 10, which is also the rotation axis of the rotation centers of the multiple load arms 20. AX2 is the rotation axis of the active device output 32' of the active drive device 30 / 30', which is also the rotation axis of the transmission input 41 of the transmission device 40. In some embodiments, the rotation axis AX1 of the load arm 20 can be configured to be parallel to the rotation axis AX2 of the active device output.

[0074] In another embodiment, as shown in Figures 11 and 12, an active drive device 30' can be provided on the orienting portion 10. The active drive device 30' includes an active device body 31' and an active device output 32'. The active device body 31' is fixed relative to the orienting portion 10, for example, fixed to the inner circumference of the annular structure of the orienting portion 10. The active device output 32' rotates about its own rotation axis AX2. The transmission device includes a transmission input 41' and a transmission output 42'. The transmission input 41' is actuated by the active device output 32'. The transmission output 42' is rotatable and disposed about the load arm 20 about the axis AX3. The active drive device 30' drives the transmission device 40' and causes the load arm 20 to rotate relative to the orienting portion 10. In some embodiments, the transmission output 42' is configured as a rotatable component, and the transmission input 41' is configured as a mating component that cooperates with the rotatable component. The active drive device 30' drives the mating component, thereby driving the rotation of the rotatable component, thereby driving the load arm 20 to move along the circumference of the orienting portion 10. Furthermore, in some embodiments, the transmission output end 42' or the rotatable component can be configured as a roller structure, and the transmission input end 41' or the mating component can be configured as a rope, chain, belt, or the like that drives the roller. In this embodiment, AX1 is the central axis of the orienting unit 10, which also serves as the rotational axis of the multiple load arms 20; AX2 is the rotational axis of the active device output end 32' of the active drive device 30', which also serves as the rotational axis of the transmission input end of the transmission device 40'; and AX3 is the rotational axis of the transmission output end of the transmission device 40'. In some embodiments, the rotational axis AX1 of the load arm 20 can be parallel to the rotational axis AX3 of the transmission output end 42' of the transmission device 40.

[0075] In some embodiments, each of the at least two load arms 20 is connected to an active drive device and a transmission device.

[0076] In one embodiment, each of the at least two load arms 20 is connected to an active drive device 30 , and the active drive device 30 may be configured as a motor.

[0077] In one embodiment, at least two of the at least three load arms 20 share a common active drive device. The common active drive device can be disposed in the orientation portion and connected to the at least two load arms via a transmission device.

[0078] In some embodiments, the load arm 20 may not be connected to an active driving device, and the load arm 20 may be passively driven, such as by an external force.

[0079] 9, 10, 11 and 12, in an embodiment of the present application, the surgical robot may further include a braking device 50 / 50'. The braking device 50 / 50' may be connected between the active drive device 30 / 30' and the load arm 20, and the braking device may brake the active drive device. The braking device 50 / 50' may also be connected between the load arm 20 and the orienting portion 10, and the braking device may brake the load arm 20. The braking device may also be connected between the active device and the orienting portion. The braking device 50 may prevent the load arm 20 from rotating relative to the orienting portion 10, thereby playing a locking role. After the adjustment is completed during the deployment phase of the surgical robot 200, the braking device 50 provides a relatively stable operating environment for the load arm 20, and will not be unlocked unless necessary during the operation. The braking device 50 may include a braking dynamic portion and a braking fixed portion.

[0080] Specifically, in some embodiments, referring to Figures 9 and 11 , the brake device 50 can be connected to the active drive device 30 / 30', and the brake device 50 can brake the active drive device. In the embodiment of Figure 9 , the brake moving portion can be fixedly connected to the active device output end 32 of the active drive device 30, and the brake fixed portion can be connected to the load arm 20. In the embodiment of Figure 11 , the brake moving portion can be fixedly connected to the active device output end 32 of the active drive device 30, and the brake fixed portion can be fixedly connected to the orienting portion 10.

[0081] In other embodiments, the brake device may not be connected to the active drive device. Referring to Figures 10 and 12 , the brake moving part may be fixedly connected to the load arm 20 , and the brake fixed part may be fixedly connected to the orientation part 10 .

[0082] In one embodiment, at least two load arms 20 among the at least three load arms 20 may share the same brake device 50 .

[0083] In one embodiment, referring to FIG. 2 , the surgical robot 200 further includes a support device 60 , and the orientation unit 10 is disposed on the support device 60 .

[0084] The support device 60 may include a fixed column 61, a lifting column 62, a fixed cantilever 63 and a telescopic cantilever 64. The orienting part 10 is connected to the telescopic cantilever 64. The orienting part 10 may be fixedly connected to the telescopic cantilever 64 or be movable relative to the telescopic cantilever.

[0085] In one embodiment, the support device 60 comprises:

[0086] A fixed column 61, the fixed column 61 is fixed relative to the movable chassis 65;

[0087] The lifting column 62 is connected to the fixed column 61 and can move linearly in the vertical direction relative to the fixed column 61. The lifting column 62 can be provided with a screw mechanism inside, which is used for extension and retraction, or a pneumatic mechanism or a hydraulic mechanism can be provided inside, which is used for extension and retraction.

[0088] In one embodiment, the support device further comprises:

[0089] A fixed cantilever 63 is provided at the top of the lifting column 62;

[0090] The telescopic cantilever 64 is connected to the fixed cantilever 63 and can move linearly in the horizontal direction relative to the fixed cantilever 63. The telescopic cantilever 64 can be provided with a screw mechanism inside, which is used to extend and retract, or a pneumatic mechanism or a hydraulic mechanism can be provided inside, which is used to extend and retract.

[0091] It should be noted that, referring to Figure 13, the telescopic cantilever 64 in Figure 13 can be set to a Y-shaped or T-shaped structure, and the orienting part 10 can move linearly along the end of the telescopic cantilever 64, thereby expanding the moving range of the setting arm 210 and the operating arm 220.

[0092] Referring to Figure 2 , surgical robot 200 may further include a setup arm 210 and a manipulator arm 220. As previously described, setup arm 210 is connected to the straight section 221 of payload arm 20 and is capable of active or passive movement along the straight section of payload arm 20. Setup arm 210 is vertically extendable and retractable, and may be internally provided with a lead screw mechanism for retraction and retraction. Manipulator arm 220 is connected to a distal joint of setup arm 210.

[0093] Through this arrangement, the mechanical transmission chain can be shortened and the robotic arm can obtain higher relative rigidity.

[0094] As shown in Figures 3, 14, and 15, since the orienting unit 10 is configured as an annular member or a member having an annular structure, the orienting unit 10 has an arc-shaped or circular outer peripheral surface 12. Each robotic arm is individually connected to the orienting unit 10 and can rotate relative to the orienting unit 10. The position of the robotic arm is adjusted by rotating around the orienting unit 10. The rotation center of each robotic arm relative to the orienting unit 10 is located on the first axis AX1.

[0095] By setting the orientation part 10, the freedom of the robot arm is simplified, the redundancy of the mechanism is avoided, the convenience of the overall use of the surgical robot 200 is improved, the control program of the robot arm is conveniently set, the control logic is clear, and the accuracy of the operation is improved.

[0096] The orienting portion 10 includes a guide rail 11, which is fixedly arranged relative to the orienting portion 10. The robotic arm can be connected to the orienting portion 10 through the guide rail 11, specifically the operating arm 20 in the robotic arm is connected to the guide rail 11, so that the entire robotic arm is connected to the orienting portion 10. Exemplarily, as shown in Figures 16 and 17, the guide rail 11 is provided with a slider 13 and a mounting seat 14. The mounting seat 14 is connected to the guide rail 11 through the sliders 13 on both sides of itself, and the operating arm 20 is connected to the mounting seat 14. The slider 13 and the mounting seat 14 can both be located inside the operating arm 20 so as to be hidden inside the operating arm 20. Optionally, the guide rail 11 can be a double guide rail, respectively provided at the upper and lower parts of the orienting portion 10, the top wall of the operating arm 20 is connected to the guide rail 11 located at the upper part of the orienting portion 10, and the bottom wall of the operating arm 20 is connected to the guide rail 11 located at the lower part of the orienting portion 10.

[0097] The guide rail 11 is a guide component for the operating arm 20 to rotate relative to the orienting part 10. The guide rail 11 can be an integral component with the orienting part 10, or a separate component installed on the orienting part 10. The guide rail 11 can be set as a complete annular structure, and the operating arm 20 can rotate around the orienting part 10 at an angle of more than 360 degrees. Alternatively, the guide rail 11 can be set as at least a partial annular structure, and the operating arm 20 can rotate around the partial annular structure at an angle of less than 360 degrees. As shown in Figure 14, the operating arm 20 can be connected to the brake device 50 / 50'. The brake device 50 / 50' includes a brake stator 16 and a brake actuator 17. All brake devices 50 / 50' can share a brake stator 16, and each load arm 20 is respectively connected to a brake actuator 17. The brake stator 16 can be an annular stator concentric with the annular guide rail. The brake actuator 17 is set at the load arm 20, which can directly stop the load end and can minimize the problem of return clearance.

[0098] As shown in Figures 16 and 17, the central axis of the annular structure of the guide rail 11 is defined as a first axis AX1, and the arcuate or circular central axis of the outer peripheral surface 12 of the orienting portion 10 may coincide with the first axis. The operating arm 20 connected to the guide rail 11 is rotatable relative to the orienting portion 10 about the first axis. To enable rotation of the operating arm 20 relative to the orienting portion 10, the operating arm 20 is provided with an active drive device 30 / 30' and a transmission device 40 / 40' driven by the active drive device 30 / 30'. The transmission device 40 / 40' is driven by the active drive device 30 / 30' to rotate about a second axis AX2, wherein the second axis AX2 is parallel to the first axis AX1. The transmission device 40 / 40' is provided on the output shaft of the active drive device 30 / 30'. For example, the active drive device 30 / 30' and the transmission device 40 / 40' are both located within the operating arm 20 and supported by the wall of the operating arm 20. The active drive device 30 / 30' is provided with a base 23 (see FIG18 ) at its bottom, and is mounted to the bottom wall of the operating arm 20 via the base 23. The active drive device 30 / 30' may be, for example, a motor, and the transmission device 40 / 40' may be, for example, a rotating wheel.

[0099] The surgical robot 200 also includes a transmission member 24 for transmitting the force of the transmission device 40 / 40' to the operating arm 20. The transmission member 24 is capable of bypassing the transmission device 40 / 40' and extending along the outer peripheral surface 12 of the orienting portion 10. The outer peripheral surface 12 of the orienting portion 10 is a smooth surface, and the transmission member 24 is in a tensioned state. The transmission member 24 can be maintained at the desired position of the orienting portion 10 by means of the friction between the transmission member 24 and the orienting portion 10 to prevent the transmission member 24 from sliding up and down. If needed and / or desired, the outer peripheral surface 12 of the orienting portion 10 can be provided with a limiting structure for the transmission member 24 to limit the movement of the transmission member 24 in the height direction. An example of a limiting structure is a groove extending in the circumferential direction, and the transmission member 24 is located in the groove.

[0100] The transmission member 24 includes at least a portion that is fixed to the orienting portion 10. In the illustrated example, the transmission member 24 is a closed-loop member, which is sleeved on the orienting portion 10. The transmission member 24 of this solution is suitable for the case where the orienting portion 10 has a circular outer circumference 12. The transmission member 24 can rotate around the orienting portion 10 once, so that the rotation angle of the load arm 20 around the orienting portion 10 can exceed 360 degrees. Alternatively, if there is no requirement for full rotation, the transmission member 24 is an open-loop member, and the end of the open-loop member is fixed to the orienting portion 10. The transmission member 24 of this solution is suitable for the case where the orienting portion 10 has a circular outer circumference 12. The transmission member 24 rotates around the orienting portion 10 less than once, so that the rotation angle of the load arm 20 around the orienting portion 10 is less than 360 degrees.

[0101] The transmission device 40 / 40' rotates about the second axis AX2 while simultaneously revolving about the first axis AX1, driving the load arm 20 to rotate relative to the orienting unit 10 along the guide rail 11. Guided by the guide rail 11, the load arm 20 moves circumferentially along the orienting unit 10, positioning the load arm 20 at a circumferential position on the orienting unit 10 during operation. During non-operation, the load arm 20 is gathered at a single location on the orienting unit 10. This application simplifies the degrees of freedom of the load arm 20 and improves overall ease of use. Furthermore, the load arm 20 is provided with a driving force, shortening the mechanical transmission chain and providing the robot arm with greater relative rigidity.

[0102] There are at least two load arms 20 connected to the orienting section 10. The at least two load arms 20 can be located on the same reference plane perpendicular to the first axis, or in other words, can be located at the same height of the orienting section 10. The rotation planes of the at least two load arms 20 are coplanar, and the coplanarity is the same horizontal plane. The at least two load arms 20 are movably connected to the same guide rail 11. Figure 15 schematically illustrates four load arms 20 connected to the orienting section 10. The rotation planes of the four load arms 20 are coplanar, and the four load arms 20 rotate about the first axis AX1 relative to the orienting section 10.

[0103] Figures 16 to 19 schematically illustrate an embodiment of a mechanical motion structure. As shown in Figures 16 to 19, the transmission member 24 can be a belt, in which case the transmission device 40 / 40' can be a pulley, and the outer peripheral surface 12 of the orienting portion 10 serves as the pulley. The belt has a certain width, and its thickness surface can be attached to the outer peripheral surface 12 of the orienting portion 10, so that there is greater friction between the belt and the outer peripheral surface 12 of the orienting portion 10, thereby preventing the belt from sliding up and down. The belt is wound around the outer peripheral surface 12 of the orienting portion 10 and around the transmission device 40 / 40'. Optionally, the belt is a metal belt, such as a steel belt, or alternatively, the belt is a synchronous belt. The belt can be a complete closed-loop belt. Alternatively, if there is no requirement for a full rotation, the belt can be an open belt, i.e., it has two ends.

[0104] In belt embodiments, at least one of the transmission member 24 and the transmission device 40 / 40' is provided with a plurality of teeth, such that the transmission member 24 and the transmission device 40 / 40' are meshed with each other to transmit power. In one example, the transmission member 24 is provided with a plurality of holes at intervals, and the transmission device 40 / 40' is provided with a plurality of teeth at intervals, such that the transmission member 24 and the transmission device 40 / 40' are meshed with each other to transmit power. Alternatively, the transmission member 24 is provided with a plurality of teeth at intervals, and the transmission device 40 / 40' is also provided with a plurality of teeth at intervals, such that the transmission member 24 and the transmission device 40 / 40' are meshed with each other to transmit power. In a specific example, the belt is provided with a plurality of holes, and the pulleys are provided with a plurality of teeth at intervals. Alternatively, the belt is provided with a plurality of teeth, and the pulleys are also provided with a plurality of teeth at intervals.

[0105] The transmission member 24 and the transmission device 40 / 40' are meshed with teeth to achieve belt drive, which allows for synchronized movement between the transmission member 24 and the transmission device 40 / 40', thereby more precisely controlling the rotation of the load arm 20. When the transmission device 40 / 40' is driven to rotate, the teeth meshing drive causes the transmission device 40 / 40' to be driven by the transmission member 24 to simultaneously rotate about the second axis and orbit about the first axis AX1, thereby driving the load arm 20 to move forward and stop.

[0106] As shown in Figures 17 and 19, the load arm 20 may be equipped with two adjustment wheels 25: a first adjustment wheel 25a and a second adjustment wheel 25b. The two adjustment wheels 25 are, for example, rotatably connected to the top wall of the load arm 20. They are connected to the transmission member 24 and rotatable about their third axis AX3. The two adjustment wheels 25 can be located between the transmission device 40 / 40' and the outer circumferential surface 12 of the orienting section 10, spaced apart along the circumference of the orienting section 10. The transmission member 24 passes between the two adjustment wheels 25. Specifically, the transmission member 24 includes a first transmission portion 24a and a second transmission portion 24b located on either side of the transmission device 40 / 40' circumferentially of the orienting section 10. The first transmission portion 24a is located between the two adjustment wheels 25 and passes around the first adjustment wheel 25a on the same side; the second transmission portion 24b is located between the two adjustment wheels 25 and passes around the second adjustment wheel 25b on the same side. The third axis is parallel to the second axis. The two adjusting wheels 25 can adjust the wrap angle of the transmission member 24 at each transmission device 40 / 40 ′, so as to prevent the wrap angle from being too large and affecting the movement space of the adjacent load arm 20 .

[0107] At least one of the two adjusting wheels 25 on the load arm 20 is movably mounted, allowing the spacing between the two adjusting wheels 25 to be adjusted. Thus, the position of the adjusting wheels 25 can be varied, allowing fine-tuning of the tension of the transmissions 40 / 40' and adjustment of the wrap angle of the transmissions 40 / 40' at each transmission 40 / 40'. Optionally, one of the two adjusting wheels 25 on the load arm 20 can be movably mounted.

[0108] Figures 20 and 21 schematically illustrate another embodiment of a mechanical motion structure. As shown in Figures 20 and 21, the transmission member 24 can be a rope, in which case the transmission device 40 / 40' can be a reel, with the outer circumferential surface 12 of the orienting portion 10 serving as the reel. The rope is attached to the outer circumferential surface 12 of the orienting portion 10 to create friction between the rope and the outer circumferential surface 12 of the orienting portion 10, preventing the rope from sliding up and down. The rope is wound around the outer circumferential surface 12 of the orienting portion 10 and around the transmission device 40 / 40'. Optionally, the rope is a metal rope, such as a steel wire rope. The rope can be wound around the orienting portion 10 at least once. Alternatively, if a full rotation is not required, the rope can be wound around the orienting portion 10 less than once, with both ends of the rope fixed to the orienting portion 10. When the transmission member 24 is a rope, the rope needs to be wound around the transmission device 40 / 40' multiple times to increase the friction between the rope and the transmission device 40 / 40'.

[0109] In a rope embodiment, the transmission member 24 and the transmission device 40 / 40' are transmitted via a rope. When the transmission device 40 / 40' is driven to rotate, under the action of the friction between the rope and the transmission device 40 / 40', the transmission device 40 / 40' is driven by the transmission member 24 to rotate around the second axis while revolving around the first axis AX1, thereby driving the load arm 20 to move forward and stop. Optionally, two ropes are wound around the transmission device 40 / 40', and the two ends of each rope are respectively connected to the transmission device 40 / 40' and the orienting part 10. The two ropes are wound in opposite directions on the transmission device 40 / 40'. When the transmission device 40 / 40' rotates relative to the orienting part 10, one of the two ropes is tightened and the other is released on the transmission device 40 / 40'. With this arrangement, the rotation of the rotating member is easier to carry out.

[0110] Alternatively, the transmission member 24 may be a chain, in which case the rotating member may be a sprocket, with the outer circumferential surface 12 of the orienting portion 10 serving as the sprocket. With the chain transmission, when the rotating member is driven to rotate, the meshing force between the chain and the sprocket causes the rotating member to be driven by the transmission member 24 to simultaneously rotate about the second axis and orbit around the first axis, thereby driving the load arm 20 to advance and stop.

[0111] One example arrangement of the transmission member 24 is to arrange the rotating members of all load arms 20 at the same height, with one transmission member 24 bypassing the rotating members of all load arms 20. All load arms 20 share one transmission member 24; in other words, the rotating members of all load arms 20 are connected in series using one transmission member 24. In the embodiments shown in Figures 16 to 19 , a single belt bypasses the rotating members of all load arms 20, illustratively, one belt bypasses the rotating members of four load arms 20. In the embodiments shown in Figures 20 and 21 , a single rope bypasses the rotating members of all load arms 20, illustratively, one rope bypasses the transmission devices of four load arms 20. This arrangement allows multiple load arms 20 to independently rotate relative to the orienting unit 10 using a single transmission member 24, resulting in a compact structure. Furthermore, the transmission member 24 can be tensioned simultaneously.

[0112] Another example of the arrangement of the transmission components 24 is that the number of the transmission components 24 is the same as the number of the load arms 20. The transmission components 24 are staggered in the height direction, and one transmission component 24 bypasses the rotating component of a corresponding load arm 20. The position of the rotating component in the height direction corresponds to the position of the corresponding transmission component 24 in the height direction. In other words, the rotating components are also staggered in the height direction. Exemplarily, four load arms 20 and four belts or ropes or chains are provided, and one belt or rope or chain bypasses the rotating component of a corresponding load arm 20. With such an arrangement, each load arm 20 can be independently rotated by a single transmission component 24. By using multiple transmission components 24 to respectively realize the independent rotation of multiple load arms 20 relative to the orienting part 10, the operating freedom of the robot arm is greater; and there is no coupling, so modular maintenance is possible.

[0113] As shown in Figures 22 and 25 , in one embodiment, the transmission component includes a trochoid ring gear 42 for transmitting the force of the transmission device 40 / 40' to the load arm 20. The trochoid ring gear 42 is disposed on the outer circumferential surface 12 of the orienting portion 10. For example, the orienting portion 10 may be provided with a boss 18 protruding from its outer circumferential surface 12 (see Figure 25 ). The trochoid ring gear 42 can be secured to the boss 18 using fasteners such as screws. The trochoid ring gear 42 is capable of meshing with the transmission device 40 / 40'. The central axis of the trochoid ring gear 42 can coincide with the first axis AX1. In the illustrated example, the trochoid ring gear 42 is a closed-loop component that is sleeved onto the orienting portion 10. This embodiment of the trochoid ring gear 42 is suitable for use when the orienting portion 10 has a circular outer circumferential surface 12, and the load arm 20 can rotate around the orienting portion 10 to an angle exceeding 360 degrees. Alternatively, if a full rotation is not required, the trochoid ring gear 42 can be an open-loop component. The trochoid gear ring 42 of this solution is suitable for the case where the orientation portion 10 has an arc-shaped outer peripheral surface 12 and the rotation angle of the load arm 20 around the orientation portion 10 is less than 360 degrees.

[0114] The trochoid ring gear 42 serves as a sun gear, and the transmission 40 / 40' serves as a planetary gear. This allows the mechanical motion structure between the load arm 20 and the orienting unit 10 to be configured as a planetary gear mechanism consisting of the transmission 40 / 40' and the trochoid ring gear 42. During rotation, the transmission 40 / 40' moves along the trochoid defined by the trochoid ring gear 42, driving the load arm 20 to rotate relative to the orienting unit 10 along the guide rail 11, thereby generating a yaw angle. Guided by the guide rail 11, the load arm 20 moves circumferentially along the orienting unit 10, positioning the load arm 20 at a circumferential position on the orienting unit 10 during operation and converging to a single location on the orienting unit 10 during non-operation. This application simplifies the structure and degrees of freedom of the load arm 20, improving overall ease of use. It also enhances transmission accuracy between the load arm and the orienting unit 10, resulting in high transmission efficiency and smooth transmission. Furthermore, the load arm is provided with a driving force, shortening the mechanical transmission chain and providing the mechanical arm with high relative rigidity.

[0115] Exemplarily, the transmission devices 40 / 40' of all load arms 20 are positioned at the same height and mesh with a single trochoid ring gear 42. All load arms 20 share a single trochoid ring gear 42; in other words, the transmission devices 40 / 40' of all load arms 20 are transmission-connected by a single trochoid ring gear 42. In the illustrated embodiment, a single trochoid ring gear 42 transmission-connects the transmission devices 40 / 40' of four load arms 20. This arrangement allows multiple load arms 20 to independently rotate relative to the orienting portion 10 using a single trochoid ring gear 42, resulting in a compact structure.

[0116] As shown in Figures 24 and 25, the load arm 20 is provided with a support member 44, and the transmission device 40 / 40' is fixed to the active drive device 30 / 30' through the support member 44. The active drive device 30 / 30' is located on the lower side of the support member 44 and is connected to the transmission device 40 / 40' through the support member 44. As a result, the active drive device 30 / 30' and the transmission device 40 / 40' can form a modular structure for easy maintenance. Each load arm 20 is provided with a brake device 50 / 50'. The brake device 50 / 50' is used to brake the transmission device 40 / 40' or the active drive device 30 / 30'. By arranging the brake device 50 / 50' on the load arm 20 and cooperating with the transmission method of the planetary gear mechanism, the load arm 20 can be moved and stopped stably, and the brake position caused by the side clearance of the tooth 43 can be eliminated.

[0117] In the illustrated embodiment, the brake device 50 / 50' is used to brake the transmission device 40 / 40'. The brake device 50 / 50' is located on the upper side of the transmission device 40 / 40' and is connected to the rotating assembly 50. Specifically, the brake device 50 / 50' includes a brake stator 16 and a brake mover 17. The brake stator 16 is located on the upper side of the support member 44 and can be connected to the support member 44. Specifically, the bottom of the brake stator 16 is provided with a flange with multiple through holes, and the flange is connected to the support member 44 by fasteners such as screws. The brake mover 17 is arranged on the brake stator 16 and is connected to the transmission device 40 / 40'. Exemplarily, the brake stator 16 has a center hole, and the brake mover 17 is inserted into the center hole and connected to the transmission device 40 / 40'. The top of the brake mover 17 is provided with a flange with multiple through holes, and the flange is connected to the brake stator 16 by fasteners such as screws.

[0118] As shown in Figures 26 and 27, the transmission device 40 / 40' may include a rotating wheel 51 and a plurality of rotating pins 52. The rotating wheel 51 is driven by the active drive device 30 / 30' and rotates around the second axis AX2. The plurality of rotating pins 52 are provided on the rotating wheel 51 and are arranged at intervals along the circumference defined by the second axis AX2. Optionally, the plurality of rotating pins 52 are arranged in a circular array relative to the second axis AX2, and the distance between each adjacent two rotating pins 52 may be the same. The illustrated embodiment schematically shows ten rotating pins 52. Of course, the number of rotating pins 52 is not limited and can be set as needed.

[0119] The outer circumference 12 of the rotating pin 52 can mesh with the teeth 43 of the trochoid ring gear 42. Specifically, when the transmission 40 / 40' meshes with the trochoid ring gear 42, the teeth 43 of the trochoid ring gear 42 move between two adjacent rotating pins 52 and engage with their outer circumferences 12.

[0120] When the active drive device 30 / 30' drives the rotating wheel 51 to rotate, the multiple rotating pins 52 also rotate. Because the rotating pins 52 mesh with the teeth 43 of the trochoid ring gear 42, the transmission device 40 / 40' moves along the trochoid defined by the trochoid ring gear 42, thereby driving the load arm 20 to rotate along the guide rail 11 relative to the orientation unit 10. The rotating wheel 51 is a fixed structure for the rotating pins 52 and does not directly mesh with the teeth 43 of the trochoid ring gear 42. Instead, the rotating pins 52 mesh with the teeth 43 of the trochoid ring gear 42. This further improves the transmission accuracy between the load arm 20 and the orientation unit 10.

[0121] The plurality of pivot pins 52 are rotatable about respective third axes AX3, wherein the third axis AX3 is parallel to the second axis AX2, and the central axis of each pivot pin 52 coincides with the third axis AX3. The rotatable pivot pins 52 reduce mechanical friction between the pivot pins 52 and the trochoid ring gear 42, preventing jamming caused by mechanical friction and ensuring smoother transmission.

[0122] The rotating wheel 51 is provided with a receiving groove 53. The notch of the receiving groove 53 is recessed from the outer peripheral surface 12 of the rotating wheel 51, thereby forming an annular groove. The rotating pin 52 passes through the receiving groove 53. Specifically, the rotating wheel 51 is provided with mounting holes 54 on the upper and lower sides of the receiving groove 53, and the mounting holes 54 are able to communicate with the receiving groove 53. The rotating pin 52 is movably inserted into the mounting hole 54 and passes through the receiving groove 53. The teeth 43 of the trochoid gear ring 42 can extend into the receiving groove 53 through the notch to engage with the rotating pin 52. Providing the receiving groove 53 on the outer peripheral surface 12 of the rotating wheel 51 can make the teeth 43 of the trochoid gear ring 42 easily engage with the rotating pin 52, and the structure is compact.

[0123] 25 and 27 , the rotating wheel 51 includes two wheel discs 55 that are detachably connected to each other. Optionally, the middle portions of the two wheel discs 55 can be connected by fasteners such as screws. Of course, the connection method of the two wheel discs 55 is not limited and can be set as needed. A receiving groove 53 is formed between the two wheel discs 55, and each wheel disc 55 is provided with a mounting hole 54. The two ends of the rotating pin 52 are respectively movably provided in the mounting holes 54 of the two wheel discs 55. The split structure of the rotating wheel 51 makes it easy to assemble the movable rotating pin 52.

[0124] Support member 44 defines a housing cavity 56, which includes an end wall 57, a peripheral wall 58, an end opening 59 that opposes end wall 57 in a direction parallel to the second axis, and a peripheral opening 66 formed in peripheral wall 58. Rotational assembly 50 can enter housing cavity 56 through end opening 59 and be supported by end wall 57. End wall 57 can be connected to active drive device 30 / 30' via fasteners such as screws, with the output of active drive device 30 / 30' extending through end wall 57.

[0125] At least the teeth 43 of the trochoid ring gear 42 extend into the accommodating cavity 56 through the circumferential opening 66 to engage with the transmission 40 / 40'. As can be seen from Figure 25, the teeth 43 and body of the trochoid ring gear 42, as well as the boss 18 for mounting the trochoid ring gear 42, all extend into the accommodating cavity 56 through the circumferential opening 66. Providing the circumferential opening 66 on the outer periphery of the support surface allows the teeth 43 of the trochoid ring gear 42 to easily engage with the rotating pin 52, resulting in a compact structure. Optionally, the support member 44 further includes notches 67 on both sides of the circumferential opening 66. When the load arm 20 rotates, the teeth 43 enter the accommodating cavity 56 through the notches 67 to prepare for engagement with the transmission 40 / 40' and to prepare for withdrawal from the transmission 40 / 40'. With this arrangement, the circumferential size of the circumferential opening 66 in the support member 44 can be relatively small, ensuring the structural strength of the support member 44.

[0126] Alternatively, as shown in FIG14 , the brake device 50 / 50' may not be provided on the transmission device 40 / 40'. The orienting portion 10 is provided with a brake device 50 / 50' corresponding to the load arm 20. The brake device 50 / 50' is connected to the load arm 20 to brake the load arm 20. The brake stator 16 may be an annular stator concentric with the annular guide rail 11. The brake actuator 17 is provided on the brake stator 16 and connected to the end of the load arm 20. All brake devices 50 / 50' may share a single brake stator 16, with each load arm 20 being connected to a brake actuator 17. This allows the load end to be directly braked, minimizing the problem of return clearance.

[0127] The above is a detailed introduction to the surgical robot and medical system provided by the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above implementation methods is only used to help understand the ideas of the present application. There may be changes in the specific implementation methods and application scope. In summary, the contents of this specification should not be understood as a limitation on the present application.

Claims

1. A surgical robot, comprising: An orientation part; At least two load arms, the at least two load arms being connected to the orientation part and rotatable relative to the orientation part, and the rotation centers of the at least two load arms rotating relative to the orientation part being located on the same axis.

2. The surgical robot according to claim 1, wherein, The surgical robot further comprises at least two setting arms, the setting arms being connected to the load arms and capable of moving relative to the load arms along the extending direction of the load arms, the minimum radii of all the setting arms rotating around the rotation center of the orientation part being the same, and the maximum radii of all the setting arms rotating around the rotation center of the orientation part being the same.

3. The surgical robot according to claim 1 or 2, wherein Each of the at least two load arms includes a straight section, and the straight sections of each load arm can be folded side by side.

4. The surgical robot according to any one of claims 1-3, wherein, The rotation planes of all the load arms among the at least two load arms are coplanar; Or the rotation planes of the at least two load arms are not coplanar; Or the rotation planes of at least two of the at least three load arms are coplanar; Or the rotation planes of at least two of the at least three load arms are not coplanar.

5. The surgical robot according to any one of claims 1-4, wherein, The surgical robot includes a guide rail, the guide rail being fixedly arranged relative to the orientation part, and the guide rail being arranged as a complete annular structure or at least a partial annular structure.

6. The surgical robot according to any one of claims 1-5, wherein, The surgical robot includes one guide rail, the at least two load arms being connected to one guide rail, and the at least two load arms moving along one guide rail; Or, the surgical robot includes at least two guide rails, the at least two load arms being distributively connected to the at least two guide rails, and the at least two load arms moving along the respective guide rails to which they are connected.

7. The surgical robot according to any one of claims 1-6, wherein, Each of the at least two load arms is connected with an active driving device, the active driving device including an active device body and an active device output end, wherein, the active device body is fixedly arranged relative to the load arm; or the active device body is fixedly arranged relative to the orientation part.

8. The surgical robot according to any one of claims 1-7, wherein, Each of the at least two load arms is connected with an active driving device and a transmission device, the active driving device including an active device body and an active device output end, the active device body being fixedly arranged relative to the load arm, the active device output end rotating around its own axis, the transmission device including a transmission input end and a transmission output end, the transmission input end being actuated by the active device output end, the transmission output end being fixedly arranged relative to the orientation part, and the active driving device driving the transmission device and driving the load arm to rotate relative to the orientation part; or Each of the at least two load arms is connected with an active driving device and a transmission device, the active driving device including an active device body and an active device output end, the active device body being fixedly arranged relative to the orientation part, the active device output end rotating around its own axis, the transmission device including a transmission input end and a transmission output end, the transmission input end being actuated by the active device output end, the transmission output end being rotatably arranged on the load arm, and the active driving device driving the transmission device and driving the load arm to rotate relative to the orientation part.

9. The surgical robot according to any one of claims 1-8, wherein, Any one of the at least two load arms is connected with a braking device; or at least two of the at least three load arms share the same braking device.

10. The surgical robot according to any one of claims 1-9, wherein, The surgical robot further includes a supporting device, and the orientation part is arranged on the supporting device, wherein the orientation part is fixedly arranged relative to the supporting device; or the orientation part can linearly move along the supporting device.

11. The surgical robot according to claim 10, wherein, The supporting device includes: A fixed column, which is fixedly arranged relative to the moving chassis; A lifting column, which is connected with the fixed column and can linearly move relative to the fixed column in the vertical direction; A fixed cantilever, which is arranged at the top end of the fixed column; A telescopic cantilever, which is connected with the fixed cantilever and can linearly move relative to the fixed cantilever in the horizontal direction, wherein the orientation part is arranged on the telescopic cantilever.

12. The surgical robot according to any one of claims 1-3, wherein, The orientation part has an arc-shaped or circular outer peripheral surface, and the orientation part includes a guide rail, the guide rail is arranged as a complete annular structure or at least a partial annular structure, the central axis of the annular structure of the guide rail is defined as the first axis, and the central axis of the arc or circle of the outer peripheral surface coincides with the first axis; The load arm is connected to the guide rail and can rotate around the first axis relative to the orientation part. The load arm is provided with a driving device and a transmission device driven by the driving device. The transmission device can rotate around the second axis by itself, and the second axis is parallel to the first axis; The surgical robot further includes a transmission member, the transmission member bypasses the rotating member and extends along the outer peripheral surface of the orientation part. The transmission member at least includes a part fixed to the orientation part. While the transmission device rotates around the second axis, it rotates around the first axis, and drives the load arm to rotate relative to the orientation part along the guide rail.

13. The surgical robot according to claim 12, wherein, At least two of the load arms are located on the same reference plane perpendicular to the first axis and are movably connected to the same guide rail.

14. The surgical robot according to claim 13, wherein, The transmission devices of all the load arms are arranged at the same height, and one transmission member bypasses the rotating members of all the load arms.

15. The surgical robot according to claim 13, wherein, The number of the transmission devices is the same as the number of the load arms. The transmission members are arranged in a staggered manner in the height direction. One transmission member bypasses the transmission device of the corresponding one load arm, and the position of the transmission device in the height direction corresponds to the position of the corresponding transmission member in the height direction.

16. The surgical robot according to any one of claims 12-15, wherein, The load arm is provided with two adjusting wheels that are connected to the transmission member and can rotate around its own third axis. The two adjusting wheels are located between the transmission member and the outer peripheral surface of the orientation part and are arranged at intervals along the circumferential direction of the orientation part. The transmission member bypasses between the two adjusting wheels, and the third axis is parallel to the second axis.

17. The surgical robot according to any one of claims 12-16, wherein, At least one of the transmission member and the transmission device is provided with a plurality of teeth, so that the transmission member and the transmission device are in meshing transmission through the teeth.

18. The surgical robot according to claim 17, wherein, The transmission member is provided with a plurality of holes at intervals, and the transmission device is provided with a plurality of teeth at intervals, so that the transmission member and the transmission device are meshed and driven through the tooth holes; or, The transmission member is provided with a plurality of teeth at intervals, and the transmission device is provided with a plurality of teeth at intervals, so that the transmission member and the transmission device are meshed and driven through the teeth.

19. The surgical robot according to any one of claims 12-16, wherein, The transmission member is at least one of a rope, a chain, and a belt. When the transmission member is a rope, the rope is wound around the transmission device for multiple turns; and / or, The outer peripheral surface of the orientation portion is a smooth surface, or the outer peripheral surface of the orientation portion is provided with a limiting structure for the transmission member.

20. The surgical robot according to any one of claims 12-16, wherein, The transmission member is a closed-loop member, and the closed-loop member is sleeved on the orientation portion; or, the transmission member is an open-loop member, and the end of the open-loop member is fixed to the orientation portion.

21. The surgical robot according to any one of claims 12-16, wherein, The transmission member is a rope, and two ropes are wound around the transmission device. The two ends of each rope are respectively connected to the transmission device and the orientation portion, and the winding directions of the two ropes on the rotating member are opposite.

22. The surgical robot according to claim 12, wherein, The transmission member includes a hypocycloid gear ring, and the hypocycloid gear ring is provided on the outer peripheral surface of the orientation portion and meshes with the transmission device. When the transmission device rotates, it moves along the hypocycloid defined by the hypocycloid gear ring and drives the load arm to rotate relative to the orientation portion along the guide rail.

23. The surgical robot according to claim 22, wherein, The load arm is provided with a braking device, and the braking device is used to brake the transmission device or the active driving device.

24. The surgical robot according to claim 22 or 23, wherein, The surgical robot includes at least two load arms, and the rotating assemblies of all the load arms are arranged at the same height and mesh with one hypocycloid gear ring.

25. The surgical robot according to any one of claims 22-24, wherein, The transmission device includes a rotating wheel and a plurality of rotating pins. The rotating wheel is driven by the active driving device and rotates around the second axis. The plurality of rotating pins are provided on the rotating wheel and are arranged at intervals along the axial direction defined by the second axis. The outer peripheral surface of the rotating pin meshes with the teeth of the hypocycloid gear ring.

26. The surgical robot according to claim 25, wherein, The plurality of rotating pins rotate around their respective third axes, and the third axis is parallel to the second axis.

27. The surgical robot according to claim 25 or 26, wherein, The rotating wheel is provided with a receiving groove, the notch of the receiving groove is recessed from the outer peripheral surface of the rotating wheel, the rotating pin passes through the receiving groove, and the teeth of the hypocycloid gear ring extend into the receiving groove through the notch to mesh with the rotating pin.

28. The surgical robot according to claim 27, wherein, The rotating wheel includes two wheel discs that are detachably connected to each other. The receiving groove is formed between the two wheel discs. Each wheel disc is provided with a mounting hole, and the two ends of the rotating pin are respectively movably arranged in the mounting holes of the two wheel discs.

29. The surgical robot according to any one of claims 22-28, wherein, The load arm is provided with a support member having a receiving cavity. The receiving cavity has an end side wall, an end side opening opposite to the end side wall, and a circumferential opening. The transmission device enters the receiving cavity through the end side opening and is supported on the end side wall. At least the teeth of the hypocycloid gear ring extend into the receiving cavity through the circumferential opening to mesh with the rotating assembly.

30. The surgical robot according to any one of claims 22-29, wherein, The transmission device is fixed to the active driving device through the support member.

31. The surgical robot according to any one of claims 22, 24 to 28, wherein The orientation part is provided with a braking device corresponding to the load arm, and the braking device is connected to the load arm to brake the load arm.

32. The surgical robot according to any one of claims 22-28, wherein, The surgical robot includes at least two load arms. At least two of the load arms are located on the same reference plane perpendicular to the first axis and are movably connected to the same guide rail.

33. A medical system, comprising: The surgical robot according to any one of claims 1-32.

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