Endoscopic surgical robot arm and control mechanism thereof

Abstract

Provided is an endoscopic surgical robot arm control mechanism, which comprises a tool bit, a connecting assembly, a knob, and a pull rod. The tool bit comprises a tool holder and a shearing part. By means of the connecting assembly, the knob controls the rotation of the tool holder, and the pull rod controls the opening and closing of the tool bit. The connecting assembly comprises an axial coupling mechanism, an axial decoupling mechanism, and a transmission section. The axial coupling mechanism couples the circumferential rotation generated by the knob and the axial displacement generated by the pull rod to the transmission section. The axial decoupling mechanism decouples the circumferential rotation and the axial displacement of the transmission section, transmits the circumferential rotation to the tool holder, and transmits the axial displacement to the shearing part. The control mechanism can simplify the transmission structure for controlling the opening and closing and rotation of the tool bit, reduce parts, and enhance the strength and rigidity of the transmission structure, thereby enhancing the precision of surgical operations. The present invention further provides an endoscopic surgical robot arm.

Description

Laparoscopic surgery robotic arm and control mechanism thereof Technical Field

[0001] The present invention belongs to the field of surgical instruments, and in particular relates to a laparoscopic surgical robotic arm and a control mechanism thereof. Background Art

[0002] With the development of surgical techniques, minimally invasive surgeries such as laparoscopic surgery and thoracoscopic surgery have gained more and more clinical applications due to their advantages of small surgical incisions, short surgical time, less pain for patients, and quick recovery. Various types of laparoscopic surgical tools are an important basis for implementing laparoscopic surgical operations. The accuracy, stability, and convenience of laparoscopic surgery affect the effect of laparoscopic surgery. Patent CN113476144B discloses a laparoscopic surgical tool, which improves the ergonomics during surgical operations by setting the knob for controlling the rotation of the blade above the blade opening and closing pull rod. However, in this type of technical solution, the knob and the pull rod each use independent transmission devices, which are relatively complex in structure. In addition, in order to save space, the compression of the transmission structure size results in lower strength and rigidity, which is not conducive to improving the accuracy of surgical operations. Therefore, providing a control mechanism with higher structural strength has positive significance for further improving the operational accuracy of laparoscopic surgery. Summary of the Invention

[0003] The present invention aims to provide a control mechanism for a laparoscopic surgical robot arm to improve the control accuracy of a cutter head. The present invention also provides a laparoscopic surgical robot arm.

[0004] According to an embodiment of one aspect of the present invention, a laparoscopic surgical robot arm control mechanism is provided, comprising a cutting head, a connecting assembly, a knob and a pull rod; the cutting head comprises a cutting seat and a shearing portion, and the shearing portion is mounted on the cutting seat; the connecting assembly is connected between the cutting head and the knob and the pull rod, the knob controls the circumferential rotation of the cutting seat, and the pull rod controls the opening and closing of the shearing portion. The connecting assembly comprises an axial coupling mechanism, an axial decoupling mechanism and a transmission section; the axial coupling mechanism is connected to the knob and the pull rod respectively, and transmits the circumferential rotation generated by the knob and the axial displacement generated by the pull rod to the transmission section respectively; the axial decoupling mechanism transmits the axial displacement of the transmission section to the shearing portion to drive the shearing portion to open and close, and the axial decoupling mechanism transmits the circumferential rotation of the transmission section to the cutting seat to drive the cutting seat to rotate circumferentially.

[0005] The control mechanism adopts an axial decoupling mechanism and an axial coupling mechanism to merge the cutter head rotation control mechanism and the cutter head rotation control mechanism, which were originally set separately, into a transmission section of the connecting component, thereby simplifying the transmission structure. Under the same volume, the shaft of the transmission section can have a larger diameter, so that the transmission section has better rigidity and improves the control accuracy of the robotic arm.

[0006] Furthermore, in some embodiments, the transmission section includes a curved section and a straight section, wherein the curved section is provided with a bend structure of not less than 90 degrees and is configured as a flexible shaft. The provision of the curved section allows the knob to be arranged in a more ergonomic position, improving the operating experience.

[0007] Furthermore, in some embodiments, the flexible shaft is configured as a metal cable bundle comprising a plurality of metal cables. Compared to a hollow spring shaft, a flexible shaft constructed from a metal cable bundle exhibits improved circumferential rigidity while providing flexible transmission, better axial tensile strength, and reduced angular deviation at both ends of the flexible shaft when subjected to torque.

[0008] Furthermore, in some embodiments, the straight segment is configured as a rigid shaft. Using a rigid shaft for the straight segment can further reduce the circumferential angle deviation during the transmission process.

[0009] Furthermore, in some embodiments, the axial coupling mechanism includes a push-pull rod and a rotating sleeve, one end of the push-pull rod is connected to the pull rod, and the other end is fixedly connected to the transmission section; the rotating sleeve is connected to the knob and is sleeved outside the push-pull rod, and the rotating sleeve can drive the push-pull rod to rotate circumferentially and allow the push-pull rod to be axially displaced relative to the rotating sleeve.

[0010] Furthermore, in some embodiments, the rotating sleeve and the push-pull rod are connected to each other via a sliding clamping portion and a sliding groove that match each other, and the sliding clamping portion is configured as a boss or a sliding key.

[0011] Furthermore, in some embodiments, the axial coupling mechanism includes a push-pull rod and a rotating sleeve, the push-pull rod is fixedly connected to the transmission section and connected to the pull rod to allow the pull rod to drive the push-pull rod to axially displace; the rotating sleeve is configured as a hollow gear, the hollow gear is sleeved outside the push-pull rod, the hollow gear is circumferentially fixed relative to the push-pull rod, and the push-pull rod can slide axially relative to the hollow gear; the hollow gear is connected to the knob through a transmission gear.

[0012] Furthermore, in some embodiments, the axial decoupling mechanism includes an end sleeve and a traction mechanism; one end of the traction mechanism is fixedly connected to the transmission section, and the other end is connected to the shearing portion; the end sleeve is connected to the tool holder and is sleeved outside the traction mechanism and / or the transmission section, and the end sleeve can drive the tool holder to rotate circumferentially with the traction mechanism and / or the transmission section and allow the traction mechanism and / or the transmission section to axially displace relative to the end sleeve.

[0013] Furthermore, in some embodiments, the end sleeve and the traction mechanism and / or the transmission section are connected via mutually matching sliding clamping parts and sliding grooves, and the sliding clamping parts are configured as bosses or sliding keys.

[0014] Furthermore, in some embodiments, the traction mechanism includes a traction rope or a traction rope and a traction rod connected together.

[0015] Furthermore, in some embodiments, the laparoscopic surgical robot arm control mechanism further includes a movable joint, wherein the movable joint is connected between the cutting head and the shaft of the laparoscopic surgical robot arm to allow the cutting head to swing away from the axis of the shaft. The movable joint includes a plurality of joint monomers connected in series along the axial direction, and the joint monomers include a blade joint monomer, a fixed joint monomer and a plurality of movable joint monomers, wherein the blade joint monomer and the fixed joint monomer are respectively located at the two ends of the movable joint, and a plurality of connecting ropes pass through and connect each of the joint monomers in turn, and the plurality of connecting ropes are circumferentially distributed relative to the axis of the movable joint, and the connecting ropes provide tension to bend or straighten the movable joint; the movable joint monomer is configured as a disc and has a first direction and a second direction perpendicular to each other in the axial cross section, the movable joint monomer includes a first side convex in the middle and a second side concave in the middle, the first side includes a protruding ridge, the ridge extends along the first direction and passes through the center of the movable joint monomer; the movable joint monomer also includes a through groove extending along the second direction, the through groove passes through the center of the movable joint monomer; a pair of limiting bosses are arranged on both sides of the through groove along the first direction, and the limiting bosses are arranged on the ridge; the movable The ends of the movable joint monomers on both sides of the spine form wing portions, and the axial thickness of the movable joint monomer gradually increases from the spine to the wing portions so that the wing portions protrude toward the second side; the length of the through groove along the second direction matches the distance between the two outer end faces of the pair of limiting bosses along the first direction, so that the pair of limiting bosses of one movable joint monomer can be inserted into the through groove of the other movable joint monomer and form circumferential and radial limitations; in the movable joint, the first directions of each of the two adjacent movable joint monomers are perpendicular to each other, and the first side of one movable joint monomer is opposite to the second side of the other movable joint monomer, so that any two adjacent movable joint monomers can be plugged together through the matching relationship between the limiting bosses and the through groove, and the spine of one movable joint monomer is abutted against the wing portion of the other movable joint monomer, and wedge-shaped gaps are provided on both sides of the spine to allow relative swinging between the movable joint monomers.

[0016] The movable joint is compact in size, small in thickness, and flexible in bending, and can effectively reduce the volume of the movable joint of the laparoscopic surgical robotic arm used to control the blade, thereby facilitating surgical operations.

[0017] Furthermore, in some embodiments, the angle of the wedge-shaped gap ranges from 0° to 56°.

[0018] Furthermore, in some embodiments, the movable joint includes at least seven movable joint units.

[0019] Furthermore, in some embodiments, the laparoscopic surgical robot arm control mechanism also includes a joint swing mechanism, which is connected to the blade joint of the blade to drive the blade joint to bend so that the blade swings away from the axis of the shaft of the laparoscopic surgical robot arm. The joint swing mechanism includes a base, a support rod, and a pull-wire controlled joint assembly. The base is relatively fixed to the shaft, and the support rod can move relative to the base and is connected to the pull-wire controlled joint assembly. The pull-wire controlled joint assembly includes multiple connecting ropes, which are connected to the blade joint to transmit the movement of the support rod relative to the base to the blade joint to drive the blade joint to bend. The joint swing mechanism also includes a locking mechanism, which includes a first latch fixed to the base and a second latch provided on the support rod; the second latch is in sliding connection with the support rod, and the second latch can slide axially along the support rod and is relatively fixed in the circumferential direction. The second latch has a locking position along the axial sliding stroke of the support rod. When the second latch slides to the locking position, the second latch engages with the first latch, so that the support rod and the base are relatively fixed; when the second latch moves out of the locking position, the second latch disengages from the first latch, and the support rod can move relative to the base.

[0020] Furthermore, in some embodiments, the locking structure further includes a push-pull rod and an eccentric wheel, and the eccentric wheel is hingedly connected to the push-pull rod and the second latching tooth in sequence to allow the eccentric wheel to rotate and drive the second latching tooth to slide axially along the support rod.

[0021] Furthermore, in some embodiments, the locking mechanism also includes a limit switch and a resetter, the limit switch has a closed state and a released state, in the closed state the limit switch limits the rotation of the eccentric wheel, and in the released state the limit switch does not limit the rotation of the eccentric wheel; the resetter has a compressed energy storage state, in the compressed energy storage state the resetter can push the eccentric wheel to rotate, so as to drive the second tooth to move out of the locked position.

[0022] Furthermore, in some embodiments, the laparoscopic surgical robot arm control mechanism further includes an operating handle, which includes:

[0023] The base is provided with a first locking structure, and the universal rotating assembly is rotatably connected to the base; the support rod is provided with a second locking structure, and the support rod has a locking position and a release position arranged relatively to each other, and the support rod is used to fixedly connect the universal rotating assembly; a first brake is sleeved on the outer periphery of the support rod and can move relative to the support rod along the axis of the support rod; an actuating mechanism is transmission-connected to the first brake, and the actuating mechanism is used to drive the first brake to move; the first brake is configured as follows: when the first brake is in the locking position, the first brake couples the first locking structure and the second locking structure to prevent the universal rotating assembly from rotating; when the first brake is in the release position, the first brake disengages from the first locking structure and the second locking structure to allow the universal rotating assembly to rotate.

[0024] The handle drives the first brake member to move axially on the support rod fixedly connected to the universal joint assembly through an actuating mechanism. When the first brake member moves to the locking position of the support rod, the first brake member couples the first locking structure of the base and the second locking structure of the support rod to prevent the universal joint assembly from rotating. When the first brake member moves to the release position of the support rod, the first brake member disengages the first locking structure of the base and the second locking structure of the support rod. At this time, the universal joint assembly can be rotated to adjust the position and posture of the surgical instrument. In this way, the structure of the operating handle for operating the universal joint can be simplified, the difficulty of operation and the threshold of use can be reduced, which is conducive to improving surgical efficiency and further reducing the risk of infection for patients during surgery.

[0025] Optionally, the first locking structure and the second locking structure are located on a side of the first brake member facing away from the universal rotating assembly, and the actuating mechanism drives the first brake member away from the universal rotating assembly and couples the first locking structure and the second locking structure to limit the rotation of the universal rotating assembly; the actuating mechanism drives the first brake member toward the universal rotating assembly and disengages the first locking structure and the second locking structure to allow the universal rotating assembly to rotate.

[0026] Optionally, the support rod is a hollow rod with an axial through hole, and the support rod has a slide groove that penetrates through itself radially and extends axially; the first brake member includes a main body sleeved on the outer periphery of the support rod, and a push rod portion fixed to the main body, the push rod portion and the main body forming a receiving groove, and the main body is provided with a third locking structure; the actuating mechanism includes a shift rod and a driving assembly that partially extends into the axial through hole and is fixedly connected to the shift rod, the shift rod passes through the hollow rod from the axial through hole through the slide groove and extends into the receiving groove; the driving assembly is used to drive the shift rod to drive the push rod portion to move toward the second locking structure, so that the third locking structure is coupled to the second locking structure, and is used to drive the shift rod to drive the main body to move toward the universal rotating assembly, so that the third locking structure is disengaged from the second locking structure.

[0027] Optionally, the end surface portion of the support rod facing the first brake member is provided with a circumferentially extending sliding protrusion, the sliding protrusion is provided with the slide groove, the remaining portion of the end surface of the support rod facing the first brake member is provided with the second locking structure, the side of the main body facing away from the universal rotating assembly is provided with the third locking structure, and the second locking structure is arranged opposite to the third locking structure.

[0028] Optionally, the second locking structure is one of meshing teeth and tooth grooves, and the third locking structure is the other of the meshing teeth and tooth grooves, and the meshing teeth can be embedded in the tooth grooves to fix the first brake member and the support rod to each other; or, the second locking structure is one of meshing teeth and an elastic member, and the third locking structure is the other of the meshing teeth and the elastic member, and the meshing teeth can be embedded in the elastic member to fix the first brake member and the support rod to each other; or, the second locking structure and the third locking structure are both rough surfaces, and the second locking structure abuts the third locking structure to fix the first brake member and the support rod to each other by friction; or, the second locking structure and the third locking structure are both meshing teeth, and the second locking structure meshes with the third locking structure to fix the first brake member and the support rod to each other.

[0029] Optionally, there are two sliding protrusions symmetrically arranged on the hollow rod, there are two support rod portions symmetrically arranged on the main body, and both ends of the shift rod pass through the corresponding sliding grooves to pass through the hollow rod and extend into the accommodating groove.

[0030] Optionally, the operating handle also includes a shell having an accommodating space, the driving assembly is located in the accommodating space and fixed to the shell, and the driving assembly includes a driving rod, a swing rod and a locking member; the swing rod has a first end and a second end relative to each other, the middle portion of the swing rod is pivotally connected to the shell, the first end is movably connected to one end of the driving rod away from the shift rod, and the second end is movably abutted against the locking member; the swing member is configured as follows: when the swing member is rotated counterclockwise, the first end drives the driving rod to drive the third locking structure to couple the second locking structure, and the second end moves relative to the locking member until it is locked by the locking member; when rotated clockwise, the first end drives the driving rod to move away from one end of the shift rod to disengage the third locking structure from the second locking structure, and the second end moves relative to the locking member and disengages from the locking member and resets.

[0031] Optionally, the driving assembly also includes a first elastic member, one end of the first elastic member is pivotally connected to the first end, and the other end is pivotally connected to the shell; the locking member includes a second brake member and a second elastic member, the second brake member is pivotally connected to the shell, and one end of the second elastic member abuts the second brake member, and the other end abuts the shell; when force is applied to the swinging member to make it rotate counterclockwise, the first end stretches the first elastic member, and the second end moves relative to the second brake member and lifts the second brake member until the second end is engaged with the second brake member, so that the first brake remains in the locked position and the second elastic member is compressed; continue to rotate the swinging member counterclockwise, the first elastic member is stretched and the elastic potential energy is increased, releasing the swinging member, and the first elastic member drives the swing rod to rotate clockwise and disengage the second end from the second brake member, so that the first end can lift the driving rod and disengage the first brake member from the first locking structure.

[0032] Optionally, a limiting portion is provided at the second end, and the second brake member is a plate-shaped structure with a sliding edge. The second brake member has a limiting groove with an opening facing away from the sliding edge, and the limiting groove is provided with relative limiting entrances and limiting exits, and the limiting portion abuts the sliding edge; when the swinging member rotates counterclockwise, the limiting portion moves relative to the sliding edge and pushes the second brake member to rotate, and the second brake member compresses the second elastic member. When the limiting portion moves to disengage from the sliding edge, the second elastic member drives the second brake member to reset, and the limiting portion enters the limiting groove from the limiting entrance, and the swinging member is locked; when the swinging member is driven by the first elastic member to rotate clockwise, the limiting portion disengages from the limiting groove from the limiting exit.

[0033] Optionally, the drive assembly also includes a first elastic member, one end of the first elastic member is pivotally connected to the first end, the other end is pivotally connected to the housing, the second end is provided with a limiting portion, and the locking member includes a locking groove; when force is applied to the swinging member to rotate counterclockwise, the first elastic member is stretched by the first end, and the limiting portion is embedded in the locking groove to keep the first brake member in the locked position; when force is applied to the swinging member to rotate clockwise, the limiting portion disengages from the locking groove, and the first elastic member.

[0034] Optionally, a tooth row is provided at one end of the driving rod away from the shift rod, a gear is fixed to the first end, the tooth row is engaged with the gear, a limiting portion is provided at the second end, and the locking member includes a locking groove; when force is applied to the swinging member to rotate counterclockwise, the gear drives the driving rod to drive the first brake to couple to the first locking structure via the tooth row, and the limiting portion is embedded in the locking groove to keep the first brake in the locked position; when force is applied to the swinging member to rotate clockwise, the gear drives the driving rod to drive the first brake to disengage from the first locking structure via the tooth row, and the limiting portion disengages from the locking groove.

[0035] Optionally, the drive assembly also includes a first elastic member, the swing member has a pivot shaft rotatably connected to the housing, the first elastic member is sleeved on the outer circumference of the pivot shaft, one end of the first elastic member abuts the pivot shaft, and the other end abuts the housing; when the swing arm rotates counterclockwise, the first elastic member is compressed, and when the swing arm rotates clockwise until the first brake member disengages from the first locking structure, the first elastic member fixes the position of the swing arm to keep the first brake member in the released position.

[0036] According to another embodiment of the present invention, there is provided a laparoscopic surgical robot arm, comprising a control mechanism, wherein the control mechanism adopts the laparoscopic surgical robot arm control mechanism provided in any of the aforementioned embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] FIG1 is a schematic diagram of the partial structure of a control mechanism of a laparoscopic surgical robot arm;

[0038] FIG2 is a schematic diagram of a control mechanism of a laparoscopic surgical robot arm according to an embodiment;

[0039] FIG3 is a schematic diagram of the enlarged structure of area A in FIG2 ;

[0040] FIG4 is a schematic diagram of the enlarged structure of area C in FIG3 ;

[0041] FIG5 is a schematic diagram of the enlarged structure of area B in FIG2;

[0042] FIG6 is a schematic diagram of the enlarged structure of the D area in FIG5;

[0043] FIG7 is a schematic diagram of the axial decoupling mechanism structure and the cutter head structure in another embodiment

[0044] FIG8 is a schematic structural diagram of an axial coupling mechanism in another embodiment;

[0045] FIG9 is a schematic diagram of the enlarged structure of the E area in FIG8;

[0046] FIG10 is a schematic diagram of the structure of a movable joint in one embodiment;

[0047] FIG11 is a schematic diagram of a structure of a movable joint monomer in one embodiment;

[0048] FIG12a is a schematic diagram of a connection method of a movable joint monomer in one embodiment;

[0049] FIG12b is a front view of FIG12a;

[0050] FIG12c is a top view of FIG12a;

[0051] Figure 12d is a schematic cross-sectional view of the structure of Figure 12b;

[0052] FIG13a is a schematic diagram of the bending of connected movable joints in one embodiment;

[0053] FIG13b is a front view of FIG13a;

[0054] FIG13c is a schematic cross-sectional view of FIG13a;

[0055] FIG14 is a schematic diagram of a 90° bending of a movable joint structure in one embodiment;

[0056] FIG15 is a schematic diagram of a 140° bending of a movable joint structure in one embodiment;

[0057] FIG16 is a schematic diagram of the structure of a joint swing mechanism in one embodiment;

[0058] FIG17 is a schematic diagram of a joint swing mechanism swinging in a first direction in one embodiment;

[0059] FIG18 is a schematic diagram of a joint swing mechanism swinging in a second direction in one embodiment;

[0060] FIG19 is a schematic diagram of a top view of the joint swing mechanism in one embodiment;

[0061] FIG20 is a schematic diagram of a locking mechanism of a joint swing mechanism in one embodiment;

[0062] FIG21 is a schematic diagram of the three-dimensional structure of the first operating handle;

[0063] FIG22 is a schematic front view of the operating handle in FIG21;

[0064] FIG23 is a schematic right side view of the operating handle in FIG21;

[0065] FIG24 is an exploded schematic diagram of the structure of the operating handle in FIG21;

[0066] FIG25 is a schematic structural diagram of the second brake member of the operating handle in FIG21;

[0067] FIG26 is a schematic diagram of the three-dimensional structure of the second operating handle;

[0068] FIG27 is a schematic right side view of the operating handle in FIG26;

[0069] FIG28 is an exploded schematic diagram of the structure of the operating handle in FIG26;

[0070] FIG29 is a schematic diagram of the three-dimensional structure of a third operating handle;

[0071] FIG30 is a schematic right side view of the operating handle in FIG29;

[0072] FIG31 is an exploded schematic diagram of the structure of the operating handle in FIG29;

[0073] FIG32 is a schematic diagram of the three-dimensional structure of a fourth operating handle;

[0074] FIG33 is a schematic exploded view of the structure of the operating handle in FIG32 .

[0075] Meaning of the reference numerals: 1-cutter head; 11-cutter seat; 12-cutting portion; 13-adapting section; 14-cutter head joint unit; 15-movable joint unit; 15a-movable joint unit; 15b-movable joint unit; 15c-movable joint unit; 151-ridge; 16-fixed joint unit; 17-limiting boss; 18-through groove; 19-through hole; 2-connecting assembly; 20-housing; 21-curved section; 22-straight section; 23-push-pull rod; 24a-rotating sleeve; 24b-hollow gear; 25a-boss; 25b-flat shaft section; 26-end sleeve; 27 - traction wire; 28 - boss; 29 - slide; 3 - knob; 31 - transmission gear; 4 - pull rod; 40 - handle; 41 - pull rod connection mechanism; 42 - pull rod fulcrum; 5 - spring shaft; 6 - traction rope; 60 - rod body; 7 - transmission shaft; 8 - joint swing mechanism; 81 - support rod; 82 - clamping plate; 83 - base; 84 - push-pull rod; 85 - torsion spring; 86 - eccentric wheel; 87 - push-pull rod; 88 - first latch; 89 - second latch; 9 - rope-controlled joint assembly; 91 - first rotating member; 92 - second rotating member; 93 - connecting rope; 94 - blade joint assembly; 95 - connecting rope mounting hole; 96 - pin; 100 - universal joint; 110 - first rotating member; 111 - connecting portion; 120 - second rotating member; 121 - first pivoting protrusion; 130 - soft rope; 140 - push rod; 200 - operating handle; 201 - base; 201a - first pivoting through hole; 201b - first locking structure; 201c - first supporting portion; 202 - supporting rod; 202a - second locking structure; 202b - axial through hole; 203 - first braking member; 203a - body; 203b - rod stop; 203 c-accommodating groove; 203d-third locking structure; 204-shift rod; 205-driving assembly; 205a-driving rod; 205b-swinging rod; 205c-first elastic member; 205d-second elastic member; 205e-second braking member; 205f-third elastic member; 205g-limiting portion; 205h-sliding edge; 205i-limiting groove; 205j-limiting entrance; 205k-limiting exit; 2051-guiding portion; 205m-locking groove; 205n-metal spring; 205o-tooth row; 205p-gear; 205q-fourth elastic member.

[0076] x, y, and z represent coordinate axes in the figures, wherein the same coordinate system is used in Figures 12a, 12b, 12c, and 12d; and the same coordinate system is used in Figures 13a, 13b, and 13c.

[0077] The purpose of the above-mentioned drawings is to further illustrate the present invention in detail so that those skilled in the art can understand the technical concepts of the present invention, and is not intended to limit the present invention. For the sake of simplicity, the above-mentioned drawings only schematically depict structures related to the technical features of the present invention and do not strictly depict the complete structure and all details according to actual scale. DETAILED DESCRIPTION

[0078] The present invention will be further described in detail below through specific embodiments with reference to the accompanying drawings.

[0079] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment herein. The appearance of such phrases in various places in the specification does not necessarily refer to the same embodiment, nor does it limit mutually exclusive independent or alternative embodiments. Those skilled in the art will appreciate that an embodiment herein may be combined with other embodiments as long as no structural conflicts arise.

[0080] In the description herein, unless otherwise specified or limited, the technical terms "installed," "connected," and "connected" should be understood broadly, and may refer to movable connections, fixed connections, or integration. Those skilled in the art will understand the specific meanings of these terms in the embodiments of this application based on specific circumstances.

[0081] In the description of this document, terms indicating orientation or positional relationships, such as "up", "down", "left", "right", "horizontal", "vertical", "height", "length", and "width", are intended to accurately describe the embodiments and simplify the description, but are not intended to limit the parts or structures involved to having a specific orientation, being installed or operated in a specific orientation, and should not be understood as limiting the embodiments in this document.

[0082] In the description herein, terms such as "first" and "second" are used only to distinguish different objects and should not be understood to indicate relative importance or to limit the quantity, specific order, or primary and secondary relationship of the described technical features. In the description herein, "plurality" means at least two.

[0083] Minimally invasive surgery effectively reduces patient pain, hospital stays and treatment costs, lowers surgical risks, and improves surgical efficiency. Consequently, various types of laparoscopic surgeries have become increasingly widely used in clinical practice. In some existing solutions, the handle of a laparoscopic surgical tool adopts the structure shown in Figure 1. This surgical tool uses a knob 3 to control the circumferential rotation of the cutting head, and a pull rod 4 to control the opening and closing of the cutting head. The knob 3 is positioned above the pull rod 4. This allows the user to use their middle to pinky fingers to pull the pull rod 4 and their index finger to turn the knob 3, creating an ergonomic grip that reduces fatigue during surgery. However, in this solution, the knob 3 drives the cutting head through an axially connected spring shaft 5, driving the transmission shaft 7 to rotate the cutting head, while the pull rod 4 controls the opening and closing of the cutting head by driving a traction cord 6. These two transmission mechanisms are independently configured, resulting in a complex handle structure. To control the overall volume of the structure, the relevant components need to be thinner and smaller, which affects strength and rigidity. Specifically, the diameter of the spring shaft 5 needs to be limited to make space for the traction rope 6 at the bending position to avoid mutual interference, and the transmission shaft 7 is set to a hollow structure so that the traction rope 6 can pass through it. This results in that when the torque is transmitted, the two ends of the spring shaft 5 and the transmission shaft 7 will have an angular deviation due to their own elasticity, so that the rotation of the blade head lags behind the rotation of the knob 3, which is not conducive to the accuracy of the surgical operation.

[0084] In order to solve the above problems, an embodiment of the present invention provides a laparoscopic surgical robot arm, whose control mechanism is shown in Figure 2. The control mechanism includes a cutting head 1, a connecting assembly 2, a knob 3 and a pull rod 4. The cutting head 1 is connected to one end of the connecting assembly 2, and the knob 3 and the pull rod 4 are connected to the other end of the connecting assembly 2. The knob 3 is used to control the circumferential rotation of the cutting head 1, and the pull rod 4 is used to control the opening and closing of the cutting head 1. Among them, the cutting head 1 is installed at the end of the shaft (not shown) of the laparoscopic surgical robot arm, and the cutting head 1 as a whole can rotate circumferentially relative to the shaft (not shown); the knob 3 and the pull rod 4 are installed on the handle (not shown) of the laparoscopic surgical robot arm; the connecting assembly 2 is accommodated in the housing of the shaft (not shown) and the handle (not shown).

[0085] An axial coupling mechanism is provided in region A, an axial decoupling mechanism is provided in region B, and between the axial coupling mechanism and the axial decoupling mechanism is the transmission section of the connection assembly 2, which includes a curved section 21 and a straight section 22. The curved section 21 is a U-shaped structure bent 180°.

[0086] The axial coupling mechanism connects the curved section 21 with the knob 3 and the pull rod 4 to couple the circumferential rotation generated by the knob 3 and the axial displacement generated by the pull rod 4 to the transmission section, allowing the knob 3 and the pull rod 4 to respectively control the circumferential rotation and opening and closing of the cutter head 1 without interference. Referring to Figures 3 and 4 , the end of the curved section 21 is rigidly connected to the push-pull rod 23. The curved section 21 is configured as a flexible shaft so that it can transmit torque in a bent state. A rotating sleeve 24a is sleeved on the outside of the push-pull rod 23. The push-pull rod 23 is connected to the pull rod 4 via a push-pull rod connection mechanism 41. The rotating sleeve 24a is connected to the knob 3 via a transmission gear 31. When the knob 3 is rotated, the circumferential rotation is transmitted to the rotating sleeve 24a via the transmission gear 31. The rotating sleeve 24a drives the push-pull rod 23 to rotate, thereby transmitting the circumferential rotation to the curved section 21, and in turn drives the circumferential rotation of the cutter head 1. When the pull rod 4 is pulled in the direction of arrow a, the pull rod 4 rotates around the pull rod fulcrum 42 and drives the push-pull rod 23 to move in the direction of arrow b through the push-pull rod connection structure 41, thereby driving the curved section 21 to axially displace in the direction of arrow b. The rotating sleeve 24a is fixed in the axial direction, and the push-pull rod 23 can rotate circumferentially with the rotating sleeve 24a, thereby realizing the coupling of circumferential rotation and axial displacement. In a preferred embodiment, as shown in Figure 4, a boss 25a is provided on the push-pull rod 23, and a matching slide groove (not shown) is provided on the rotating sleeve 24a. The boss 25a can slide axially in the slide groove (not shown) of the rotating sleeve 24a and abut against the slide groove (not shown) of the sleeve 24a in the circumferential direction, thereby realizing the coupling of axial movement and circumferential rotation. In a preferred embodiment, the pull rod connection mechanism 41 includes a rolling bearing (not shown). The inner ring of the bearing is mounted on the push-pull rod 23 and fixed relative to the push-pull rod 23. The outer ring of the bearing is connected to the pull rod 4 via a hinge structure. When the pull rod 4 is pulled, the pull rod connection mechanism 41 applies an axial force to the inner ring of the bearing via the outer ring of the bearing, thereby pulling the push-pull rod 23, which is fixed relative to the inner ring of the bearing, to produce axial displacement. In other embodiments, the connection mechanism 41 can also be provided with a slip ring mounted on the push-pull rod 23, which can rotate relative to the push-pull rod 23. The push-pull rod 23 is provided with a convex ring that limits the slip ring in the axial direction, thereby achieving axial pulling or pushing of the push-pull rod 23 when the push-pull rod 23 rotates circumferentially. In different embodiments, the push-pull rod 23 can be provided as an independent component connected to the curved section 21, fixed together by welding, bonding, or bolting; or it can be provided as a component integrally formed with the curved section 21.

[0087] In another preferred embodiment, the structure of the axial coupling mechanism is shown in FIG8 . The right end of the push-pull rod 23 is fixedly connected to the curved section 21 (not shown in FIG8 ). The pull rod connection mechanism 41 is also provided on the right side of the push-pull rod 23. When the pull rod 4 is pulled, the pull rod 4 rotates around the pull rod fulcrum 42, and the push-pull rod 23 is driven to move axially through the pull rod connection mechanism 41, and the axial movement is transmitted to the curved section 21. The knob 3 is engaged with the hollow gear 24b through the transmission gear 31. The hollow gear 24b is sleeved on the push-pull rod 23. The hollow gear 24b is circumferentially fixed relative to the push-pull rod 23. The push-pull rod 23 can slide axially relative to the hollow gear 24b. When the knob 3 rotates circumferentially, the transmission gear 31 drives the hollow gear 24b to rotate circumferentially, thereby driving the push-pull rod 23 to rotate circumferentially, thereby transmitting the circumferential rotation to the curved section 21. Specifically, the structure of area E is shown in FIG9 . The push-pull rod 23 is provided with a flat shaft section 25b , and a matching D-shaped hole is provided in the hollow gear 24b . The flat shaft section 25b and the hollow gear 24b form a sliding shaft hole to achieve circumferential fixation and axial relative sliding.

[0088] An axial decoupling mechanism connects the straight segment 22 to decouple the axial displacement transmitted by the straight segment 22 from the circumferential rotation, transmitting them separately to the cutter head 1. Referring to Figures 5 and 6 , the cutter head 1 includes a cutter holder 11 and a shearing portion 12. The shearing portion 12 is mounted on the cutter holder 11 and can open and close to complete the opening or closing motion. The end portion of the straight segment 22 is partially sleeved within an end sleeve 26. The stainless steel end sleeve 26 is provided with a slide groove 29. The straight segment 22 is provided with a boss 28 that matches the slide groove 29. The boss 28 can slide axially within the slide groove 29 and abut against the slide groove 29 circumferentially, allowing the end sleeve 26 to rotate circumferentially when the straight segment 22 rotates circumferentially. The end sleeve 26 is connected to the transition section 13. When the end sleeve 26 rotates circumferentially, it can drive the transition section 13 to rotate together. The transition section 13 is fixedly connected to the cutter holder 11, thereby driving the cutter holder 11 to rotate circumferentially. The transition section 13 is configured as a flexible shaft, and in a preferred embodiment, as a spring shaft. Since the transition section 13 only needs to drive the cutter head 1 to rotate, it withstands less torque and therefore requires less rigidity than the curved section 21. A traction wire 27 is connected to the end of the straight section 22. The traction wire 27 is connected to the shearing section 12. When the straight section 22 is axially displaced in the direction of arrow c, the traction wire 27 pulls the shearing section 12 to open or close. The straight section 22 can slide axially relative to the end sleeve 26, driving the end sleeve 26 to rotate circumferentially, achieving decoupling of circumferential rotation from axial displacement. In various embodiments, the transition section 13 can be configured as a different joint assembly. In some embodiments, the transition section 13 is configured as a spring shaft, while in other embodiments, it can be configured as a multi-segment structure consisting of serially articulated segments. In some embodiments, the end of the straight section 22 is directly connected to the traction wire 27. In other embodiments, a rigid traction rod can be provided between the straight section 22 and the traction wire 27, with the boss 28 disposed on the traction rod.

[0089] In a preferred embodiment, the curved segment 21 is constructed from a metal cable bundle comprising multiple metal cables to enhance its rigidity during torque transmission and reduce angular errors at both ends of the curved segment 21. The metal cable bundle can be formed by winding or bundling multiple metal cables, or by spot-welding multiple cables together, for example, with multiple spot welds spaced evenly along the axial direction. In a further preferred embodiment, the outer surface of the metal cable bundle is covered with a sleeve to prevent wear of the components. The straight segment 22 is configured as a rigid shaft to further reduce angular errors between the tool head 1 and the knob 3, thereby improving operational precision.

[0090] In another embodiment, as shown in Figure 7, the straight section 22 is configured as a metal cable bundle integrated with the curved section 21, and the transition section 13 can be omitted. The axial decoupling mechanism is integrated in the tool holder 11, and the end of the straight section 22 is provided with a radially protruding connecting pin (not shown) which is slidably connected to the axially extending sliding groove (not shown) on the inner wall of the tool holder 11, and is connected to the shearing portion 12 through a traction wire (not shown) accommodated in the tool holder 11, so that the axial movement of the straight section 22 can control the opening and closing of the shearing portion 12, and the circumferential rotation of the straight section 22 can drive the tool holder 11 to rotate circumferentially.

[0091] In other embodiments, in combination with Figures 4 and 6, the bosses 25a and 28 in the axial coupling mechanism and the axial decoupling mechanism can also be replaced by other structures, such as flat keys or raised connecting pins, and in some embodiments can also be replaced by sliding keys.

[0092] In some embodiments, referring to FIG2 , the curved section 21 in the connecting assembly 2 can be omitted. Accordingly, the installation position and orientation of the knob 3 need to be adaptively adjusted, being positioned on the extension of the straight section 22, facing away from the cutter head 1. In these embodiments, the operator needs to use a thumb to turn the knob 3. At the same time, a lever structure needs to be added between the pull rod 4 and the connecting assembly 2 so that pulling the pull rod 4 still pulls the connecting assembly 2 away from the cutter head 1.

[0093] In other embodiments, as shown in Figure 2 , the bending angle of the curved section 21 can be replaced with a 90° angle instead of a 180° angle. Accordingly, the installation orientation of the knob 3 should be adjusted so that the axial direction of the knob 3 is perpendicular to the straight section 22. The structure of the handle and the connection method of the pull rod 4 also need to be adaptively adjusted. The straight section 22 can also be configured to be non-coaxial with the knob 3.

[0094] The laparoscopic surgical robotic arm and its control mechanism provided in the above-mentioned embodiment simplify the control mechanism, reduce the number of parts, and improve the reliability of the device by combining the two original transmission mechanisms for controlling the opening and closing and rotation of the blade into the same connecting component; at the same time, due to the reduction in parts, the transmission components can be larger in size, which improves the strength and rigidity of the parts, thereby improving the operational accuracy and reliability.

[0095] Currently, the joints of multi-jointed hand-controlled endoscopes on the market are mostly about 20mm long. When swung to 90°, the blade will deviate 50mm from the field of view, making it difficult to find the blade in the abdominal cavity. Some instruments also have three or five joints, which can only swing to 90°, and the arc is not smooth, which may cause damage to the patient's abdominal tissue.

[0096] In order to solve the above problems, in another embodiment, as shown in Figure 10, the control mechanism of the laparoscopic surgical robot arm also includes a movable joint structure, which is arranged between the end of the shaft (not shown) and the cutter head (not shown) of the laparoscopic surgical robot arm. The cutter head can swing in different directions according to the operation requirements through the bending of the movable joint structure. The movable joint structure includes a plurality of joint monomers connected in series by a connecting rope (not shown in the figure), and the joints include a cutter head joint monomer 14, a fixed joint monomer 16 and nine movable joint monomers 15. The cutter head joint monomer 14 is fixedly arranged on the cutter head seat, the fixed joint monomer 16 is fixedly arranged at the end of the shaft, and the nine movable joint monomers 15 are arranged adjacent to each other, wherein the movable joint monomers 15 at both ends are respectively connected to the cutter head joint monomer 14 and the fixed joint monomer 16. The relative swing angle range of the movable joint monomer 15 is ±28°, as shown in Figure 15, so the maximum angle of the overall swing is 140°, and more usage positions can be achieved during surgery.

[0097] Specifically, the structure of the movable joint monomer 15 is shown in Figure 11. It is a disc-shaped structure as a whole, with a convex surface on the negative side of the y-axis and a concave surface on the positive side of the y-axis. The convex side of the movable joint monomer 15 protrudes along the negative direction of the y-axis in Figure 11, forming a ridge 151 passing through the center of the movable joint monomer 15. The ridge 151 extends along the z-axis in Figure 11. The thickness of the movable joint monomer 15 gradually increases on both sides of the ridge 151, and wings 152 are formed on the edges of both sides of the ridge 151, so that the concave surface forms a concave structure along the z-axis. A through groove 18 extending along the x-axis in Figure 11 is provided in the middle of the movable joint monomer 15. Raised limiting bosses 17 are symmetrically provided on both sides of the through groove 18 in the z-axis direction. The limiting bosses 17 are located on the ridge 151. The distance between the outer end surfaces of the two limiting bosses 17 matches the length of the through-slot 18 along the x-axis in Figure 11 . The central area of ​​through-slot 18 is enlarged to allow the straight segment 22 of the laparoscopic surgical robot arm, as shown in Figure 2 , to pass through it, ensuring that the rotation, opening, closing, and swinging controls of the cutting head 1 do not interfere with each other.

[0098] As shown in Figure 12a, when adjacent movable joint monomers 15 are connected, the first movable joint monomer 15a is placed in one orientation so that the spine 151 of the movable joint monomer 15a is parallel to the z-axis direction in Figure 12a, and the through groove 18 is parallel to the x-axis direction in Figure 12; the second movable joint monomer 15b is placed in another orientation so that the spine 151 of the movable joint monomer 15b is parallel to the x-axis direction in Figure 12a, and the through groove 18 is parallel to the z-axis direction in Figure 12; the placement orientation of the third movable joint monomer 15c is the same as that of the movable joint monomer 15a. The three movable joint monomers 15a, 15b, and 15c are arranged in a row along the y-axis, as shown in Figures 12b, 12c, and 12d. The limiting boss 17 of the movable joint monomer 15b is inserted into the through groove 18 of the movable joint monomer 15a to form radial and circumferential limits. The ridge 151 of the movable joint monomer 15b abuts the wing 152 of the movable joint monomer 15a. The movable joint monomer 15c and the movable joint monomer 15b are connected in the same manner. In this way, multiple movable joint monomers can be connected end to end. In conjunction with Figure 10, the structure of the end of the blade joint monomer 14 connected to the movable joint monomer 15 is the same as the concave surface of the movable joint monomer 15, and the structure of the end of the fixed joint monomer 16 connected to the movable joint monomer 15 is the same as the convex surface of the movable joint monomer 15. This allows the blade joint monomer 14 and the fixed joint monomer 16 to be connected in series with the movable joint monomer 15 to form a complete movable joint.

[0099] The convex ridges 151 and concave wing portions 152 of two adjacent joint units abut against each other, with the abutment point serving as the fulcrum for the relative rotation of the two joint units. A wedge-shaped gap is formed between the opposing surfaces of the two adjacent joint units. When the joint units are arranged axially parallel, the angle θ of the wedge-shaped gap is 28±2°. The rotation process of the movable joint is illustrated by the series structure composed of movable joint units 15a, 15b, and 15c, as shown in Figures 13a, 13b, and 13c. The ridge 151 of the movable joint monomer 15a is parallel to the z-axis in Figure 13a, the ridge 151 of the movable joint monomer 15b is parallel to the x-axis in Figure 13a, and the ridge 151 of the movable joint monomer 15c is parallel to the z-axis in Figure 13a. When the series structure swings and bends in the positive direction of the z-axis, since the ridge 151 of the movable joint monomer 15c is parallel to the z-axis in Figure 13a, no relative rotation occurs between the movable joint monomer 15c and the movable joint monomer 15b; and the ridge 151 of the convex surface of the movable joint monomer 15b abuts against the wing 152 of the concave surface of the movable joint monomer 15a and is parallel to the x-axis. The movable joint monomer 15b rotates with its abutment position with the movable joint monomer 15a as the fulcrum, and the wedge-shaped gap between them on the positive side of the z-axis is closed, and the angle of the wedge-shaped gap on the negative side of the z-axis is increased to 56°, and the series structure realizes bending and swinging in the positive direction of the z-axis. 13c , during this process, the limiting boss 17 of the movable joint monomer 15b and the through slot 18 of the movable joint monomer 15a slide relative to each other, but the limiting boss 17 is still partially inserted into the through slot 18 so that the through slot 18 maintains a limiting relationship with the limiting boss 17 in the radial and circumferential directions.

[0100] In the same way, the movable joint can realize bending and swinging in the x-axis direction in FIG13a, and realize bending and swinging in any direction in the xz plane in FIG13a through combined motion.

[0101] As shown in Figure 11, there are four connecting ropes. Each movable joint unit 15 is provided with a perforation 19 on all four sides. The four perforations 19 in a joint unit correspond to four ropes (connecting ropes) one by one. One end of the connecting rope is fixed to the cutter head joint unit 14, and the other end passes through the fixed joint unit 15 and is connected to a joint swing mechanism. The joint swing mechanism controls the tension of the four connecting ropes to drive the swing motion of the movable joint, thereby controlling the swing direction of the cutter head. At the same time, the axial tension provided by the connecting rope prevents each joint unit 152 from falling out in the front-to-back direction, maintaining the connection in the axial direction and preventing the limiting boss 17 from falling out of the through slot 18.

[0102] The joints are connected by limiting bosses 4 and slots. The limiting boss 4 on each joint inserts into the slot of the previous joint. The fixed joint 2 has only a limiting boss 4, which inserts into the slot of the rear movable joint 2. The cutter head joint 1 has only a slot, and the limiting boss 4 of the first movable joint 2 inserts into the slot of the cutter head joint 1. The limiting bosses 4 and slots are designed to prevent the movable joint 2 from falling out in any direction.

[0103] The limiting boss 17 does not serve as a fulcrum and can pass through the corresponding slot (through slot 18), thereby reducing the thickness of the joint.

[0104] In a preferred embodiment, combined with Figure 10, a movable joint is composed of a blade joint monomer 14, a fixed joint monomer 16 and seven movable joint monomers 15 connected in series in the middle, wherein the maximum thickness T1 (excluding the limiting boss 17) of one movable joint monomer 15 from the surface of the ridge 151 to the surface of the wing 152 is 1.1 mm, the structural thickness T2 at the wing 152 is 0.6 mm, and the overall effective length L of the movable joint is only 9.9 mm.

[0105] As shown in Figure 14, when the active joint swings at a bending angle α = 90°, the swing distance D is 12.75mm, and the arc of the outer circle of the active joint 2 is smoother, without damaging the tissue in the abdominal cavity. As shown in Figure 15, the bending angle α of the active joint can reach a maximum of 140°, demonstrating excellent flexibility.

[0106] The structure commonly used on the market to control joint bending is assembled from multiple parts, and the joint bending is achieved by pulling the connecting rope. The structure is relatively complex, the installation is cumbersome and difficult to operate. The large number of parts will also increase the cost. During operation, the joint may also bend and deform, affecting the use effect.

[0107] To address the above issues, in yet another embodiment, as shown in FIG16 , the control mechanism of the laparoscopic surgical robot arm further includes a joint swing mechanism 8 with a locking function. The joint swing mechanism is connected between the grip (not shown) and the shaft (not shown) of the laparoscopic surgical robot arm and is used to transmit the movement of the grip to the cutting head of the laparoscopic surgical robot arm to achieve swing control of the cutting head. The joint swing mechanism 8 includes a support rod 81, a base 83, and a locking mechanism.

[0108] The base 83 is fixed to the housing 20 and the shaft 60 of the laparoscopic surgical robot arm. As shown in Figure 17, the lower portion of the base 83 is provided with an arc-shaped flange, and a plurality of first latching teeth 87 are evenly provided on the upper surface of the arc-shaped flange. The locking mechanism includes an eccentric wheel 86, a push-pull rod 84, a clamping plate 82, and a sliding unit 89. The eccentric wheel 86 is mounted below the support rod 81. One end of the push-pull rod 84 is hinged to the eccentric wheel 86, and the other end of the push-pull rod 84 is hinged to the clamping plate 82. The clamping plate 82 is connected to the support rod 81 via the sliding unit and can slide axially relative to the support rod 81. Second latching teeth 88 that match the first latching teeth 87 are provided on the lower surface of the clamping plate 82.

[0109] The lower end of the support rod 81 is fixedly connected to the handle 40 of the laparoscopic surgical robot arm, while the upper end is connected to the drawstring-controlled joint assembly 9. The drawstring-controlled joint assembly 9 comprises an annular first rotating member 91 and a second rotating member 92. The first rotating member 91 is mounted within the second rotating member 92. The top end of the first rotating member 91 is hingedly connected to the second rotating member 92, and the bottom end of the first rotating member 91 passes through a through hole provided in the second rotating member 92 to be fixedly connected to the support rod 81. The second rotating member 92 is provided with a pin 96, around which the second rotating member 92 can rotate. The axial direction of the pin 96 is perpendicular to the support rod 81.

[0110] The first rotating member 82 is provided with four connecting rope mounting holes 95, which are symmetrically distributed relative to the axis of the support rod 81 and the pin 96. A connecting rope 93 is fixedly inserted into each connecting rope mounting hole 95. One end of the connecting rope 93 is fixedly connected to the corresponding connecting rope mounting hole 95 on the first rotating member 82, and the other end of the connecting rope 93 passes through the shaft 60 of the laparoscopic surgical robot arm and is connected to the blade joint assembly 94, so that the swing angle of the blade joint assembly 85 can be adjusted in various directions. The blade joint assembly 85 can be configured as a movable joint as shown in Figures 10-15, or it can be configured as a conventional minimally invasive surgical movable joint.

[0111] As shown in Figure 17, when the support rod 81 swings along the first direction indicated by arrow a, the first rotating member 91 and the second rotating member 92 rotate along with the support rod 81 around the pin 96, and the two connecting ropes 93 on the upper side of the pin 96 are tightened, driving the cutter head joint assembly 94 to swing upward. As shown in Figure 18, when the support rod 81 swings along the second direction indicated by arrow b, the first rotating member 91 and the second rotating member 92 rotate along with the support rod 81 around the pin 86, and the two connecting ropes 93 on the lower side of the pin 96 are tightened, driving the cutter head joint assembly 94 to swing downward. As shown in Figure 16, when the support rod 81 rotates along the third direction indicated by arrow c, the first rotating member 91 rotates along with the support rod 81, the second rotating member 92 is fixed, and the two connecting ropes 93 on one side of the axis of the support rod 81 are tightened, driving the cutter head joint assembly 94 to swing in the direction indicated by arrow c.

[0112] The sliding unit 89 includes a sliding groove provided on the support rod 81 and a slider fixedly connected to the clamping plate 82. The slider is slidably connected to the sliding groove. When the clamping plate 82 moves along with the push-pull rod 84, the slider rotates within the sliding groove to limit the axial movement of the clamping plate 82 along the support rod 81. When the clamping plate 82 moves downward and the second latching tooth 88 engages the first latching tooth 87, the swinging and rotation of the support rod 81 are locked.

[0113] As shown in FIG16 , the locking mechanism further includes a torsion spring 85 serving as a resetter. One end of the torsion spring 85 is fixed to the eccentric wheel 86 , and the other end is fixed below the installation position of the eccentric wheel 86 .

[0114] When the eccentric wheel 86 rotates downward, the push-pull rod 84 drives the clamping plate 82 to move downward, the first latching tooth 88 engages with the second latching tooth 89, the position of the support rod 81 is fixed, and the torsion spring 85 is in a compressed state. At this time, the eccentric wheel 86 can be locked by a locking switch (not shown). When the locking switch releases the eccentric wheel 86, the eccentric wheel 86 can rotate freely. At this time, the torsion spring 85 provides an upward elastic force, driving the eccentric wheel 86 and the push-pull rod 84 to move upward, causing the clamping plate 82 to move upward, the second latching tooth 89 to separate from the first latching tooth 88, and the rotation of the support rod 1 is no longer restricted.

[0115] The working method of the joint swing mechanism is as follows:

[0116] Rotating or swinging the support rod 81 causes the first rotating member 91 and the second rotating member 92 to change position, thereby changing the tension of the connecting rope 93 and causing the blade joint assembly 85 to bend. After adjusting the bending angle of the joint assembly 85, the eccentric wheel 86 is rotated downward, causing the push-pull rod 84 and the clamping plate 82 to move downward. The second latching teeth 89 on the clamping plate 82 engage with the first latching teeth 88 on the curved flange of the base 83, thereby securing the support rod 81 and preventing the orientation of the blade joint assembly 85 from changing during use. After use, the eccentric wheel 86 is released. Under the elastic force of the torsion spring 85, the push-pull rod 84 moves upward, driving the clamping plate 82 off the curved flange of the base 83, and the support rod 81 regains its freedom of swing and rotation.

[0117] During surgical operations, it is often the case that the lesion area requiring surgical treatment is blocked by other organs or obstructions. In this case, the surgical instruments need to be adjusted to a specific position or posture to facilitate the doctor's operation. However, during the operation, other surgical personnel are required to hold the surgical instruments in a fixed posture for a long time, which is difficult and has potential risks. Therefore, a universal joint can be used to adjust the position and posture of the surgical instrument, and the universal joint can be fixed with a corresponding operating handle to keep the surgical instrument in a fixed position and posture. The existing operating handles for manipulating the universal joint are complex in structure, difficult to operate, and have a high threshold for use, which affects the efficiency of the operation and increases the risk of infection for patients during the operation.

[0118] In order to solve the above problems, an embodiment of the present invention provides a laparoscopic surgical robotic arm control mechanism that also includes an operating handle, which includes: a base, provided with a first locking structure, and the universal rotating assembly is rotatably connected to the base; a support rod, the support rod is provided with a second locking structure, the support rod has a relatively set locking position and a release position, and the support rod is used to fixedly connect the universal rotating assembly; a first brake member, which is sleeved on the outer periphery of the support rod and can move relative to the support rod along the axis of the support rod; an actuating mechanism, which is transmission-connected to the first brake member, and the actuating mechanism is used to drive the first brake member to move; the first brake member is configured as: when the first brake member is in the locking position, the first brake member couples the first locking structure and the second locking structure to prevent the universal rotating assembly from rotating; when the first brake member is in the release position, the first brake member disengages from the first locking structure and the second locking structure to allow the universal rotating assembly to rotate.

[0119] The operating handle of this embodiment uses an actuating mechanism to drive the first brake member to move axially on a support rod fixedly connected to the universal joint assembly. When the first brake member moves to the locking position of the support rod, the first brake member couples with the first locking structure of the base and the second locking structure of the support rod to prevent the universal joint assembly from rotating. When the first brake member moves to the release position of the support rod, the first brake member disengages from the first locking structure of the base and the second locking structure of the support rod. At this time, the universal joint assembly can be rotated to adjust the position and posture of the surgical instrument. In this way, the structure of the operating handle for operating the universal joint can be simplified, the difficulty of operation and the threshold for use can be reduced, which is conducive to improving surgical efficiency and further reducing the risk of infection for patients during surgery.

[0120] 21 to 24 , a universal joint 100 typically includes a universal joint assembly having two rotating members with different rotational dimensions, wherein the rotational motions of the two rotating members are independent of each other. For example, the two rotating members can be configured as an annular structure, specifically a first rotating member 110 and a second rotating member 120 disposed outside the first rotating member 110, with the first rotating member 110 pivotally connected to the second rotating member 120. The first rotating member 110 has a first axis and is capable of rotating relative to the second rotating member 120 about the first axis. The second rotating member 120 has a second axis and is capable of rotating about the second axis, wherein the first axis is perpendicular to the second axis.

[0121] The universal joint 100 also includes a soft rope 130 and a push rod 140. A plurality of connecting parts 111 are provided on the first rotating member 110. The connecting parts 111 can be through holes or protrusions. One end of the soft rope 130 is connected to the above-mentioned connecting part 111, and the other end is connected to one end of the push rod 140. The end of the push rod 140 connected to the soft rope 130 is movably supported, and the other end of the push rod 140 is a free end. By rotating the first rotating member 110 and the second rotating member 120 in different dimensions, the free end of the push rod 140 can move freely, and the moving range of the free end forms a spherical surface. The surgical instruments used in the operation are usually fixed to the free end of the push rod 140. Therefore, the surgical instruments can be adjusted to different positions and postures within a certain range using the universal joint to adapt to actual surgical needs.

[0122] Referring again to Figures 21 to 24, the operating handle 200 includes a base 201, to which the second rotating member 120 is rotatably connected. Specifically, the second rotating member 120 has a first pivot protrusion 121, and the base 201 has a first pivot hole 201a that mates with the first pivot protrusion 121. The first pivot protrusion 121 extends into the first pivot hole 201a. Under the action of an external force, the second rotating member 120 can rotate about the axis (second axis) of the first pivot protrusion 121. In other embodiments, the first pivot protrusion can be provided on the base 201, and the first pivot hole can be provided on the second rotating member 120, or the first pivot hole can be provided as a blind hole / recess. The base 201 is provided with a first locking structure 201b. When the universal joint assembly needs to be fixed, the first locking structure 201b is used to prevent the second rotating member 120 from rotating relative to the base 201, thereby fixing one rotational dimension of the universal joint assembly.

[0123] It should be noted that a support portion 201c may be provided on the base 201 to movably support the top rod 140. That is, the end of the top rod 140 supported on the support portion 201c is rotatable relative to the support portion 201c to meet the swing requirement of the top rod 140.

[0124] The connection between the first rotating member 110 and the second rotating member 120 can be set with reference to the connection between the second rotating member 120 and the base 201, and the details of the connection structure can also be appropriately adjusted according to actual conditions.

[0125] The support rod 202 of the operating handle 200 is fixedly connected to the first rotating member 110 and can rotate synchronously with the first rotating member 110. Specifically, a portion of the second rotating member 120 is located between the first rotating member 110 and the support rod 202. This portion of the second rotating member 120 is provided with a second pivot hole 122, and the end of the support rod 202 passes through the second pivot hole 122 to be fixedly connected to the first rotating member 110. It should be noted that the fixed connection between the support rod 202 and the first rotating member 110 can be detachably fixed, such as screw connection, bolt connection, threaded connection, clamping connection, adhesive connection, welding, etc., which is not specifically limited here. A second locking structure 202a is provided on the support rod 202. When the universal rotating assembly needs to be fixed, the second locking structure 202a is used to prevent the first rotating member 110 from rotating relative to the second rotating member 120, thereby fixing the other rotation dimension of the universal rotating assembly.

[0126] The first brake member 203 of the operating handle 200 is sleeved around the outer periphery of the support rod 202 and is movable relative to the support rod 202 along the axis of the support rod 202. Specifically, the support rod 202 has a relative locking position and a release position. The first brake member 203 can move between the locking position and the release position of the support rod 202 to maintain the universal joint assembly in a fixed position and posture, thereby keeping the surgical instrument fixed.

[0127] The transmission mechanism of the operating handle 200 is in transmission connection with the first brake member 203 , and the actuating mechanism is used to drive the first brake member 203 to move along the axial direction of the support rod 202 .

[0128] It is understood that the first brake 203 is configured such that: when the first brake 203 is in the locked position, the first brake 203 couples the first locking structure 201b and the second locking structure 202a to prevent the universal joint assembly from rotating. When the first brake 203 is in the released position, the first brake 203 disengages the first locking structure 201b and the second locking structure 202a to allow the universal joint assembly to rotate.

[0129] In this arrangement, the first brake member 203 is driven by the actuating mechanism to move axially on the support rod 202 fixedly connected to the universal joint assembly. When the first brake member 203 is moved to the locking position of the support rod 202, the first brake member 203 couples the first locking structure 201b of the base 201 and the second locking structure 202a of the support rod 202 to prevent the universal joint assembly from rotating. When the first brake member 203 is moved to the release position of the support rod 202, the first brake member 203 disengages the first locking structure 201b of the base 201 and the second locking structure 202a of the support rod 202. At this time, the universal joint assembly can be rotated to adjust the position and posture of the surgical instrument. In this way, the structure of the operating handle 200 for manipulating the universal joint can be simplified, the difficulty of operation and the threshold for use can be reduced, which is conducive to improving surgical efficiency and further reducing the risk of infection for patients during surgery.

[0130] In some embodiments, the first locking structure 201b and the second locking structure 202a are located on a side of the first brake member 203 that is away from the universal rotating assembly. The actuating mechanism drives the first brake member 203 axially away from the universal rotating assembly along the support rod 202 and couples with the first locking structure 201b and the second locking structure 202a to restrict the rotation of the first rotating member 110 and the second rotating member 120. Alternatively, when the actuating mechanism drives the first brake member 203 axially toward the universal rotating assembly along the support rod 202 and disengages from the first locking structure 201b and the second locking structure 202a, the first rotating member 110 and the second rotating member 120 can rotate.

[0131] In other embodiments, the first locking structure 201b and the second locking structure 202a may be disposed between the universal rotating assembly and the first brake 203. In this case, when the first brake 203 approaches the universal rotating assembly along the axial direction of the support rod 202, the first brake 203 also approaches the first locking structure 201b and the second locking structure 202a and couples with the first locking structure 201b and the second locking structure 202a, thereby securing the universal rotating assembly. When the first brake 203 moves away from the universal rotating assembly along the axial direction of the support rod 202, the first brake 203 disengages from the first locking structure 201b and the second locking structure 202a, allowing the universal rotating assembly to rotate. The following description uses the example of the first locking structure 201b and the second locking structure 202a being located on the side of the first brake 203 facing away from the universal rotating assembly, but the present invention is not limited to this.

[0132] Referring also to FIG. 33 , in some embodiments, the support rod 202 is a hollow rod having an axial through-hole 202b, which includes a slide groove 202c extending radially through the rod and axially extending therethrough. The first brake member 203 includes a body 203a sleeved around the outer periphery of the support rod 202, and a support portion 203b secured to the body 203a. The support portion 203b and the body 203a define a receiving groove 203c. The body 203a is provided with a third locking structure 203d. The actuating mechanism includes a lever 204 and a drive assembly 205 partially extending into the axial through-hole 202b. The lever 204 extends from the interior of the axial through-hole 202b through the slide groove 202c, exits the hollow rod, and extends into the receiving groove 203c.

[0133] When the universal rotating assembly needs to be fixed, the drive assembly 205 drives the lever 204 to move. The lever 204 abuts the abutting portion 203b and drives the abutting portion 203b toward the second locking structure 202a. The body 203a and the abutting portion 203b move synchronously, causing the third locking structure 203d to move toward and couple with the second locking structure 202a. When the universal rotating assembly needs to be adjusted to adjust the surgical instrument, the drive assembly 205 drives the lever 204 away from the second locking structure 202a. The lever 204 abuts the body 203a, causing the body 203a to drive the third locking structure 203d away from the second locking structure 202a and disengage from the second locking structure 202a, allowing the universal rotating assembly to rotate.

[0134] It can be understood that a fourth locking structure 203e is also provided on the main body 203a. When the main body 203a moves toward the second locking structure 202a, the fourth locking structure 203e moves toward the first locking structure 201b and couples with the first locking structure 201b; when the main body 203a moves toward the universal rotating assembly, the fourth locking structure 203e moves away from the first locking structure 201b and disengages from the first locking structure 201b.

[0135] Referring to Figure 24 , in some embodiments, a portion of the end surface of the support rod 202 facing the first brake member 203 is provided with a sliding protrusion 202d (e.g., cylindrical) extending circumferentially and protruding toward the first brake member 203. The sliding protrusion 202d is provided with the aforementioned sliding groove 202c. The remaining portion of the end surface of the support rod 202 facing the first brake member 203 is provided with a second locking structure 202b. A third locking structure 203d is provided on the side of the body 203a facing away from the universal joint assembly, with the second locking structure 202b and the third locking structure 203d positioned opposite each other.

[0136] In one specific embodiment, two sliding protrusions 202d can be provided, and the two sliding protrusions 202d can be symmetrically arranged on the hollow rod, specifically with the axis of the hollow rod as the axis of symmetry. Each of the two sliding protrusions 202d is provided with a sliding groove 202c. Two rod-supporting portions 203b are also provided, and are symmetrically arranged on the body 203a with the axis of the hollow rod as the axis of symmetry. The two ends of the deflector rod 204 each pass through the hollow rod through a corresponding sliding groove 203c and extend into a corresponding receiving groove 203c. With this arrangement, when the deflector rod 204 applies force to the first brake member 203, both sides of the first brake member 203 can be subjected to force, thereby balancing the internal forces of the operating handle 200, improving the reliability of the operating handle 200, and preventing internal interference or even jamming caused by unbalanced forces.

[0137] In other feasible implementations, the second locking structure 202b may also be provided on the outer periphery of the support rod 202, and the third locking structure 203d is provided opposite to the second locking structure 202b.

[0138] In one specific embodiment, the second locking structure 202b is one of a meshing tooth and a tooth groove, and the third locking structure 203d is the other of the meshing tooth and the tooth groove. For example, the second locking structure 202b is a meshing tooth, and the third locking structure 203d is a tooth groove that matches the meshing tooth. When the second locking structure 202b and the third locking structure 203d are coupled, the meshing tooth is embedded in the tooth groove, making the second locking structure 202b unable to rotate relative to the third locking structure 203d, thereby preventing the first rotating member 110 from rotating. It is understood that the second locking structure 202b can also be configured as a tooth groove, and the third locking structure 203d can be configured as a meshing tooth.

[0139] In another specific embodiment, the second locking structure 202b is one of the meshing teeth and the elastic member, and the third locking structure 203d is the other of the meshing teeth and the elastic member. For example, the second locking structure 202b is the meshing teeth, and the third locking structure 203d is the elastic member. When the second locking structure 202b and the third locking structure 203d are coupled, the meshing teeth squeeze the elastic member, and the elastic member deforms in response to the meshing teeth, making it impossible for the second locking structure 202b to rotate relative to the third locking structure 203d, thereby preventing the first rotating member 110 from rotating. It is understandable that the second locking structure 202b can also be set as an elastic member and the third locking structure 203d can be set as a meshing tooth. Optionally, the elastic member can be made of an elastic material such as rubber or silicone.

[0140] In another specific embodiment, the second locking structure 202b and the third locking structure 203d are both rough surfaces. When the second locking structure 202b and the third locking structure 203d are coupled, the rough surface of the second locking structure 202b abuts the rough surface of the third locking structure 203d, and this achieves coupling and fixation through friction, thereby preventing the second locking structure 202b from rotating, and further preventing the first rotating member 110 from rotating. Optionally, the rough surface can be formed by forming a large number of raised dots, ridges, or microstructures composed of raised dots and ridges on a plane, or by forming a large number of irregular microstructures on a plane.

[0141] In another specific embodiment, the second locking structure 202b and the third locking structure 203d are both meshing teeth, and the second locking structure 202b and the third locking structure 203d are fixed by meshing the teeth, thereby preventing the first rotating member 110 from rotating. Optionally, the meshing teeth can be triangular teeth, trapezoidal teeth, circular teeth, spherical teeth, etc.

[0142] It can be understood that the second locking structure 202b can also be one of a rough surface and an elastic member, and the third locking structure 203d can be the other of the rough surface and the elastic member.

[0143] Referring again to Figures 21 to 24 , since the second rotating member 120 rotates relative to the base 201 about the second axis, when the second rotating member 120 rotates, the first rotating member 110 and the support rod 202 are driven to rotate as a whole by the second rotating member 120. At this time, the movement path of the first brake member 203 is a circular arc. Therefore, the first locking structure 201b can be arranged on the base 201 along a circular arc path. When the first brake member 203 is driven to rotate, the fourth locking structure 203e can couple with the first locking structure 201b within the range allowed by the operating handle 200. It is understood that the specific configuration of the first locking structure 201b and the fourth locking structure 203e can refer to the configuration of the second locking structure 202b and the third locking structure 203d, and will not be repeated here.

[0144] The operating handle 200 also includes a housing (not shown) having a storage space. The base 201, the universal rotation assembly, the support rod 202, and the actuating mechanism can be disposed in the storage space. The base 201 and the drive assembly 205 can be fixed to the housing. Alternatively, the base 201 can be formed as part of the housing, and the two can form an integrated structure.

[0145] Referring again to Figure 24, in some embodiments, the drive assembly 205 includes a drive rod 205a, a swing rod 205b, and a locking member. The swing rod 205b has opposing first and second ends. The middle portion of the swing rod 205b is pivotally connected to the housing, i.e., the swing rod 205b forms a lever relative to the housing. The first end of the swing rod 205b is movably connected to the end of the drive rod 205a away from the deflector rod 204, and the second end of the drive rod 205a movably abuts the locking member.

[0146] To secure the universal joint assembly and lock the first brake member 203 in the locked position, the swing lever 205b can be rotated counterclockwise. The first end of the swing lever 205b drives the driving lever 205a to drive the shifting lever 204, thereby moving the first brake member 203 toward the second locking structure 202b until the third locking structure 203d is coupled to the second locking structure 202b. At this time, the second end moves relative to the locking member until it is locked by the locking member, thereby maintaining the position of the swing lever 205a, thereby maintaining the coupling between the third locking structure 203d and the second locking structure 202b, and thus maintaining the position and posture of the universal joint assembly.

[0147] To adjust the position and posture of the universal joint assembly, the swing lever 205b is rotated clockwise. The first end of the swing lever 205b drives the driving lever 205a to move a certain distance away from the detent lever 204. The detent lever 204 then drives the first brake 203 to move the third locking structure 203d away from the second locking structure 202b. The third locking structure 203d then disengages from the second locking structure 202b. At this point, the second end moves relative to the locking member and disengages from the locking member, achieving reset.

[0148] In one specific embodiment, the first end of the swing lever 205b can be connected to the end of the driving lever 205a away from the deflector lever 204 via a first elastic member 205c (e.g., a spring). For example, opposite ends of the first elastic member 205c are fixedly connected to pivot shafts, with one end of the pivot shaft rotatably connected to the driving lever 205a and the other end rotatably connected to the first end. In some other examples, the first elastic member 205c can be replaced by a rope.

[0149] In another specific embodiment, the first end may be provided with a second slot (not shown) extending along the axial direction of the swing rod 205b itself, and the end of the driving rod 205a away from the deflector rod 204 may be provided with a sliding portion (not shown), which extends into the second slot and can slide relative to the swing rod 205b. When the swing rod 205b drives the driving rod 205a to move, the driving rod 205a moves away from the end of the deflector rod 204 and slides relative to the swing rod 205b.

[0150] In some other embodiments, the end of the driving rod 205a away from the shifting rod 204 and the first end may also be matched using a worm gear, which will not be described in detail here.

[0151] Referring to Figures 26 to 28 , in another specific embodiment, a gear row 205o is provided at the end of the driving rod 205a away from the shifting rod 204, and a gear 205p is fixed to the first end. The gear row 205o meshes with the gear 205p. When the swinging rod 205b is rotated counterclockwise, the gear 205p drives the gear row 205o to move, causing the first brake member 203 to move to the locked position. When the swinging rod 205b is rotated clockwise, the gear 205p drives the gear row 205o to move in the opposite direction, causing the first brake member 203 to release the locked position.

[0152] It is understood that when the second locking structure 202b is coupled to the third locking structure 203d, the first locking structure 201b is also coupled to the fourth locking structure 203e; and when the second locking structure 202b is disengaged from the third locking structure 203d, the first locking structure 201b is also disengaged from the fourth locking structure 203e. Therefore, by changing the position of the first brake member 203 (locked position or released position) through the driving assembly 205, the state of both the first rotating member 110 and the second rotating member 120 can be changed (fixed state or adjustable state).

[0153] Referring again to Figures 21 to 24, in one specific embodiment, the drive assembly 205 further includes a second elastic member 205d, one end of which is pivotally connected to the first end and the other end of which is pivotally connected to the housing. The locking member includes a second brake member 205e and a third elastic member 205f. The second brake member 205e is pivotally connected to the housing, while the third elastic member 205f abuts the second brake member 205e at one end and the housing at the other end. When force is applied to the swinging member 205b, causing it to rotate counterclockwise, the first end stretches the second elastic member 205d, storing elastic potential energy in the second elastic member 205d. Simultaneously, the second end abuts and moves relative to the second brake member 205e. The second brake member 205e rotates relative to the housing under the action of the second section, and the third elastic member 205f is compressed by the second brake member 205e until the second end engages the second brake member 205e, thereby fixing the position of the swinging rod 205b and maintaining the first brake member 203 in the locked position. Optionally, the third elastic member 205f may be a spring or a torsion spring, and a torsion spring is preferably used.

[0154] When the first brake member 203 needs to be disengaged from the second locking structure 202b, the swing lever 205b can be further rotated counterclockwise to further increase the elastic potential energy of the second elastic member 205d, causing the second brake member 205e to continue rotating. The swing lever 205b is then released, and under the action of the second elastic member 205d, the swing lever 205b rotates clockwise, causing the second end to disengage from the second brake member 205e. Simultaneously, the first end drives the driving rod 205a to move, disengaging the first brake member 203 from the second locking structure 202b. The second brake member 205e is then reset under the action of the third elastic member 205f.

[0155] Referring to Figure 25 , more specifically, a stopper 205g is provided at the second end. The second brake member 205e is a plate-shaped structure having a sliding edge 205h. The second brake member 205e has a stopper slot 205i with an opening facing away from the sliding edge 205h. The stopper slot 205i has opposing stopper inlets 205j and exits 205k. The stopper 205g abuts the sliding edge 205h. When the swing arm 205a rotates counterclockwise, the stopper 205g moves relative to the sliding edge 205h, simultaneously pushing the second brake member 205e to rotate relative to the housing. The second brake member 205e compresses the third elastic member 205f, which stores elastic potential energy. When the limiting portion 205g slides to disengage from the sliding edge 205h, the third elastic member 205f returns to its original state and drives the second brake member 205e to reset. The pulling force of the second elastic member 205d causes the swing rod 205a to rotate clockwise, and the limiting portion 205g enters the limiting groove 205i from the limiting entrance 205j. The limiting portion 205g is restricted in the limiting groove 205i, so that the swing rod 205b is locked and the first brake member 203 is fixed in the locked position.

[0156] To release the first brake member 203 from the locked position, the swing lever 205b can be rotated counterclockwise. The stopper 205g abuts the inner wall of the stopper slot 205i, causing the second brake member 205e to rotate relative to the housing, adjusting its position. Simultaneously, the second elastic member 205d is stretched. The swing lever 205b is then released. The elastic force of the second elastic member 205d causes the swing lever 205b to rotate clockwise and disengage the stopper slot 205i from the stopper outlet 205k, thereby decoupling the swing lever 205b from the second brake member 205e. The second brake member 205e is then reset under the action of the third elastic member 205f.

[0157] It can be understood that the limiting groove 205i is arranged in a groove on one side of the second braking member 205e.

[0158] Referring again to FIG. 25 , in one specific embodiment, the second brake member 205e is provided with a guide portion 2051 at a position opposite the opening of the limiting groove 205i. When the limiting portion 205g enters the limiting groove 205i from the limiting entrance 205j, the guide portion 2051 guides the limiting portion 205g into the limiting groove 205i and prevents the limiting portion 205g from sliding out of the limiting exit 205k. When the limiting portion 205g needs to be disengaged from the limiting groove 205i, the guide portion 2051 prevents the limiting portion 205g from moving to the limiting entrance 205j during the counterclockwise rotation of the swing arm 205b, thereby ensuring that the limiting portion 205g can slide out of the limiting exit 205k.

[0159] Specifically, the guide portion 2051 can be a protrusion extending toward the opening of the limiting groove 205i, and the size of the portion close to the opening of the limiting groove 205i gradually decreases. The guide portion 2051 is close to the end of the opening of the limiting groove 205i and is located on the side of the center line of the opening of the limiting groove 205i close to the limiting entrance 205j.

[0160] Referring to Figures 26 to 33 , in another specific embodiment, the locking member includes a locking groove 205m, without the second brake 205e and third elastic member 205f. When the swing lever 205b is rotated counterclockwise, the second elastic member 205e is stretched, and the stopper 205g is engaged with the locking groove 205m and restrained within the inner wall of the locking groove 205m. This secures the position of the swing lever 205b and the first brake 203 in the locked position. To release the first brake 203, the swing lever 205b is rotated clockwise to disengage the stopper 205g from the locking groove 205m.

[0161] It is understood that the locking groove 205m can be formed by bending a metal spring 205n. Specifically, the locking groove 205m formed by bending the metal spring 205n matches the size of the limiting portion 205g, while the opening of the locking groove 205m is smaller than the limiting portion 205g. In this way, the portion of the metal spring forming the opening of the locking groove 205m can restrain the limiting portion 205g, preventing the limiting portion 205g from unexpectedly escaping from the limiting groove 205m.

[0162] Referring again to Figures 26 to 31 , in another specific embodiment, the drive assembly 205 further includes a fourth elastic member 205q. The swing arm 205b has a pivot shaft 205r pivotally connected to the housing. The fourth elastic member 205q is sleeved around the outer periphery of the pivot shaft 205r, with one end of the fourth elastic member 205q abutting the pivot shaft 205r and the other end abutting the housing. When the swing arm 205b is rotated counterclockwise, the fourth elastic member 205q is compressed, and the stopper 205i engages with the locking groove 205m, achieving locking. When the swing arm 205b is rotated clockwise, disengaging the stopper 205i from the locking groove 205m, the fourth elastic member 205q can maintain the first brake member 203 in the released position.

[0163] Optionally, the fourth elastic member 205q may be a spring or a torsion spring, and a torsion spring is preferably used.

[0164] It should be noted that the above different implementation methods can be set independently or in any combination according to actual needs while being compatible with each other. The specific combination method will not be described in detail.

[0165] The purpose of the above embodiments is to provide a further detailed description of the present invention in conjunction with the accompanying drawings so that those skilled in the art can understand the technical concept of the present invention. Within the scope of the present invention, optimization or equivalent replacement of the involved component structures, as well as combination of implementations in different embodiments without conflict of structure and principle, all fall within the scope of protection of the present invention.

Claims

1. A control mechanism for a laparoscopic surgical robot arm, comprising a blade head, a connecting assembly, a knob, and a pull rod; the blade head comprises a blade holder and a shearing portion, the shearing portion being mounted on the blade holder; the connecting assembly being connected between the blade head, the knob, and the pull rod; the knob controlling the circumferential rotation of the blade holder, and the pull rod controlling the opening and closing of the shearing portion, characterized in that: The connecting assembly includes an axial coupling mechanism, an axial decoupling mechanism and a transmission section; The axial coupling mechanism is connected to the knob and the pull rod respectively, and transmits the circumferential rotation generated by the knob and the axial displacement generated by the pull rod to the transmission section respectively; The axial decoupling mechanism transmits the axial displacement of the transmission section to the shearing portion to drive the shearing portion to open and close, and the axial decoupling mechanism transmits the circumferential rotation of the transmission section to the tool holder to drive the tool holder to rotate circumferentially.

2. The laparoscopic surgery robot arm control mechanism according to claim 1, characterized in that: The transmission section includes a bending section and a straight section. The bending section is provided with a bending structure of not less than 90°, and the bending section is configured as a flexible shaft.

3. The laparoscopic surgery robot arm control mechanism according to claim 2, characterized in that: The flexible shaft is configured as a metal cable bundle including a plurality of metal cables.

4. The laparoscopic surgery robot arm control mechanism according to claim 2 or 3, characterized in that: The straight segment is configured as a rigid axis.

5. The laparoscopic surgery robot arm control mechanism according to any one of claims 1 to 3, characterized in that: The axial coupling mechanism includes a push-pull rod and a rotating sleeve, one end of the push-pull rod is connected to the pull rod, and the other end is fixedly connected to the transmission section; the rotating sleeve is connected to the knob and is sleeved outside the push-pull rod, and the rotating sleeve can drive the push-pull rod to rotate circumferentially and allow the push-pull rod to move axially relative to the rotating sleeve.

6. The laparoscopic surgery robot arm control mechanism according to claim 5, characterized in that: The rotating sleeve and the push-pull rod are connected to each other through a sliding clamping portion and a sliding groove that match each other. The sliding clamping portion is configured as a boss or a sliding key.

7. The laparoscopic surgery robot arm control mechanism according to any one of claims 1 to 3, characterized in that: The axial coupling mechanism includes a push-pull rod and a rotating sleeve. The push-pull rod is fixedly connected to the transmission section and connected to the pull rod to allow the pull rod to drive the push-pull rod to axially displace. The rotating sleeve is configured as a hollow gear, which is sleeved on the outside of the push-pull rod. The hollow gear is circumferentially fixed relative to the push-pull rod, and the push-pull rod can slide axially relative to the hollow gear. The hollow gear is in transmission connection with the knob via a transmission gear.

8. The laparoscopic surgery robot arm control mechanism according to any one of claims 1 to 3, characterized in that: The axial decoupling mechanism includes an end sleeve and a traction mechanism; one end of the traction mechanism is fixedly connected to the transmission section, and the other end is connected to the shearing portion; the end sleeve is connected to the knife holder and is sleeved outside the traction mechanism and / or the transmission section, and the end sleeve can drive the knife holder to rotate circumferentially with the traction mechanism and / or the transmission section and allow the traction mechanism and / or the transmission section to axially displace relative to the end sleeve.

9. The laparoscopic surgery robot arm control mechanism according to claim 8, characterized in that: The end sleeve and the traction mechanism and / or the transmission section are connected to each other through a sliding clamping portion and a sliding groove that match each other. The sliding clamping portion is configured as a boss or a sliding key.

10. The laparoscopic surgery robot arm control mechanism according to claim 8, characterized in that: The traction mechanism includes a traction rope or a traction rope and a traction rod connected together.

11. The laparoscopic surgery robot arm control mechanism according to claim 1, characterized in that: The invention also includes a movable joint connected between the cutting head and the shaft of the laparoscopic surgical robot arm to allow the cutting head to swing away from the axis of the shaft; The movable joint includes a plurality of joint monomers connected in series along the axial direction, wherein the joint monomers include a blade joint monomer, a fixed joint monomer, and a plurality of movable joint monomers, wherein the blade joint monomer and the fixed joint monomer are respectively located at two ends of the movable joint, and a plurality of connecting ropes pass through and connect the joint monomers in sequence, and the plurality of connecting ropes are distributed circumferentially relative to the axis of the movable joint, and the connecting ropes provide tension to bend or straighten the movable joint; The movable joint monomer is configured in a disc shape and has a first direction and a second direction perpendicular to each other in an axial cross-section, the movable joint monomer includes a first side convex in the middle and a second side concave in the middle, the first side includes a protruding ridge, the ridge extends along the first direction and passes through the center of the movable joint monomer; the movable joint monomer also includes a through groove extending along the second direction, the through groove passes through the center of the movable joint monomer; a pair of limiting bosses are arranged on both sides of the through groove along the first direction, and the limiting bosses are arranged on the ridge; the ends of the movable joint monomer on both sides of the ridge form wings, and the axial thickness of the movable joint monomer gradually increases from the ridge to the wing so that the wing protrudes toward the second side; the length of the through groove along the second direction matches the distance between the two outer end surfaces of the pair of limiting bosses along the first direction, so that the pair of limiting bosses of one movable joint monomer can be inserted into the through groove of the other movable joint monomer and form circumferential and radial limitations; In the movable joint, the first directions of the two adjacent movable joint monomers are perpendicular to each other, and the first side of one movable joint monomer is opposite to the second side of the other movable joint monomer, so that any two adjacent movable joint monomers can be plugged together through the matching relationship between the limiting boss and the through groove, and the ridge of one movable joint monomer is abutted against the wing of the other movable joint monomer, and wedge-shaped gaps are provided on both sides of the ridge to allow relative swing between the movable joint monomers.

12. The laparoscopic surgery robot arm control mechanism according to claim 11, characterized in that: When the movable joint monomers swing relative to each other, the angle of the wedge-shaped gap varies in the range of 0-56°.

13. The laparoscopic surgery robot arm control mechanism according to claim 11, characterized in that: The movable joint includes at least seven movable joint units.

14. The laparoscopic surgery robot arm control mechanism according to claim 1, characterized in that: The invention also includes a joint swing mechanism, wherein the joint swing mechanism is connected to the cutter head joint of the cutter head to drive the cutter head joint to bend so that the cutter head swings away from the axis of the shaft of the laparoscopic surgical robot arm; The joint swing mechanism includes a base, a support rod and a pull-rope-controlled joint assembly, wherein the base and the shaft are relatively fixed, the support rod can move relative to the base and is connected to the pull-rope-controlled joint assembly, and the pull-rope-controlled joint assembly includes a plurality of connecting ropes, which are connected to the cutter head joint to transmit the movement of the support rod relative to the base to the cutter head joint, thereby driving the cutter head joint to bend; The joint swing mechanism further includes a locking mechanism, wherein the locking mechanism includes a first latching tooth fixedly provided on the base and a second latching tooth provided on the support rod; the second latching tooth is slidably connected to the support rod, and the second latching tooth can slide axially along the support rod and is relatively fixed in the circumferential direction; The second latch has a locking position along the axial sliding stroke of the support rod. When the second latch slides to the locking position, the second latch engages with the first latch, so that the support rod and the base are relatively fixed; when the second latch moves out of the locking position, the second latch disengages from the first latch, and the support rod can move relative to the base.

15. The laparoscopic surgery robot arm control mechanism according to claim 14, characterized in that: The locking structure further includes a push-pull rod and an eccentric wheel. The eccentric wheel is hingedly connected to the push-pull rod and the second latching tooth in sequence to allow the eccentric wheel to rotate and drive the second latching tooth to slide along the axial direction of the support rod.

16. The laparoscopic surgery robot arm control mechanism according to claim 15, characterized in that: The locking mechanism also includes a limit switch and a resetter. The limit switch has a closed state and a released state. In the closed state, the limit switch limits the rotation of the eccentric wheel, and in the released state, the limit switch does not limit the rotation of the eccentric wheel. The resetter has a compressed energy storage state. In the compressed energy storage state, the resetter can push the eccentric wheel to rotate, so as to drive the second tooth to move out of the locked position.

17. The laparoscopic surgery robot arm control mechanism according to claim 1, characterized in that: It also includes an operating handle and a universal rotation assembly, wherein the operating handle includes: A base is provided with a first locking structure, and the universal rotation assembly is rotatably connected to the base; A support rod, wherein the support rod is provided with a second locking structure, the support rod has a locking position and a release position arranged relatively, and the support rod is used to be fixedly connected to the universal rotating assembly; a first brake member, sleeved on the outer periphery of the support rod and movable relative to the support rod along the axis of the support rod; an actuating mechanism, drivingly connected to the first braking member, and configured to drive the first braking member to move; The first brake is configured such that: when the first brake is in the locking position, the first brake couples the first locking structure and the second locking structure to prevent the universal joint assembly from rotating; when the first brake is in the releasing position, the first brake disengages the first locking structure and the second locking structure to allow the universal joint assembly to rotate.

18. The laparoscopic surgery robot arm control mechanism according to claim 17, characterized in that: The first locking structure and the second locking structure are located on a side of the first brake member facing away from the universal rotation assembly, and the actuating mechanism drives the first brake member away from the universal rotation assembly and couples the first locking structure and the second locking structure to restrict the rotation of the universal rotation assembly; The actuating mechanism drives the first brake member to approach the universal joint assembly and disengage the first locking structure and the second locking structure to allow the universal joint assembly to rotate.

19. The laparoscopic surgery robot arm control mechanism according to claim 18, characterized in that: The support rod is a hollow rod having an axial through hole, and the support rod has a slide groove that penetrates the support rod radially and extends axially; the first brake member includes a body sleeved on the outer periphery of the support rod, and a push rod portion fixed to the body, the push rod portion and the body forming an accommodating groove, and the body is provided with a third locking structure; the actuating mechanism includes a shift rod and a driving assembly that partially extends into the axial through hole and is fixedly connected to the shift rod, the shift rod passes through the hollow rod from the axial through hole through the slide groove and extends into the accommodating groove; The driving assembly is used to drive the shift rod to drive the push rod portion to move toward the second locking structure so that the third locking structure is coupled to the second locking structure, and is used to drive the shift rod to drive the body to move toward the universal rotation assembly so that the third locking structure is disengaged from the second locking structure.

20. The laparoscopic surgery robot arm control mechanism according to claim 19, characterized in that: The end surface portion of the support rod facing the first brake member is provided with a circumferentially extending sliding protrusion, the sliding protrusion is provided with the sliding groove, the remaining portion of the end surface of the support rod facing the first brake member is provided with the second locking structure, the side of the main body facing away from the universal rotating assembly is provided with the third locking structure, and the second locking structure is arranged opposite to the third locking structure.

21. The laparoscopic surgery robot arm control mechanism according to claim 20, characterized in that: The second locking structure is one of an engaging tooth and a tooth groove, and the third locking structure is the other of the engaging tooth and the tooth groove, wherein the engaging tooth can be embedded in the tooth groove to fix the first brake member and the support rod to each other; Alternatively, the second locking structure is one of a meshing tooth and an elastic member, and the third locking structure is the other of the meshing tooth and the elastic member, and the meshing tooth can be embedded in the elastic member to fix the first brake member and the support rod to each other; Alternatively, the second locking structure and the third locking structure both have rough surfaces, and the second locking structure abuts against the third locking structure to fix the first brake member and the support rod to each other through friction; Alternatively, the second locking structure and the third locking structure are both meshing teeth, and the second locking structure meshes with the third locking structure to fix the first brake member and the support rod to each other.

22. The laparoscopic surgery robot arm control mechanism according to claim 20, characterized in that: There are two sliding protrusions, which are symmetrically arranged on the hollow rod, there are two supporting rod parts, which are symmetrically arranged on the body, and both ends of the shifting rod pass through the hollow rod through the corresponding sliding grooves and extend into the accommodating groove.

23. The laparoscopic surgery robot arm control mechanism according to any one of claims 19 to 22, characterized in that: The operating handle further includes a housing having an accommodating space, the drive assembly being located in the accommodating space and fixed to the housing, the drive assembly including a drive rod, a swing rod, and a locking member; the swing rod having a first end and a second end opposite to each other, a middle portion of the swing rod being pivotally connected to the housing, the first end being movably connected to an end of the drive rod away from the shifting rod, and the second end being movably abutting against the locking member; The swing member is configured such that: when the swing member is rotated counterclockwise, the first end drives the driving rod to drive the third locking structure to couple to the second locking structure, and the second end moves relative to the locking member until it is locked by the locking member; When rotating clockwise, the first end drives the driving rod to move away from one end of the shifting rod to disengage the third locking structure from the second locking structure, and the second end moves relative to the locking component and disengages from the locking component to reset.

24. The laparoscopic surgery robot arm control mechanism according to claim 23, characterized in that: The drive assembly further includes a first elastic member, one end of the first elastic member is pivotally connected to the first end, and the other end is pivotally connected to the housing; the locking member includes a second brake member and a second elastic member, the second brake member is pivotally connected to the housing, one end of the second elastic member abuts the second brake member, and the other end abuts the housing; When force is applied to the swinging member to rotate it counterclockwise, the first end stretches the first elastic member, and the second end moves relative to the second brake member and lifts the second brake member until the second end is engaged with the second brake member, so that the first brake member remains in the locked position and the second elastic member is compressed; the swinging member continues to rotate counterclockwise, the first elastic member is stretched and the elastic potential energy is increased, releasing the swinging member, and the first elastic member drives the swinging rod to rotate clockwise and disengage the second end from the second brake member, so that the first end can lift the drive rod and disengage the first brake member from the first locking structure.

25. The laparoscopic surgery robot arm control mechanism according to claim 24, characterized in that: The second end is provided with a limiting portion, the second braking member is a plate-shaped structure with a sliding edge, the second braking member has a limiting groove with an opening facing away from the sliding edge, the limiting groove is provided with a limiting entrance and a limiting exit opposite to each other, and the limiting portion abuts against the sliding edge; When the swinging member rotates counterclockwise, the limiting portion moves relative to the sliding edge and pushes the second brake member to rotate, and the second brake member compresses the second elastic member. When the limiting portion moves to disengage from the sliding edge, the second elastic member drives the second brake member to reset, and the limiting portion enters the limiting groove from the limiting entrance, and the swinging member is locked; when the swinging member is driven by the first elastic member to rotate clockwise, the limiting portion disengages from the limiting groove from the limiting exit.

26. The laparoscopic surgery robot arm control mechanism according to claim 23, characterized in that: The drive assembly further includes a first elastic member, one end of the first elastic member is pivotally connected to the first end, the other end is pivotally connected to the housing, the second end is provided with a limiting portion, and the locking member includes a locking groove; When a force is applied to the swinging member to rotate counterclockwise, the first elastic member is stretched by the first end, and the limiting portion is embedded in the locking groove to keep the first braking member in the locked position; When force is applied to the swinging member to make it rotate clockwise, the limiting portion is separated from the locking groove and the first elastic member.

27. The laparoscopic surgery robot arm control mechanism according to claim 23, characterized in that: The driving rod is provided with a tooth row at one end away from the shifting rod, a gear is fixed to the first end, the tooth row is engaged with the gear, the second end is provided with a limiting portion, and the locking member includes a locking groove; When a force is applied to the swing member to rotate counterclockwise, the gear drives the driving rod via the gear row to drive the first brake member to couple to the first locking structure, and the limiting portion is embedded in the locking groove to keep the first brake member in the locked position; When force is applied to the swinging member to rotate clockwise, the gear drives the driving rod via the gear row to drive the first braking member to disengage from the first locking structure, and the limiting portion disengages from the locking groove.

28. The laparoscopic surgery robot arm control mechanism according to claim 27, characterized in that: The driving assembly further includes a first elastic member, the swing member having a pivot shaft rotatably connected to the housing, the first elastic member being sleeved around the outer circumference of the pivot shaft, one end of the first elastic member abutting the pivot shaft, and the other end abutting the housing; When the swing arm rotates counterclockwise, the first elastic member is compressed. When the swing arm rotates clockwise until the first brake member disengages from the first locking structure, the first elastic member fixes the position of the swing arm to keep the first brake member in the released position.

29. A laparoscopic surgical robot arm, comprising a control mechanism, characterized in that: The control mechanism is configured as the laparoscopic surgical robot arm control mechanism as described in any one of claims 1 to 28.

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