CN113662673A - Mechanical arm, slave operation equipment and surgical robot - Google Patents
Mechanical arm, slave operation equipment and surgical robot Download PDFInfo
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- CN113662673A CN113662673A CN202110981875.4A CN202110981875A CN113662673A CN 113662673 A CN113662673 A CN 113662673A CN 202110981875 A CN202110981875 A CN 202110981875A CN 113662673 A CN113662673 A CN 113662673A
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- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 235000012766 Cannabis sativa ssp. sativa var. sativa Nutrition 0.000 description 1
- 235000012765 Cannabis sativa ssp. sativa var. spontanea Nutrition 0.000 description 1
- 229920000742 Cotton Polymers 0.000 description 1
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 229920004933 Terylene® Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
- 235000005607 chanvre indien Nutrition 0.000 description 1
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- 238000010168 coupling process Methods 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 239000011487 hemp Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000005020 polyethylene terephthalate Substances 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The application relates to the technical field of medical instruments, and provides a mechanical arm, slave operating equipment and a surgical robot, wherein the surgical robot comprises the slave operating equipment, the slave operating equipment comprises a mechanical arm, the mechanical arm comprises a rack, an execution end and at least one driving arm, and the rack, the at least one driving arm and the execution end are sequentially connected; the mechanical arm also comprises a driving structure for driving the execution end, the driving structure comprises a driving piece and a transmission mechanism, and the transmission mechanism is connected between the driving piece and the execution end in a transmission way; the driving piece is arranged at one end, far away from the execution end, of the driving arm connected with the execution end; or the driving piece is arranged on other driving arms; or the driving part is arranged on the machine frame. This application is through keeping away from the setting of execution end with the driving piece for the weight of execution end has reduced greatly, and the inertia of execution end also reduces relatively, thereby makes the operator operation lighter, and then has improved the success rate of operation.
Description
Technical Field
The application belongs to the technical field of medical instruments, and particularly relates to a mechanical arm, a slave operation device and a surgical robot with the slave operation device.
Background
The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.
With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgical robot generally comprises a master operation console and a slave operation device, wherein the master operation console is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the master operation console and carrying out corresponding surgical operation.
The slave operation device comprises a mechanical arm and a brake device arranged at the far end of the mechanical arm. The mechanical arm generally includes a large arm, a small arm and an execution end, and the driving structure of the conventional execution end is close to the load end, for example, the motor is directly placed at the joint of the execution end, which may cause the weight of the execution end to be large and the inertia to be large. For the operator, the smaller the weight and the smaller the inertia of the executing end, the easier the operation, so the existing structural design causes the operator to have a large operation load and inconvenient operation.
Disclosure of Invention
An object of the embodiment of the application is to provide a mechanical arm, a mechanical arm and a surgical robot, so as to solve the technical problem that the driving structure of the execution end in the prior art is close to the execution end, which causes inconvenient operation of an operator.
In order to achieve the above object, the present application adopts the following technical solutions: providing a mechanical arm, which comprises a rack, an execution end and at least one driving arm, wherein the rack, the at least one driving arm and the execution end are sequentially connected;
the mechanical arm further comprises a driving structure for driving the execution end, the driving structure comprises a driving piece and a transmission mechanism, and the transmission mechanism is in transmission connection between the driving piece and the execution end;
the driving piece is arranged at one end, far away from the execution end, of the driving arm connected with the execution end; or the driving piece is arranged on other driving arms; or the driving piece is arranged on the rack.
In a possible embodiment, the mechanical arm comprises two driving arms, namely a large arm and a small arm, a first rotating joint is arranged between the large arm and the rack, a second rotating joint is arranged between the small arm and the large arm, and a third rotating joint is arranged between the execution end and the small arm;
the big arm is rotated through first pivot and is located in the frame, big arm with the forearm rotates through the second pivot and connects, the execution end rotates through the third pivot and locates on the execution end forearm.
In a possible embodiment, the transmission is a wire transmission.
In a possible embodiment, the drive member is provided on the first rotary joint.
In a possible embodiment, the transmission mechanism includes a first transmission component and a second transmission component, the first transmission component forms a first closed transmission chain between the first rotation joint and the second rotation joint, the second transmission component forms a second closed transmission chain between the second rotation joint and the third rotation joint, and the first transmission component and the second transmission component move synchronously at the second rotation joint through a second rotating shaft.
In a possible embodiment, the first transmission assembly includes a first wire wheel, a second wire wheel and a first transmission member, the first wire wheel is fixedly sleeved on the first rotating shaft, the second wire wheel is fixedly sleeved on one end of the second rotating shaft, and the first transmission member is respectively wound on the first wire wheel and the second wire wheel;
the second transmission component comprises a third wire wheel, a fourth wire wheel and a second transmission piece, the third wire wheel is fixedly sleeved on the other end of the second rotating shaft, the fourth wire wheel is fixedly sleeved on the third rotating shaft, and the second transmission piece is respectively wound on the third wire wheel and the fourth wire wheel.
In a possible embodiment, the first transmission piece between the first wire wheel and the second wire wheel is arranged crosswise.
In a possible embodiment, two sets of guide wheel sets are arranged in the small arm, and the two sets of guide wheel sets are respectively arranged close to the third wire wheel and the fourth wire wheel.
In a possible embodiment, the guide wheel set comprises two guide wheels arranged oppositely, the two guide wheels in the two guide wheel sets are equidistant, and the second transmission piece is connected with each guide wheel in a guiding manner.
In a possible embodiment, the first transmission assembly further comprises a first tensioning device for adjusting the tensioning force of the first transmission member;
the second transmission assembly further comprises a second tensioning device for adjusting the tensioning force of the second transmission member.
In a possible embodiment, the transmission forms a third closed transmission chain between the first, second and third revolute joints and reverses direction at the second revolute joint.
In a possible embodiment, the drive member is provided on the frame.
In a possible embodiment, the transmission mechanism comprises a third transmission assembly and a fourth transmission assembly;
the third transmission assembly forms a fourth closed transmission chain among the output shaft of the driving piece, the first rotating joint and the second rotating joint and performs reversing at the first rotating joint;
the fourth transmission assembly forms a fifth closed transmission chain between the second rotary joint and the third rotary joint;
the third transmission assembly and the fourth transmission assembly move synchronously at the second rotating joint through a second rotating shaft.
In a possible embodiment, the transmission mechanism forms a sixth closed transmission chain between the output shaft of the driving element and the first, second and third revolute joints, and performs reversal at the first and second revolute joints, respectively.
In a possible embodiment, the drive element is arranged on the second revolute joint.
In a possible embodiment, the transmission mechanism forms a seventh closed transmission chain between the second revolute joint and the third revolute joint.
In a possible embodiment, the driving member is provided on the large arm and is located between the first revolute joint and the second revolute joint.
The application provides a beneficial effect of arm lies in: the mechanical arm provided by the embodiment of the application is characterized in that the driving piece is arranged at a position far away from the execution end, and the driving piece is in transmission connection with the execution end through the transmission mechanism, so that the execution end can be driven to move through the driving piece at the far position. Meanwhile, the driving piece is far away from the execution end, so that the weight of the execution end is greatly reduced, the inertia of the execution end is relatively reduced, the operation of an operator is easier, and the success rate of the operation is improved.
In a second aspect, the present application also provides a slave manipulator comprising the above-described robotic arm.
The slave operation equipment provided by the application is convenient to operate through the arrangement of the mechanical arm.
In a third aspect, the present application also provides a surgical robot including the slave operation device described above.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic perspective view of a main operating console provided in an embodiment of the present application, wherein a robotic arm is not shown;
fig. 2 is a schematic perspective view of a slave operation device provided in an embodiment of the present application;
FIG. 3 is a schematic perspective view of a robotic arm provided in an embodiment of the present application;
FIG. 4 is a schematic view of a portion of the structure of the upper arm, the lower arm and the actuator of FIG. 3;
FIG. 5 is a side view of FIG. 4;
FIG. 6 is a schematic cross-sectional view A-A of FIG. 5;
fig. 7 is a schematic structural diagram of a driving element, a wire transmission mechanism and an actuating end according to an embodiment of the present disclosure;
FIG. 8 is a simplified side view of the drive of FIG. 7;
fig. 9 is a schematic structural diagram of a driving element, a wire transmission mechanism and an actuating end according to a second embodiment of the present application;
fig. 10 is a schematic structural diagram of a driving element, a wire transmission mechanism and an actuating end according to a third embodiment of the present application;
fig. 11 is a schematic structural diagram of a driving element, a wire transmission mechanism and an actuating end according to the fourth embodiment of the present application;
fig. 12 is a schematic structural diagram of a driving element, a wire transmission mechanism and an actuating end according to a fifth embodiment of the present application;
fig. 13 is a schematic structural diagram of a driving element, a wire transmission mechanism and an actuating end according to a sixth embodiment of the present application.
Wherein, in the figures, the respective reference numerals:
100. a slave operation device; 200. a main operating console; 300. a surgical instrument; 10. a mechanical arm; 20. an actuating device; 11. a frame; 12. a large arm; 13. a small arm; 14. an execution end; 15. a drive member; 16. a steel wire transmission mechanism; 161. a first transmission assembly; 1611. a first wire wheel; 1612. a second wire wheel; 1613. a first transmission member; 1614. a tension wheel; 162. a second transmission assembly; 1621. a third wire wheel; 1622. a fourth wire wheel; 1623. a second transmission member; 1624. tensioning the nut; 1625. a guide wheel set; 17. a first revolute joint; 171. a first rotating shaft; 18. a second revolute joint; 181. a second rotating shaft; 19. a third revolute joint; 191. a third rotating shaft; 161a, a fifth wire wheel; 162a, a sixth wire wheel; 163a, a seventh wire wheel; 164a, a third steel wire; 161b, a third transmission assembly; 162b, a fourth transmission assembly; p1, a first closed drive chain; p2, second closed drive chain; p3, third closed drive chain; p4, fourth closed drive chain; p5, fifth closing transmission chain; p6, sixth closed drive chain; p7, seventh closed drive train; p8, eighth closed drive chain.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Minimally invasive surgical robots generally include slave operating devices and a master operating console, shown in figure 1 as master operating console 200 according to one embodiment of the present application, fig. 2 shows the slave operation device 100 according to an embodiment of the present application, the surgeon performs the relevant control operation on the slave operation device 100 on the master operation console 200, the slave operation device 100 performs the surgical operation on the human body according to the input command of the master operation console 200, the master operation console 200 and the slave operation device 100 may be disposed in one operation room, or may be disposed in different rooms, even the master operation console 200 and the slave operation device 100 may be far apart, for example, the master operation console 200 and the slave operation device 100 are located in different cities, and the master operation console 200 and the slave operation device 100 may transmit data by a wired method or may transmit data by a wireless method.
The slave manipulator 100 includes a robot arm 10 and an actuator 20 disposed at a distal end of the robot arm 10, and a surgical instrument 300 for performing a surgical operation is connected to the actuator 20, and the actuator 20 drives the surgical instrument to move by a plurality of actuators therein. A plurality of surgical instruments 300 may be coupled to one actuator 20, and the distal ends of the plurality of surgical instruments 300 may enter the body through one incision, thereby reducing the number of surgical incisions and allowing for faster post-operative recovery.
As shown in fig. 3, the robot arm 10 of an embodiment of the present application includes a frame 11, an execution end 14, and at least one driving arm, where the frame 11, the at least one driving arm, and the execution end 14 are connected in sequence; the number of the driving arms can be determined according to actual execution requirements, for example, when the motion to be executed is simple, only one driving arm can be selected, one end of the driving arm is connected with the frame 11, the other end of the driving arm is connected with the execution end 14, and if the motion to be executed is complex, two or more driving arms can be selected, the more the driving arms are, the higher the degree of freedom is, and more complex operations can be executed.
Referring to fig. 3 to 8, the robot arm 10 further includes a driving structure for driving the actuating end 14, the driving structure includes a driving member 15 and a transmission mechanism, and the transmission mechanism is connected between the driving member 15 and the actuating end 14 in a transmission manner. The transmission mechanism can be a rope transmission mechanism, a belt transmission mechanism, a chain transmission mechanism and the like, wherein the rope transmission refers to mechanical transmission for transmitting power and moving by means of friction force between a rope tightly wound on the grooved pulley and the grooved pulley. The rope transmission mechanism generally comprises a steel wire transmission mechanism 16, a cotton transmission mechanism, a hemp transmission mechanism and a terylene transmission mechanism, and can be selected according to actual requirements and the transmission characteristics of each rope.
Wherein, drive mechanism in this application is steel wire drive mechanism 16, and wire rope has can transmit long distance load, and it is big to bear factor of safety, uses safe and reliable, has advantages such as higher tensile strength, fatigue strength and impact toughness, wear-resisting, antidetonation, operating stability are good, is fit for being applied to in this application to drive execution end 14.
In particular, the driving member 15 is disposed away from the actuating end 14, and in particular, the driving member 15 may be disposed on an end of the driving arm connected to the actuating end 14, which is away from the actuating end 14; or the driving piece 15 is arranged on other driving arms; or the driving member 15 is provided on the frame 11. The position at which the driving member 15 is specifically disposed can be set according to actual design requirements. For example, when the number of the driving arms is one, the driving member 15 may be disposed at an end of the driving arm away from the actuating end 14, or disposed on the frame 11; for another example, when the number of the driving arms is plural, the driving member 15 may be disposed at one end of the driving arm connected to the actuating end 14, which is far from the actuating end 14; or the driving piece 15 is arranged on other driving arms; or the driving member 15 is provided on the frame 11.
In summary, in the present application, the driving element 15 is disposed at a position far away from the actuating end 14, and the driving element 15 is in transmission connection with the actuating end 14 through the transmission mechanism, so that the actuating end 14 can be driven to move by the driving element 15 at a distance, and the driving element 15 is disposed far away from the actuating end 14, so that the weight of the actuating end 14 is greatly reduced, the inertia of the actuating end 14 is also relatively reduced, the operation of an operator is easier, and the success rate of the operation is further improved.
The first embodiment is as follows:
referring to fig. 4 to 7, in the present embodiment, the mechanical arm 10 includes two driving arms, i.e. a large arm 12 and a small arm 13, i.e. the mechanical arm 10 includes two driving arms. Wherein, a first rotary joint 17 is arranged between the big arm 12 and the frame 11, a second rotary joint 18 is arranged between the small arm 13 and the big arm 12, and a third rotary joint 19 is arranged between the execution end 14 and the small arm 13. Specifically, the large arm 12 is rotatably disposed on the rack 11 through a first rotating shaft 171, the large arm 12 and the small arm 13 are rotatably connected through a second rotating shaft 181, the actuating end 14 is rotatably disposed on the small arm 13 through a third rotating shaft 191, the first rotating shaft 171 is parallel to the second rotating shaft 181, and the second rotating shaft 181 is perpendicular to the third rotating shaft 191 in space. It is understood that in other embodiments of the present application, the mechanical arm 10 may include only one driving arm, or three or more driving arms, and the driving arms may also be linearly telescopic structures instead of rotational connections, according to the actual design requirement of the mechanical arm 10, which is not limited herein.
The drive member 15 is a motor capable of outputting a rotational motion. Of course, in other embodiments, the driving member 15 may be a rotary cylinder, a linear motor, a linear cylinder, or the like, which is not limited herein.
Referring to fig. 6 and 7, the driving element 15 is disposed on the first rotating joint 17, specifically, the driving element 15 is fixed on one end of the large arm 12 away from the executing end 14, and the wire transmission mechanisms 16 are respectively connected between the driving element 15 and the executing end 14 in a transmission manner, so as to transmit the driving element 15 at one end of the large arm 12 to the executing end 14, which not only can drive the executing end 14, but also can separate the driving element 15 with a larger weight from the executing end 14, thereby effectively reducing the load of the executing end 14, and making the executing end 14 operate more light.
Specifically, referring to fig. 7 and 8, the transmission mechanism includes a first transmission assembly 161 and a second transmission assembly 162, the first transmission assembly 161 forms a first closed transmission chain P1 between the first rotating joint 17 and the second rotating joint 18, and the second transmission assembly 162 forms a second closed transmission chain P2 between the second rotating joint 18 and the third rotating joint 19. The first transmission component 161 and the second transmission component 162 move synchronously at the second rotary joint 18 through the second rotary shaft 181, that is, the first transmission component 161 is a first-stage steel wire transmission, the second transmission component 162 is a second-stage steel wire transmission, and the first-stage steel wire transmission transmits the motion to the second-stage steel wire transmission at the second rotary shaft 181, so as to drive the actuating end 14 to move.
More specifically, the first transmission assembly 161 includes a first reel 1611, a second reel 1612 and a first transmission member 1613, the first reel 1611 is fixedly sleeved on the first rotating shaft 171, the first reel 1611 can rotate along with the driving member 15, the second reel 1612 is fixedly sleeved on one end of the second rotating shaft 181, the first transmission member 1613 is respectively wound on the first reel 1611 and the second reel 1612, and the first transmission member 1613 is used for transmitting the rotation of the first reel 1611 to the second reel 1612. The second transmission component 162 comprises a third wire wheel 1621, a fourth wire wheel 1622 and a second transmission piece 1623, the third wire wheel 1621 is fixedly sleeved at the other end of the second rotating shaft 181, the fourth wire wheel 1622 is fixedly sleeved at the third rotating shaft 191, the second transmission piece 1623 is respectively wound on the third wire wheel 1621 and the fourth wire wheel 1622, and the second transmission piece 1623 is used for transmitting the rotary motion of the third wire wheel 1621 to the fourth wire wheel 1622, so as to drive the third rotating shaft 191 to rotate, and further drive the execution end 14 to move.
The first transmission member 1613 and the second transmission member 1623 are both made of steel wire.
In order to ensure the tension of the first transmission member 1613 and the second transmission member 1623 during the movement, a first tensioning device and a second tensioning device are correspondingly provided. Wherein, the first tensioning device is used for adjusting the tension of the first transmission member 1613, and the second tensioning device is used for adjusting the tension of the second transmission member 1623.
Specifically, the first tensioning device is a tensioning wheel 1614, and the second tensioning device is a tensioning nut 1624. The tension wheel 1614 is sleeved on the first rotating shaft 171, and the tension nut 1624 is disposed on the second transmission member 1623. It will be understood that in other embodiments of the present application, when the first transmission element 1613 and the second transmission element 1623 are located in the same closed transmission chain, it is only necessary to provide a tensioning device in the first transmission element 1613 and in the second transmission element 1623; in addition, the first transmission member 1613 may also adjust the tensioning force through a tensioning nut, and the second transmission member 1623 may also adjust the tensioning force through a tensioning wheel, which is not limited herein.
Referring to fig. 7 and 8, the first transmission element 1613 between the first reel 1611 and the second reel 1612 is disposed in an intersecting manner, so that the space occupied by the first transmission element 1613 in the large arm 12 is reduced as much as possible, thereby preventing the first transmission element 1613 from interfering with the structures in the large arm 12.
Referring to fig. 8, two guide wheel sets 1625 are disposed in the small arm 13, and the two guide wheel sets 1625 are respectively disposed near the third wire wheel 1621 and the fourth wire wheel 1622; the guide wheel set 1625 includes two guide wheels arranged oppositely, the distance between the two guide wheels in the two guide wheel sets 1625 is equal, and the second transmission member 1623 is connected with each guide wheel in a guiding manner. As shown in fig. 8, the two wires of the second transmission member 1623 can keep transmission at a constant interval between the four guide wheels by the arrangement of the four guide wheels, so as to ensure that the second transmission member 1623 can transmit stably in the small arm 13, and meanwhile, the occupied space is small, and interference with other structures in the small arm 13 is avoided.
Example two:
all technical features of the robot arm in this embodiment are substantially the same as those of the robot arm in the first embodiment, and the driving element 15 in this embodiment is also disposed on the first rotating joint 17, specifically, the driving element 15 is fixed on an end of the large arm 12 away from the executing end 14, and the difference is that: referring to fig. 9, in the present embodiment, the transmission mechanism forms a third closed transmission chain P3 between the first rotary joint 17, the second rotary joint 18 and the third rotary joint 19, and performs reversing at the second rotary joint 18. I.e. the entire transmission is in a closed transmission chain, only one tensioning device needs to be provided in this embodiment, i.e. the embodiment allows a reduction of the tensioning device compared to the first embodiment.
Specifically, referring to fig. 9, the transmission mechanism includes a fifth reel 161a, a sixth reel 162a, a seventh reel 163a and a third steel wire 164a, the fifth reel 161a is fixed on the first rotating shaft 171, the sixth reel 162a is fixed on the second rotating shaft 181, the seventh reel 163a is fixed on the third rotating shaft 191, the third steel wire 164a is wound on the fifth reel 161a and the seventh reel 163a, respectively, and is reversed by winding a plurality of turns on the sixth reel 162a, so that the movement of the driving member 15 can be transmitted to the actuating end 14 through the third steel wire 164a, the structure is simple, and only one tensioning device needs to be provided.
Example three:
all technical features of the arm in this embodiment are substantially the same as those of the arm in the first embodiment, and the difference is that: referring to fig. 10, in the present embodiment, the driving element 15 is disposed on the frame 11, that is, the driving element 15 is not disposed on the large arm 12 or the small arm 13, so that the load of the actuating end 14 can be further reduced, and the actuating end 14 is lighter in operation.
Specifically, the transmission mechanism includes a third transmission assembly 161b and a fourth transmission assembly 162 b; the third transmission assembly 161b forms a fourth closed transmission chain P4 between the output shaft of the driving member 15, the first rotary joint 17 and the second rotary joint 18, and performs reversing at the first rotary joint 17; the fourth transmission assembly 162b forms a fifth closed transmission chain P5 between the second revolute joint 18 and the third revolute joint 19; the third transmission assembly 161b and the fourth transmission assembly 162b move synchronously at the second rotary joint 18 via the second rotary shaft 181. That is, in this embodiment, the wire drive mechanism 16 is divided into two stages of wire drive, the first stage transmitting the movement of the driving member 15 to the second shaft 181, and the second stage transmitting the movement of the second shaft 181 to the actuating end 14.
The third transmission assembly 161b and the fourth transmission assembly 162b each include two wire wheels and a steel wire, and the detailed structure thereof will not be described herein.
In addition, in order to ensure the transmission stability of the third transmission assembly 161b and the fourth transmission assembly 162b, tensioning devices are respectively arranged in the third transmission assembly 161b and the fourth transmission assembly 162b, and guide wheel sets can be correspondingly arranged according to the structural design requirements.
Example four:
all technical features of the robot arm in the present embodiment are substantially the same as those of the robot arm in the third embodiment, and the driving member 15 in the present embodiment is also disposed on the frame 11, which is different from that: referring to fig. 11, in the present embodiment, the transmission mechanism forms a sixth closed transmission chain P6 between the output shaft of the driving member 15, the first rotating joint 17, the second rotating joint 18 and the third rotating joint 19, and performs direction change at the first rotating joint 17 and the second rotating joint 18, respectively. I.e. the entire transmission is in a closed transmission chain, only one tensioning device needs to be provided in this embodiment, i.e. the embodiment can reduce the number of tensioning devices compared to the third embodiment.
Example five:
all technical features of the arm in this embodiment are substantially the same as those of the arm in the first embodiment, and the difference is that: in the embodiment, referring to fig. 12, the driving element 15 is disposed on the second rotating joint 18, so as to reduce the load of the actuating end 14, facilitate the operation of the actuating end 14, reduce the number of joints involved in the transmission mechanism, and avoid the coupling phenomenon between the transmission mechanism and the second rotating joint 18.
Specifically, the transmission mechanism forms a seventh closed transmission chain P7 between the second revolute joint 18 and the third revolute joint 19, and the seventh closed transmission chain is simple in structure and small in occupied space. More specifically, the output shaft of the driving member 15 is fixedly connected to the second rotating shaft 181, and the specific structure of the transmission mechanism is the same as that of the second transmission assembly 162, and therefore, the description thereof is not repeated.
Example six:
all technical features of the arm in this embodiment are substantially the same as those of the arm in the first embodiment, and the difference is that: in the present embodiment, referring to fig. 13, the driving member 15 is disposed on the large arm 12 and located between the first rotating joint 17 and the second rotating joint 18.
Specifically, the wire transmission mechanism 16 forms an eighth closed transmission chain P8 between the output end of the driving element 15, the second rotating joint 18 and the third rotating joint 19. The load on the actuation end 14 can also be reduced, facilitating movement of the actuation end 14.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (19)
1. A mechanical arm is characterized by comprising a rack, an execution end and at least one driving arm, wherein the rack, the at least one driving arm and the execution end are sequentially connected;
the mechanical arm further comprises a driving structure for driving the execution end, the driving structure comprises a driving piece and a transmission mechanism, and the transmission mechanism is in transmission connection between the driving piece and the execution end;
the driving piece is arranged at one end, far away from the execution end, of the driving arm connected with the execution end; or the driving piece is arranged on other driving arms; or the driving piece is arranged on the rack.
2. The mechanical arm of claim 1, wherein the mechanical arm comprises two driving arms, namely a large arm and a small arm, a first rotating joint is arranged between the large arm and the rack, a second rotating joint is arranged between the small arm and the large arm, and a third rotating joint is arranged between the execution end and the small arm;
the big arm is rotated through first pivot and is located in the frame, big arm with the forearm rotates through the second pivot and connects, the execution end rotates through the third pivot and locates on the execution end forearm.
3. A robotic arm as claimed in claim 2, in which the drive member is provided on the first revolute joint.
4. The mechanical arm of claim 3, wherein the transmission mechanism comprises a first transmission assembly and a second transmission assembly, the first transmission assembly forms a first closed transmission chain between the first rotating joint and the second rotating joint, the second transmission assembly forms a second closed transmission chain between the second rotating joint and the third rotating joint, and the first transmission assembly and the second transmission assembly move synchronously at the second rotating joint through a second rotating shaft.
5. The mechanical arm of claim 4, wherein the first transmission assembly comprises a first wire wheel, a second wire wheel and a first transmission member, the first wire wheel is fixedly sleeved on the first rotating shaft, the second wire wheel is fixedly sleeved on one end of the second rotating shaft, and the first transmission member is respectively wound on the first wire wheel and the second wire wheel;
the second transmission component comprises a third wire wheel, a fourth wire wheel and a second transmission piece, the third wire wheel is fixedly sleeved on the other end of the second rotating shaft, the fourth wire wheel is fixedly sleeved on the third rotating shaft, and the second transmission piece is respectively wound on the third wire wheel and the fourth wire wheel.
6. A robotic arm as claimed in claim 5, in which the first drive means between the first wire wheel and the second wire wheel is arranged to intersect.
7. A robotic arm as claimed in claim 5, in which the arm has two sets of guide rollers disposed adjacent the third and fourth rollers respectively.
8. A robotic arm as claimed in claim 7, in which said guide wheel sets comprise two oppositely disposed guide wheels, the two guide wheels of each of said guide wheel sets being equally spaced, said second drive member being in respective guiding engagement with each of said guide wheels.
9. The robotic arm of claim 5, wherein the first transmission assembly further comprises a first tensioning device for adjusting a tensioning force of the first transmission member;
the second transmission assembly further comprises a second tensioning device for adjusting the tensioning force of the second transmission member.
10. A robotic arm as claimed in claim 3, in which the transmission mechanism forms a third closed transmission chain between the first, second and third revolute joints and reverses direction at the second revolute joint.
11. A robotic arm as claimed in claim 2, in which the drive member is provided on the frame.
12. A robotic arm as claimed in claim 11, in which the drive mechanism comprises a third drive assembly and a fourth drive assembly;
the third transmission assembly forms a fourth closed transmission chain among the output shaft of the driving piece, the first rotating joint and the second rotating joint and performs reversing at the first rotating joint;
the fourth transmission assembly forms a fifth closed transmission chain between the second rotary joint and the third rotary joint;
the third transmission assembly and the fourth transmission assembly move synchronously at the second rotating joint through a second rotating shaft.
13. A robotic arm as claimed in claim 11, in which the transmission mechanism forms a sixth closed transmission chain between the output shaft of the drive member, the first revolute joint, the second revolute joint and the third revolute joint, and reverses direction at the first revolute joint and the second revolute joint respectively.
14. A robotic arm as claimed in claim 2, in which the drive member is provided on the second revolute joint.
15. A robotic arm as claimed in claim 14, in which the transmission mechanism forms a seventh closed transmission chain between the second revolute joint and the third revolute joint.
16. A robotic arm as claimed in claim 2, in which the drive member is provided on the large arm between the first revolute joint and the second revolute joint.
17. A robotic arm as claimed in any one of claims 1 to 16, in which the drive mechanism is a wire drive mechanism.
18. A slave manipulator apparatus comprising a robotic arm as claimed in any one of claims 1 to 17.
19. A surgical robot comprising the slave manipulator apparatus according to claim 18.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110981875.4A CN113662673B (en) | 2021-08-25 | 2021-08-25 | Mechanical arm, slave operation device and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110981875.4A CN113662673B (en) | 2021-08-25 | 2021-08-25 | Mechanical arm, slave operation device and surgical robot |
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| CN113662673A true CN113662673A (en) | 2021-11-19 |
| CN113662673B CN113662673B (en) | 2023-08-22 |
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| CN202110981875.4A Active CN113662673B (en) | 2021-08-25 | 2021-08-25 | Mechanical arm, slave operation device and surgical robot |
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| CN117426809A (en) * | 2023-12-21 | 2024-01-23 | 苏州康多机器人有限公司 | Tensioning method and tensioning tool for rope of surgical instrument |
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| CN113662673B (en) | 2023-08-22 |
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