CN114767273A - Manipulator arm and surgical robot - Google Patents

Abstract

One or more embodiments of the present disclosure relate to a surgical robot and a manipulator arm thereof, where the manipulator arm includes a yaw mechanism and a parallel linkage mechanism connected to each other, the parallel linkage mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, and a virtual connecting rod, and the first connecting rod, the second connecting rod, and the third connecting rod are sequentially connected in a transmission manner; the deflection mechanism and the parallel linkage mechanism define a fixed point, the fixed point passes through a deflection axis of the deflection mechanism, the fixed point is an intersection point of the third connecting rod and the virtual connecting rod, and the position of the virtual connecting rod is unchanged when the parallel linkage mechanism moves; the yaw axis and the virtual link form a first plane, and the second link is located on one side of the first plane.

Description

Manipulator arm and surgical robot

Technical Field

The specification relates to the technical field of medical equipment, in particular to a medical equipment support.

Background

In the medical field, it is increasingly common to perform surgery on a patient using a surgical robot. Surgical robots typically include a plurality of manipulator arms, each of which is provided with a particular medical instrument, and by controlling the manipulator arms, an operator can manipulate the medical instrument to perform a surgical procedure. However, since the operation space of the operation is small, the respective manipulating arms are easy to collide during the movement, which may affect the efficiency of the operation and cause injury to the patient.

Aiming at the problems, the avoidance space and the operation space between the control arms are increased, the possibility of collision of the control arms is reduced, the operation efficiency and safety are improved, and the harm to a patient is reduced.

Disclosure of Invention

One of the objectives of the present specification is to provide a manipulator arm of a surgical robot, which includes a yaw mechanism and a parallel linkage mechanism connected to each other, where the parallel linkage mechanism includes a first link, a second link, a third link and a virtual link, and the first link, the second link and the third link are sequentially connected in a transmission manner; the deflection mechanism and the parallel linkage mechanism define an immobile point, the immobile point passes through a deflection axis of the deflection mechanism, the immobile point is an intersection point of the third connecting rod and the virtual connecting rod, and the position of the virtual connecting rod is unchanged when the parallel linkage mechanism moves; the yaw axis and the virtual link form a first plane, and the second link is located on one side of the first plane.

One of the objects of the present specification is to provide a surgical robot comprising: the manipulator arm of the previous embodiment.

Drawings

The present description will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals refer to like structures, wherein:

fig. 1 is a schematic structural view of a surgical robot shown in accordance with some embodiments herein;

FIG. 2 is a schematic view of a surgical robot shown from another angle according to some embodiments of the present disclosure;

FIG. 3 is a schematic structural view of a surgical robot according to further embodiments herein;

FIG. 4 is a schematic diagram of a manipulator arm according to some embodiments herein;

FIG. 5 is a schematic illustration of a manipulator arm according to further embodiments of the present disclosure;

FIG. 6 is a schematic view of the manipulator arm of FIG. 5 at another angle;

FIG. 7 is a schematic illustration of a manipulator arm according to some embodiments herein;

FIG. 8 is a schematic view of the manipulator arm of FIG. 7 at another angle;

FIG. 9 is a schematic illustration of a manipulator arm according to some embodiments herein;

FIG. 10 is a schematic illustration of a manipulator arm according to some embodiments herein;

FIG. 11 is a schematic view of the manipulator arm of FIG. 9 at another angle;

FIG. 12 is a schematic structural view of a manipulator arm according to some embodiments herein;

FIG. 13 is a schematic view of the manipulator arm of FIG. 12 at another angle;

FIG. 14 is a cross-sectional view of the lever arm of FIG. 13 in the direction D-D;

FIG. 15 is a schematic diagram of an actuator coupled to a gimbal according to some embodiments herein;

fig. 16 is an enlarged schematic view of the circular region in fig. 15.

Reference numerals are as follows: a manipulator arm 100; a yaw mechanism 10; a second drive motor 11; a swing arm 12; a parallel linkage mechanism 20; a first link 21; a second arm 210; a second link 22; a third arm 221; a fourth arm 222; a third link 23; a slide table 230; a movement track 231; a virtual link 24; a first plane 25; a first rotating shaft 26; a second rotating shaft 27; a third rotating shaft 28; a fourth rotating shaft 29; a first drive motor 30; a first arm 40; a first roller 51; a second roller 52; a third roller 53; a fourth roller 54; a fifth roller 55; a sixth roller 56; a seventh roller 57; an eighth roller 58; a medical device 60; an actuator 70; a universal joint 80; the first connecting shaft 81; a second connecting shaft 82; a third connecting shaft 83; a first flexible joint 84; a second flexible joint 85; a first hinge 86; a second hinge 87; a manipulator arm 110; the surgical robot 200.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the present description, and that for a person skilled in the art, the present description can also be applied to other similar scenarios on the basis of these drawings without inventive effort. Unless otherwise apparent from the context, or stated otherwise, like reference numbers in the figures refer to the same structure or operation.

Those skilled in the art will appreciate that the terms "first," "second," and the like in this description are used solely to distinguish one from another device, module, parameter, or the like, and do not imply any particular technical meaning or necessary logical order among them.

As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not to be taken in a singular sense, but rather are to be construed to include a plural sense unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" are intended to cover only the explicitly identified steps or elements as not constituting an exclusive list and that the method or apparatus may comprise further steps or elements.

The description is intended to cover any alternatives, modifications, equivalents, and alternatives falling within the spirit and scope of the description as defined by the claims. Furthermore, in the following detailed description of the present specification, certain specific details are set forth in order to provide a thorough understanding of the present specification. It will be apparent to one skilled in the art that the present description may be practiced without these specific details.

As shown in fig. 1-11, some embodiments herein provide a manipulator arm for a surgical robot. Fig. 1-2 schematically illustrate a surgical robot 200. The surgical robot 200 may include a plurality of spaced manipulator arms 110, on which medical instruments may be disposed, and may be controlled to manipulate the medical instruments for performing a surgical operation. In some embodiments, the medical device 60 may include an endoscope, scissors, graspers, ionization hooks, needle holders, puncture needles, bipolar ionization forceps, and the like. In some embodiments, the manipulator arms 110 are configured to cooperate with each other during a surgical procedure, such that the manipulator arms 110 are susceptible to collision with each other during movement, as shown in FIG. 2, where a collision zone exists between the two manipulator arms 110.

Fig. 3 schematically illustrates another surgical robot 200. The surgical robot 200 may include a plurality of spaced manipulator arms 110 and manipulator arms 100 disposed on at least one side of manipulator arms 110. Manipulator arm 100 may include interconnected yaw mechanism 10 and parallel linkage 20. The parallel linkage mechanism 20 may include a first link 21, a second link 22, a third link 23, and a virtual link 24, where the first link 21, the second link 22, and the third link 23 are sequentially connected in a transmission manner. The yaw mechanism 10 and the parallel linkage 20 may define a fixed point, the fixed point may pass through the yaw axis of the yaw mechanism 10, the fixed point is the intersection point of the third link 23 and the virtual link 24, and the virtual link 24 is fixed in position when the parallel linkage 20 moves. The yaw axis of the yaw mechanism 10 may be in the same plane as the central axis of the virtual link 24, thereby defining a first plane 25, and the second link 22 may be located on one side of the first plane 25. The fixed point may be a virtual spatial point whose position is always constant when the manipulator arm 100 moves. The medical device provided on the manipulator arm 100 can be moved all the time around the stationary point, which can alleviate the medical device from pulling on the body tissue of the patient (e.g., the skin inside the nasal cavity) during the movement and reduce the trauma to the body tissue of the patient.

In some cases, since the second link 22 is located at one side of the first plane 25, the second link 22 is spaced apart from the first plane 25 to form an escape space, as shown in fig. 3, which can effectively avoid collision between the manipulating arm 100 and the adjacent manipulating arm 110, thereby facilitating more delicate operation of the manipulating arm 100 or the manipulating arm 110.

As shown in fig. 4 and 5, in some embodiments, the manipulating arm 100 may further include a first driving motor 30 and a first arm 40, one end of the first arm 40 is provided with a first roller 51, a second end of the first arm 40 is provided with a second roller 52, and the first roller 51 and the second roller 52 are in transmission connection. The first roller 51 and the second roller 52 are rotatable relative to the first arm 40. The first driving motor 30 is drivingly connected to the first roller 51. The second roller 52 is fixedly connected to the first link 21. In addition, the swing mechanism 10 may further include a second driving motor 11 and a swing arm 12 in driving connection with the second driving motor 11, and the swing arm 12 is fixedly connected to the first end of the first arm 40.

The first driving motor 30 can be used to provide a driving force to drive the first roller 51 connected thereto to rotate. In some embodiments, the first driving motor 30 may include an output shaft, and the output shaft of the first driving motor 30 may be fixedly connected with the rotating shaft of the first roller 51. When the first driving motor 30 operates, the first roller 51 can be driven to rotate around the central axis of the output shaft of the first driving motor 30. In some embodiments, when the first driving motor 30 is operated, the torque output from the first driving motor 30 may be transmitted to the parallel linkage 20 via the second roller 52 and finally to the third link 23, so that the third link 23 rotates around the stationary point and perpendicular to the axis of the first plane 25 (which may be referred to as the parallel linkage axis).

The second driving motor 11 can be used to provide a driving force to rotate the swing arm 12 fixedly connected to the second driving motor. The swing arm 12 may be an assembly that can rotate a component connected to the swing arm around a specific axis. In some embodiments, the second drive motor 11 may comprise an output shaft and the swing arm 12 may comprise a housing. The output shaft of the second driving motor 11 can be fixedly connected with the housing of the swing arm 12, and when the second driving motor 11 works, the output shaft can transmit the torque to the swing arm 12, so as to drive the swing arm 12 to rotate along the central axis of the output shaft of the second driving motor 11, and therefore, the central axis of the output shaft of the second driving motor 11 can be called as a swing axis. In addition, since the swing arm 12 is fixedly connected to the first arm 40, and the first arm 40 is connected to the first link 21 of the parallel linkage 20, the entire manipulating arm 100 can be rotated along the swing axis under the control of the second drive motor 11.

In some embodiments, the first driving motor 30 may be fixed with the swing arm 12 so that the torque of the second driving motor 11 can be transmitted to the first roller 51 and then transmitted to the second roller 52 via the first roller 51. For example, in the embodiment shown in fig. 4 and 5, the first drive motor 30 may be fixed to the housing of the swing arm 12.

The driving connection between the first roller 51 and the second roller 52 may mean that the first roller 51 and the second roller 52 are connected through a transmission member, and when the first roller 51 rotates around the rotation axis under the driving of the first driving motor 30, the torque can be transmitted to the second roller 52 through the transmission member, so as to drive the second roller 52 to rotate synchronously. In some embodiments, the drive may include a drive cord, a drive belt, a chain, or the like.

It should be noted that, for illustrative purposes only, the first roller 51, the second roller 52, and the like are not the only components capable of achieving the torque transmission described in the present specification. In some embodiments, the first roller 51, the second roller 52, and the like may be replaced with other components, for example, a sprocket. Correspondingly, the transmission part for realizing the transmission connection can be replaced according to the actual type of the component, for example, when the roller is replaced by the chain wheel, the transmission part can comprise a chain which can be meshed with the gear, and the purpose of transmitting the torque can also be realized through the matching of the chain wheel and the chain.

In some embodiments, the central axis directions of the first and second rollers 51 and 52 may be parallel to the thickness direction of the first arm 40. The thickness direction of the first arm 40 can be represented by an arrow X in fig. 4 to 12. As shown in conjunction with fig. 5 and 7, in some embodiments, the first roller 51 and the second roller 52 may be disposed inside the first arm 40. Fig. 7 schematically shows the structure of the complete first arm 40, fig. 5 schematically shows the structure of a part of the first arm 40, and the position relationship between the first roller 51 and the second roller 52 and the first arm 40 can be clearly shown by fig. 5. The first link 21 is connected to the outside of the first arm 40 and fixed opposite to the second roller 52. Because the first roller 51 is in transmission connection with the second roller 52, when the first roller 51 is driven by the first driving motor 30 to rotate, the second roller 52 can be driven to rotate, so that the first connecting rod 21 is driven to rotate around the central axis of the second roller 52 relative to the first arm 40.

In some embodiments, the first link 21 may include a second arm 210, one end of the second arm 210 is fixed to the second roller 52, and the second roller 52 can rotate the second arm 210 relative to the first arm 40. One end of the second arm 210 is provided with a third roller 53, the other end is provided with a fourth roller 54 in transmission connection with the third roller 53, the third roller 53 is fixed relative to the first arm 40, and the fourth roller 54 is fixedly connected with the second connecting rod 22.

In the embodiment, since one end of the second arm 210 is fixed relative to the second roller 52, and the second roller 52 can rotate relative to the first arm 40, when the second roller 52 rotates (for example, driven by the first roller 51), one end of the second arm 210 can be driven to rotate relative to the second end of the first arm 40. Since the third roller 53 at one end of the second arm 210 is fixed relative to the first arm 40, when the second arm 210 rotates relative to the first arm 40, the first arm 40 drives the third roller 53 to rotate relative to the second arm 210. The fourth roller 54 disposed at the other end of the second arm 210 is in transmission connection with the third roller 53, so that the third roller 53 drives the fourth roller 54 to rotate relative to the other end of the second arm 210. Since the fourth roller 54 is fixedly connected to the second link 22, the fourth roller 54 drives the second link 22 to rotate relative to the other end of the second arm 210. Therefore, the torque transmitted to the first roller 51 by the first driving motor 30 is transmitted to the second link 22 through the first roller 51, the second roller 52, the third roller 53 and the fourth roller 54, and the operator can control the movement of the second link 22 by the first driving motor 30.

In some embodiments, the second roller 52 and the third roller 53 may be coaxially disposed. As shown in fig. 5, 7 and 14, in some embodiments, the manipulating arm 100 further includes a first rotating shaft 26, and the first rotating shaft 26 is parallel to or coincident with the central axis of the second roller 52. The first rotating shaft 26 is fixedly connected to the second roller 52 and may pass through the first arm 40 in the thickness direction of the first arm 40 to be fixedly connected to the second arm 210. In some embodiments, the third roller 53 and the fourth roller 54 may be disposed inside the second arm 210. Fig. 7 schematically shows the structure of the complete first arm 40, fig. 5 schematically shows the structure of a part of the second arm 210, and the position relationship between the third roller 53 and the fourth roller 54 and the second arm 210 can be clearly shown in fig. 5. In some embodiments, the third roller 53 is provided with a through hole having a central axis direction coinciding with a central axis direction of the third roller 53, and an inner diameter greater than an outer diameter of the first rotating shaft 26, so that the first rotating shaft 26 can pass through the through holes of the first arm 40 and the third roller 53 to be fixed with the second arm 210, and the first rotating shaft 26 coincides with the central axis direction of the through hole of the third roller 53. In some cases, when the second roller 52 rotates, the second roller 52 may rotate the second arm 210 relative to the first arm 40 via the first rotation shaft 26. Since the third roller 53 is fixed to the first arm 40, the third roller 53 rotates relative to the second roller 52 along the first rotating shaft 26.

In some embodiments, the third roller 53 can be fixedly connected to the first arm 40 by welding, gluing (or welding), screwing, clipping, etc. In some embodiments, the principle of the transmission connection manner of the third roller 53 and the fourth roller 54 may be the same as or similar to that of the transmission connection manner of the first roller 51 and the second roller 52, and will not be described herein again.

In some embodiments, the second link 22 may be connected to a side of the second arm 210 away from the first plane 25. Illustratively, as shown in connection with the embodiment of fig. 5 and 7, the third roller 53 and the fourth roller 54 are both located inside the second arm 210, wherein the second link 22 is fixed outside the second arm 210 by the fourth roller 54.

In some embodiments, the distance between the end of the second arm 210 distal from the first arm 40 (i.e., the end at which the fourth roller 54 is disposed) and the first plane 25 is greater than the distance between the end of the second arm 210 proximal to the first arm 40 (i.e., the end at which the third roller 53 is disposed) and the first plane 25. The distance between the second arm 210 and the first plane 25 as referred to herein may refer to a distance between the midpoint of the second arm 210 in the thickness direction and the first plane 25. In the present embodiment, since the end of the second arm 210 far from the first arm 40 is closer to the first arm 40 than the end of the second arm 210 far from the first arm 40, the distance between the second link 22 connected to the end of the second arm 210 far from the first arm 40 and the first plane 25 is larger, so that the second link 22 can be offset from the first plane 25 by a certain distance (which may be referred to as an offset distance) to form an avoidance space, and the possibility of collision between adjacent control arms (for example, the control arm 100 and the control arm 110 in fig. 3) of the surgical robot 200 is reduced. In some embodiments, the offset distance may be equivalent to the distance between the midpoint of the end of the second arm 210 distal from the first arm 40 and the midpoint of the end of the second arm 210 proximal to the first arm 40 in the thickness direction of the second arm 210.

In some embodiments, the second arm 210 may be disposed at an angle relative to the first arm 40 such that the distance between the end of the second arm 210 distal from the first arm 40 and the first plane 25 is greater than the distance between the end proximal to the first arm 40 and the first plane 25. The second arm 210 is disposed to be inclined with respect to the first arm 40, which may mean that a line connecting an end of the second arm 210 close to the first arm 40 and an end far from the first arm 40 (e.g., a line connecting the first and second rotating shafts 26 and 27) is inclined with respect to the first plane 25.

In other embodiments, the distance between the end of the second arm 210 distal from the first arm 40 and the first plane 25 may be greater than the distance between the end proximal to the first arm 40 and the first plane 25 by increasing the thickness of the end of the second arm 210 distal from the first arm 40. Illustratively, the second arm 210 may be arranged such that the thickness of the second arm 210 gradually increases from an end near the first arm 40 to an end away from the first arm 40.

In some alternative embodiments, the second arm 210 may be disposed obliquely with respect to the first arm 40 while increasing the thickness of the end of the second arm 210 remote from the first arm 40 to further increase the distance between the end of the second arm 210 remote from the first arm 40 and the first plane 25, thereby increasing the size of the bypass space.

In some embodiments, the second arm 210 may include a first sub-arm (not shown) and a second sub-arm (not shown) fixedly connected to the first sub-arm. One end of the first sub-arm may be fixedly connected to the second roller 52, and the other end may be fixedly connected to the second sub-arm. The second sub-arm may be connected to the first sub-arm on a side remote from the first plane 25. The second link 22 may be connected to the second sub-arm on a side remote from the first plane 25. The third roller 53 may be disposed at the first sub-arm, and the fourth roller 54 may be disposed at the second sub-arm. In the present embodiment, the second arm 210 is composed of a first sub-arm and a second sub-arm, and the second sub-arm is fixedly connected to the side of the first arm 40 away from the first plane 25, and since the second sub-arm itself has a thickness, the distance between the second sub-arm and the first plane 25 is greater than the distance between the first sub-arm and the first plane 25. In other embodiments, the second link 22 may be directly connected to the end face of the second sub-arm remote from the first sub-arm.

In some embodiments, a first intermediate wheel (not shown) is disposed at an end of the first sub-arm close to the second sub-arm, and the first intermediate wheel is in transmission connection with the third roller 53. A second intermediate wheel (not shown) is arranged at one end of the second sub-arm close to the first sub-arm, and the second intermediate wheel is in transmission connection with the fourth roller 54. The first intermediate wheel is connected with the second intermediate wheel. In this embodiment, since the first intermediate wheel is connected to the third roller 53 in a transmission manner, when the second arm 210 rotates relative to the first arm 40, the third roller 53 drives the first intermediate wheel to rotate, the first intermediate wheel drives the second intermediate wheel to rotate, and the second intermediate wheel drives the fourth roller 54 to rotate, that is, the third roller 53 is connected to the fourth roller 54 in a transmission manner through the first intermediate wheel and the second intermediate wheel.

In some embodiments, the second link 22 may include a third arm 221 and a fourth arm 222 fixedly connected to the third arm 221. The third arm 221 may be connected to the second arm 210 on a side away from the first plane 25. The fourth arm 222 may be connected to the third arm 221 on a side away from the first plane 25. The third arm 221 may be respectively provided with a fifth roller 55 and a sixth roller 56 in transmission connection with the fifth roller 55 at two ends, and the fifth roller 55 may be fixedly connected with the third arm 221. The fourth roller 54 may be fixedly connected to the third arm 221. The two ends of the fourth arm 222 are respectively provided with a seventh roller 57 and an eighth roller 58 in transmission connection with the seventh roller 57, the seventh roller 57 is fixedly connected with the sixth roller 56, and the eighth roller 58 is fixedly connected with the third connecting rod 23.

In the embodiment, when the fourth roller 54 (driven by the third roller 53) rotates, the fourth roller 54 drives the third arm 221 to rotate along the second arm 210. At this time, since the fifth roller 55 is fixedly connected to the third arm 221, the third arm 221 drives the fifth roller 55 to rotate synchronously relative to the second arm 210, so as to drive the sixth roller 56, which is in transmission connection with the fifth roller 55, to rotate relative to the third arm 221. Since the sixth roller 56 is connected to the seventh roller 57, and the third arm 221 and the fourth arm 222 are fixed, the sixth roller 56 drives the seventh roller 57 to rotate relative to the fourth arm 222, and further drives the eighth roller 58 to rotate relative to the fourth arm 222 through the seventh roller 57, and finally drives the third connecting rod 23 fixedly connected to the eighth roller 58 to rotate relative to the fourth arm 222.

Furthermore, since the third arm 221 is connected to the side of the second arm 210 remote from the first plane 25 and the fourth arm 222 is connected to the side of the third arm 221 remote from the first plane 25, the third arm 221 and the fourth arm 222 themselves have a thickness such that the fourth arm 222 is offset with respect to the third arm 221 by a distance (i.e., offset distance) in a direction away from the first plane 25, which also increases the escape space of the manipulating arm 100. As shown in fig. 9, the midpoint of the fourth arm 222 is offset from the midpoint of the third arm 221 by a distance S in the thickness direction in a direction away from the first plane 25.

In some embodiments, the fourth roller 54 and the fifth roller 55 are coaxially disposed and are capable of relative rotation. As shown in fig. 5 and 14, in some embodiments, the manipulating arm 100 further includes a second rotating shaft 27, the second rotating shaft 27 is fixedly connected to the fourth roller 54, and the second rotating shaft 27 coincides with the central axis of the fourth roller 54. The rotating shaft of the fifth roller 55 is fixed to the third arm 221, the second rotating shaft 27 passes through the second arm 210 and the through hole of the fifth roller 55 to be fixed to the third arm 221, and the second rotating shaft 27 coincides with the central axis direction of the fifth roller 55. When the fourth roller 54 drives the third arm 221 to rotate relative to the second arm 210, the fifth roller 55 can rotate relative to the fourth roller 54 along the second rotation axis 27.

In some embodiments, the sixth roller 56 and the seventh roller 57 are also coaxially disposed. As shown in conjunction with fig. 5, 7, 10, and 14, in some embodiments, the fifth roller 55 and the sixth roller 56 are housed inside the third arm 221. The seventh roller 57 and the eighth roller 58 are accommodated inside the fourth arm 222. The manipulating arm 100 further includes a third rotating shaft 28, one end of the third rotating shaft 28 is rotatably connected to the third arm 221, and the other end thereof is rotatably connected to the fourth arm 222 through the sixth roller 56 and the seventh roller 57 in turn, so that the third arm 221 and the fourth arm 222 are relatively fixed, and the third rotating shaft 28 can rotate relative to the third arm 221 and the fourth arm 222. In addition, the third rotating shaft 28 is fixedly connected with the sixth roller 56 and the seventh roller 57, and the central axis direction of the third rotating shaft 28 and the sixth roller 56 and the central axis direction of the seventh roller 57 are overlapped. This enables the sixth roller 56 and the seventh roller 57 to rotate relative to the third arm 221 and the fourth arm 222 along the third rotation axis 28, and enables the seventh roller 57 to be rotated synchronously when the sixth roller 56 rotates.

As shown in fig. 5, 7, 10 and 14, in some embodiments, the manipulating arm 100 further includes a fourth rotating shaft 29, and the eighth roller 58 and the third link 23 may be fixedly connected through the fourth rotating shaft 29. For example, the fourth rotation shaft 29 may be fixed with the eighth roller 58 and the third link 23 and the fourth rotation shaft 29 may be rotatably connected with the fourth arm 222 to hinge the third link 23 with the fourth arm 222.

In some embodiments, the second link 22 may include an integral fifth arm (not shown) having an end distal from the second arm 210 that is spaced further from the first plane 25 than an end proximal to the second arm 210. In the present embodiment, by making one end of the fifth arm far from the second arm 210 farther from the first plane 25 than the end of the fifth arm near the second arm 210, the distance between the third link 23 connected to the other end of the fifth arm and the first plane 25 is increased, and thus an escape space can be formed between the third link 23 and the first plane 25. In some embodiments, the fifth arm may be disposed at an angle relative to the second arm 210 such that the distance between the end of the fifth arm distal from the second arm 210 and the first plane 25 is greater than the distance between the end proximal to the second arm 210 and the first plane 25. In other embodiments, this may be accomplished by increasing the thickness of the fifth arm away from the second arm 210. In some embodiments, increasing the distance between the end of the fifth arm away from the second arm 210 and the first plane 25 may be the same or similar to increasing the distance between the end of the second arm 210 away from the first arm 40 and the first plane 25, and will not be described herein again.

As shown in fig. 4 to 13, in some embodiments, the third link 23 may include a sliding table 230, the sliding table 230 may be capable of rotating relative to the second link 22, the sliding table 230 may be capable of clamping the medical device 60, and the medical device 60 may pass through the fixed point. In the present embodiment, since the medical instrument 60 always passes through the stationary point, it is possible to reduce the trauma to the body tissue of the patient when the medical instrument 60 moves by the manipulator arm 100 (driven by the first drive motor 30 and/or the second drive motor 11).

In some embodiments, the sliding table 230 is provided with a moving track 231, the moving track 231 is arranged along the length direction of the sliding table 230, and the length direction of the sliding table 230 can be represented by an arrow Y in fig. 6, 8 and 11. After the slide table 230 is set, the medical instrument 60 is allowed to move in the setting direction of the movement rail 231, thereby adjusting the position of the medical instrument 60.

This embodiment may be combined with the first link 21 and the second link 22 in one or more of the foregoing embodiments, so that the medical instrument 60 disposed on the sliding table 230 passes through the stationary point while the avoidance space of the manipulating arm 100 is increased to avoid collision of the sliding table 230 with an adjacent manipulating arm (e.g., the manipulating arm 100 and the manipulating arm 110 in fig. 3), thereby ensuring that the stationary point is always located on the yaw axis of the yaw mechanism 10.

In some embodiments, the sliding platform 230 may be located on one side of the first plane 25, and the actuator 70 may be disposed on the sliding platform 230, and the actuator 70 may be drivingly connected to the medical instrument 60 through the universal joint 80. The actuator 70 may refer to a component having a specific function connected to the joint edge of the manipulating arm 100, for example, in the embodiment shown in fig. 4 to 13, the actuator 70 is disposed on the moving track 231 of the sliding table 230, can slide along the moving track 231, and can be used for clamping the medical instrument 60. So as to control the position of the medical instrument 60 by controlling the movement of the actuator 70 along the movement track 231 of the slide table 230. The universal joint 80 may refer to a mechanism for variable angle power transmission for changing the direction of the drive axis. For example, in the embodiment shown in fig. 11, the central axis of the medical instrument 60 and the central axis of the actuator 70 do not coincide, but are connected by the universal joint 80, so that the torque of the actuator 70 can be transmitted to the medical instrument 60, and the control of the medical instrument 60 can be realized.

Referring to fig. 6, 8, 11 and 15-16, in some embodiments, the universal joint 80 may include a first connecting shaft 81, a second connecting shaft 82 and a third connecting shaft 83 connected in sequence, the first connecting shaft 81 being drivingly connected to the actuator 70, and the third connecting shaft 83 being connected to the medical instrument 60. The central axis of the first connecting shaft 81 is parallel to the central axis of the third connecting shaft 83. The first connecting shaft 81 and the second connecting shaft 82 and the third connecting shaft 83 are connected by a flexible joint. The flexible joint can convert the rotation on the first connecting shaft 81 into the rotation of the third connecting shaft 83.

In some embodiments, the distance between the central axis α of the first connecting shaft 81 and the central axis β of the third connecting shaft 83 may be equal to the offset distance. Herein, a distance between the central axis α of the first connecting shaft 81 and the central axis β of the third connecting shaft 83 may be referred to as a correction distance. In one or more embodiments of the present disclosure, the first link 21 and the second link 22 are modified to provide the manipulator arm 100 with a certain clearance space, which may cause the medical instrument 60 to deviate from the yaw axis (i.e., the medical instrument 60 does not pass through the yaw axis), and the actuator 70 and the medical instrument 60 are connected by the universal joint 80, so that the central axis of the medical instrument 60 can be offset in a direction approaching the first plane 25 by a distance (e, as shown in fig. 11, the correction distance is e), which is just equal to the offset distance (S, as shown in fig. 9), thereby ensuring that the medical instrument 60 passes through the yaw axis and the motionless point is always located on the yaw axis.

In some embodiments, the flexible joints include a first flexible joint 84 and a second flexible joint 85, the first flexible joint 84 being used to articulate the first connecting shaft 81 with the second connecting shaft 82, and the second flexible joint 85 being used to articulate the second connecting shaft 82 with the third connecting shaft 83. The first flexible joint 84 and the second flexible joint 85 each include a first hinge 86 and a second hinge 87 connected to each other, and a central axis α of the first hinge 86 is perpendicular to a central axis β of the second hinge 87. Taking the first flexible joint 84 as an example, the first hinge 86 of the first flexible joint 84 is fixed to the first connecting shaft 81, the second hinge 87 is fixed to the second connecting shaft 82, and since the first hinge 86 is hinged to the second hinge 87, the rotation of the first connecting shaft 81 (i.e., the rotation of the first connecting shaft 81 about the central axis of the first connecting shaft 81) can be converted into the rotation of the second connecting shaft 82 (i.e., the rotation of the second connecting shaft 82 about the central axis of the second connecting shaft 82). Similarly, the rotation of the second connecting shaft 82 can be converted into the rotation of the third connecting shaft 83 (i.e. the rotation of the third connecting shaft 83 around the central axis of the third connecting shaft 83) by the second flexible joint 85, and finally the medical device 60 is driven to rotate around the central axis of the third connecting shaft 83.

In some embodiments, the flexible joint, the first connecting shaft 81, the second connecting shaft 82, and the third connecting shaft 83 may be respectively provided with through holes, and the through holes may be used for disposing other components, such as steel wires, electric wires, and water pipes.

In some embodiments, the parallelogram linkage 20 may define a parallelogram and the fixed point may be one of the vertices of the parallelogram. The perpendicular points of the stationary point with respect to the axis of rotation between two adjacent links may be the other three vertices of the parallelogram. The yaw axis may lie in the plane of the parallelogram.

In some embodiments, since the virtual link 24 is a connection line between the fixed point and the rotation axis of the second roller 52 (e.g., a perpendicular line from the fixed point to the rotation axis of the second roller 52), and the second roller 52 pulls the third arm 221 and the fourth arm 222 to rotate relative to the second arm 210 when rotating, the third arm 221 and the fourth arm 222 (i.e., the third link 23) are always parallel to the virtual link 24. The parallel here means that a line connecting the rotation axis of the eighth roller 58 and the rotation axis of the fifth roller 55 (e.g., a perpendicular line between the second rotation axis 27 and the fourth rotation axis 29) is parallel to the virtual link 24. In some embodiments, when the second roller 52 of the manipulating arm 100 of the present disclosure rotates, the second arm 210 can be driven to rotate relative to the first arm 40, so that the third roller 53 fixed to the first arm 40 rotates relative to the second arm 210, and the fourth roller 54 drives the third arm 221 to rotate relative to the second arm 210. The fifth roller 55 is fixedly connected with the third arm 221, the fifth roller 55 is in transmission connection with the sixth roller 56, the sixth roller 56 is connected with the seventh roller 57, the seventh roller 57 is in transmission connection with the eighth roller 58, and the eighth roller 58 is connected with the sliding table 230, so that when the second roller 52 rotates, torque can be transmitted to the sliding table 230 through the second arm 210, the third roller 53, the fourth roller 54, the third arm 221, the fifth roller 55, the sixth roller 56, the seventh roller 57, and the eighth roller 58 in sequence to form rotation of the sliding table 230, and therefore a connection line between the rotating shaft of the eighth roller 58 and the far-end stationary point (for example, a vertical line between the fourth rotating shaft 29 and the stationary point) is always parallel to the second arm 210 (for example, a vertical line between the first rotating shaft 26 and the second rotating shaft 27). Thus, the parallel linkage 20 presents two pairs of parallel sides, and the parallel linkage 20 can define a parallelogram.

In some embodiments, the rotation axes of the first and second links 21 and 22 may be rotation axes (e.g., the second rotation axis 27) of the coaxially disposed fourth and fifth rollers 54 and 55, the perpendicular point of the motionless point to the second rotation axis 27 may be one of vertexes, and the perpendicular point of the motionless point to the second rotation axis 27 may be an intersection point of a perpendicular line from the motionless point to the second rotation axis 27 and the second rotation axis 27. The rotation axis of the second link 22 and the third link 23 may be a rotation axis of the eighth roller 58 (e.g., the fourth rotation axis 29), the vertical point of the stationary point to the fourth rotation axis 29 may be one of vertexes, and the vertical point of the stationary point to the fourth rotation axis 29 may be an intersection point of a vertical line from the stationary point to the fourth rotation axis 29 and the fourth rotation axis 29. The rotation axes of the virtual link 24 and the first link 21 may be rotation axes (e.g., the first rotation axis 26) of the second and third rollers 52 and 53 which are coaxially disposed, the vertical point of the motionless point to the first rotation axis 26 may be one of vertexes, and the vertical point of the motionless point to the first rotation axis 26 may refer to an intersection point of a vertical line from the motionless point to the first rotation axis 26 and the first rotation axis 26.

The manipulator arm and the surgical robot of the embodiments of the present disclosure may have beneficial effects including, but not limited to: (1) the distance between one end of the second arm far away from the first arm and the first plane is larger than that between one end of the second arm close to the first arm and the first plane, so that the distance between one end of the second arm far away from the first arm and the second connecting rod and the first plane is increased, an avoidance space and an operation space are formed, and the possibility of collision of the control arm is reduced; (2) because the virtual motionless point exists, when a doctor adjusts the position and the angle of the medical instrument, the motionless point is kept still all the time, the drag on the body tissue of the patient can be reduced, and the trauma to the patient is reduced; (3) the actuator and the medical instrument are connected through the universal joint, the correction distance of the universal joint is equal to the offset distance of the first connecting rod or the second connecting rod, and the immovable point is guaranteed to be located on the yaw axis all the time while an avoidance space is formed.

The above description is only for the purpose of illustrating the preferred embodiments of the present disclosure and is not to be construed as limiting the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and scope of the present disclosure are intended to be included within the scope of the present disclosure.

Claims (11)

1. The manipulator arm of the surgical robot is characterized by comprising a deflection mechanism and a parallel linkage mechanism which are connected with each other, wherein the parallel linkage mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a virtual connecting rod, and the first connecting rod, the second connecting rod and the third connecting rod are sequentially in transmission connection;

the deflection mechanism and the parallel linkage mechanism define an immobile point, the immobile point passes through a deflection axis of the deflection mechanism, the immobile point is an intersection point of the third connecting rod and the virtual connecting rod, and the position of the virtual connecting rod is unchanged when the parallel linkage mechanism moves;

the yaw axis and the virtual link form a first plane, and the second link is located on one side of the first plane.

2. A manipulator arm according to claim 1,

the control arm further comprises a first driving motor and a first arm, a first roller is arranged at the first end of the first arm, a second roller is arranged at the second end of the first arm, the first roller is in transmission connection with the second roller, the first roller and the second roller can rotate relative to the first arm, the first driving motor is in driving connection with the first roller, and the second roller is fixedly connected with the first connecting rod;

the deflection mechanism comprises a second driving motor and a deflection arm in driving connection with the second driving motor, and the deflection arm is fixedly connected with the first end of the first arm.

3. An operating arm according to claim 2,

the first connecting rod comprises a second arm, one end of the second arm is fixed relative to the second roller, and the second roller can drive the second arm to rotate relative to the first arm;

and a third roller is arranged at one end of the second arm, a fourth roller in transmission connection with the third roller is arranged at the other end of the second arm, the third roller is relatively fixed with the first arm, and the fourth roller is fixedly connected with the second connecting rod.

4. A manipulator arm according to claim 3, wherein the second link is connected to a side of the second arm remote from the first plane.

5. A manipulator arm according to claim 4,

the second connecting rod comprises a third arm and a fourth arm fixedly connected with the third arm, the third arm is connected to one side, far away from the first plane, of the second arm, and the fourth arm is connected to one side, far away from the first plane, of the third arm;

a fifth roller and a sixth roller in transmission connection with the fifth roller are respectively arranged at two ends of the third arm, the fifth roller is fixedly connected with the third arm, and the fourth roller is fixedly connected with the third arm;

and a seventh roller and an eighth roller in transmission connection with the seventh roller are respectively arranged at two ends of the fourth arm, the sixth roller is fixedly connected with the seventh roller, and the eighth roller is fixedly connected with a third connecting rod.

6. A manipulator arm according to claim 4, wherein the second link comprises a complete fifth arm, the distance between an end of the fifth arm remote from the second arm and the first plane being greater than the distance between an end of the fifth arm proximal to the second arm and the first plane.

7. The manipulator arm of claim 1, wherein the third link includes a ramp that is rotatable relative to the second link, the ramp being capable of gripping a medical instrument that passes through the stationary point.

8. The manipulator arm according to claim 7, wherein the slide table is located on one side of the first plane, and an actuator is disposed on the slide table and is in transmission connection with the medical instrument through a universal joint.

9. A manipulator arm according to claim 1, wherein the parallelogram defines a fixed point which is one of the vertices of the parallelogram and the perpendicular points of the fixed point to the axes of rotation between two adjacent links are the other three vertices of the parallelogram;

the deflection axis is located on the plane of the parallelogram.

10. A surgical robot, comprising: a manipulator arm according to any one of claims 1 to 9.

11. A surgical robot as claimed in claim 10, comprising a plurality of manipulator arms arranged in spaced apart relation, wherein a manipulator arm as claimed in any of claims 1 to 9 is provided on at least one side of the plurality of manipulator arms.

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