WO2018108153A1 - 具有双自由度的机械臂和手术机器人 - Google Patents

具有双自由度的机械臂和手术机器人 Download PDF

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Publication number
WO2018108153A1
WO2018108153A1 PCT/CN2017/116480 CN2017116480W WO2018108153A1 WO 2018108153 A1 WO2018108153 A1 WO 2018108153A1 CN 2017116480 W CN2017116480 W CN 2017116480W WO 2018108153 A1 WO2018108153 A1 WO 2018108153A1
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WO
WIPO (PCT)
Prior art keywords
rotating shaft
support rod
shaft
rotating
arm
Prior art date
Application number
PCT/CN2017/116480
Other languages
English (en)
French (fr)
Inventor
何超
戴婷萍
袁帅
Original Assignee
微创（上海）医疗机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 微创（上海）医疗机器人有限公司 filed Critical 微创（上海）医疗机器人有限公司
Priority to BR112019011283-9A priority Critical patent/BR112019011283B1/pt
Priority to US16/470,150 priority patent/US10773380B2/en
Priority to EP17880696.4A priority patent/EP3556314B1/en
Publication of WO2018108153A1 publication Critical patent/WO2018108153A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms

Definitions

  • the present invention relates to a robotic arm of a microtrauma surgical robot and/or a surgical instrument, and more particularly to a robotic arm and a surgical robot having dual degrees of freedom.
  • Microtrauma surgery is a new technique for delivering a slender laparoscopic, thoracoscopic, and surgical instrument into a patient through a small incision. It has the advantages of small wound, light pain, quick recovery, short hospital stay and less bleeding.
  • microtrauma surgery has so many advantages over traditional surgery, early microtrauma surgery is limited to small wounds on the surface of the body, the doctor's operating space is relatively reduced, and the doctor is operating the device under the endoscope. The direction of operation is opposite to the desired direction observed under the endoscope. This defect greatly increases the difficulty of surgery, and the doctor needs long-term training to operate the device smoothly.
  • Chinese patent CN103565529A describes a mechanical arm using a double parallelogram mechanism to achieve a fixed point at the end of the instrument.
  • the double parallelogram fixed point mechanism has only one degree of freedom, and the instrument can only perform a range of swing motion around the fixed point.
  • the Chinese patent CN101919739A adopts the double parallelogram mechanism of the connecting rod, completes a mechanical arm with a large moving space, and enables the fixed point to be offset, but the movement of the instrument at the fixed point still has only one degree of freedom.
  • the present invention provides a mechanical arm having two degrees of freedom
  • the mechanical arm having two degrees of freedom includes: a support structure, a first transmission structure, a second transmission structure, and a linkage structure;
  • the support structure includes a suspension support rod, a boom support rod, a middle arm support rod, and an arm support rod And instrument components;
  • the suspension support rod is rotatably connected to the boom support rod through a first rotating shaft, and the boom support rod is rotatably connected to the middle arm support rod through a second rotating shaft, and the middle arm support rod passes through a three-axis pivotally coupled to the arm support rod, the instrument component comprising an instrument support and an instrument mounting rod disposed on the instrument support, the arm support rod passing through the fourth shaft and the instrument support Rotating the connection, the axis of the first rotating shaft is perpendicular to the axes of the second rotating shaft, the third rotating shaft and the fourth rotating shaft;
  • the first transmission structure is configured to control the middle arm support rod to swing relative to the boom support rod;
  • the second transmission structure is configured to control the arm support rod to swing relative to the middle arm support rod;
  • the linkage structure includes a slider, a first link, a second link, a third link, and a third transmission structure, wherein
  • the slider is rotatably connected to the boom support rod through a fifth rotating shaft
  • the first link is slidably coupled to the slider
  • a proximal end side of the first link passes through the fifth rotating shaft.
  • the proximal end of the second link is rotatably connected to the middle arm support rod through a sixth rotating shaft
  • the second link is rotatably connected to the proximal end of the third link through a seventh rotating shaft, the third connection
  • the distal end of the rod is rotatably coupled to the arm support rod via an eighth shaft
  • the axis connecting the sixth rotating shaft, the seventh rotating shaft, the eighth rotating shaft and the third rotating shaft is a parallelogram.
  • the third transmission structure includes a first rotating wheel, a second rotating wheel, a third rotating wheel, a fourth rotating wheel and a first flexible member, wherein
  • the second rotating wheel is rotatably connected to the second connecting rod through a ninth rotating shaft, and the second rotating wheel is fixedly connected with a distal end of the first connecting rod, and the first rotating wheel passes through a fourth rotating shaft With the arm support
  • the brace is rotatably connected, and the first reel rotates synchronously with the instrument support, and the second reel is equal in diameter to the first reel,
  • the third rotating wheel is connected to the seventh rotating shaft, the fourth rotating wheel is connected to the eighth rotating shaft, the third rotating wheel and the fourth rotating wheel are equal in diameter, and the first flexible member is respectively Engaging with the first reel and the second reel, and the first flexible member passes from a side of the third reel and the fourth reel remote from the instrument component;
  • a first ratio between the axial distance of the second rotating shaft and the sixth rotating shaft and the axial distance between the second rotating shaft and the third rotating shaft the first ratio being configured as a first ratio
  • a second ratio between the axial distance of the seventh rotating shaft and the sixth rotating shaft, and the axial distance between the sixth rotating shaft and the ninth rotating shaft wherein the second ratio is configured as the first ratio
  • a vertical line segment between the ninth shaft axis and the proximal side of the first link forms a first line segment
  • the fourth shaft forms a second line segment to the perpendicular portion of the instrument mounting rod.
  • a third ratio exists between the length of the first line segment and the second line segment, and the third ratio is configured as the first ratio
  • the seventh rotating shaft is located below a first line formed by the axes of the sixth rotating shaft and the ninth rotating shaft, and the first connecting line and the shaft of the sixth rotating shaft and the seventh rotating shaft a second line formed by the heart forms a first angle, the first angle is configured as a first angle value; and the sixth axis is formed on an axis of the second shaft and the third shaft a proximal end of the three wires, and a third line formed by the third line and the axis of the second shaft and the sixth shaft forms a second angle, the second angle being configured as a first angle value; a third angle formed between the parallel line passing through the fourth rotation axis and parallel to the first line segment and the second line segment, the third angle being configured as a first angle value, and The parallel line rotates the first angle value clockwise to the second line segment.
  • the first transmission structure comprises: a first power component, a tenth rotating shaft, a fifth rotating wheel, a sixth rotating wheel and a second flexible member, wherein ,
  • the tenth rotating shaft is disposed on the boom support rod, and the fifth rotating wheel is disposed on the tenth turn On the shaft, the sixth rotating wheel is rotatably connected to the boom support rod through a second rotating shaft, and rotates synchronously with the middle arm support rod, and the second flexible member and the fifth rotating wheel respectively
  • the sixth rotor is fixedly coupled, and an output shaft of the first power component is coupled to the tenth shaft to drive the tenth shaft.
  • the first transmission structure further includes a first braking component, and the first braking component brakes the first transmission structure.
  • the first braking component is mounted on the tenth rotating shaft.
  • the first rotating shaft is disposed at a proximal end of the boom support rod.
  • the dual-degree-of-freedom mechanical arm further includes a second power component, and the first rotating shaft is fixedly connected to the output shaft of the second power component. ,and / or,
  • the robot arm further includes a first bearing, and the first bearing is sleeved on the first rotating shaft.
  • the second transmission structure includes: a third power component, an eleventh rotating shaft, a seventh rotating wheel, an eighth rotating wheel, and a third flexible member. among them,
  • the eleventh rotating shaft is disposed on the middle arm support rod, the seventh rotating wheel is disposed on the eleventh rotating shaft, and the eighth rotating wheel passes the third rotating shaft and the middle arm supporting rod Rotating and rotating in synchronization with the arm support rod, the third flexible member being fixedly coupled to the seventh rotating wheel and the eighth rotating wheel, respectively, an output shaft of the third power component and the The eleventh shaft is coupled to drive the eleventh shaft.
  • the second transmission structure further includes a second braking component, and the second braking component brakes the second transmission structure.
  • the linkage mechanism further includes a fourth a connecting rod, the fourth link is rotatably connected to the second link through a twelfth rotating shaft, and is rotatably connected to the arm supporting rod through a thirteenth rotating shaft, the seventh rotating shaft, the eighth
  • the connecting line of the rotating shaft, the thirteenth rotating shaft and the twelfth rotating shaft axis is a parallelogram.
  • the double-degree-of-freedom mechanical arm further includes a base support rod, and the base support rod passes through the fourteenth rotating shaft and the suspension support The rod is rotationally coupled, and an axis of the fourteenth rotating shaft is perpendicular to an axis of the second rotating shaft, the third rotating shaft, and the fourth rotating shaft.
  • the axis of the fourteenth rotating shaft is coplanar with the axis of the first rotating shaft.
  • the first ratio is 1/12 to 1/2.
  • the first angle value is 0 to 30 degrees.
  • the present invention also provides a surgical robot including a tool arm which is any one of the above-described robot arms having two degrees of freedom.
  • the arm member is swung by the driving of the second transmission structure, thereby realizing the telescopic movement of the relative fixed point; the middle arm is driven by the driving of the first transmission structure
  • the component is oscillated, and the instrument member is oscillated by the first flexible member to achieve an oscillating motion around the fixed point, that is, the double-degree-of-freedom mechanical arm realizes double degrees of freedom of expansion and contraction.
  • FIG. 1 is a schematic structural view of a mechanical arm having two degrees of freedom according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic view showing the internal structure of a mechanical arm having two degrees of freedom according to Embodiment 1 of the present invention
  • Figure 3 is a partial enlarged view of a mechanical arm having two degrees of freedom according to a first embodiment of the present invention
  • FIG. 4 is a schematic view showing another structure of a robot arm having double degrees of freedom according to Embodiment 1 of the present invention.
  • Figure 5 is a schematic structural view of a mechanical arm having two degrees of freedom according to a second embodiment of the present invention.
  • a suspension support rod 10 a boom support rod 20, a middle arm support rod 30, an arm support rod 40, an instrument support base 50, an instrument mounting rod 51, a base support rod 60; a first shaft 101, a second rotating shaft 102, a third rotating shaft 103, a fourth rotating shaft 104, a fifth rotating shaft 105, a sixth rotating shaft 106, a seventh rotating shaft 107, an eighth rotating shaft 108, a ninth rotating shaft 109, a tenth rotating shaft 110, and an eleventh rotating shaft 111;
  • distal refers to one end near the fixed point
  • proximal refers to one end away from the fixed point, unless otherwise specified.
  • FIG. 1 is a schematic structural view of a mechanical arm having dual degrees of freedom according to a first embodiment of the present invention
  • FIG. 2 is a cross-sectional view showing a mechanical arm having dual degrees of freedom according to a first embodiment of the present invention
  • 3 is a partially enlarged view of a robot arm having two degrees of freedom according to a first embodiment of the present invention.
  • the mechanical arm with double degrees of freedom includes: a support structure for supporting the mechanical arm, and a first transmission structure for driving the mechanical arm to swing around the fixed point for driving the machine.
  • the mechanical arm swings around the fixed point and the telescopic movement with respect to the fixed point can be achieved by the combination of the above components.
  • the support structure includes a suspension support rod 10, a boom support rod 20, a middle arm support rod 30, an arm support rod 40, and an instrument component, and the suspension support rod 10 passes through the first rotating shaft 101 and the large
  • the arm support rod 20 is rotatably connected, and the boom support rod 20 is rotatably coupled to the middle arm support rod 30 via a second rotating shaft 102, and the middle arm support rod 30 passes through the third rotating shaft 103 and the arm support rod 40.
  • the instrument component includes an instrument support base 50 and an instrument mounting rod 51 disposed on the instrument support base 50.
  • the arm support rod 40 is rotatably coupled to the instrument support base 50 via a fourth rotating shaft 104.
  • the axis of the first rotating shaft 101 is perpendicular to the axes of the second rotating shaft 102, the third rotating shaft 103, and the fourth rotating shaft 104.
  • a proximal end of the suspension support bar 10 is provided with a second power component 602 to drive rotation of the boom support bar 20.
  • proximal end means that the suspension support rod 10 is near one end of the boom support rod 20.
  • the proximal end of the suspension support rod 10 is further provided with a third brake member 701 for braking the rotation of the boom support rod 20.
  • the third brake component 701 is coupled to the suspension support bar 10 and the boom support bar 20, and when the third brake component 701 is in a released state, the boom support bar 20 is capable of moving relative to the suspension support rod 10, and when the third brake member 701 is in a braking state, the third brake member 701 and the boom support rod 20 generate sufficient friction.
  • the suspension support bar 10 further includes a first bearing 801 for better supporting the boom support bar 20 to reduce rotational friction.
  • the arm support rod 40 is coupled to the middle arm support rod 30 via the third rotating shaft 103. Further, the arm support rod 40 is fixedly connected to the eighth reel 208 through the third rotating shaft 103 or directly connected to the eighth reel 208, so that the arm supporting rod 40 and the eighth rotating wheel are fixed. 208 rotates synchronously. In addition, the distal end of the arm support rod 40 is provided with a fourth rotating shaft 104 that is rotatably coupled to the instrument component.
  • the instrument component includes an instrument support 50 and an instrument mounting bar 51 disposed on the instrument support 50.
  • the instrument support base 50 is rotatably coupled to the arm support rod 40 via a fourth shaft 104.
  • the perpendicular portion of the axis of the fourth rotating shaft 104 to the axis of the instrument mounting rod 51 forms a second line segment. It will be readily understood that the position of the axis of the instrument mounting rod 51 can be known by knowing the position and length of the second line segment.
  • the first transmission structure is for controlling the swing of the middle arm support bar 30.
  • the first transmission structure includes a first power component 601, a tenth rotating shaft 110, a fifth rotating wheel 205, a sixth rotating wheel 206, and a second flexible member 402.
  • the tenth rotating shaft 110 is disposed on the boom supporting rod 10, for example, the proximal end of the boom supporting rod 10
  • the fifth rotating wheel 205 is disposed on the tenth rotating shaft 110.
  • the sixth reel 206 is rotatably coupled to the boom support rod 20 via the second rotating shaft 102 and rotates synchronously with the middle arm support rod 30.
  • the sixth reel 206 and the middle arm support rod 30 are both fixedly connected with the second rotating shaft 102, or the sixth rotating wheel 206 is directly connected with the middle arm supporting rod 30 to achieve synchronous rotation.
  • the second flexible member 402 is fixedly coupled to the fifth reel 205 and the sixth reel 206, respectively.
  • "fixed connection" means that the second flexible member 402 surrounds the fifth reel 205 and the sixth reel 206, and with the fifth reel 205 and the sixth reel There is no relative sliding between the 206s, ensuring that the fifth reel 205 and the sixth reel 206 can form a fixed transmission ratio.
  • the first power component 601 is configured to drive the tenth rotating shaft 110, and passes through the fifth rotating wheel 205, the second flexible member 402, the sixth rotating wheel 206, and the second rotating shaft 102, Driving of the middle arm support bar 30 is achieved.
  • the first power component 601 The output shaft is directly connected to the tenth rotating shaft 110, or the output shaft of the first power component 601 and the tenth rotating shaft 110 are connected by a transmission mechanism.
  • the first transmission structure further includes a first braking component such that the first transmission structure is also in a braking state when the first braking component is in a braking state.
  • the present invention does not limit the installation position of the first brake component, and only needs to ensure that the first brake component can ensure that the first transmission structure is in a braking state in a braking state.
  • the object to which the first brake member functions in the present invention is not particularly limited as long as one of the fifth reel 205, the sixth reel 206, and the second flexible member 402 is realized or The braking of multiple components is sufficient.
  • the first braking component is mounted coaxially with the tenth rotating shaft 110 for braking the tenth rotating shaft 110.
  • the second transmission structure is for controlling the swing of the arm support rod 40.
  • the second transmission structure includes a third power component 603, an eleventh rotating shaft 111, a seventh rotating wheel 207, an eighth rotating wheel 208, and a third flexible member 403.
  • the eleventh rotating shaft 111 is disposed on the middle arm supporting rod 30, for example, the proximal end of the middle arm supporting rod 30, and the seventh rotating wheel 207 is disposed on the eleventh rotating shaft 111. That is, the eleventh rotating shaft 111 is disposed on a side of the middle arm support rod 30 close to the second rotating shaft 102.
  • the eighth reel 208 is rotatably coupled to the middle arm support rod 30 via the third rotating shaft 103, and rotates in synchronization with the arm support rod 40.
  • the eighth reel 208 and the arm support rod 40 are both fixedly connected with the third rotating shaft 103, or the eighth rotating wheel 208 is directly connected with the small arm supporting rod 40 to achieve synchronous rotation.
  • the third flexible member 403 is fixedly coupled to the seventh reel 207 and the eighth reel 208, respectively.
  • the term "fixed connection" as used herein means that the third flexible member 403 surrounds the seventh reel 207 and the eighth reel 208, and the seventh reel 207 and the eighth reel There is no relative sliding between the two 208s to ensure that the seventh reel 207 and the eighth reel 208 can form a fixed transmission ratio.
  • An output shaft of the third power component 603 is coupled to the eleventh rotating shaft 111 to drive the eleventh rotating shaft 111, and simultaneously passes through the seventh rotating wheel 207, the third flexible member 403, the eighth rotating wheel 208, and the a three-axis 103 for driving the arm support rod 40 move.
  • the output shaft of the third power member 603 is directly fixedly coupled to the eleventh rotating shaft 111, and may be coupled to the eleventh rotating shaft 111 via a transmission mechanism.
  • the second transmission structure further includes a second braking component such that the second transmission structure is also in a braking state when the second braking component is in a braking state.
  • the present invention does not limit the installation position of the second brake component, and it is only necessary to ensure that the second brake component can ensure that the second transmission structure is in a braking state in the braking state. Further, in the second braking member of the present invention, it is only necessary to perform braking for one or more of the seventh reel 207, the eighth reel 208, and the third flexible member 403. In the embodiment, the second brake member is mounted coaxially with the eleventh rotating shaft 111 for braking the eleventh rotating shaft 111.
  • the linkage structure includes a slider 501, a first link 301, a second link 302, a third link 303, and a third transmission structure.
  • the slider 501 is rotatably coupled to the boom support rod 20 via a fifth rotating shaft 105
  • the first link 301 is slidably coupled to the slider 501
  • the first link 301 passes the The fifth rotating shaft 105.
  • the first link 301 has a proximal side away from the instrument component and a distal side proximate the instrument component, here the plane through which the proximal side of the first link 301 lies
  • the fifth rotating shaft 105 is described.
  • the "sliding connection” means that the first link 301 and the slider structure 501 constitute a rail slider structure, that is, the direction in which the first link 301 can only be restrained along the slider structure 501. mobile.
  • the proximal end of the second link 302 is rotatably connected to the middle arm support rod 30 through the sixth rotating shaft 106, and is rotatably connected to the proximal end of the third link 303 through the seventh rotating shaft 107.
  • the distal end of the third link 303 is rotatably coupled to the arm support rod 40 via an eighth shaft 108.
  • near end obviously means that the third link 303 is close to one end of the second link 302, and “distal end” is the end of the third link 303 away from the second link 302.
  • the axis connecting the sixth rotating shaft 106, the seventh rotating shaft 107, the eighth rotating shaft 108 and the third rotating shaft 103 is a parallelogram.
  • the vertical line segment between the proximal side faces of the 301 forms a first line segment
  • the axis of the fourth rotating shaft 104 to the perpendicular portion of the instrument mounting rod 51 forms a second line segment, the length of the first line segment and the length of the first line segment
  • the third ratio is configured as the first ratio.
  • the first ratio ranges from 1/12 to 1/2, more preferably 1/6.
  • the third transmission structure includes a first reel 201, a second reel 202, a third reel 203, a fourth reel 204, and a first flexible member 401.
  • the second rotating wheel 202 is rotatably connected to the second connecting rod 302 through the ninth rotating shaft 109, and the second rotating wheel 202 is fixedly connected to the distal end of the first connecting rod 301.
  • the first rotating wheel 201 is rotatably connected to the arm support rod 40 via a fourth rotating shaft 104, and the first rotating wheel 201 is fixedly connected to the instrument supporting base 50 through the fourth rotating shaft 104 or directly.
  • the instrument support base 50 is rotated in synchronization with the first reel 201.
  • the second reel 202 is equal in diameter to the first reel 201.
  • the third rotating wheel 203 is connected to the seventh rotating shaft 107, and the fourth rotating wheel 204 is connected to the eighth rotating shaft 108.
  • the third rotating wheel 203 and the fourth rotating wheel 204 have the same diameter.
  • the first flexible member 401 is respectively sleeved with the first rotating wheel 201 and the second rotating wheel 202, and the force between each other is sufficiently large to make the first flexible member 401 and the first rotating wheel 201 Synchronous movement with the second reel 202 without relative displacement, and the first flexible member 401 passes from the side of the third reel 203 and the fourth reel 204 remote from the instrument component .
  • the lines of the axes of the four reels 204 are parallel to each other. That is, the first flexible member 401 is from the third reel 203 and the One side of the fourth reel 204 passes, and a first covering angle is formed with the third reel 203, and a second covering angle is formed with the fourth reel 204, and the driving force acts on the sliding
  • the block structure 501 or the first power component 601 drives the fifth reel 205 and the third power component 603 to drive the seventh reel 207, the variation value of the first cladding angle and the second cladding angle.
  • the value of the change is numerically equal.
  • the second link 302 is a folding rod. That is, the seventh rotating shaft 107 is located below the first line formed by the axes of the sixth rotating shaft 106 and the ninth rotating shaft 109, and the first connecting line and the sixth rotating shaft 106 and the first The first angle formed by the second line formed by the axis of the seven-axis 107 is configured as a first angle value. That is, the second connecting wire rotates counterclockwise around the axis of the sixth rotating shaft 106 by a first angle value and then coincides with the first connecting line.
  • the sixth rotating shaft 106 is located on the left side of the third connecting line formed by the axial centers of the second rotating shaft 102 and the third rotating shaft 103, and the third connecting line and the second rotating shaft A second angle formed by the fourth line formed by the axis of 102 and the sixth rotating shaft 106 is configured as the first angle value. That is, the fourth wire is rotated clockwise around the axis of the sixth rotating shaft 106 by a first angle value and then coincides with the third wire. Meanwhile, a third angle between the parallel line passing through the fourth rotating shaft 104 and parallel to the first line segment and the second line segment is configured as a first angle value, and the parallel line rotates the first angle clockwise After the value to the second line segment.
  • the first angle value ranges from 0 to 30 degrees, more preferably 15 degrees.
  • the line connecting the axis of the second rotating shaft 102 and the fifth rotating shaft 105 rotates the first angle value clockwise with the second rotating shaft 102 as an end point and the instrument mounting rod
  • the intersection of the 51 axis is the fixed point D (see Figure 1).
  • the arm support rod 40 is swung by the driving of the third power component 603 to realize the telescopic movement of the relative fixed point D; the middle arm support rod 30 is swung by the driving of the first power component 601,
  • the instrument member is then oscillated by the first flexible member 401 to achieve an oscillating motion about the fixed point D, that is, the double-degree-of-freedom mechanical arm realizes a double degree of freedom of expansion and contraction.
  • the support structure of the mechanical arm with double degrees of freedom further includes a base support rod 60, and the base support rod 60 is disposed on the suspension
  • the fourteenth rotating shaft 114 at the distal end of the support rod 10 is rotatably coupled to the suspension support rod 10, and the axis of the fourteenth rotating shaft 114 is perpendicular to the axes of the second rotating shaft 102, the third rotating shaft 103, and the fourth rotating shaft 104.
  • the axis of the fourteenth rotating shaft 114 is coplanar with the axis of the first rotating shaft 101.
  • distal end herein is meant the end of the suspension support bar 10 adjacent the base support bar 60.
  • the base support rod 60 is further provided with a second bearing 802, which can better support the suspension support rod 10 and reduce rotational friction.
  • the base support bar 60 is further provided with a fourth brake member 702 for braking the rotation of the suspension support bar 10. Specifically, when the fourth braking component 702 is in the released state, the suspension support bar 10 can move relative to the base support bar 60 when the fourth brake component 702 is in a braking state. The fourth braking component 702 forms sufficient friction with the suspension support bar 10 to ensure that the suspension support bar 10 and the base support bar 60 do not rotate relative to each other.
  • the suspension support rod 10 is located below the base support rod 60.
  • the boom support rod 20, the middle arm support rod 30, and the arm support rod 40 are And the instrument components are located below the base support bar 60.
  • the suspension support bar 10 may also be located above the base support bar 60 (refer to FIG. 4 in detail). In this case, generally, the boom support bar 20, The middle arm support bar 30, the arm support bar 40, and the instrument component are all located above the base support bar 60.
  • the linkage structure further includes a fourth link 304, and the fourth link 304 passes the tenth Two shaft
  • the second link 302 is rotatably connected to the second link 302, and is rotatably connected to the arm support rod 40 through the thirteenth rotating shaft 113; the twelfth rotating shaft 112, the thirteenth rotating shaft 113, and the seventh A line connecting the axis of the rotating shaft 107 and the eighth rotating shaft 108 forms a parallelogram.
  • a strong structure having a virtual constraint can be formed by the fourth link 304.
  • the fourth link 304 may be located at a side of the second link 302 away from the instrument component; or the fourth link 304 may also be located at the second link 302 close to the device One side of the part.
  • the invention also discloses a surgical robot comprising a doctor end and a patient end, wherein the patient end comprises a base, an adjustment arm, a tool arm and a surgical instrument, wherein the tool arm is any of the above-mentioned mechanical arms with double degrees of freedom One.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract

一种具有双自由度的机械臂和手术机器人，通过第二传动结构（603，111，207， 208，403）的驱动使小臂部件（40）摆动，从而实现相对不动点（D）的伸缩运动；通过第一传动结构（601，110，205，206，402）的驱动使中臂部件（30）摆动，再通过第一柔性件（401）使器械部件做同样的摆动，从而实现绕不动点（D）的摆动运动，即具有双自由度的机械臂实现了伸缩和摆动的双自由度。

Description

具有双自由度的机械臂和手术机器人 技术领域
本发明涉及微创伤手术机器人和/或手术器械的机械臂，特别涉及一种具有双自由度的机械臂和手术机器人。
背景技术
微创伤手术是指通过小切口将细长的腹腔镜、胸腔镜及手术器械送入患者体内进行手术的一种新技术。其具有创口小、疼痛轻、恢复快、住院时间短、出血少等优点。虽然微创伤手术相较于传统手术有如此多的优势，但早期的微创伤手术受限于体表的小创口，医生的操作空间相对减小，另外医生在内窥镜下手持器械操作时，其操作方向与在内窥镜下观察到的期望方向相反。此缺陷大大增加了手术的难度，医生需要经过长期的训练才能顺利的操作器械。
随着科学的发展，在早期微创伤手术中存在的问题找到了解决方案，世界各国开始研究机器人辅助微创伤手术技术，微创伤手术机器人问世。手术医生在主操作台处通过主操作台上的显示设备来观察内窥镜下患者体内的2D/3D画面，画面中显示了手术操作点及两把手术器械。医生通过操作主控制台上的操作杆，以主从控制的方式遥控从操作机器人上的机械臂及手术器械完成手术。手术机器人辅助的微创伤手术能够提高医生的操作精度，也能使医生以一种和传统手术相同的方式和观感来进行手术，大大减小了微创伤手术的难度。
目前世界各国都在进行手术机器人的研究，其中有少数产品已经实现了商品化。美国Intuitive Surgical公司的Da Vinci手术机器人***是其中代表性的产品。但是其存在体积庞大、结构复杂、价格昂贵等缺点。
手术机器人能完成微创伤手术的一个约束条件是：从操作机器人在运动的过程中，其器械臂上安装的手术器械与患者接触的创口部分应是一个不动点。这就要求从操作机器人的机械臂具有一个不动点机构。
具有不动点机构的机械臂构型是手术机器人技术研究的一个重点方向，但目前的研究发明都具有一定的不足之处。如中国专利CN103565529A，描述了一种采用双平行四边形机构的机械臂，实现了器械末端的不动点。双平行四边形不动点机构只有一个自由度，器械只能绕着不动点做一定范围内的摆动运动。中国专利CN101919739A，采用了连杆双平行四边形机构，完成了一种大运动空间的机械臂，并使不动点能够发生偏移，但其器械在不动点的运动仍旧只有一个自由度。
上述两个专利所述机械臂构型都采用了双平行四边形来实现远端不动点，其机械臂和器械在不动点的运动空间只有绕不动点摆动一个自由度。若要实现器械上下伸缩自由度就需增加上下滑动部件。增大了机械臂的体积，加大了设计难度。
因此，本领域需要一种可以相对于不动点伸缩和摆动运动的双自由度机械臂。
发明内容
本发明的目的在于提供一种具有双自由度的机械臂和手术机器人，以解决现有技术中的机械臂只具有绕不动点摆动即只有一个自由度的问题。
为解决上述技术问题，本发明提供一种具有双自由度的机械臂，所述具有双自由度的机械臂包括：支撑结构，第一传动结构，第二传动结构和联动结构；
所述支撑结构包括悬吊支撑杆、大臂支撑杆、中臂支撑杆、小臂支撑杆 以及器械部件；
其中，所述悬吊支撑杆通过第一转轴与所述大臂支撑杆转动连接，所述大臂支撑杆通过第二转轴与所述中臂支撑杆转动连接，所述中臂支撑杆通过第三转轴与所述小臂支撑杆转动连接，所述器械部件包括器械支撑座及布置于所述器械支撑座上的器械安装杆，所述小臂支撑杆通过第四转轴与所述器械支撑座转动连接，所述第一转轴的轴线与所述第二转轴、第三转轴和第四转轴的轴线垂直；
所述第一传动结构用于控制所述中臂支撑杆相对于所述大臂支撑杆摆动；
所述第二传动结构用于控制所述小臂支撑杆相对于所述中臂支撑杆摆动；
所述联动结构包括滑块、第一连杆、第二连杆、第三连杆及第三传动结构，其中，
所述滑块通过第五转轴与所述大臂支撑杆转动连接，所述第一连杆与所述滑块滑动连接，所述第一连杆的近端侧面经过所述第五转轴，所述第二连杆的近端通过第六转轴与所述中臂支撑杆转动连接，所述第二连杆通过第七转轴与所述第三连杆的近端转动连接，所述第三连杆的远端通过第八转轴与所述小臂支撑杆转动连接，且
所述第六转轴、所述第七转轴、所述第八转轴及所述第三转轴的轴心连线为一平行四边形，
所述第三传动结构包括，第一转轮、第二转轮、第三转轮、第四转轮及第一柔性件，其中，
所述第二转轮通过第九转轴与所述第二连杆转动连接，且所述第二转轮与所述第一连杆的远端固定连接，所述第一转轮通过第四转轴与所述小臂支 撑杆转动连接，且所述第一转轮与所述器械支撑座同步转动，所述第二转轮与所述第一转轮的直径相等，
所述第三转轮与所述第七转轴连接，所述第四转轮与所述第八转轴连接，所述第三转轮与第四转轮的直径相等，所述第一柔性件分别与所述第一转轮和所述第二转轮套接，并且所述第一柔性件从所述第三转轮和所述第四转轮的远离所述器械部件的一侧通过；
所述第二转轴和所述第六转轴的轴心距离，与所述第二转轴和第三转轴的轴心距离之间存在第一比例，所述第一比例被配置为第一比值；所述第七转轴和所述第六转轴的轴心距离，与所述第六转轴和第九转轴的轴心距离之间存在第二比例，所述第二比例被配置为所述第一比值；所述第九转轴轴心到所述第一连杆的近端侧面之间的垂线段形成一第一线段，所述第四转轴到所述器械安装杆的垂线段形成一第二线段，所述第一线段长度与所述第二线段之间存在第三比例，所述第三比例被配置为所述第一比值；
所述第七转轴位于所述第六转轴和所述第九转轴的轴心形成的第一连线的下方，且所述第一连线与所述第六转轴和所述第七转轴的轴心形成的第二连线形成第一夹角，所述第一夹角被配置为第一角度值；所述第六转轴位于所述第二转轴和所述第三转轴的轴心形成的第三连线的近端，且第三连线与所述第二转轴和所述第六转轴的轴心形成的第四连线形成第二夹角，所述第二夹角被配置为所述第一角度值；一经过第四转轴且平行于所述第一线段的平行线与第二线段之间形成第三夹角，所述第三夹角被配置为第一角度值，且所述平行线顺时针旋转第一角度值后至所述第二线段。
可选的，在所述的具有双自由度的机械臂中，所述第一传动结构包括：第一动力部件、第十转轴、第五转轮、第六转轮及第二柔性件，其中，
所述第十转轴布置于所述大臂支撑杆，所述第五转轮设置在所述第十转 轴上，所述第六转轮通过第二转轴与所述大臂支撑杆转动连接，并与所述中臂支撑杆同步转动，所述第二柔性件分别与所述第五转轮和所述第六转轮固定连接，所述第一动力部件的输出轴与所述第十转轴连接，以驱动所述第十转轴。
可选的，在所述的具有双自由度的机械臂中，所述第一传动结构还包括第一制动部件，所述第一制动部件制动所述第一传动结构。
可选的，在所述的具有双自由度的机械臂中，所述第一制动部件安装于所述第十转轴。
可选的，在所述的具有双自由度的机械臂中，所述第一转轴设置在所述大臂支撑杆的近端。
可选的，在所述的具有双自由度的机械臂中，所述具有双自由度的机械臂还包括第二动力部件，所述第一转轴与所述第二动力部件的输出轴固定连接，和/或，
所述机械臂还包括第一轴承，所述第一轴承套接在所述第一转轴上。
可选的，在所述的具有双自由度的机械臂中，所述第二传动结构包括：第三动力部件、第十一转轴、第七转轮、第八转轮及第三柔性件，其中，
所述第十一转轴布置于所述中臂支撑杆，所述第七转轮设置在所述第十一转轴上，所述第八转轮通过所述第三转轴与所述中臂支撑杆转动连接，并且与所述小臂支撑杆同步转动，所述第三柔性件分别与所述第七转轮和所述第八转轮固定连接，所述第三动力部件的输出轴与所述第十一转轴连接，以驱动所述第十一转轴。
可选的，在所述的具有双自由度的机械臂中，所述第二传动结构还包括第二制动部件，所述第二制动部件制动所述第二传动结构。
可选的，在所述的具有双自由度的机械臂中，所述联动机构还包括第四 连杆，所述第四连杆通过第十二转轴与所述第二连杆转动连接，并通过第十三转轴与所述小臂支撑杆转动连接，所述第七转轴、所述第八转轴、所述第十三转轴及第十二转轴轴心的连线为一平行四边形。
可选的，在所述的具有双自由度的机械臂中，所述具有双自由度的机械臂还包括基座支撑杆，所述基座支撑杆通过第十四转轴与所述悬吊支撑杆转动连接，且所述第十四转轴的轴线与所述第二转轴、所述第三转轴以及所述第四转轴的轴线垂直。
可选的，在所述的具有双自由度的机械臂中，所述第十四转轴的轴线与所述第一转轴的轴线共面。
可选的，在所述的具有双自由度的机械臂中，所述第一比值为1/12～1/2。
可选的，在所述的具有双自由度的机械臂中，所述第一角度值为0～30°。
本发明还提供一种手术机器人，所述手术机器人包括工具臂，所述工具臂为如上具有双自由度的机械臂中的任一种。
在本发明提供的具有双自由度的机械臂和手术机器人中，通过第二传动结构的驱动使小臂部件摆动，从而实现相对不动点的伸缩运动；通过第一传动结构的驱动使中臂部件摆动，再通过第一柔性件使器械部件做同样的摆动，从而实现绕不动点的摆动运动，即所述具有双自由度的机械臂实现了伸缩和摆动的双自由度。
附图说明
图1是本发明实施例一的具有双自由度的机械臂的结构示意图；
图2是本发明实施例一的具有双自由度的机械臂的内部结构示意图；
图3是本发明实施例一的具有双自由度的机械臂的局部放大图；
图4是本发明实施例一的具有双自由度的机械臂的另一结构示意图；
图5是本发明实施例二的具有双自由度的机械臂的结构示意图；
附图中：悬吊支撑杆10、大臂支撑杆20、中臂支撑杆30、小臂支撑杆40、器械支撑座50、器械安装杆51、基座支撑杆60；第一转轴101、第二转轴102、第三转轴103、第四转轴104、第五转轴105、第六转轴106、第七转轴107、第八转轴108、第九转轴109、第十转轴110、第十一转轴111；第十二转轴112；第十三转轴113；第十四转轴114；第一转轮201、第二转轮202、第三转轮203、第四转轮204、第五转轮205、第六转轮206、第七转轮207、第八转轮208；第一连杆301、第二连杆302、第三连杆303、第四连杆304；第一柔性件401、第二柔性件402、第三柔性件403；滑块结构501；第一动力部件601、第二动力部件602、第三动力部件603；第三制动部件701、第四制动部件702；第一轴承801、第二轴承802；不动点D。
具体实施方式
以下结合附图和具体实施例对本发明提出的具有双自由度的机械臂和手术机器人作进一步详细说明。根据下面说明和权利要求书，本发明的优点和特征将更清楚。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目的。特别的，由于各附图所要突出的内容不同，往往采用了不同的比例。
以下实施例中，如果没有特别说明，“远端”是指靠近不动点的一端，“近端”是指远离不动点的一端。
【实施例一】
请参考图1至图3，其中，图1为本发明实施例一的具有双自由度的机械臂的结构示意图；图2为本发明实施例一的具有双自由度的机械臂的剖视示 意图；图3为本发明实施例一的具有双自由度的机械臂的局部放大图。
如图1至图3所示，所述具有双自由度的机械臂包括：起到机械臂支撑作用的支撑结构，用于驱动机械臂围绕不动点摆动的第一传动结构，用于驱动机械臂相对于不动点做伸缩运动的第二传动结构和起到关节运动联动的联动结构。通过上述部件组合可以实现所述机械臂围绕不动点摆动，以及相对于不动点的伸缩运动。
具体而言，支撑结构包括悬吊支撑杆10、大臂支撑杆20、中臂支撑杆30、小臂支撑杆40以及器械部件，所述悬吊支撑杆10通过第一转轴101与所述大臂支撑杆20转动连接，所述大臂支撑杆20通过第二转轴102与所述中臂支撑杆30转动连接，所述中臂支撑杆30通过第三转轴103与所述小臂支撑杆40转动连接，所述器械部件包括器械支撑座50及布置于所述器械支撑座50上的器械安装杆51，所述小臂支撑杆40通过第四转轴104与所述器械支撑座50转动连接，所述第一转轴101的轴线与第二转轴102、第三转轴103和第四转轴104的轴线垂直。
所述悬吊支撑杆10的近端设有第二动力部件602以驱动所述大臂支撑杆20的转动。这里“近端”是指所述悬吊支撑杆10靠近所述大臂支撑杆20的一端。进一步，所述悬吊支撑杆10的近端还设有第三制动部件701，所述第三制动部件701用于制动所述大臂支撑杆20的转动。具体的，所述第三制动部件701与所述悬吊支撑杆10、所述大臂支撑杆20连接，当所述第三制动部件701处于松开状态时，所述大臂支撑杆20能够与所述悬吊支撑杆10相对运动，当所述第三制动部件701处于制动状态时，所述第三制动部件701与所述大臂支撑杆20产生足够的摩擦力，以保证悬吊支撑杆10与大臂支撑杆20不发生相对转动。进一步的，所述悬吊支撑杆10还包括第一轴承801，以对所述大臂支撑杆20进行更好的支撑，减少转动摩擦力。
所述小臂支撑杆40通过所述第三转轴103与所述中臂支撑杆30连接。进一步，所述小臂支撑杆40通过所述第三转轴103与第八转轮208固定连接或者直接与第八转轮208固定连接，使所述小臂支撑杆40与所述第八转轮208同步转动。此外，所述小臂支撑杆40远端设有第四转轴104与所述器械部件转动连接。
所述器械部件包括器械支撑座50及布置于所述器械支撑座50上的器械安装杆51。所述器械支撑座50通过第四转轴104与所述小臂支撑杆40转动连接。所述第四转轴104轴心至所述器械安装杆51轴线的垂线段形成第二线段。容易理解，知道第二线段的位置和长度，即可知道所述器械安装杆51轴线的位置。
第一传动结构用于控制所述中臂支撑杆30摆动。所述第一传动结构包括：第一动力部件601、第十转轴110、第五转轮205、第六转轮206及第二柔性件402。其中，所述第十转轴110布置于所述大臂支撑杆10，例如所述大臂支撑杆10的近端，所述第五转轮205设置在所述第十转轴110上。所述第六转轮206通过第二转轴102与所述大臂支撑杆20转动连接，并与所述中臂支撑杆30同步转动。优选，所述第六转轮206与所述中臂支撑杆30均与第二转轴102固定连接，或者所述第六转轮206与所述中臂支撑杆30直接连接，以实现同步转动。上述第二柔性件402分别与所述第五转轮205和所述第六转轮206固定连接。这里所述“固定连接”是指所述第二柔性件402围绕于所述第五转轮205和所述第六转轮206，且与所述第五转轮205和所述第六转轮206之间均没有相对滑动，保证所述第五转轮205和所述第六转轮206能够形成固定传动比。所述第一动力部件601用以驱动所述第十转轴110，并通过所述第五转轮205、所述第二柔性件402、所述第六转轮206以及所述第二转轴102，实现对所述中臂支撑杆30的驱动。优选，所述第一动力部件601 的输出轴与所述第十转轴110直接连接，或者所述第一动力部件601的输出轴与所述第十转轴110通过传动机构连接。进一步，所述第一传动结构还包括第一制动部件，以使当所述第一制动部件处于制动状态时，所述第一传动结构也处于制动状态。本发明对于所述第一制动部件的安装位置并不做限定，只需保证所述第一制动部件在制动状态下能够保证所述第一传动结构处于制动状态即可。同样，本发明中第一制动部件作用的对象也没有特别的限制，其只要实现对于所述第五转轮205、所述第六转轮206和所述第二柔性件402中的一个或者多个部件的制动即可。在本实施例中所述第一制动部件与所述第十转轴110同轴安装，用于制动第十转轴110。
第二传动结构用于控制所述小臂支撑杆40摆动。所述第二传动结构包括：第三动力部件603、第十一转轴111、第七转轮207、第八转轮208及第三柔性件403。其中，所述第十一转轴111布置于所述中臂支撑杆30，例如所述中臂支撑杆30的近端，所述第七转轮207布置在所述第十一转轴111上。即所述第十一转轴111布置于所述中臂支撑杆30靠近第二转轴102的一侧。所述第八转轮208通过所述第三转轴103与所述中臂支撑杆30转动连接，并且与所述小臂支撑杆40同步转动。优选，所述第八转轮208与所述小臂支撑杆40均与第三转轴103固定连接，或者所述第八转轮208与所述小臂支撑杆40直接连接，以实现同步转动。所述第三柔性件403分别与所述第七转轮207和所述第八转轮208固定连接。这里所述“固定连接”是指所述第三柔性件403围绕于所述第七转轮207和所述第八转轮208，且与所述第七转轮207和所述第八转轮208之间均没有相对滑动，以保证所述第七转轮207和所述第八转轮208能形成固定传动比。第三动力部件603的输出轴与所述第十一转轴111连接，以驱动所述第十一转轴111，同时，通过第七转轮207、第三柔性件403、第八转轮208以及第三转轴103，实现对所述小臂支撑杆40的驱 动。优选，第三动力部件603的输出轴与所述第十一转轴111直接固定连接，也可以通过传动机构与所述第十一转轴111连接。进一步，所述第二传动结构还包括第二制动部件，以使当所述第二制动部件处于制动状态时，所述第二传动结构也处于制动状态。本发明对于所述第二制动部件的安装位置并不做限定，只需保证所述第二制动部件在制动状态下能够保证所述第二传动结构处于制动状态即可。另外，本发明中第二制动部件其只要实现对于所述第七转轮207、所述第八转轮208和所述第三柔性件403中的一个或者多个部件的制动即可。在本实施例中所述第二制动部件与所述第十一转轴111同轴安装，用于制动第十一转轴111。
所述联动结构包括滑块501、第一连杆301、第二连杆302、第三连杆303及第三传动结构。其中，所述滑块501通过第五转轴105与所述大臂支撑杆20转动连接，所述第一连杆301与所述滑块501滑动连接，且所述第一连杆301经过所述第五转轴105。更具体，所述第一连杆301具有远离所述器械部件的近端侧面和靠近所述器械部件的远端侧面，在这里为所述第一连杆301的近端侧面所在的平面经过所述第五转轴105。这里的“滑动连接”，是指所述第一连杆301与所述滑块结构501组成导轨滑块结构，即所述第一连杆301只能沿着所述滑块结构501约束的方向移动。所述第二连杆302的近端通过第六转轴106与所述中臂支撑杆30转动连接，并通过第七转轴107与第三连杆303的近端转动连接。所述第三连杆303远端通过第八转轴108与所述小臂支撑杆40转动连接。这里“近端”显然是指第三连杆303靠近第二连杆302的一端，“远端”为第三连杆303远离第二连杆302的一端。进一步，第六转轴106、第七转轴107、第八转轴108与第三转轴103的轴心连线为一平行四边形。
所述第二转轴102和所述第六转轴106的轴心距离，与所述第二转轴102 和第三转轴103的轴心距离之间存在第一比例，所述第一比例被配置为第一比值；所述第七转轴107和所述第六转轴106的轴心距离，与所述第六转轴106和第九转轴109之间的轴心距离之间存在第二比例，所述第二比例被配置为所述第一比值；所述第九转轴109轴心到所述第一连杆301的近端侧面之间的垂线段形成一第一线段，所述第四转轴104轴心到所述器械安装杆51的垂线段形成一第二线段，所述第一线段长度与所述第二线段长度之间存在第三比例，所述第三比例被配置为所述第一比值。优选，所述第一比值范围为1/12～1/2，更优选为1/6。
所述第三传动结构包括，第一转轮201、第二转轮202、第三转轮203、第四转轮204及第一柔性件401。其中，所述第二转轮202通过第九转轴109与所述第二连杆302转动连接，且所述第二转轮202与所述第一连杆301的远端固定连接。所述第一转轮201通过第四转轴104与所述小臂支撑杆40转动连接，且所述第一转轮201通过所述第四转轴104或直接与所述器械支撑座50固定连接，以使所述器械支撑座50与所述第一转轮201同步转动。所述第二转轮202与第一转轮201的直径相等。所述第三转轮203与所述第七转轴107连接，所述第四转轮204与所述第八转轴108连接，所述第三转轮203与第四转轮204的直径相等。所述第一柔性件401分别与所述第一转轮201和所述第二转轮202套接，且相互之间作用力足够大以使第一柔性件401与所述第一转轮201和所述第二转轮202同步运动，不发生相对位移，并且所述第一柔性件401从所述第三转轮203和所述第四转轮204的远离所述器械部件的一侧通过。
这样，所述第一柔性件401离开所述第三转轮203时的切点与进入所述第四转轮204时形成的切点的连线与所述第三转轮203和所述第四转轮204的轴心的连线相互平行。即，所述第一柔性件401从所述第三转轮203与所 述第四转轮204的一侧通过，并与所述第三转轮203形成有第一包覆角、与所述第四转轮204形成有第二包覆角，在驱动力作用在滑块结构501或者第一动力部件601驱动所述第五转轮205、第三动力部件603驱动所述第七转轮207下，所述第一包覆角的变动值与第二包覆角的变动值数值上相等。
请继续参考图1和图2，在本申请实施例中，所述第二连杆302为一折杆。即所述第七转轴107位于所述第六转轴106和所述第九转轴109的轴心形成的第一连线下方，且所述第一连线与所述第六转轴106和所述第七转轴107的轴心形成的第二连线形成的第一夹角被配置为第一角度值。即所述第二连线逆时针围绕所述第六转轴106的轴线旋转第一角度值后与所述第一连线重合。在本申请实施例中，所述第六转轴106位于所述第二转轴102和所述第三转轴103的轴心形成的第三连线左侧，且第三连线与所述第二转轴102和所述第六转轴106的轴心形成的第四连线形成的第二夹角被配置为所述第一角度值。即，所述第四连线顺时针围绕所述第六转轴106的轴线旋转第一角度值后与所述第三连线重合。同时，一经过第四转轴104且平行于所述第一线段的平行线与第二线段之间的第三夹角被配置为第一角度值，且所述平行线顺时针旋转第一角度值后至所述第二线段。优选，第一角度值范围为0～30°，更优选为15°。这样，所述第二转轴102和所述第五转轴105的轴心的连线以所述第二转轴102为端点顺时针转动所述第一角度值所成的连线与所述器械安装杆51轴线的交点为不动点D(见图1)。
在本申请实施例中，通过第三动力部件603的驱动使小臂支撑杆40摆动，就实现相对不动点D的伸缩运动；通过第一动力部件601的驱动使中臂支撑杆30摆动，再通过第一柔性件401使器械部件做同样的摆动，从而实现绕不动点D的摆动运动，即所述具有双自由度的机械臂实现了伸缩和摆动的双自由度。
请继续参考图1和图2，在本申请实施例中，所述具有双自由度的机械臂的支撑结构还包括基座支撑杆60，所述基座支撑杆60通过设置在所述悬吊支撑杆10远端的第十四转轴114与所述悬吊支撑杆10转动连接，且第十四转轴114的轴线与第二转轴102、第三转轴103以及第四转轴104的轴线垂直。优选的，所述第十四转轴114的轴线与第一转轴101的轴线共面。这里的“远端”是指所述悬吊支撑杆10靠近基座支撑杆60的一端。进一步的，所述基座支撑杆60还设有第二轴承802，所述第二轴承802可以对所述悬吊支撑杆10进行更好的支撑，减少转动摩擦力。所述基座支撑杆60还设有第四制动部件702，所述第四制动部件702用于制动所述悬吊支撑杆10的转动。具体的，当所述第四制动部件702处于松开状态时，所述悬吊支撑杆10能够与所述基座支撑杆60相对运动，当所述第四制动部件702处于制动状态时，所述第四制动部件702与所述悬吊支撑杆10形成足够的摩擦力，保证悬吊支撑杆10与基座支撑杆60不发生相对转动。
在本申请实施例中，所述悬吊支撑杆10位于所述基座支撑杆60的下方，此时，通常的，所述大臂支撑杆20、中臂支撑杆30、小臂支撑杆40以及器械部件均位于所述基座支撑杆60的下方。在本申请的其他实施例中，所述悬吊支撑杆10也可以位于所述基座支撑杆60的上方(具体可参考图4)，此时，通常的，所述大臂支撑杆20、中臂支撑杆30、小臂支撑杆40以及器械部件均位于所述基座支撑部杆60的上方。
【实施例二】
本实施例中与实施例一完全相同的元件或执行相同功能的元件采用相同的附图标记。以下主要描述本实施例与实施例一的区别。
请同时参考图5和图2，本实施例二与实施例一的差别在于：在本实施例二中，所述联动结构还包括第四连杆304，所述第四连杆304通过第十二转轴 112与所述第二连杆302转动连接，并通过第十三转轴113与所述小臂支撑杆40转动连接；所述第十二转轴112、所述第十三转轴113、所述第七转轴107及所述第八转轴108的轴心的连线形成平行四边形。在此，通过所述第四连杆304可形成具有虚约束的强固结构。进一步的，所述第四连杆304可以位于所述第二连杆302远离所述器械部件的一侧；或者所述第四连杆304也可以位于所述第二连杆302靠近所述器械部件的一侧。
本发明还公开了一种手术机器人，包括医生端和病人端，其中病人端包括基座，调整臂，工具臂和手术器械，所述工具臂为上述的具有双自由度的机械臂中的任一种。
上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (13)

  1. 一种具有双自由度的机械臂，其特征在于，所述具有双自由度的机械臂包括：支撑结构，第一传动结构，第二传动结构和联动结构；
    所述支撑结构包括悬吊支撑杆、大臂支撑杆、中臂支撑杆、小臂支撑杆以及器械部件；
    其中，所述悬吊支撑杆通过第一转轴与所述大臂支撑杆转动连接，所述大臂支撑杆通过第二转轴与所述中臂支撑杆转动连接，所述中臂支撑杆通过第三转轴与所述小臂支撑杆转动连接，所述器械部件包括器械支撑座及布置于所述器械支撑座上的器械安装杆，所述小臂支撑杆通过第四转轴与所述器械支撑座转动连接，所述第一转轴的轴线与所述第二转轴、第三转轴和第四转轴的轴线垂直；
    所述第一传动结构用于控制所述中臂支撑杆相对于所述大臂支撑杆摆动；
    所述第二传动结构用于控制所述小臂支撑杆相对于所述中臂支撑杆摆动；
    所述联动结构包括滑块、第一连杆、第二连杆、第三连杆及第三传动结构，其中，
    所述滑块通过第五转轴与所述大臂支撑杆转动连接，所述第一连杆与所述滑块滑动连接，所述第一连杆的近端侧面经过所述第五转轴，所述第二连杆的近端通过第六转轴与所述中臂支撑杆转动连接，所述第二连杆通过第七转轴与所述第三连杆的近端转动连接，所述第三连杆的远端通过第八转轴与所述小臂支撑杆转动连接，且
    所述第六转轴、所述第七转轴、所述第八转轴及所述第三转轴的轴心连线为一平行四边形，
    所述第三传动结构包括，第一转轮、第二转轮、第三转轮、第四转轮及第一柔性件，其中，
    所述第二转轮通过第九转轴与所述第二连杆转动连接，且所述第二转轮 与所述第一连杆的远端固定连接，所述第一转轮通过第四转轴与所述小臂支撑杆转动连接，且所述第一转轮与所述器械支撑座同步转动，所述第二转轮与所述第一转轮的直径相等，
    所述第三转轮与所述第七转轴连接，所述第四转轮与所述第八转轴连接，所述第三转轮与第四转轮的直径相等，所述第一柔性件分别与所述第一转轮和所述第二转轮套接，并且所述第一柔性件从所述第三转轮和所述第四转轮的远离所述器械部件的一侧通过；
    所述第二转轴和所述第六转轴的轴心距离，与所述第二转轴和第三转轴的轴心距离之间存在第一比例，所述第一比例被配置为第一比值；所述第七转轴和所述第六转轴的轴心距离，与所述第六转轴和第九转轴的轴心距离之间存在第二比例，所述第二比例被配置为所述第一比值；所述第九转轴轴心到所述第一连杆的近端侧面之间的垂线段形成一第一线段，所述第四转轴到所述器械安装杆的垂线段形成一第二线段，所述第一线段长度与所述第二线段之间存在第三比例，所述第三比例被配置为所述第一比值；
    所述第七转轴位于所述第六转轴和所述第九转轴的轴心形成的第一连线下方，且所述第一连线与所述第六转轴和所述第七转轴的轴心形成的第二连线形成第一夹角，所述第一夹角被配置为第一角度值；所述第六转轴位于所述第二转轴和所述第三转轴的轴心形成的第三连线的近端，且第三连线与所述第二转轴和所述第六转轴的轴心形成的第四连线形成第二夹角，所述第二夹角被配置为所述第一角度值；一经过第四转轴且平行于所述第一线段的平行线与第二线段之间形成第三夹角，所述第三夹角被配置为第一角度值，且所述平行线顺时针旋转第一角度值后至所述第二线段。
  2. 如权利要求1所述的具有双自由度的机械臂，其特征在于，所述第一传动结构包括：第一动力部件、第十转轴、第五转轮、第六转轮及第二柔性件，其中，
    所述第十转轴布置于所述大臂支撑杆，所述第五转轮布置在所述第十转轴上，所述第六转轮通过第二转轴与所述大臂支撑杆转动连接，并与所述中臂支撑杆同步转动，所述第二柔性件分别与所述第五转轮和所述第六转轮固 定连接，所述第一动力部件的输出轴与所述第十转轴连接，以驱动所述第十转轴。
  3. 如权利要求2所述的具有双自由度的机械臂，其特征在于，所述第一传动结构还包括第一制动部件，所述第一制动部件制动所述第一传动结构。
  4. 如权利要求3所述的具有双自由度的机械臂，其特征在于，所述第一制动部件安装于所述第十转轴。
  5. 如权利要求1所述的具有双自由度的机械臂，其特征在于，所述第一转轴设置在所述大臂支撑杆的近端。6、如权利要求5所述的具有双自由度的机械臂，其特征在于，所述具有双自由度的机械臂还包括第二动力部件，所述第一转轴与所述第二动力部件的输出轴固定连接，和/或，
    所述机械臂还包括第一轴承，所述第一轴承套接在所述第一转轴上。
  6. 如权利要求1所述的具有双自由度的机械臂，其特征在于，所述第二传动结构包括：第三动力部件、第十一转轴、第七转轮、第八转轮及第三柔性件，其中，
    所述第十一转轴布置于所述中臂支撑杆，所述第七转轮设置在所述第十一转轴上，所述第八转轮通过所述第三转轴与所述中臂支撑杆转动连接，并且与所述小臂支撑杆同步转动，所述第三柔性件分别与所述第七转轮和所述第八转轮固定连接，所述第三动力部件的输出轴与所述第十一转轴连接，以驱动所述第十一转轴。
  7. 如权利要求7所述的具有双自由度的机械臂，其特征在于，所述第二传动结构还包括第二制动部件，所述第二制动部件制动所述第二传动结构。
  8. 如权利要求1所述的具有双自由度的机械臂，其特征在于，所述联动机构还包括第四连杆，所述第四连杆通过第十二转轴与所述第二连杆转动连接，并通过第十三转轴与所述小臂支撑杆转动连接，所述第七转轴、所述第八转轴、所述第十三转轴及第十二转轴的轴心的连线为一平行四边形。
  9. 如权利要求1或9所述的具有双自由度的机械臂，其特征在于，所述具有双自由度的机械臂还包括基座支撑杆，所述基座支撑杆通过第十四转轴与所述悬吊支撑杆转动连接，且所述第十四转轴的轴线与所述第二转轴、 所述第三转轴以及所述第四转轴的轴线垂直。
  10. 如权利要求10所述的具有双自由度的机械臂，其特征在于，所述第十四转轴的轴线与所述第一转轴的轴线共面。
  11. 如权利要求1所述的具有双自由度的机械臂，其特征在于，所述第一比值为1/12～1/2。
  12. 如权利要求1所述的具有双自由度的机械臂，其特征在于，所述第一角度值为0～30°。
  13. 一种手术机器人，包括工具臂，其特征在于，所述工具臂为如权利要求1-13中任一所述的具有双自由度的机械臂。
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