CN221844976U

CN221844976U - Mechanical arm, surgical robot and surgical robot system

Info

Publication number: CN221844976U
Application number: CN202323660130.1U
Authority: CN
Inventors: 黄善灯; 侯海山; 谢朝钦; 张秀坤
Original assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Current assignee: Yinoda Medical Technology Chengdu Co ltd
Priority date: 2023-12-27
Filing date: 2023-12-29
Publication date: 2024-10-18
Anticipated expiration: 2033-12-29

Abstract

The embodiment of the utility model provides a mechanical arm, a surgical robot and a surgical robot system. Wherein, the arm includes: the parallel mechanical arm comprises a static platform, a movable platform and a plurality of branched chains connected between the static platform and the movable platform, and the movable platform is provided with a connecting part; and the execution assembly is connected with the movable platform through the connecting part, and the execution main body of the execution assembly extends in a shifting way to one side relative to a straight line perpendicular to the movable platform. The mechanical arm provided by the embodiment of the utility model has large movable space, and can reduce the probability of collision interference in the moving process of the mechanical arm, thereby being beneficial to carrying more mechanical arms and more surgical instruments on the surgical robot.

Description

Mechanical arm, surgical robot and surgical robot system

Technical Field

The utility model relates to the field of medical equipment, in particular to a mechanical arm, a surgical robot and a surgical robot system.

Background

In current minimally invasive surgery, a surgical robot is generally used to carry a surgical instrument, and a doctor remotely manipulates the surgical instrument by manipulating the surgical robot to perform surgery. A typical application of the prior art is the DAVINCI system of Intuitive Surgicl, inc. of Mountain View, calif.

Most surgical robots use 3 mechanical arms of 4 mechanical arms or less, and can carry 1 endoscope and 3 (or 2) other surgical instruments at the same time. However, a complete minimally invasive surgery, besides an endoscope, often requires 4 other surgical instruments to work simultaneously. The existing solution is to configure an assistant doctor beside the patient's bed, which can observe the image of the operation area on the display screen, while the hand-held instrument is operated to match the doctor of the main knife. But on one hand, the mechanical arm can collide with an assistant when moving, potential safety hazards exist, on the other hand, the safety space of an assistant doctor is compressed by the mechanical arm, the body is in a distorted state, the coordination difficulty between the hand and the eye is high, and the coordination degree with a main knife doctor is poor.

In order to further develop the advantage of the surgical robot for assisting the surgery, the more preferable idea is to increase the number of mechanical arms to 5 or more so that all surgical instruments required for the surgery are carried by the surgical robot, and an assistant doctor also uses a console at a remote end to operate. However, although the number of mechanical arms is expected to be increased in the industry, the related patent proposes a five-arm dual-console, but the related patent is limited by the characteristics of the parallelogram serial mechanical arms, which can generate a large swing during operation, and the adjacent mechanical arms are easy to collide and interfere when the robots of 4 arms are simultaneously operated in combination with the layout mode of crossing the human body, if the number of the parallelogram serial mechanical arms is increased to 5 or more, the interference is more serious, and normal operation is difficult to perform. Therefore, how to make each mechanical arm have a larger moving range, and have a certain moving range without interference is a problem that needs to be solved currently, especially in the case that 5 or more mechanical arms move simultaneously.

Disclosure of utility model

Therefore, the utility model aims to provide a mechanical arm, a surgical robot and a surgical robot system, which at least solve the problem that the mechanical arm has a small moving range in the moving process.

An embodiment of a first aspect of the present utility model provides a mechanical arm including: the parallel mechanical arm comprises a static platform, a movable platform and a plurality of branched chains connected between the static platform and the movable platform, and the movable platform is provided with a connecting part; and the execution assembly is connected with the movable platform through the connecting part, and the execution main body of the execution assembly extends in a shifting way to one side relative to a straight line perpendicular to the movable platform.

According to the mechanical arm provided by the embodiment of the invention, the parallel mechanical arm is connected with the execution assembly, and because the swing space of the parallel mechanical arm in the moving process is small, after the execution assembly is installed on the parallel mechanical arm, the execution main body is not perpendicular to the moving platform, but is offset to one side compared with a straight line perpendicular to the moving platform, and a certain included angle exists between the execution main body and the execution main body, when the mechanical arm acts on a target such as the vicinity of a human body, the parallel mechanical arm can be separated by a certain distance by the execution assembly which is offset and extended, and the movement space of the mechanical arm is increased, so that the probability of interference in the moving process of the mechanical arm is reduced.

Especially when a plurality of arms are circumferentially distributed around the target, a plurality of parallel mechanical arms can be supported for a certain distance by a plurality of execution assemblies extending in a shifting mode, so that circumferential intervals among the plurality of parallel mechanical arms are increased, compared with the situation that the execution assemblies are directly and vertically arranged on a movable platform of the parallel mechanical arms, when the plurality of execution assemblies are arranged around a patient before operation, the probability that the plurality of parallel mechanical arms and the execution assemblies connected with the same collide with each other to interfere with each other can be greatly reduced when the plurality of execution assemblies are arranged around the patient before operation, and therefore when the mechanical arms are applied to a surgical robot, the surgical robot can carry more mechanical arms, and carry more execution assemblies and are not easy to interfere with each other.

A second aspect of the embodiments of the present utility model provides a surgical robot comprising a base assembly and a plurality of robotic arms as in any of the above embodiments coupled thereto.

The surgical robot provided in the embodiment of the present invention has the mechanical arm of any one of the embodiments, and thus has the beneficial effects of any one of the embodiments, which are not described in detail herein.

A third aspect of the present utility model provides a surgical robot system comprising a surgical robot as described in any of the embodiments above, a first console and a second console, each of the first and second consoles being in control connection with the surgical robot and each of the consoles controlling at least one of the robotic arms to move.

The surgical robot system provided in the embodiment of the present invention has the advantages of any one of the embodiments due to the surgical robot of any one of the embodiments, and is not described in detail herein. In addition, the operation robot system is provided with two control tables, and two persons control the movement of the mechanical arms of the operation robot by using the two control tables, compared with one control table, one person independently controls the movement of a plurality of mechanical arms, so that the corresponding movement of the mechanical arms can be controlled in time, and the plurality of mechanical arms can move cooperatively at the same time.

An embodiment of a fourth aspect of the present utility model provides a surgical robot including: a base assembly; the suspension arm is arranged on the base assembly and comprises a first layer of suspension arms and a second layer of suspension arms which are distributed up and down, and the first layer of suspension arms and the second layer of suspension arms can rotate relatively; and one ends of the plurality of mechanical arms are connected with the suspension arms, and at least two mechanical arms are connected to the first layer suspension arm and the second layer suspension arm.

According to the surgical robot provided by the embodiment of the aspect, the multiple mechanical arms are distributed in the upper and lower double layers, so that the adjacent relation of the mechanical arms is changed, more positioning modes of the multiple mechanical arms can be changed, and the surgical robot is convenient to adapt to different surgical scenes. And moreover, the first layer of suspension arm can drive the whole mechanical arm on the first layer of suspension arm to rotate relative to the second layer of suspension arm on the lower layer and the mechanical arm on the second layer of suspension arm, and compared with the fact that the upper layer of suspension arm and the lower layer of suspension arm cannot rotate relative to each other, the mechanical arm can only move in a nearby space, and the moving range of the mechanical arm is greatly improved. Under the condition of 5 mechanical arms, convenience can be provided for carrying 5 surgical instruments while the 5 mechanical arms are not interfered with each other, and the mechanical arms can be separated from each other and have enough space movement. And the mechanical arm has high movement flexibility and is convenient to adapt to various operation scenes.

A fifth aspect of the present utility model provides a surgical robot system, comprising: the surgical robot, the first console and the second console according to any one of the above fourth aspect, wherein the first console and the second console are each connected to a surgical robot control, and each control the movement of at least one mechanical arm of the surgical robot.

The surgical robot system provided in the embodiment of the present invention has the advantages of any one of the embodiments of the fourth aspect due to the surgical robot provided in any one of the embodiments of the fourth aspect, and is not described in detail herein. In addition, the operation robot system is provided with two control tables, and two persons control the movement of the mechanical arms of the operation robot by using the two control tables, compared with one control table, one person independently controls the movement of a plurality of mechanical arms, so that the corresponding movement of the mechanical arms can be controlled in time, and the plurality of mechanical arms can move cooperatively at the same time.

Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the general inventive concept.

Drawings

The above and other objects and features of the present utility model will become more apparent from the following description of the embodiments thereof, taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic view showing a partial structure of a surgical robot in the related art when the surgical robot is positioned before an operation;

FIG. 2 shows a schematic structural view of a surgical robot according to an embodiment of the present application;

FIG. 3 shows a schematic diagram of the structure of a parallel robot of one embodiment of the present application;

FIG. 4 shows a schematic diagram of the parallel robot arm and a surgical instrument coupled together in accordance with one embodiment of the present application;

FIG. 5 illustrates a schematic diagram of a parallel robotic arm and another surgical instrument coupled together in accordance with one embodiment of the present application;

FIG. 6 is a schematic view showing a structure of an execution body and an execution mount portion when assembled according to an embodiment of the present application;

FIG. 7 shows a partial enlarged view at I in FIG. 6;

Fig. 8 is a schematic view showing another structure when an execution body and an execution mount portion of an embodiment of the present application are assembled;

FIG. 9 shows a partial enlarged view at J in FIG. 8;

FIG. 10 shows a schematic diagram of the architecture of a serial mechanical arm of one embodiment of the present application;

FIG. 11 shows a schematic structural view of a boom according to an embodiment of the application;

FIG. 12 illustrates a schematic top view of a boom according to an embodiment of the present application;

FIG. 13 shows a schematic cross-sectional view in the direction A-A of FIG. 12;

FIG. 14 shows a schematic structural view of a base assembly of one embodiment of the present application;

Fig. 15 shows a schematic structural view of a suspension device according to an embodiment of the present application;

FIG. 16 shows a schematic side view of a surgical robot in accordance with an embodiment of the present application in a preoperative position;

FIG. 17 shows a schematic top view of the surgical robot of FIG. 16 taken at position B-B;

FIG. 18 shows a schematic view of the surgical robot in a preoperative position according to an embodiment of the present application;

Fig. 19 shows a schematic structural view of a first console according to an embodiment of the present application.

Figure 1 reference numerals illustrate:

10 'surgical instrument, 20' parallel robotic arm.

Fig. 2 to 19 reference numerals illustrate:

10 actuator assembly (10 a,10b,10c,10d,10 e), 110 actuator body, 111 instrument rod, 112 second actuator assembly, 120 actuator mounting portion, 121 first mounting portion, 122 second mounting portion, 123 mounting aperture, 124 first actuator assembly,

20 Parallel mechanical arms (20 a,20b,20c,20d,20 e), 210 static platforms, 220 branched chains, 230 movable platforms, 240 connecting parts, 241 first mounting lugs, 242 second mounting lugs, 243 turning parts,

30 Series robotic arms (30 a,30b,30c,30d,30 e), 310 crossbeams, 320 skid beams, 330 telescoping rods, 340 turners, 350 pitch ers,

40 Boom, 410 first layer boom, 411 first upper baffle, 412 first lower baffle, 413 first support column, 414 first connection port, 420 second layer boom, 421 second upper baffle, 422 second lower baffle, 423 second support column, 424 second connection port, 430 fourth drive assembly, 431 drive motor, 432 reducer, 433 drive belt,

50 Suspension means, 510 first suspension arm, 520 second suspension arm, 530 suspension umbrella,

60 Base assembly, 610 base, 620 post, 630 first beam, 640 second beam,

70 A first console.

Detailed Description

The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, apparatus, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and/or systems described herein will be apparent after an understanding of the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those set forth herein, but may be altered as will be apparent after an understanding of the disclosure of the application, except for operations that must occur in a specific order. Furthermore, descriptions of features known in the art may be omitted for clarity and conciseness.

The features described herein may be embodied in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided to illustrate only some of the many possible ways to implement the methods, devices, and/or systems described herein that will be apparent after an understanding of the present disclosure.

As used herein, the term "and/or" includes any one of the listed items associated as well as any combination of any two or more.

Although terms such as "first," "second," and "third" may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first member, first component, first region, first layer, or first portion referred to in the examples described herein may also be referred to as a second member, second component, second region, second layer, or second portion without departing from the teachings of the examples.

In the description, when an element such as a layer, region or substrate is referred to as being "on" another element, "connected to" or "coupled to" the other element, it can be directly "on" the other element, be directly "connected to" or be "coupled to" the other element, or one or more other elements intervening elements may be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" or "directly coupled to" another element, there may be no other element intervening elements present.

The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. Singular forms also are intended to include plural forms unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" specify the presence of stated features, amounts, operations, components, elements, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, amounts, operations, components, elements, and/or combinations thereof. The term "plurality" represents two and any number of two or more.

The terms "upper", "lower", "top" and "bottom" used herein are defined based on the orientation of the product in normal use, unless otherwise specified.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. Unless explicitly so defined herein, terms such as those defined in a general dictionary should be construed to have meanings consistent with their meanings in the context of the relevant art and the present utility model and should not be interpreted idealized or overly formal.

Most current surgical robots have only 3 or 4 robotic arms, and only 1 endoscope and 2 (or 3) other surgical instruments can be carried simultaneously during the surgery, but this is not sufficient in some surgeries, and an assistant doctor is required to stand beside the patient to hold the surgical instruments and complete the surgery together with the surgical robot. However, in the surgical process, the movement of the surgical robot is easy to interfere with an assistant doctor, so that potential safety hazards exist. Therefore, the number of the mechanical arms of the operation robot is increased, and the operation equipment required by the operation is carried on a plurality of mechanical arms, so that the operation robot is a better technical conception. However, in the current surgical robots, if the number of mechanical arms is increased to 5, for example, the mechanical arms and the surgical instruments are easy to collide with each other during the operation, and normal operation is difficult to perform.

Therefore, the embodiment of the first aspect of the present utility model provides a mechanical arm having a large movement range, even when the surgical robot has a plurality of mechanical arms, the movement range of the mechanical arm is large, and the plurality of mechanical arms are not easy to interfere with each other.

The mechanical arm comprises a parallel mechanical arm. As shown in fig. 2, 3, 4 and 5, the parallel robot arm 20 includes a stationary platform 210, a movable platform 230, and a plurality of branches 220 connected between the stationary platform 210 and the movable platform 230. The movable platform 230 is provided with a connection part 240, and the connection part 240 is used for connecting with the execution assembly 10. The parallel mechanical arm 20 is adopted to connect the execution assembly 10, so that the swing space of the parallel mechanical arm 20 is small in the moving process, and collision is not easy to occur.

Further, the mechanical arm further includes an actuating assembly 10, the actuating assembly 10 is connected to the movable platform 230 through a connecting portion 240, and the actuating body 110 of the actuating assembly 10 extends to one side in an offset manner with respect to a straight line perpendicular to the movable platform 230. That is, the extending direction of the executing body 110 is set at an angle to the straight line perpendicular to the moving platform 230, after the executing assembly 10 is mounted on the parallel mechanical arm 20, the executing body 110 is not perpendicular to the moving platform 230, but is offset to one side compared with the straight line perpendicular to the moving platform 230, and a certain included angle exists between the executing body and the moving platform, when the mechanical arm acts on a target such as the vicinity of a human body, the parallel mechanical arm 20 is separated by a certain distance from the executing assembly 10 extending in an offset manner, and the moving space of the mechanical arm is increased, so that the probability of interference in the moving process of the mechanical arm is reduced.

In fig. 4, a straight line H ₁ represents a straight line perpendicular to the movable platform 230, a straight line L ₁ represents an extending direction of the actuating body 110, a straight line L ₁ is deflected to one side by an angle K1 with respect to a straight line H ₁, and specifically, a head end of the actuating body 110, that is, an end far from the target is deflected to the direction far from the target by an angle K1 with respect to a straight line H ₁, so that the distance between the parallel robot arm 20 and the target can be increased after the actuating body 110 is tilted, and the relative angle between the parallel robot arm 20 and the target is changed, compared with the case that the actuating body 110 is perpendicular to the movable platform 230. In fig. 5, a straight line H ₂ represents a straight line perpendicular to the movable platform 230, a straight line L ₂ represents an extending direction of the actuating body 110, and a straight line L ₂ is deflected to one side by an angle K2 with respect to a straight line H ₂, specifically, a head end of the actuating body 110, that is, an end far from the target is deflected to an angle K2 with respect to a straight line H ₂, and compared with the actuating body 110 perpendicular to the movable platform 230, the actuating body 110 can tilt to further distance the parallel robot arm 20 from the target, thereby increasing the moving space of the parallel robot arm 20. Since the types, sizes, etc. of the actuating assemblies 10 in fig. 4 and 5 are different, the deflection angles K1 and K2 may also be different, so that the parallel mechanical arm 20 has a certain range of motion when connecting various actuating assemblies 10. Of course, in other embodiments, the deflection angles K1 and K2 may be the same.

In the present embodiment, the extending direction of the execution body 110 of the execution assembly 10 is the direction in which the execution assembly 10 acts on the target. For example, when the actuator assembly 10 is a surgical instrument, the extending direction of the actuator body 110 is the extending direction of the instrument rod 111, such as the extending direction of the straight line L ₁ in fig. 4 and the extending direction of the straight line L ₂ in fig. 5. In addition, for the straight line perpendicular to the movable platform 230, in the initial state, each branch of the parallel robot arm 20 is located at the initial position, the stationary platform 210 is parallel to the movable platform 230, and at this time, the straight line perpendicular to the movable platform 230 is collinear or parallel to the axis of the parallel robot arm 20. If the parallel robot 20 changes the posture, the movable platform 230 may not be parallel to the stationary platform 210 after moving a certain distance, and at this time, a straight line perpendicular to the movable platform 230 may extend to one side with respect to the axis of the parallel robot 20. However, whether the parallel mechanical arm 20 is at the initial position or changes the posture, after the execution assembly 10 is connected with the connection portion, the execution body 110 thereof can be offset and extended to one side relative to the straight line perpendicular to the movable platform 230, so that the parallel mechanical arm 20 can be separated by a certain distance from the human body by the execution assembly 10, thereby increasing the activity space.

Further, the angle between the extending direction of the actuating body 110 of the actuating assembly 10 and the straight line perpendicular to the movable platform 230 is between 30 ° and 90 °. In this angular interval, the actuating assembly 10 and the parallel robot arm 20 have a suitable working range, which is beneficial to preoperative positioning and intraoperative motion control in surgical robot applications.

Referring to angles K1 and K2 in fig. 4 and 5, the angles between the extending direction of the actuating body 110 and the straight line perpendicular to the movable platform 230 when the different actuating assemblies 10 are mounted on the parallel robot 20 are represented. After the actuating components 10 are installed on the parallel mechanical arms 20, an included angle of any angle of 30 degrees to 90 degrees is formed between the actuating components and a straight line perpendicular to the movable platform 230, for example, the included angle can be 35 degrees, 40 degrees, 46 degrees, 52 degrees, 65 degrees, 78 degrees, 83 degrees and the like, and the included angle comprises end point values of 30 degrees and 90 degrees, so that when the actuating components 10 are distributed around the circumference of a human body, the actuating components 10 extending in an inclined mode can prop up a certain distance by the actuating components 10 extending in an inclined mode, and the probability of mutual collision interference of the actuating components 20 and surgical robots connected with the actuating components is greatly reduced.

Referring to fig. 16, 17 and 18, fig. 16, 17 and 18 show the parallel robot arm 20 and the preoperative positioning posture of the execution assembly 10, and the manner of this embodiment enables the execution assembly 10 to be mostly in an inclined state during the operation positioning and the operation, which further enables the execution assembly 10 to be in a set position and a set posture without adjusting or greatly adjusting the parallel robot arm 20 during the preoperative positioning of the robot arm, and the preoperative positioning is convenient. Moreover, the actuator assembly 10 can be in a set posture without large amplitude adjustment in the surgical process, so that the probability of mutual interference of the mechanical arms before and during the surgery is reduced. Furthermore, the parallel robotic arm 20 facilitates adjustment of the implement assembly 10 during a surgical procedure over a maximum range of travel, improving flexibility.

In addition, there may be a case where the execution body 110 needs to be replaced during the operation, or the execution body 110 may be detached after the operation is finished. At this time, if the actuator assembly 10 is vertically mounted on the movable platform 230, that is, the extending direction of the actuator body 110 of the actuator assembly 10 is perpendicular to the movable platform 230, it is difficult to detach the actuator body 110 when the parallel robot arm 20 is not moving, and a certain safety hazard is still present especially when the actuator body 110 is inserted into a human body. In this embodiment, the included angle between the extending direction of the executing body 110 and the straight line perpendicular to the movable platform 230 is between 30 ° and 90 °, so that the executing body 110 can be conveniently detached, and particularly when the executing body 110 is detached, the executing body 110 is separated from the movable platform 230 while being moved backward to the end far away from the human body, or when the executing body 110 is installed or replaced, the executing body 110 is installed on the executing installation portion 120 from the back to the front, so that the detaching process is safe. Referring to fig. 7 to 10, the execution body 110 may be inserted into the mounting hole 123 from below and then pushed forward to a designated position to complete the assembly. When the actuator body 110 is detached, the actuator body 110 can be moved backward by a certain distance and separated downward from the mounting hole 123, without moving the parallel robot 20.

In addition, in order to make the angle between the extending direction of the execution body 110 of the execution assembly 10 and the straight line perpendicular to the movable platform 230 be between 30 ° and 90 ° when the execution assembly 10 is mounted on the connection portion 240, the offset angle may be designed directly on the connection portion 240, so that the angle can be maintained between the execution assembly 10 and the movable platform 230 directly after the installation; the offset angle may also be designed on the actuator assembly 10, for example, such that the actuator assembly 10 is connected to the movable platform 230 at a position having the above-mentioned angle with respect to the actuator body 110. Of course, a connecting part may be additionally disposed, so that the connecting part may form the included angle by itself and be detachably connected with the connecting part 240 and the actuating assembly 10, for example, the connecting part may be triangular, wherein an angle of one angle is between 30 ° and 90 °, and two sides of the angle are respectively connected with the connecting part 240 and the actuating assembly 10, so as to implement the included angle between the actuating assembly 10 and the movable platform 230. As long as it is satisfied that the angle between the extending direction of the execution body 110 of the execution assembly 10 and the straight line perpendicular to the movable platform 230 is between 30 ° and 90 °.

As an example, an angle between the extending direction of the execution body 110 and a straight line perpendicular to the movable platform 230 is between 40 ° and 75 °, or between 35 ° and 60 °, or between 50 ° and 80 °. In the angle interval, when the execution assembly 10 acts on a human body, the parallel mechanical arm 20 can be far away from the human body for a certain distance, the moving space is large, and the collision can be effectively avoided.

Further, in some embodiments, as shown in fig. 6, 7, 8 and 9, the connection portion 240 includes a first mounting ear 241 and a second mounting ear 242 connected thereto, the first mounting ear 241 is connected to the movable platform 230, the second mounting ear 242 is connected to the actuator assembly 10, and the first mounting ear 241 and the second mounting ear 242 are disposed at an angle therebetween such that the actuator body 110 extends at an offset to one side with respect to a straight line perpendicular to the movable platform 230.

In these embodiments, the connecting portion 240 includes a first mounting ear 241 and a second mounting ear 242 with a certain included angle, where the first mounting ear 241 is connected to the movable platform 230 and arranged in parallel, and the second mounting ear 242 is connected to the actuating assembly 10, so that after the actuating assembly 10 is connected to the second mounting ear 242, the actuating body 110 naturally forms a certain included angle with the first mounting ear 241 and extends in a manner of being offset to one side with respect to a straight line perpendicular to the movable platform 230, which is convenient and quick to install, without requiring subsequent adjustment of the posture of the actuating assembly 10. Moreover, after the different types of the actuating assemblies 10 are connected to the connecting portion 240, the actuating body 110 can be offset and extended to one side with respect to a straight line perpendicular to the movable platform 230, so that the versatility is good. In addition, the connecting part 240 has a simple design structure and is convenient to process.

Further, as shown in fig. 6, 7, 8 and 9, the plane of the first mounting lug 241 is parallel to the plane of the movable platform 230, and the plane of the second mounting lug 242 is parallel to the extending direction of the execution body 110. At this time, the included angle between the first mounting ear 241 and the second mounting ear 242 may reflect the included angle between the extending direction of the execution body 110 and the straight line perpendicular to the moving platform 230 after the execution assembly 10 is mounted on the second mounting ear 242, and the sum of the two included angles is 90 °, so that the gesture of the execution assembly 10 after being mounted is conveniently and accurately designed, thereby facilitating stable adjustment of the movement of the mechanical arm to accurately perform the operation.

Further, the first mounting ear 241 is hinged to the second mounting ear 242, and an angle between the first mounting ear 241 and the second mounting ear 242 is adjustable. After the execution assembly 10 is installed on the connecting part 240 by adjusting the included angle of the two installation lugs, different initial postures are realized, the posture of the execution assembly 10 can be adjusted according to different operations, and the initial posture of the execution assembly 10 can be adjusted according to different execution assemblies 10, so that the universality is good.

Further, in some embodiments, as shown in fig. 3, 4 and 5, the connection portion 240 includes a turning portion 243, and the turning portion 243 can rotate on the surface of the movable platform 230 and drive the actuating assembly 10 to rotate.

In these embodiments, after the execution assembly 10 is connected to the connection portion 240, the turning portion 243 can drive the whole execution assembly 10 to rotate relative to the movable platform 230, and the turning portion 243 can participate in the pre-operation positioning or the operation, so that the movement stroke of the parallel mechanical arm 20 and the turning portion 243 can be increased, and the surgical instrument can be flexibly moved.

Specifically, although the parallel mechanical arm 20 occupies a small space during the swing process, and is easy to cooperatively operate without interfering with each other, the adjustment stroke of the parallel mechanical arm 20 is small, and the passive arm in the mechanical arm needs to be relied on to realize preoperative positioning. The pre-operative need to initially position the actuator assembly 10 to the patient, this positioning requires a total of 5 degrees of freedom of three movements and two deflections, so that the actuator assembly 10 mounted on the movable platform 230 passes through the so-called telecentric dead point of the patient's epidermis and obtains a better pre-operative condition, the angular difference of deflection of the actuator assembly 10 being large depending on the operative type. One effective preoperative positioning structure is a passive arm (e.g., serial arm 30, below) in the arm that provides a large deflection angle positioning for the parallel arm 20, but the passive arm is bulky and too many rotational joints result in relatively poor rigidity. In this embodiment, the turning part 243 is additionally arranged at the end of the parallel mechanical arm 20, and the turning part 243 can drive the execution assembly 10 to rotate relative to the movable platform 230 during the preoperative positioning process, so that the movement stroke of the passive arm in the movement direction can be reduced, even the movement stroke of the passive arm in the movement direction is 0, the movement amplitude of the passive arm is reduced, the probability of mutual interference of a plurality of mechanical arms during the movement process is reduced, and the rigidity of the mechanical arm is improved. In addition, the turning part 243 can independently drive the executing assembly 10 to rotate along the set direction, so that compared with the driven arm or the parallel mechanical arm 20 to drive the executing assembly 10 to rotate in the set direction, the weight and the volume of the driven arm and the parallel mechanical arm 20 are larger, the occupied space for running can be reduced, and the energy consumption is reduced.

Further, as shown in fig. 6 to 9, in the case that the connecting portion 240 further includes the first mounting lug 241 and the second mounting lug 242, the first mounting lug 241 is connected to the turning portion 243, and the turning portion 243 drives the actuator 10 to rotate via the first mounting lug 241 and the second mounting lug 242.

Further, the first mounting ear 241 is detachably connected to the rotating portion 243, so that the first mounting ear 241 and the second mounting ear 242 can be replaced conveniently, and structures with different included angles can be replaced to be connected to the executing assembly 10.

Further, as shown in fig. 3, the rotation center line of the turn portion 243 is perpendicular to the surface of the movable platform 230. Thus, the rotation direction of the turning part 243 can be the same as the rotation direction of the movable platform 230 of the parallel mechanical arm 20, so that the movement stroke of the whole parallel mechanical arm 20 and the turning part 243 in the direction is larger, and the movement flexibility of the execution assembly 10 is improved. In this case, the rotating portion 243 may be further attached to the surface of the movable platform 230, and there is a gap between the two for relative rotation, so that the movable platform 230 can limit the rotating portion 243, and the deviation of the actuating assembly 10 caused by the skew of the rotating portion 243 in the rotation process is avoided.

Further, the straight line of the extension direction of the execution body 110 avoids the space of the parallel robot 20. On one hand, the execution main body 110 and the parallel mechanical arm 20 can have independent movable spaces, so that mutual interference and limitation in the movement process of the two are avoided, and the safe replacement of the execution main body 110 according to the self extending direction is facilitated especially in the condition that the execution assembly 10 and the connecting part 240 are detachable; another aspect may also reduce the probability of the actuator body 110 colliding with the parallel robot 20 on the other robot when the multiple robots cooperate.

Further, the actuator assembly 10 is detachably connected to the connection part 240. The replacement of the actuator assembly 10 is facilitated.

Further to the specific structure of the execution assembly 10, in some embodiments, as shown in fig. 5, 6, 7, 8, and 9, the execution assembly 10 includes: an execution body 110; an execution mount 120, the execution body 110 is provided on the execution mount 120, the execution body 110 is detachably connected to the execution mount 120, and the execution mount 120 is connected to the connection 240. The replacement of the execution body 110 is facilitated.

In some embodiments, as shown in fig. 6, 7, 8 and 9, the execution mounting portion 120 includes a first mounting portion 121 and a second mounting portion 122 that are distributed perpendicular to each other, a surface of the first mounting portion 121 perpendicular to an extending direction of the second mounting portion 122 is in fit connection with the connecting portion 240, a driving motor (not shown in the drawings) is disposed in the first mounting portion 121, a first transmission assembly 124 is disposed in the second mounting portion 122, and the driving motor is connected with the first transmission assembly 124. The actuating body 110 includes an instrument bar 111 and a second transmission assembly 112 provided at an end of the instrument bar 111, the second transmission assembly 112 being connected to a first transmission assembly 124 on a second mounting portion 122, the instrument bar 111 extending in the same direction as the first mounting portion 121. The driving motor drives the mechanical rod 111 to move through the first transmission assembly 124 and the second transmission assembly 112.

In these embodiments, the execution mounting portion 120 has a driving motor and a first transmission assembly 124 connected to the driving motor, the execution body 110 includes an instrument rod 111 and a second transmission assembly 112 connected to the instrument rod 111, and the driving motor drives the execution end of the instrument rod 111 to move through the first transmission assembly 124 and the second transmission assembly 112 to perform a surgical operation. In the case that the execution body 110 is detachable from the execution mounting portion 120, different types of instrument bars 111 may be replaced, and the instrument bars may be driven by a driving motor on the execution mounting portion 120, so that the weight of the execution body 110 may be reduced, and the operation of the execution body 110 may be facilitated, compared with the configuration of the driving motor on the execution body 110.

In some embodiments, as shown in fig. 7 and 9, the second mounting portion 122 is provided with a mounting hole 123, the mounting hole 123 penetrates the second mounting portion 122 in the extending direction of the first mounting portion 121, and the mounting hole 123 also penetrates an end surface of the second mounting portion 122 away from the first mounting portion 121; the instrument rod 111 is insertable into the mounting hole 123 from an end of the second mounting portion 122 remote from the first mounting portion 121, and extends back and forth in the mounting hole 123 in a direction parallel to the extending direction of the first mounting portion 121.

In these embodiments, since the first mounting portion 121 and the second mounting portion 122 are perpendicular to each other, and the second mounting portion 122 has the mounting hole 123 penetrating along the extending direction of the first mounting portion 121, the instrument rod 111 is parallel to the first mounting portion 121 after being inserted into the mounting hole 123, so that the instrument rod 111 is convenient to be in a set posture after being mounted, and a set included angle is kept between the extending direction of the instrument rod 111 and a straight line perpendicular to the moving platform 230, so that the instrument rod 111 is prevented from being offset by mistake, and the posture of the instrument rod 111 cannot be obtained accurately, and the operation is convenient and accurate. In addition, the mounting hole 123 penetrates the end surface of the second mounting portion 122 away from the first mounting portion 121, the instrument bar 111 is introduced into the mounting hole 123 from the end surface, the end of the instrument bar 111 can be always positioned outside the mounting hole 123, and the middle section or other parts of the instrument bar 111 can be introduced into the mounting hole 123, so that the end of the instrument bar 111 is conveniently provided with a structure which facilitates operation or a structure which facilitates human body access, and interference with the mounting hole 123 can be avoided.

Further, the robotic arm is a surgical robotic arm and the implement assembly 10 is a surgical instrument.

Further, in some embodiments, as shown in fig. 2, 3 and 16, the mechanical arm further includes: the serial mechanical arm 30, the serial mechanical arm 30 includes two at least joints and is used for driving the first drive assembly of joint, and serial mechanical arm 30 links to each other with the quiet platform 210 of parallelly connected mechanical arm 20, and parallelly connected mechanical arm 20 is equipped with the second drive assembly, and serial mechanical arm 30 can drive parallelly connected mechanical arm 20 motion under the drive of first drive assembly, and parallelly connected mechanical arm 20 can drive the execution subassembly 10 motion through the movable platform 230 under the drive of second drive assembly. The mechanical arm is connected with the parallel mechanical arm 20 by adopting the serial mechanical arm 30, the serial mechanical arm 30 and the parallel mechanical arm 20 can be driven independently, the serial mechanical arm 30 is convenient for preoperative positioning, the parallel mechanical arm 20 is convenient for moving in the operation, and the flexibility is good.

In some embodiments, as shown in fig. 4 and 5, the connection portion 240 includes a turning portion 243, the turning portion 243 can rotate on the surface of the movable platform 230, the turning portion 243 is connected with the executing assembly 10 and can drive the executing assembly 10 to rotate, the turning portion 243 is provided with a third driving assembly, the serial mechanical arm 30 and the turning portion 243 are used for completing the pre-operation positioning of the mechanical arm, and the parallel mechanical arm 20 and the turning portion 243 are used for completing the intra-operation movement of the executing assembly 10. The parallel mechanical arm 20 is not needed to participate in the preoperative positioning process, so that the parallel mechanical arm 20 has the maximum running stroke in the subsequent operation, and the operation flexibility is good. Moreover, the parallel mechanical arm 20 and the turning part 243 are used for completing the intraoperative motion of the execution assembly 10, and the turning part 243 can directly drive the execution assembly 10 to rotate, so that the parallel mechanical arm 20 continuously keeps the maximum motion stroke, and compared with the situation that the parallel mechanical arm 20 is required to rotate to drive the execution assembly 10 to rotate, the turning part has light weight, small volume and good flexibility. Wherein, the third drive assembly is the motor.

The mechanical arm according to the first embodiment has the connecting portion 240 with the first mounting ear 241 and the second mounting ear 242, so that the angle between the actuating body 110 and the straight line perpendicular to the movable platform 230 is between 30 ° and 90 °. Of course, in other embodiments, the connection portion 240 may have other structures. For example, the connection portion 240 may further include a third mounting ear (not shown in the drawings), one end of the third mounting ear is connected to the surface of the movable platform 230, the other end of the third mounting ear is tilted, an included angle between the third mounting ear and a straight line perpendicular to the movable platform 230 is between 30 ° and 90 °, and the third mounting ear is directly connected to the actuating assembly 10. In this case, without the swivel structure, the actuator assembly 10 is directly mounted to the third mounting ear, and the above-described design angle can be achieved.

In addition, to achieve the above-mentioned design angle, the first mounting ear 241 and the second mounting ear 242 may be configured on the execution mounting portion 120 of the execution assembly 10, or the third mounting ear may be configured on the execution mounting portion 120 of the execution assembly 10. At this time, the connection part 240 may be configured as an instrument interface (not shown) provided on the movable platform 230. Simple structure, convenient processing. Of course, the first mounting ear 241 and the second mounting ear 242 may be separate connection parts, and may be connected to the connection portion 240 and the actuator assembly 10, respectively.

Where the above-mentioned included angle is designed on the execution assembly 10, for the specific structure of the execution assembly 10, in some embodiments, the execution assembly 10 includes an execution body 110 and an execution mount 120. The execution body 110 is disposed on the execution mounting portion 120, the execution mounting portion 120 is provided with a mounting interface, an included angle between a plane where the mounting interface is located and an extending direction of the execution body 110 is between 30 ° and 90 °, and the mounting interface is connected with the connection portion 240. In the case where the mounting interface is designed to be connected to the connection portion 240, the plane of the mounting interface is parallel to the movable platform 230. Since the angle between the plane of the mounting interface and the extending direction of the actuating body 110 is between 30 ° and 90 °, the extending direction of the actuating body 110 is naturally also between 30 ° and 90 ° from the straight line perpendicular to the movable platform 230 after the actuating assembly 10 is mounted in place.

As for the setting position of the mounting interface, in one embodiment, as shown in fig. 4 and 5, the surface of the execution mount 120 has a third mounting ear, and the angle between the third mounting ear and the extending direction of the execution body 110 is between 30 ° and 90 °, and the mounting interface is set on the third mounting ear. Simple structure and convenient processing. In another embodiment, the execution mount 120 includes a trapezoid block (not shown in the figure), an included angle between an inclined surface and a bottom surface of the trapezoid block is between 30 ° and 90 °, and the mounting interface is disposed on the inclined surface of the trapezoid block, and the execution body 110 is flush with the bottom surface. The specific structure of the execution mount 120 and the installation position of the mounting interface may be varied, and are not listed here.

In addition, the execution body 110 may be detachably connected to the execution mounting portion 120, so that the execution body 110 may be replaced independently, or the execution mounting portion 120 may be replaced independently. Specifically, the number of the execution mounting portions 120 may be plural, and the angles between the plane of the mounting interface on each execution mounting portion 120 and the extending direction of the execution body 110 are different, so that the execution mounting portion 120 may be alternatively connected to the execution body 110 and the connection portion 240. Here, a plurality of execution mounts 120 may be provided for one parallel robot 20, and one execution mount 120 may be connected to one parallel robot 20 at a time, and the remaining execution mounts 120 may be reserved. Therefore, by changing different execution installation portions 120, different included angles are formed between the extension direction of the execution main body 110 and the movable platform 230, which is beneficial to enabling the execution assembly 10 to have different angles and postures when being installed on the parallel mechanical arm 20 according to the operation characteristics of different execution assemblies 10, and improving the adaptability. For example, if some of the execution assemblies 10 are shorter and some of the execution assemblies 10 are longer, and if the multiple execution assemblies 10 mounted on the multiple parallel mechanical arms 20 simultaneously reach the preoperative positioning state, the positions of the multiple parallel mechanical arms 20 have a certain difference, the postures also have a certain difference, and the cooperative control difficulty is increased. In addition, the mechanical arm needs to be integrally adjusted to change the preoperative position of the execution assembly 10, for example, the mechanical arm connected with the longer execution assembly 10 is far away from the human body, the mechanical arm connected with the shorter execution assembly 10 is close to the human body, the whole weight of the mechanical arm is heavy, and the energy consumption is increased. The posture of the execution assembly 10 is adjusted by changing different execution installation parts 120, for example, the inclination of the shorter execution assembly 10 is smaller, the inclination of the longer execution assembly 10 is larger, the preoperative positioning requirement can be met, the movement of the preoperative mechanical arm can be reduced, the control difficulty is reduced, and the energy consumption is reduced. In addition, the number of the execution bodies 110 may be plural and different from each other, for example, an endoscope, a surgical instrument such as a scalpel, and the like. The plurality of execution bodies 110 are alternatively provided on the execution mount 120. At the same time, one execution body 110 is mounted on the execution mounting portion 120 of one parallel mechanical arm 20, and the redundant execution bodies 110 can be used for later use or replacement. The number and type of the execution units 10 mounted on the surgical robot may be determined according to the requirements of different operations, and are not particularly limited herein.

It should be noted that, the execution assembly 10 in this embodiment may be produced and sold with the surgical robot, or may be produced and sold independently. Under the condition that the included angle between the plane of the installation interface of the execution assembly 10 and the extending direction of the execution body 110 is between 30 ° and 90 °, the single execution assembly 10 can be matched with the moving platform 230 of the surgical robot in the related art, and the included angle between the extending direction of the execution body 110 of the execution assembly 10 and the straight line perpendicular to the moving platform 230 is between 30 ° and 90 °, which also accords with the technical concept of the present application.

As shown in fig. 2, 16-18, a second aspect of the present utility model provides a surgical robot comprising a base assembly 60 and a plurality of robotic arms according to any of the above embodiments connected thereto.

In some embodiments, as shown in fig. 2, 16-18, the number of robotic arms is 5. The surgical robot can carry 5 execution assemblies 10 for surgery, can be suitable for various surgeries, does not need to additionally arrange a surgical instrument held by an assistant doctor for surgery, avoids collision between the mechanical arm and the assistant doctor, and improves safety.

Specifically, as shown in fig. 2, the number of the mechanical arms is 5, and each mechanical arm includes a serial mechanical arm 30 and a parallel mechanical arm 20. Wherein the 5 serial mechanical arms 30 are 30a,30b,30c,30d,30e in fig. 2 and 18, the 5 parallel mechanical arms 20 are 20a,20b,20c,20d,20e in fig. 2 and 18, respectively, and the 5 parallel mechanical arms 20 are connected with 5 execution assemblies 10, 10a,10b,10c,10d,10e in fig. 10, respectively. After the execution assembly 10 is mounted on the parallel mechanical arms 20, the execution body 110 is not perpendicular to the movable platform 230, but is offset to one side compared with a straight line perpendicular to the movable platform 230, when 5 execution assemblies 10 are circumferentially distributed around a human body, the parallel mechanical arms 20 are separated by a certain distance from the execution assemblies 10 extending in an offset manner and far away from the human body, as shown in fig. 16, 17 and 18, the circumferential interval between the parallel mechanical arms 20 is increased, and compared with the case that the surgical instrument 10 ' is directly and perpendicularly mounted on the movable platform 230 of the parallel mechanical arms 20 ' in fig. 1, the probability that the parallel mechanical arms 20 and the execution assemblies 10 connected with the surgical instrument 10 ' collide with each other and interfere with each other when the surgical instrument 10 ' is positioned around the patient before operation can be greatly reduced compared with the case that the parallel mechanical arms 20 ' are very small in interval between each other. It is advantageous for the surgical robot to carry more actuating assemblies 10, e.g. 5 or more, without then interfering during the surgical procedure.

As shown in fig. 16 to 19, a third aspect of the present utility model provides a surgical robot system comprising a surgical robot as described in the above embodiments, a first console 70 and a second console, each of the first and second consoles 70 and 70 being connected to a surgical robot control, and each of the consoles controlling at least one of the robotic arms to move.

The surgical robot system provided in the embodiment of the present invention has the advantages of any one of the embodiments due to the surgical robot of any one of the embodiments, and is not described in detail herein. In addition, the operation robot system is provided with two control tables, and two persons control the movement of the mechanical arms of the operation robot by using the two control tables, compared with one control table, one person independently controls the movement of a plurality of mechanical arms, so that the corresponding movement of the mechanical arms can be controlled in time, and the plurality of mechanical arms can move cooperatively at the same time. Fig. 19 shows a schematic structural view of a first console 70 of an embodiment, and a second console may be identical or similar in structure to the first console 70.

In some embodiments, the surgical robot includes 5 robotic arms, each of which controls movement of at least two robotic arms. The surgical robot can carry 5 execution units 10 to perform surgery and can be applied to various kinds of surgery. Moreover, each control console at least controls two mechanical arms to move, and double control consoles are used for controlling a plurality of mechanical arms to move, so that the operation efficiency is improved, the operation time is shortened, and the condition that the control is not timely due to excessive single control can be avoided.

In some embodiments, where the parallel robot 20 is provided with a second driving assembly, the connection portion 240 includes a turning portion 243, and where the turning portion 243 is provided with a third driving assembly, the first console 70 and the second console are both in control connection with the second driving assembly and the third driving assembly. During the operation, each console may independently control the parallel mechanical arm 20 to move, or may independently control the rotation of the rotating portion 243, so as to realize multi-directional movement of the execution assembly 10.

In a specific surgical procedure, after the posture of the mechanical arm is adjusted, a doctor can send a control instruction to the second driving assembly and the third driving assembly through the console, and finally control the execution assembly 10 to perform a surgical operation.

As shown in fig. 2, 11 and 18, a fourth aspect of the present utility model provides a surgical robot including: a base assembly 60; the suspension arm 40 is arranged on the base assembly 60, the suspension arm 40 comprises a first layer of suspension arms 410 and a second layer of suspension arms 420 which are distributed up and down, and the first layer of suspension arms 410 and the second layer of suspension arms 420 can rotate relatively; and one end of the plurality of mechanical arms is connected with the suspension arm 40, and at least two mechanical arms are connected to the first layer suspension arm 410 and the second layer suspension arm 420.

According to the surgical robot provided by the embodiment of the aspect, the multiple mechanical arms are distributed in the upper and lower double layers, so that the adjacent relation of the mechanical arms is changed, more positioning modes of the multiple mechanical arms can be changed, and the surgical robot is convenient to adapt to different surgical scenes. Moreover, the first layer of suspension arm 410 can drive the whole mechanical arm on the first layer of suspension arm to rotate relative to the second layer of suspension arm 420 on the lower layer and the mechanical arm on the second layer of suspension arm, compared with the condition that the upper layer of suspension arm 40 and the lower layer of suspension arm 40 cannot rotate relative to each other, the mechanical arm can only move in the adjacent space, and the movement range of the mechanical arm is greatly improved. Under the condition of 5 mechanical arms, convenience can be provided for carrying 5 surgical instruments while the 5 mechanical arms are not interfered with each other, and the mechanical arms can be separated from each other and have enough space movement. And the mechanical arm has high movement flexibility and is convenient to adapt to various operation scenes. Compared with the situation that the mechanical arms are in crossed position in fig. 2 and the situation that the mechanical arms are not in crossed position in fig. 18, the mechanical arm moving positions are wider and more flexible.

In some embodiments, the robotic arm on the first layer of boom 410 is capable of rotating on the outer circumference of the robotic arm on the second layer of boom 420. Avoiding the mutual interference of the inner mechanical arm and the outer mechanical arm.

In some embodiments, the robotic arm on the first layer of boom 410 is rotatable relative to the first layer of boom 410 and the robotic arm on the second layer of boom 420 is rotatable relative to the second layer of boom 420. Further improving the flexibility of a plurality of mechanical arms.

In some embodiments, the range of rotation of the robotic arm on the first layer boom 410 is greater than the range of rotation of the robotic arm on the second layer boom 420. The boom 40 at the upper layer is more flexible, improving the flexibility of the surgical robot.

In some embodiments, the number of robotic arms is five, two of which are pivotally connected to the first tier boom 410 and the remaining three of which are pivotally connected to the second tier boom 420. The two mechanical arms can rotate in independent spaces, and the three mechanical arms rotate in independent spaces, so that the probability of collision between the mechanical arms can be reduced compared with the probability that four or more mechanical arms are positioned in the same horizontal space.

With respect to the specific structure of boom 40, further, in some embodiments, as shown in fig. 11, 12 and 13, first layer boom 410 includes a first upper baffle 411, a first lower baffle 412, and a first support column 413 connected between first upper baffle 411 and first lower baffle 412, with one end of at least two mechanical arms rotatably connected between first upper baffle 411 and first lower baffle 412; the second layer of suspension arm 420 comprises a second upper baffle 421, a second lower baffle 422 and a second supporting column 423 connected between the second upper baffle 421 and the second lower baffle 422, the second upper baffle 421 is rotatably connected to the bottom of the first lower baffle 412, and one end of at least two mechanical arms is rotatably connected between the second upper baffle 421 and the second lower baffle 422; the boom 40 is connected with a fourth drive assembly 430, the fourth drive assembly 430 is capable of driving the second layer of boom 420 to rotate, the mechanical arm has a first drive assembly, and the first drive assembly is capable of driving the mechanical arm to rotate relative to the boom 40.

In these embodiments, each layer of boom 40 has an upper baffle and a lower baffle, and one end of the mechanical arm is limited between the upper baffle and the lower baffle, which is beneficial to improving the installation stability of the mechanical arm. The fourth driving component 430 drives the second layer of suspension arm 420 positioned at the lower layer to rotate, and the first driving component drives the mechanical arm to rotate relative to the suspension arm 40, so that the mechanical arm can move along with the layer of suspension arm 40 and also can rotate relative to the layer of suspension arm 40, and the flexibility is good.

In some embodiments, as shown in fig. 13, the fourth driving assembly 430 includes a driving motor 431 and a speed reducer 432, the first support column 413 and the second support column 423 have cavities therein that are in communication with each other, the driving motor 431 is disposed in the cavity of the first support column 413, the speed reducer 432 is disposed in the cavity of the second support column 423, and the driving motor 431 can drive the second support column 423 to rotate via the speed reducer 432. The fourth driving assembly 430 is hidden inside the suspension arm 40, and the appearance is good. In addition, the driving motor 431 is adopted to drive the second layer of suspension arm 420 to rotate through the speed reducer 432, so that the suspension arm 40 cannot rotate too fast, and safety is improved.

Further, the fourth driving assembly 430 further includes a driving belt 433, and the driving motor 431 is connected to the decelerator 432 through the driving belt 433.

In some embodiments, as shown in fig. 11 and 12, the first lower baffle 412 has a triangle shape, and at least two corners of the three corners of the first support column 413, where the first lower baffle 412 is exposed, are provided with a first connection port 414, where the first connection port 414 is used for rotatably connecting with a mechanical arm; the second lower baffle 422 is triangular, and the second lower baffle 422 is exposed at three corners of the second supporting column 423, and is provided with a second connecting port 424, wherein the second connecting port 424 is used for being rotatably connected with the mechanical arm.

In these embodiments, the first lower baffle 412 and the second lower baffle 422 are both triangular, so that the connection ports are arranged at the corners of the triangle to connect the mechanical arms, on one hand, the two baffles occupy small space, reduce weight and save cost, and on the other hand, the connection ports at the corners are not too closely spaced, which is beneficial to separating the mechanical arms and reducing the probability of collision between the mechanical arms.

In some embodiments, the first lower baffle 412 is in the shape of an equilateral triangle and the second lower baffle 422 is in the shape of an equilateral triangle. The three second connection ports 424 are distributed at equal intervals in the circumferential direction, and the intervals between the first connection ports 414 are the same as or similar to the intervals between the second connection ports 424, so that the mechanical arms can be separated more uniformly, and the probability of collision between the mechanical arms is reduced.

In some embodiments, the circumscribed circle diameter of the first lower baffle 412 is greater than or equal to the circumscribed circle diameter of the second lower baffle 422. In the case that the diameter of the circumcircle of the first lower baffle 412 is larger than that of the second lower baffle 422, the first connecting port 414 can be located at the outer side of the second connecting port 424 in the horizontal direction, so that the mechanical arm on the first layer of suspension arm 410 can be located at the outer side of the mechanical arm on the second layer of suspension arm 420, which is beneficial for the mechanical arm on the first layer of suspension arm 410 to rotate at the outer side of the mechanical arm on the second layer of suspension arm 420, and the probability of collision between the mechanical arms distributed inside and outside is reduced.

Of course, the circumscribed circle diameter of the first lower baffle 412 may be equal to the circumscribed circle diameter of the second lower baffle 422. At this time, if the mechanical arm on the first layer of boom 410 is rotated outside the mechanical arm on the second layer of boom 420, the mechanical arm length can be designed or adjusted, and the mechanical arm on the first layer of boom 410 is longer than the mechanical arm on the second layer of boom 420, so that the mechanical arm on the first layer of boom 410 can be rotated outside the mechanical arm on the second layer of boom 420 conveniently.

In addition, the boom 40 may further include a third boom 40 (not shown) in addition to the first boom 410 and the second boom 420, the third boom 40 being located below the second boom 420, the third boom 40 being rotatable relative to the second boom 420, and a plurality of mechanical arms being distributed among the three booms 40. For example, at least two of the plurality of robotic arms are coupled to the third tier boom 40. Similarly, boom 40 may continue to include a fourth layer of boom 40 (not shown), a fifth layer of boom 40 (not shown), and so forth, without limitation to the two layers.

Further, in some embodiments, as shown in fig. 2, 16, 17 and 18, each robot arm includes a serial robot arm 30 and a parallel robot arm 20 connected in sequence, one end of the serial robot arm 30 being connected to a boom 40; the serial robotic arm 30 can provide five degrees of freedom to effect preoperative positioning of the effector assembly 10, and/or the parallel robotic arm 20 can provide at least five degrees of freedom, such as may be 6 degrees of freedom. The serial-parallel mechanical arm connection mode occupies small space and is not easy to interfere with each other.

In some embodiments, as shown in fig. 2 and 10, the tandem robotic arm 30 includes a cross beam 310, a sliding beam 320, a telescoping rod 330, a rotor 340, and a pitch 350, connected in sequence. One end of the cross beam 310 is connected to the boom 40; the slide beam 320 is capable of sliding along the cross beam 310 in a direction toward or away from the boom 40; the telescopic rod 330 is connected with the sliding beam 320 and can move up and down along the sliding beam 320; the rotating member 340 is connected to the bottom of the telescopic rod 330, the rotating member 340 can rotate relative to the telescopic rod 330, and the rotation center line of the rotating member 340 coincides with or is parallel to the axis of the telescopic rod 330; the pitching member 350 is connected to the rotating member 340, the pitching member 350 is capable of pitching movement with respect to the rotating member 340, and the pitching member 350 is connected to the corresponding parallel robot arm 20. The mechanical arm structure has small occupied space, particularly when the mechanical arm is arranged before operation, the motion track is regular, compared with the mechanical arm in a parallelogram form, the probability of collision of the mechanical arms can be reduced, doctors can conveniently and accurately control the serial mechanical arm 30 to move to a specific position, and the control accuracy is improved. The joints of the serial mechanical arm 30 in this embodiment include the kinematic pair formed by the cross beam 310, the sliding beam 320, the telescopic rod 330, the rotating member 340, the pitching member 350 and the like, where the first driving component is a motor, and the motor is used to drive the kinematic pair to move.

Of course, the structure of the serial mechanical arm 30 may be other ways, and 5 degrees of freedom are also realized, which is not limited to the above example.

Further, in some embodiments, as shown in fig. 15 and 16, the surgical robot further includes a suspension device 50, the suspension device 50 is connected to the bottom of the boom 40, and a plurality of mechanical arms are circumferentially distributed around the suspension device 50. For example, the suspension device 50 is connected to the bottom of the second layer of suspension arms 420, the suspension device 50 is fixedly connected to the second layer of suspension arms 420, or the suspension device 50 is rotatably connected to the second layer of suspension arms 420.

In one example, the actuator body 110 of the actuator assembly 10 extends offset to one side with respect to a line perpendicular to the movable platform 230, wherein the extending direction is a direction in which the actuator body 110 points toward the suspension device 50.

The plurality of mechanical arms can be arranged around the patient, and the space above the abdomen of the patient is reserved, so that the suspension device 50 can be used for acting on the inner side of the abdomen wall of the patient to enable the abdomen wall of the patient to bulge, and the operation space and the visual field can be conveniently built in the patient.

As an example, as shown in fig. 15, the suspension device 50 includes a first suspension arm 510, a second suspension arm 520, and a suspension umbrella 530. The first suspension arm 510 is rotatably connected with the suspension arm 40 and is transversely arranged below the suspension arm 40; the second suspension arm 520 is rotatably connected with the first suspension arm 510 and is transversely arranged below the first suspension arm 510; the suspension umbrella 530 is connected to the second suspension arm 520 by a suspension string. The first suspension arm 510 and the second suspension arm 520 may be stacked together or at least partially overlapped by rotating, which may reduce the occupied space and reduce the probability of collision between the suspension device 50 and the surrounding mechanical arms. And the first suspension arm 510 and the second suspension arm 520 are rotatably connected, and the first suspension arm 510 is rotatably connected with the suspension arm 40, so that the position of the suspension umbrella 530 can be conveniently adjusted. In a particular application, the suspension umbrella 530 acts on the inside of the patient's abdominal wall, bulging the patient's abdominal wall by the upward tension provided by the suspension device 50.

Of course, in other embodiments, the surgical robot may also be inflated within the patient to create a surgical space and field of view in conjunction with conventional carbon dioxide pneumoperitoneum methods.

A fifth aspect of the present utility model provides a surgical robot system, comprising: the surgical robot, the first manipulation stage 70 and the second manipulation stage according to any one of the above fourth aspect embodiments, wherein the first manipulation stage 70 and the second manipulation stage are each connected to a surgical robot control, and each manipulation stage controls the movement of at least one mechanical arm of the surgical robot.

The surgical robot system provided in the embodiment of the present invention has the advantages of any one of the embodiments of the fourth aspect due to the surgical robot provided in any one of the embodiments of the fourth aspect, and is not described in detail herein. In addition, the operation robot system is provided with two control tables, and two persons control the movement of the mechanical arms of the operation robot by using the two control tables, compared with one control table, one person independently controls the movement of a plurality of mechanical arms, so that the corresponding movement of the mechanical arms can be controlled in time, the plurality of mechanical arms can move cooperatively at the same time, and an assistant doctor is in a more comfortable matching environment.

In some embodiments, the surgical robot includes five robotic arms, two of which are pivotally connected to the first boom 410 and the remaining three of which are pivotally connected to the second boom 420; the first console 70 is in control connection with three robotic arms connected to the second boom 420, and the second console is in control connection with two robotic arms connected to the first boom 410.

In these embodiments, the two consoles are respectively controlled to be connected to the mechanical arm of the first layer of suspension arm 410 and the mechanical arm of the second layer of suspension arm 420, so as to observe the posture of the corresponding mechanical arm for control. Moreover, one console may be a master console, and the other console may be a slave console, for example, several execution units 10 frequently used in the operation process are connected to the same layer of suspension arm, such as a second layer of suspension arm 420 located at the lower layer, and controlled by the master doctor, and the rest of execution units 10 are connected to the first layer of suspension arm 410 and controlled by the assistant doctor, so that the execution units 10 are coordinated in the operation process.

A surgical robot according to an embodiment of the present utility model is described in detail below.

As shown in fig. 2 and 18, a surgical robot includes a base assembly 60, a boom 40, and 5 robotic arms, each including a serial robotic arm 30 and a parallel robotic arm 20. Wherein the 5 serial mechanical arms 30 are 30a,30b,30c,30d,30e in fig. 2 and 18, the 5 parallel mechanical arms 20 are 20a,20b,20c,20d,20e in fig. 2 and 18, respectively, and the 5 parallel mechanical arms 20 are connected with 5 execution assemblies 10, 10a,10b,10c,10d,10e in fig. 17, respectively. Boom 40 is connected to base assembly 60, serial arm 30 is connected to boom 40 as a passive arm, and parallel arm 20 is connected to serial arm 30 as a active arm.

As shown in fig. 10, the serial mechanical arm 30 has 5 degrees of freedom of movement, the cross beam 310 is rotatably connected to the boom 40, and is rotatably connected to the cross beam 310 along the axis O1 by a motor, the slide beam 320 is slidably connected to the cross beam 310, and is linearly moved along the cross beam 310 by a motor, the telescopic rod 330 is slidably connected to the slide beam 320, and is linearly moved up and down along the slide beam 320 by a motor, the rotation member 340 is rotatably connected to the telescopic rod 330, is rotatably connected to the rotation member 340 along the axis O2 by a motor, and is rotatably connected to the rotation member 340 along the axis O3 by a motor. The primary function of the serial robotic arm 30 is to position the parallel robotic arm 20 in place for surgical procedures.

As shown in fig. 3, 4 and 5, the parallel mechanical arm 20 is a 3-UPS parallel mechanism, and has 3 branches 220,3 branches 220 connecting the stationary platform 210 and the movable platform 230, each branch 220 includes a cross hinge, a linear motion component, and an equivalent spherical hinge, the cross hinge has two revolute pairs, one of which is driven by a motor, the linear motion component is driven by the motor to reciprocate, and the equivalent spherical hinge has revolute pairs with three intersecting axes. The parallel robot arm 20 has 6 degrees of freedom, is mounted on the distal end of the serial robot arm 30, and is fixedly connected via an interface. In the above embodiment, the second driving assembly includes six motors, three of which are used to drive the reciprocating motion of the rectilinear motion portion, and the other three of which are used to drive the rotation of the three branches. In another embodiment, the parallel robot 20 is a Stewart parallel mechanism.

In order to obtain more flexible preoperative positioning and operation, a turning part is additionally added on the movable platform 230 of the parallel mechanical arm 20, as shown in fig. 3, the turning part is driven by a motor to rotate along the axis R1, and the rotation movement can be used for preoperative positioning, so that the mechanical arm obtains more mutually independent spaces, and can also participate in the operation process, so that the parallel mechanical arm 20 moves more flexibly.

The parallel robot arm 20 may be mounted with an endoscope for surgery and various types of the actuator assembly 10. As shown in fig. 4, the endoscope is fixed to the turning part 243 so that the axis of the endoscope forms an angle K1 with the axis R1 of the turning part 243, which is 30 ° to 90 °, and which makes the mounting and dismounting of the endoscope easier. In the operation process, through controlling 6 degrees of freedom and the gyration portion of the serial mechanical arm 30, the rotation of the endoscope around D1X1, D1Y1 and the telescopic motion along D1Z1 are realized, wherein the D1X1Y1Z1 coordinate system is fixed relative to the static platform 210, the point D1 is called a telecentric fixed point, the D1 coincides with the center of an opening on the skin of a patient, and when the operation is performed, the endoscope can not produce pulling injury to the skin of a human body, so that the minimally invasive operation effect is realized.

Similar to the endoscopic effect, a variety of different types of instruments required for the surgical procedure may be carried on the parallel robotic arm 20. Referring to fig. 5, the rotational movement of the actuator assembly 10 about D2X2, D2Y2 and the telescopic movement along D2Z2 is achieved, wherein the D2X2Y2Z2 coordinate system is fixed relative to the stationary platform 210, point D2 being termed the telecentric dead point, coinciding D2 with the center of the aperture in the patient's skin.

With the above structure, the relative positions of fig. 16 and 17 can be realized by the execution assembly 10, and collision interference between mechanical arms can be avoided during flexible action in the operation process.

In the relative position condition of fig. 16 and 17, the suspension device 50 is optionally disposed directly above the other actuating assembly 10 and the endoscope, the suspension umbrella 530 of the suspension device 50 acts on the inner side of the abdominal wall of the patient, and the abdominal wall of the patient is raised by providing upward tension through the suspension device 50, so that the operation space and the field of view are established in vivo. Of course, conventional CO2 pneumoperitoneum methods can also be used to inflate in vivo to create operative space and field of view.

The 5 serial mechanical arms 30 are respectively and rotatably connected to the boom 40, as shown in fig. 11, the boom 40 has an upper layer and a lower layer, the second boom 420 located at the lower layer has three second connection ports 424, and is respectively connected to the three mechanical arms, the second boom 420 is rotatably connected to the first boom 410 located at the upper layer, and is driven to rotate along the axis P1 by the driving motor 431. The first boom 410 has two first connection ports 414, which are respectively connected to two other mechanical arms, and the first boom 410 is fixedly connected to the second cross member 640 of the base assembly 60. The arrangement of the upper layer and the lower layer of the suspension arms 40 enables the serial mechanical arms 30 to be arranged in a crossing manner, the layout is more flexible, and the adaptability of the surgical robot is improved.

As shown in fig. 14, in the base assembly 60, the second cross member 640 is slidably connected to the first cross member 630, and is telescopically moved along the first cross member by a motor, the first cross member is rotatably connected to the support column 620, and is rotatably moved along the axis C1 by a motor, and the support column 620 is slidably connected to the base 610, and is vertically moved along the base 610 by a motor, and the base 610 is placed on the ground. The base assembly 60 provides stable support for the surgical robot.

In the above embodiment, a rotating part capable of coaxially rotating is connected in series to the movable platform 230 of the parallel robot arm 20, so that the rotating part can rotate in a full circle, and the extension line of the execution body 110 of the mounted execution assembly 10 forms a fixed angle of 30 ° to 90 ° with the straight line perpendicular to the movable platform 230. The execution body 110 can be assembled from back to front, and is convenient to assemble and disassemble and high in safety. The added rotary motion can participate in preoperative positioning, positioning is more flexible, and the serial mechanical arm 30 is not required to independently realize 5 degrees of freedom of preoperative positioning, so that the serial mechanical arm 30 is simpler in structure. The increased rotational movement may also be involved in the procedure, increasing the movement stroke of the parallel robot arm 20. Compared with the parallel mechanical arm 20 and the execution assembly 10 which are fixedly connected without a rotating part, the embodiment can enlarge the distance between the adjacent parallel mechanical arms 20 and further reduce the collision risk.

In addition, the passive arm is in a serial structure, 5 degrees of freedom are provided for the parallel mechanical arms 20, 5 serial mechanical arms 30 are arranged in a double-layer mode, and two of the upper layers and three of the lower layers are arranged. The upper and lower serial mechanical arms 30 can be arranged in a crossing manner, so that the adjacent relation of the mechanical arms is changed, and more positioning modes can be changed to adapt to different operation scenes. The single serial mechanical arm 30 has simple structure, small volume and good rigidity. The technical scheme occupies small space in the operation, can realize simultaneous work of multiple arms without mutual interference, completely replaces the bedside hand-held operation of an assistant doctor, improves the operation quality and eliminates the risk that the assistant is injured by the mechanical arm.

According to the surgical robot provided by the embodiment of the utility model, when the execution assembly 10 is installed on the parallel mechanical arm 20, the included angle between the extending direction of the execution main body 110 and the straight line perpendicular to the movable platform 230 is between 30 degrees and 90 degrees, so that the problem that a plurality of parallel mechanical arms 20 and a plurality of execution assemblies 10 collide with each other when working simultaneously is solved. The operation robot occupies small space in operation, can realize simultaneous work of multiple mechanical arms without mutual interference, is favorable for completely replacing bedside hand-held operation of an assistant doctor, improves operation quality, and eliminates the risk that the assistant doctor is injured by the mechanical arms. Of course, the flexibility of the robotic arm may be further enhanced by including boom 40 with multiple layers of booms that are rotatable relative to one another up and down, such as first layer boom 410 and second layer boom 420, and even third layer booms and more.

Although embodiments of the present utility model have been described in detail hereinabove, various modifications and variations may be made to the embodiments of the utility model by those skilled in the art without departing from the spirit and scope of the utility model. It will be appreciated that such modifications and variations will be apparent to those skilled in the art that they will fall within the spirit and scope of the embodiments of the utility model as defined in the appended claims.

Claims

1. A robotic arm, the robotic arm comprising:

The parallel mechanical arm (20), the parallel mechanical arm (20) comprises a static platform (210), a movable platform (230) and a plurality of branched chains (220) connected between the static platform (210) and the movable platform (230), and a connecting part (240) is arranged on the movable platform (230);

The execution assembly (10), the execution assembly (10) is connected with the movable platform through a connecting part (240),

The actuating body (110) of the actuating assembly (10) extends offset to one side relative to a line perpendicular to the movable platform (230).

2. The mechanical arm according to claim 1, characterized in that the angle between the extension direction of the actuating body (110) and a straight line perpendicular to the movable platform (230) is 30 ° to 90 °.

3. The robotic arm of claim 2, wherein the included angle is 40 ° to 75 °, or 35 ° to 60 °, or 50 ° to 80 °.

4. The mechanical arm according to claim 1, wherein the connecting portion (240) includes a first mounting ear (241) and a second mounting ear (242) connected thereto, the first mounting ear (241) is connected to the movable platform (230), the second mounting ear (242) is connected to the actuating assembly (10), and the first mounting ear (241) and the second mounting ear (242) are mounted at an angle therebetween, such that the actuating body (110) extends at an offset to one side with respect to a straight line perpendicular to the movable platform (230).

5. The mechanical arm according to claim 4, wherein the plane of the first mounting ear (241) is parallel to the plane of the movable platform (230), and the plane of the second mounting ear (242) is parallel to the extending direction of the executing body (110); and/or the number of the groups of groups,

The first mounting lug (241) is hinged with the second mounting lug (242), and the angle between the first mounting lug (241) and the second mounting lug (242) is adjustable.

6. The mechanical arm according to claim 1, characterized in that the connection part (240) comprises a swivel part (243), which swivel part (243) is rotatable on the surface of the movable platform (230) and drives the actuating assembly (10) in rotation.

7. The mechanical arm according to claim 6, characterized in that the rotation center line of the turning part (243) is perpendicular to the plane of the movable platform (230).

8. The mechanical arm according to claim 1, characterized in that the line in which the extension direction of the actuating body (110) is located avoids the space in which the parallel mechanical arm (20) is located and/or the actuating assembly (10) is detachably connected with the connecting portion (240).

9. The robotic arm of claim 1, wherein the actuation assembly (10) comprises:

An execution body (110);

And the execution installation part (120), the execution main body (110) is arranged on the execution installation part (120), the execution main body (110) is detachably connected with the execution installation part (120), and the execution installation part (120) is connected with the connection part (240).

10. The mechanical arm according to claim 9, wherein the execution mounting portion (120) comprises a first mounting portion (121) and a second mounting portion (122) which are vertically distributed, a surface of the first mounting portion (121) which is vertical to the extending direction of the second mounting portion (122) is in fit connection with the connecting portion (240), a driving motor is arranged in the first mounting portion (121), a first transmission assembly (124) is arranged in the second mounting portion (122), the driving motor is connected with the first transmission assembly (124),

The execution body (110) comprises an instrument rod (111) and a second transmission assembly (112) arranged at the end part of the instrument rod (111), the second transmission assembly (112) is connected to the first transmission assembly (124) on the second installation part (122), and the extending direction of the instrument rod (111) is in the same direction as the extending direction of the first installation part (121).

11. The mechanical arm according to claim 10, characterized in that the second mounting portion (122) is provided with a mounting hole (123), the mounting hole (123) penetrates the second mounting portion (122) in the extending direction of the first mounting portion (121), and the mounting hole (123) also penetrates an end surface of the second mounting portion (122) away from the first mounting portion (121);

The instrument rod (111) is insertable into the mounting hole (123) from an end of the second mounting portion (122) remote from the first mounting portion (121), and extends back and forth in the mounting hole (123) in a direction parallel to the direction of extension of the first mounting portion (121).

12. The robotic arm of claim 1, wherein the robotic arm is a surgical robotic arm and the implement assembly is a surgical instrument.

13. The robotic arm of claim 1, wherein the robotic arm further comprises:

The mechanical arm (30) is connected in series, the mechanical arm (30) comprises at least two joints and a first driving component used for driving the joints, the mechanical arm (30) is connected with a static platform (210) of the mechanical arm (20) in parallel, the mechanical arm (20) in parallel is provided with a second driving component, the mechanical arm (30) in series can drive the mechanical arm (20) in parallel to move under the driving of the first driving component, and the mechanical arm (20) in parallel can drive an executing component (10) to move through the movable platform (230) under the driving of the second driving component.

14. The mechanical arm according to claim 13, characterized in that the connection part (240) comprises a turning part (243), the turning part (243) being rotatable on the surface of the movable platform (230), the turning part (243) being connected with the executing assembly (10) and being capable of driving the executing assembly (10) to rotate, the turning part (243) being provided with a third driving assembly, the serial mechanical arm (30) and the turning part (243) being used for completing a preoperative swing of the mechanical arm, the parallel mechanical arm (20) and the turning part (243) being used for completing an intraoperative movement of the executing assembly (10).

15. Surgical robot, characterized in that it comprises a base assembly (60) and a plurality of robotic arms according to any one of claims 1 to 14 connected thereto.

16. The surgical robot of claim 15, wherein the number of robotic arms is 5.

17. A surgical robotic system comprising a surgical robot as claimed in claim 15 or 16, a first console and a second console, each of the first and second consoles being in control connection with the surgical robot and each console controlling movement of at least one of the robotic arms.

18. The surgical robot system of claim 17, wherein the surgical robot includes 5 robotic arms, each console controlling movement of at least two of the robotic arms.

19. The surgical robotic system according to claim 17, wherein the parallel robotic arm (20) is provided with a second drive assembly, the connection portion (240) comprises a swivel portion (243), and wherein the first and second manipulation stages are each in control connection with the second and third drive assemblies, with the swivel portion (243) being provided with a third drive assembly.