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WO2023160488A1 - Bras mécanique et chariot médical - Google Patents

Bras mécanique et chariot médical Download PDF

Info

Publication number
WO2023160488A1
WO2023160488A1 PCT/CN2023/077078 CN2023077078W WO2023160488A1 WO 2023160488 A1 WO2023160488 A1 WO 2023160488A1 CN 2023077078 W CN2023077078 W CN 2023077078W WO 2023160488 A1 WO2023160488 A1 WO 2023160488A1
Authority
WO
WIPO (PCT)
Prior art keywords
articulated arm
central axis
arm
mechanical arm
suspension joint
Prior art date
Application number
PCT/CN2023/077078
Other languages
English (en)
Chinese (zh)
Inventor
宋德喜
赵亚平
别良伟
朱国征
陈功
张齐铭
朱祥
何超
Original Assignee
上海微创医疗机器人（集团）股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海微创医疗机器人（集团）股份有限公司 filed Critical 上海微创医疗机器人（集团）股份有限公司
Publication of WO2023160488A1 publication Critical patent/WO2023160488A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
    • A61B50/13—Trolleys, e.g. carts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • the present application relates to the technical field of medical devices, in particular to a mechanical arm and a medical trolley.
  • Surgical robots can perform complex surgical operations through minimally invasive methods.
  • Surgical robots usually include main control equipment, operating equipment, and various operating instruments installed on the operating equipment for surgery. Send a control command, and the operating device can control the movement of the operating instrument according to the control command, so as to perform a surgical operation on the patient.
  • Surgical robots usually use a robotic arm to control the movement of the operating instrument.
  • the existing robotic arm generally has multiple connecting parts that are connected in sequence.
  • the connecting part at the farthest end is used to connect the operating instrument.
  • Two adjacent connecting parts form a Joints, there are at least five joints, and the five joints adjust the position and posture of the most distal operating instrument through linkage, so that the operating instrument moves along the motion center. Therefore, when any joint changes the motion state, other linked joints need to be changed Motion state to ensure that the operating instrument is located in the center of motion, which is usually the incision area on the patient.
  • the present application provides a mechanical arm and a medical trolley.
  • the application provides a mechanical arm, which includes:
  • the first articulated arm at least a part of the first articulated arm is an arc-shaped structure, the arc-shaped structure of the first articulated arm has a first arc track, and the first arc track has a first central axis , the first articulated arm takes the first central axis as a rotation reference, and is rotatably assembled on the first suspension joint along the first arc track, and the first articulated arm is configured to be capable of being installed operating an instrument, and making the operating instrument intersect with the first central axis to form a virtual reference point.
  • the application provides a medical trolley, which includes:
  • the mechanical arm is arranged on the trolley body.
  • FIG. 1 is a schematic plan view of a mechanical arm provided in some embodiments of the present application.
  • Fig. 2 is a schematic diagram of the motion state of the mechanical arm shown in Fig. 1;
  • Fig. 3 is a schematic diagram showing the structure of the movement process of the mechanical arm shown in Fig. 1;
  • Fig. 4 is a schematic diagram of the motion state of the mechanical arm shown in Fig. 3;
  • Fig. 5 is a schematic structural diagram of the mechanical arm provided in the first embodiment of the present application.
  • Fig. 6 is a schematic diagram of the motion state of the mechanical arm shown in Fig. 5;
  • Fig. 7 is a schematic structural diagram of the mechanical arm provided in the second embodiment of the present application.
  • Fig. 8 is a schematic diagram of the motion state of the mechanical arm shown in Fig. 7;
  • FIG. 9 is a schematic structural view of the mechanical arm provided in the third embodiment of the present application.
  • Fig. 10 is a schematic diagram of the motion state of the mechanical arm shown in Fig. 9;
  • Fig. 11 is a schematic structural diagram of the mechanical arm provided in the fourth embodiment of the present application.
  • Fig. 12 is a schematic diagram of the motion state of the mechanical arm shown in Fig. 11;
  • Fig. 13 is a schematic structural diagram of the mechanical arm provided in the fifth embodiment of the present application.
  • Fig. 14 is a schematic diagram of the motion state of the mechanical arm shown in Fig. 13;
  • Fig. 15 is a schematic structural diagram of the mechanical arm provided in the sixth embodiment of the present application.
  • Fig. 16 is a schematic diagram of the motion state of the mechanical arm shown in Fig. 15;
  • Fig. 17 is a schematic structural diagram of the mechanical arm provided in the seventh embodiment of the present application.
  • Fig. 18 is a schematic diagram of the motion state of the mechanical arm shown in Fig. 17;
  • Fig. 19 is a schematic structural diagram of the mechanical arm provided in the eighth embodiment of the present application.
  • Fig. 20 is a schematic diagram of the motion state of the mechanical arm shown in Fig. 19;
  • Fig. 21 is a schematic perspective view of the three-dimensional structure of the medical trolley provided in some embodiments of the present application.
  • Fig. 22 is a schematic perspective view of the three-dimensional structure of the medical trolley provided in other embodiments of the present application.
  • Figure 23 is a schematic plan view of the medical trolley provided in some embodiments of the present application.
  • Fig. 24 is a schematic diagram showing the rotation process of the mechanical arm in the medical trolley as shown in Fig. 23;
  • Fig. 25 is a schematic diagram showing the swing process of the mechanical arm in the medical trolley as shown in Fig. 23;
  • Fig. 26 is a schematic plan view of the medical trolley provided in other embodiments of the present application.
  • Fig. 27 is a schematic diagram showing the rotation process of the mechanical arm in the medical trolley as shown in Fig. 26;
  • Fig. 28 is a schematic diagram showing the swing process of the mechanical arm in the medical trolley as shown in Fig. 26;
  • Fig. 29 is a schematic structural diagram 1 of an operating device provided in some embodiments of the present application.
  • Fig. 30 is a schematic structural diagram 2 of an operating device provided in some embodiments of the present application.
  • Fig. 31 is a schematic structural diagram 3 of an operating device provided in some embodiments of the present application.
  • Fig. 32 is a schematic structural diagram of a surgical robot provided in some embodiments of the present application.
  • an embodiment of the present application provides a mechanical arm
  • the mechanical arm includes a first suspension joint 4000 and a first articulated arm 3000
  • at least a part of the first articulated arm 3000 is An arc-shaped structure
  • the arc-shaped structure of the first articulated arm 3000 has a first arc trajectory
  • the first arc trajectory has a first central axis 3100
  • the first articulated arm 3000 uses the first
  • the central axis 3100 is the reference of rotation, and it is assembled on the first suspension joint 4000 along the first arc track.
  • the first joint arm 3000 is configured to be able to install the operating instrument, and make the operating instrument Intersecting the first central axis constitutes a virtual reference point 3200 .
  • the end of the surgical instrument can pass through by setting the position of the surgical instrument.
  • the first central axis 3100 so no matter how the first articulated arm 3000 rotates, it can meet the surgical instrument to form a virtual reference point 3200, ensuring the stability of the surgical position, not only reducing the complexity of the control algorithm, but also reducing the complexity of the control algorithm. Design difficulty, but also can maintain high control stability.
  • the mechanical arm also includes a second articulated arm 1000, the second articulated arm 1000 is assembled on the first articulated arm 3000, the second articulated arm 1000 has a fifth central axis 1100, and the fifth central axis 1100 and the first central axis 3100 are perpendicular to each other and intersect to form a virtual reference point 3200, the second articulated arm 1000 is configured to install the operating instrument 7000, and make the operating instrument 7000 pass through the virtual reference point 3200 .
  • the first articulated arm 3000 may form an arc-shaped structure in some sections or structures, or all sections or structures may be arc-shaped structures, which can be set by those skilled in the art according to requirements, and there is no limitation here.
  • the arc-shaped structure of the articulated arm 3000 forms a first arc trajectory with a first central axis 3100, so that the first articulated arm 3000 can To rotate along the first circular arc track, the rotational movement is a fixed-axis rotation based on the first central axis 3100, and the rotation of the first articulated arm 3000 will drive the plurality of operating instruments 7000 arranged on it to also rotate in the first direction.
  • the central axis 3100 is a reference fixed axis rotation.
  • the central axis 3100 is the rotation reference for fixed-axis rotation. No matter how one or more operating instruments 7000 rotate with a fixed axis, a "fixed point" can be constructed at the position of the virtual reference point 3200.
  • the virtual reference point 3200 can be the target object
  • the position of the wound can not only adjust the angle of the operating instrument 7000, but also ensure that no matter how the operating instrument 7000 rotates, it can ensure its precise alignment with the "fixed point", that is, the wound position of the target object, ensuring the accuracy of the operation , stability and security.
  • the fifth central axis 1100 and the first central axis 3100 are perpendicular to each other and intersect to form a virtual reference point 3200, it is only necessary to control the fixed-axis rotation of the first articulated arm 3000 to realize the position and angle of the operating instrument 7000
  • the adjustment of the control algorithm can not only reduce the complexity of the control algorithm, and then reduce the design difficulty of the control algorithm, but also maintain a high control stability.
  • the rotation of the first articulated arm 3000 can drive the operating instruments 7000 to form synchronous rotation, and indirectly make the position and angle of one or more operating instruments 7000 realize the expected adjustment, instead of directly driving one or more operating instruments 7000 to move, not only
  • the flexibility of the operation can be improved, and the synchronization among multiple operating instruments 7000 can be ensured, thereby reducing the risk of the operation.
  • the first suspension joint 4000 can adopt any structural form or components, and at the same time, a corresponding matching structure can also be set on the first articulated arm 3000 to assemble with the first suspension joint 4000.
  • the mechanical The arm includes a first guide rail 4100 and a first driving device 4300.
  • the first guide rail 4100 is arranged on the first articulated arm 3000.
  • the first guide rail 4100 has a circular arc consistent with the arc-shaped structure, so that the first The guide rail 4100 coincides with the first circular arc trajectory, and the guiding effect along the first circular arc trajectory can be realized.
  • the first suspension The joint 4000 can be provided with a first guide groove 4200, and the first guide rail 4100 and the first guide groove 4200 can be slidably guided and assembled, so that the first joint arm 3000 can move relative to the first arc along the first arc track.
  • the suspension joint 4000 has the effect of fixed-axis rotation.
  • the first driving device 4300 is arranged on the first articulated arm 3000, and the first driving device 4300 is drivingly connected to the first guide rail 4100.
  • the second A driving device 4300 is used as a driving source to drive and control the movement of the first articulated arm 3000 relative to the first suspension joint 4000 .
  • the operating instrument 7000 can also move at other angles or positions through other control structures to further improve the flexibility of the operation.
  • the mechanical arm can include a beam 5000, the first The suspension joint 4000 is arranged on the beam 5000, and the beam 5000 is used as an assembly basis.
  • the crossbeam 5000 can expand and contract along the first straight track, for example, the crossbeam 5000 can adopt a telescopic rod structure, including The fixed section and the telescopic section of the beam 5000, the telescopic section of the beam 5000 expands and contracts along the first straight track relative to the fixed section of the beam 5000, so as to realize the overall telescopic effect of the beam 5000, wherein the first straight track can be It is perpendicular to the first central axis 3100, so that a three-dimensional movement space is constructed through the first straight line trajectory, the first central axis 3100 and the fifth central axis 1100.
  • the expansion and contraction of the beam 5000 can adjust the lateral position of the virtual reference point 3200 Adjustment.
  • the first suspension joint 4000 can be assembled on the beam 5000 in any assembly method, including fixed assembly and movable assembly.
  • the first suspension The joint 4000 performs a specific movement relative to the crossbeam 5000, and further improves the movement flexibility of the operating instrument 7000 through the specific movement of the first suspension joint 4000 relative to the crossbeam 5000.
  • the first suspension The joint 4000 can be mounted on the crossbeam 5000 with the second central axis as the rotation reference, the second central axis can be perpendicular to the first central axis 3100, and the fixed axis rotation of the first suspension joint 4000 can be Control the rotation of the mechanical arm in the lateral direction, and further realize the adjustment of the angle of the operating instrument 7000 in the lateral direction, and/or, the first suspension joint 4000 has a third central axis, and the third central axis intersects the beam 5000 to form a Swing reference point, the first suspension joint 4000 takes the swing reference point as the swing reference point, and swings around the third central axis on the beam 5000, and the first suspension joint 4000 The third central axis is parallel to the first central axis 3100 , and the fixed-axis swing of the first suspension joint 4000 can control the swing of the mechanical arm in the lateral direction, further realizing the adjustment of the position of the operating instrument 7000 in the
  • the fixed-axis rotation and fixed-axis swing of the first suspension joint 4000 relative to the beam 5000 can be realized through various structural forms, and those skilled in the art can construct the rotation center axis and the fixed-axis of the first suspension joint 4000 according to various structural forms.
  • the third central axis defines the specific movement of the first suspension joint 4000 relative to the beam 5000.
  • the first suspension joint 4000 may include a rotating part 4400, so that the rotating part 4400 is connected to the crossbeam 5000.
  • the rotating part 4400 is such as a rotating shaft.
  • the rotating part 4400 can rotate on a fixed axis with the rotation center axis of the first suspension joint 4000 as a reference, so the first suspension joint 4000 can pass The rotating part 4400 rotates with a fixed axis relative to the beam 5000 .
  • the first suspension joint 4000 may include a swing part 4500 to connect the swing part 4500 to the beam 5000.
  • the swing part 4500 is, for example, a cantilever structure with one end hinged.
  • the swing part 4500 can use the first
  • the third central axis of the suspension joint 4000 is used as a reference to swing at a fixed axis, so the first suspension joint 4000 swings at a fixed axis relative to the beam 5000 through the swing part 4500 .
  • the rotating part 4400 is connected to the beam 5000 through the swing part 4500, that is, the first suspension joint 4000 is connected to the beam 5000 through the rotating part 4400 and the swing part 4500 in turn, or, the The swinging part 4500 is connected to the beam 5000 through the rotating part 4400, that is, the first suspension joint 4000 is connected to the beam 5000 through the swinging part 4500 and the rotating part 4400 in sequence.
  • Those skilled in the art can adopt a suitable assembly method according to the requirements. It is not limited here.
  • the first suspension joint 4000 may include a base 4600, and the first guide groove 4200 is opened on the base 4600,
  • the rotating part 4400 or the swinging part 4500 is installed on the base 4600, so that the first guide rail 4100 is slidably and guidedly assembled with the first guide groove 4200 on the base 4600, thereby satisfying the requirements of the first articulated arm 3000.
  • the base 4600 can adopt any structural form, which is not limited here, for the fixed-axis rotational assembly relative to the first suspension joint 4000 along the first arc track.
  • the mechanical arm can include a column 6000, and the column 6000 can expand and contract along the second straight track.
  • the column 6000 can adopt a telescopic rod structure, including a fixed section and a telescopic section of the column 6000.
  • the telescopic section of the column 6000 expands and contracts along the second straight track relative to the fixed section of the column 6000, thereby realizing the overall telescopic effect of the column 6000
  • the beam 5000 is arranged on the column 6000, wherein the second straight track It is perpendicular to the first central axis 3100 , so that the longitudinal position of the virtual reference point 3200 is adjusted through the expansion and contraction of the column 6000 .
  • the crossbeam 5000 can also be fixedly mounted on the column 6000 with the fourth central axis as the rotation reference.
  • the fourth central axis is perpendicular to the first central axis 3100 .
  • the rotation can adjust the lateral position of the virtual reference point 3200 in space, improving the flexibility of the operation.
  • the operation instrument 7000 is configured to be able to rotate with a fixed axis along the fifth central axis 1100 , wherein, the manner of the fixed axis rotation of the operation instrument 7000 along the fifth central axis 1100 may be that the operation instrument 7000 itself directly rotates with a fixed axis or With the indirect rotation of the second articulated arm 1000 , for example, in one embodiment, the second articulated arm 1000 can be fixed and rotated on the first articulated arm 3000 along the fifth central axis 1100 After the operating instrument 7000 is assembled on the second articulated arm 1000, the operating instrument 7000 is fixed relative to the second articulated arm 1000. When the second articulated arm 1000 rotates on a fixed axis, the operating instrument 7000 can follow the second The articulated arm 1000 rotates on a fixed axis along the fifth central axis 1100 .
  • the second articulated arm 1000 can be assembled on the first articulated arm 3000 with fixed axis rotation, and various assembly structures can be adopted.
  • the second articulated arm 1000 can be rotatably assembled on the first articulated arm 3000 directly through a rotating drive structure such as a motor, or in the first articulated arm 3000.
  • the second articulated arm 1000 can adopt the same structural form as the first articulated arm 3000, so that at least a part of the second articulated arm 1000 is an arc-shaped structure, and the arc of the second articulated arm 1000
  • the shape structure has a second arc trajectory, the second arc trajectory has the fifth central axis 1100, and the second articulated arm 1000 takes the fifth central axis 1100 as a rotation reference, along the second
  • the arc track is rotatably assembled on the first articulated arm 3000, and the second articulated arm 1000 may form an arc-shaped structure in some sections or structures, or all sections or structures may be arc-shaped structures.
  • the second articulated arm 1000 The arc-shaped structure forms a second arc trajectory with a fifth central axis 1100, so that the second articulated arm 1000 can rotate along the second arc trajectory, and the rotational movement is based on the fifth central axis 1100 Rotating on a fixed axis, the rotation of the second articulated arm 1000 will drive the plurality of operating instruments 7000 disposed on it to also rotate on a fixed axis with the fifth central axis 1100 as the reference.
  • the fixed-axis rotation of the second articulated arm 1000 will also maintain the same position as the first articulated arm 3000 at the virtual reference point 3200.
  • the position constructs a "fixed point", and the virtual reference point 3200 can be the wound position of the target object. Therefore, the second articulated arm 1000 and the first articulated arm 3000 drive one or more operating instruments 7000 to perform positioning under different rotation references.
  • the shaft When the shaft rotates, it can not only adjust the position and angle of the operating instrument 7000 in two-dimensional angles, but also ensure that no matter how the operating instrument 7000 rotates, it can ensure its precise alignment with the "fixed point", that is, the wound of the target object.
  • the position ensures the accuracy, stability and safety of the operation.
  • the movable assembly of the second articulated arm 1000 relative to the first articulated arm 3000 can be assembled directly or indirectly through other components.
  • the mechanical arm can include a second suspension joint 2000, a second suspension The joint 2000 is arranged on the first articulated arm 3000, and the second articulated arm 1000 is slidably assembled on the second suspension joint 2000 along the second circular arc trajectory.
  • Those skilled in the art can adopt Appropriate assembly structure.
  • the second suspension joint 2000 can adopt any structural form or components, and at the same time, a corresponding matching structure can also be set on the second articulated arm 1000 to assemble with the second suspension joint 2000.
  • the mechanical The arm includes a second guide rail 2100 and a second driving device 2300, the second guide rail 2100 is arranged on the second articulated arm 1000, the second guide rail 2100 has a circular arc consistent with the arc-shaped structure, so that the second The guide rail 2100 coincides with the second arc track, and the guiding effect along the second arc track can be realized.
  • the second suspension The joint 2000 can be provided with a second guide groove 2200, and the second guide rail 2100 and the second guide groove 2200 can be slidably guided and assembled so that the second joint arm 1000 can move relative to the second arc along the second arc track.
  • the second driving device 2300 is arranged on the second articulated arm 1000, and the second driving device 2300 is drivingly connected with the second guide rail 2100.
  • the second driving device 2300 serves as a driving source to drive and control the movement of the second articulated arm 1000 relative to the second suspension joint 2000 .
  • the second articulated arm 1000 is connected to the first articulated arm 3000 , and the second articulated arm 1000 is fixed relative to the first articulated arm 3000 , on the second articulated arm 1000
  • a third driving device 2400 is provided, and the third driving device 2400 can be configured to be able to drive the operating instrument 7000 to rotate along the fifth central axis 1100, and the third driving device 2400 can be various types of motors, etc. , is not limited here.
  • the second driving device 2300 and the first The driving device 4300 can adopt any device form, such as various transmission mechanisms and power mechanisms, etc.
  • the first driving device 4300 can be a transmission belt 4320 mechanism or a transmission wire 4340 mechanism, or, the The second driving device 2300 may also be a transmission belt 4320 mechanism or a transmission wire 4340 mechanism.
  • the transmission belt 4320 mechanism may include a pulley 4310 and a transmission belt 4320, and the two ends of the transmission belt 4320 are connected to the second articulated arm 1000 or the first articulated arm The two ends of 3000 are connected, and the pulley 4310 is drivingly connected with the transmission belt 4320.
  • the pulley 4310 can use various types of motors as the power source. The motor drives the pulley 4310 to rotate, and the pulley 4310 will drive the transmission belt 4320 to move.
  • the transmission belt 4320 is in the Driven by the pulley 4310, a pulling force will be applied to the corresponding end of the second articulated arm 1000 or the first articulated arm 3000, so that the second articulated arm 1000 or the first articulated arm 3000 can follow the second arc track or the first circle Sliding on the arc track to realize the respective fixed axis rotation.
  • the transmission wire 4340 mechanism may include a wire wheel 4330 and at least two transmission wires 4340, at least one end of the transmission wire 4340 is connected to the second joint One end of the arm 1000 or the first articulated arm 3000 is connected, at least one end of another transmission wire 4340 is connected with the other end of the second articulated arm 1000 or the first articulated arm 3000, and the wire wheel 4330 is drivingly connected to the other end of the transmission wire 4340, and the wire wheel 4330 can use various types of motors as a power source, and the motor drives the wire wheel 4330 to rotate, and the wire wheel 4330 winds or releases one end of the transmission wire 4340.
  • the total length of the two driving wires 4340 will not change, and the wound driving wire 4340 will exert a pulling force on the corresponding end of the second articulated arm 1000 or the first articulated arm 3000,
  • the second articulated arm 1000 or the first articulated arm 3000 can slide along the second circular arc track or the first circular arc track to realize respective fixed-axis rotation.
  • the manipulator can choose different functions or structural forms according to the needs and combine them to form different structures.
  • both the first articulated arm 3000 and the second articulated arm 1000 of the robotic arm can adopt the form of a circular arc structure to drive the first joint
  • the first driving device 4300 or the second driving device 2300 for the fixed axis rotation of the arm 3000 or the second articulated arm 1000 can adopt a transmission belt 4320 mechanism, and the first articulated arm 3000 can be assembled on the beam 5000 in a fixed axis rotation manner through the rotating part 4400 superior.
  • both the first articulated arm 3000 and the second articulated arm 1000 of the mechanical arm can adopt the form of a circular arc structure to drive the first articulated arm 3000 or
  • the first driving device 4300 or the second driving device 2300 for the fixed-axis rotation of the second articulated arm 1000 can use a transmission wire 4340 mechanism, and the first articulated arm 3000 can be assembled on the beam 5000 in a fixed-axis rotation manner through the rotating part 4400 .
  • the first articulated arm 3000 of the robotic arm is in the form of a circular arc structure alone, and the matched second articulated arm 1000 is in the form of a non-circular arc structure. form, driving the first joint
  • the first driving device 4300 of the fixed axis rotation of the arm 3000 can adopt the transmission belt 4320 mechanism, the second articulated arm 1000 is fixed relative to the first articulated arm 3000, and then the third driving device 2400 on the second articulated arm 1000 is used to drive the operating instrument 7000
  • the first articulated arm 3000 can be assembled on the beam 5000 in a manner of rotating at a fixed axis through the rotating part 4400 .
  • the first articulated arm 3000 of the robotic arm is in the form of a circular arc structure alone, and the matched second articulated arm 1000 is in the form of a non-circular arc structure.
  • the first driving device 4300 that drives the first articulated arm 3000 to rotate at a fixed axis can use a transmission wire 4340 mechanism
  • the second articulated arm 1000 is fixed relative to the first articulated arm 3000, and in turn uses the third articulated arm 1000 on the second articulated arm 1000
  • the driving device 2400 drives the operating instrument 7000 to rotate at a fixed axis
  • the first articulated arm 3000 can be assembled on the beam 5000 in a fixed-axis rotation manner through the rotating part 4400 .
  • both the first articulated arm 3000 and the second articulated arm 1000 of the robotic arm can adopt the form of a circular arc structure to drive the first articulated arm 3000 or
  • the first drive device 4300 or the second drive device 2300 for the rotation of the second articulated arm 1000 at a fixed axis can adopt a transmission belt 4320 mechanism, and the first articulated arm 3000 can rotate and swing at a fixed axis through the rotating part 4400 and the swinging part 4500 The way is assembled on the beam 5000.
  • both the first articulated arm 3000 and the second articulated arm 1000 of the robotic arm can adopt the form of a circular arc structure to drive the first articulated arm 3000 or
  • the first drive device 4300 or the second drive device 2300 for the rotation of the second articulated arm 1000 at a fixed axis can adopt a transmission wire 4340 mechanism, and the first articulated arm 3000 can rotate and swing at a fixed axis through the rotating part 4400 and the swinging part 4500 Assembled on the beam 5000 in the same way.
  • the first articulated arm 3000 of the robotic arm is in the form of a circular arc structure alone, and the matched second articulated arm 1000 is in the form of a non-circular arc structure.
  • the first driving device 4300 that drives the first articulated arm 3000 to rotate at a fixed axis can adopt a transmission belt 4320 mechanism
  • the second articulated arm 1000 is fixed relative to the first articulated arm 3000, and in turn utilizes the third drive on the second articulated arm 1000
  • the device 2400 drives the operating instrument 7000 to rotate at a fixed axis
  • the first articulated arm 3000 can be assembled on the beam 5000 in a manner of rotating at a fixed axis and swinging at a fixed axis through the rotating part 4400 and the swinging part 4500 .
  • the first articulated arm 3000 of the robotic arm is in the form of a circular arc structure alone, and the matched second articulated arm 1000 is in the form of a non-circular arc structure.
  • the first driving device 4300 that drives the first articulated arm 3000 to rotate with a fixed axis can use the transmission wire 4340 mechanism
  • the second articulated arm 1000 is fixed relative to the first articulated arm 3000, and in turn uses the third articulated arm 1000 on the second articulated arm 1000
  • the driving device 2400 drives the operating instrument 7000 to rotate at a fixed axis
  • the first articulated arm 3000 can be assembled on the beam 5000 in a manner of rotating at a fixed axis and swinging at a fixed axis through the rotating part 4400 and the swinging part 4500 .
  • the present application also provides a medical trolley, which may include a trolley body 0011 and the mechanical arm, and the mechanical arm is arranged on the trolley body 0011 , the trolley body 0011 is used as a Equipped with a foundation, the mobile function can be integrated, and then the whole robot arm can be transported through the trolley body 0011. Since the specific structure, functional principles, and technical effects of the robotic arm are described in detail above, they will not be repeated here. For any technical content related to the robotic arm, you can refer to the previous records.
  • the present application also provides an operating device 0001, which may include a lying platform 0012 and the medical trolley, and the lying platform 0012 can be used for patients to lie down to keep In the static state required for the operation, the medical trolley can be moved to a suitable position near the lying table 0012 to perform surgery on the patient through its mobile function.
  • an operating device 0001 which may include a lying platform 0012 and the medical trolley, and the lying platform 0012 can be used for patients to lie down to keep In the static state required for the operation, the medical trolley can be moved to a suitable position near the lying table 0012 to perform surgery on the patient through its mobile function.
  • the present application also provides a surgical robot, which includes the operating device 0001, the main control device 0002 and the visualization device 0003.
  • the operating device 0001 can perform surgical operations, such as punching and positioning
  • the main control device 0002 is connected with the data connection with the operation device 0001, and the user can control the operation device 0001 to move through the main control device 0002, and implement various
  • the visualization device 0003 can be used for image display, equipped with an image platform or an energy platform.
  • the visualization device 0003 is connected to the operation device 0001 in data, and the image information of the operation can be obtained through the operation device 0001 for reference by the user. Precise control operation.

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

Abstract

La présente invention concerne un bras mécanique et un chariot médical. Le bras mécanique comprend une première articulation de suspension (4000) et un premier bras d'articulation (3000) ; au moins une partie du premier bras d'articulation (3000) présente une structure en forme d'arc ; la structure en forme d'arc du premier bras d'articulation (3000) comporte un premier tracé en arc ; le premier tracé en arc comporte un premier axe central ; le premier bras d'articulation (3000) est assemblé de manière rotative sur la première articulation de suspension (4000) le long du premier tracé en arc en prenant le premier axe central en tant que référence de rotation.
PCT/CN2023/077078 2022-02-22 2023-02-20 Bras mécanique et chariot médical WO2023160488A1 (fr)

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CN114533275B (zh) * 2022-02-22 2024-02-23 上海微创医疗机器人（集团）股份有限公司 末端关节臂、机械臂以及医疗台车

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