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WO2023160488A1 - 机械臂以及医疗台车 - Google Patents

机械臂以及医疗台车 Download PDF

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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)
French (fr)
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/zh

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—Master-slave 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)
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Abstract

本申请涉及一种机械臂以及医疗台车，机械臂包括第一悬吊关节（4000）和第一关节臂（3000），第一关节臂（3000）的至少一部分为圆弧形结构，第一关节臂（3000）的圆弧形结构具有第一圆弧轨迹，第一圆弧轨迹具有第一中心轴线，第一关节臂（3000）以第一中心轴线为转动基准，沿着第一圆弧轨迹转动装配在第一悬吊关节（4000）上。

Description

机械臂以及医疗台车
相关申请
本申请要求2022年02月22日申请的，申请号为202210164839.3，名称为“机械臂以及医疗台车”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请涉及医疗器械技术领域，特别是涉及一种机械臂以及医疗台车。
背景技术
手术机器人可以通过微创的方法，实施复杂的外科手术，手术机器人通常可以包括主操控设备、操作设备以及安装在操作设备上用于手术的各类操作器械，医生可以通过主操控设备向操作设备发送控制命令，操作设备可以根据该控制命令控制操作器械的运动，从而对患者实施手术操作。
手术机器人通常采用机械臂实施对操作器械的运动控制，现有的机械臂一般具有多个依次连接的连接部，位于最远端的连接部用于连接操作器械，相邻两个连接部形成一个关节，关节至少为五个，五个关节通过联动调整最远端操作器械的位置及姿态，以使操作器械沿运动中心运动，因此，当任意关节改变运动状态时，其他联动的关节均需要改变运动状态，以保证操作器械位于运动中心，运动中心通常为病人身上的切口区域。
但是，这种机械臂的结构复杂，多个关节的运动状态需要多套动力系统叠加配合控制，算法难度大。
发明内容
根据本申请的各种实施例，本申请提供一种机械臂以及医疗台车。
本申请提供了一种机械臂，所述机械臂包括：
第一悬吊关节；及
第一关节臂，所述第一关节臂的至少一部分为圆弧形结构，所述第一关节臂的圆弧形结构具有第一圆弧轨迹，所述第一圆弧轨迹具有第一中心轴线，所述第一关节臂以所述第一中心轴线为转动基准，沿着所述第一圆弧轨迹转动装配在所述第一悬吊关节上，所述第一关节臂被配置为能够安装操作器械，并使所述操作器械相交于所述第一中心轴线构成虚拟基准点。
本申请提供了一种医疗台车，所述医疗台车包括：
台车本体；及
所述机械臂，所述机械臂设置在所述台车本体上。
本申请的一个或多个实施例的细节在下面的附图和描述中提出，本申请的其他特征、目的和优点将从说明书、附图以及权利要求书中变得明显。
附图说明
为了更清楚地说明本申请实施例或传统技术中的技术方案，下面将对实施例或传统技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据公开的附图获得其他的附图。
图1为本申请一些实施例中提供的机械臂的平面结构示意图；
图2为如图1所示的机械臂的运动状态示意图；
图3为如图1所示的机械臂的运动过程展示结构示意图；
图4为如图3所示的机械臂的运动状态示意图；
图5为本申请第一实施例中提供的机械臂的结构示意图；
图6为如图5所示的机械臂的运动状态示意图；
图7为本申请第二实施例中提供的机械臂的结构示意图；
图8为如图7所示的机械臂的运动状态示意图；
图9为本申请第三实施例中提供的机械臂的结构示意图；
图10为如图9所示的机械臂的运动状态示意图；
图11为本申请第四实施例中提供的机械臂的结构示意图；
图12为如图11所示的机械臂的运动状态示意图；
图13为本申请第五实施例中提供的机械臂的结构示意图；
图14为如图13所示的机械臂的运动状态示意图；
图15为本申请第六实施例中提供的机械臂的结构示意图；
图16为如图15所示的机械臂的运动状态示意图；
图17为本申请第七实施例中提供的机械臂的结构示意图；
图18为如图17所示的机械臂的运动状态示意图；
图19为本申请第八实施例中提供的机械臂的结构示意图；
图20为如图19所示的机械臂的运动状态示意图；
图21为本申请一些实施例中提供的医疗台车的立体结构示意图；
图22为本申请另一些实施例中提供的医疗台车的立体结构示意图；
图23为本申请一些实施例中提供的医疗台车的平面结构示意图；
图24为如图23所示的医疗台车中机械臂的转动过程展示示意图；
图25为如图23所示的医疗台车中机械臂的摆动过程展示示意图；
图26为本申请另一些实施例中提供的医疗台车的平面结构示意图；
图27为如图26所示的医疗台车中机械臂的转动过程展示示意图；
图28为如图26所示的医疗台车中机械臂的摆动过程展示示意图；
图29为本申请一些实施例中提供的操作设备的结构示意图1；
图30为本申请一些实施例中提供的操作设备的结构示意图2；
图31为本申请一些实施例中提供的操作设备的结构示意图3；
图32为本申请一些实施例中提供的手术机器人的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
参阅图1至图28所示，本申请一实施例提供了一种机械臂，所述机械臂包括第一悬吊关节4000和第一关节臂3000，所述第一关节臂3000的至少一部分为圆弧形结构，所述第一关节臂3000的圆弧形结构具有第一圆弧轨迹，所述第一圆弧轨迹具有第一中心轴线3100，所述第一关节臂3000以所述第一中心轴线3100为转动基准，沿着所述第一圆弧轨迹转动装配在所述第一悬吊关节4000上，所述第一关节臂3000被配置为能够安装操作器械，并使所述操作器械相交于所述第一中心轴线构成虚拟基准点3200。
只需要控制第一关节臂3000的定轴转动即能够实现对操作器械的位置和角度的调整，当手术器械固定在第一关节臂3000上，可以通过设置手术器械的位置使手术器械的末端经过第一中心轴线3100，所以无论第一关节臂3000如何定轴转动，都能够与手术器械交汇形成虚拟基准点3200，保证手术位置的稳定，不仅能够降低控制算法的复杂性，进而降低控制算法的设计难度，而且还能够保持较高的控制稳定性。
所述机械臂还包括第二关节臂1000，所述第二关节臂1000装配在所述第一关节臂3000上，所述第二关节臂1000具有第五中心轴线1100，所述第五中心轴线1100与所述第一中心轴线3100相互垂直并相交形成虚拟基准点3200，所述第二关节臂1000被配置为用于安装操作器械7000，并使所述操作器械7000经过所述虚拟基准点3200。
第一关节臂3000可以在其部分区段或结构中构成圆弧形结构，也可以全部区段或结构为圆弧形结构，本领域技术人员可以根据需求设置，在此不做限定，第一关节臂3000的圆弧形结构通过形成具有第一中心轴线3100的第一圆弧轨迹，使得第一关节臂3000可 以沿着该第一圆弧轨迹进行转动，转动运动为以第一中心轴线3100为基准的定轴转动，第一关节臂3000的转动会带动其上设置的多个操作器械7000也以第一中心轴线3100为基准的定轴转动。由于所述第五中心轴线1100与所述第一中心轴线3100相互垂直并相交形成虚拟基准点3200，所以第一关节臂3000的定轴转动会保证一个或多个操作器械7000以所述第一中心轴线3100为转动基准进行定轴转动，无论一个或多个操作器械7000如何定轴转动，均能够在虚拟基准点3200的位置构建出“不动点”，该虚拟基准点3200可以为目标对象的创口位置，不仅可以实现对操作器械7000角度的调节，而且可以保证无论操作器械7000如何转动，都能够保证其精准对位“不动点”，即目标对象的创口位置，保证手术的精准性、稳定性和安全性。
由于所述第五中心轴线1100与所述第一中心轴线3100相互垂直并相交形成虚拟基准点3200，因此只需要控制第一关节臂3000的定轴转动即能够实现对操作器械7000的位置和角度的调整，不仅能够降低控制算法的复杂性，进而降低控制算法的设计难度，而且还能够保持较高的控制稳定性。第一关节臂3000的转动可以带动操作器械7000形成同步转动，间接地使一个或多个操作器械7000的位置和角度实现预期的调整，而非直接驱动一个或多个操作器械7000进行运动，不仅可以提高手术的灵活性，而且也可以保证多个操作器械7000之间的同步性，降低手术的风险。
第一悬吊关节4000可以采用任意结构形式或组成部件，同时第一关节臂3000上也可以设置相应的配合结构与第一悬吊关节4000进行组装，例如在其中一个实施例中，所述机械臂包括第一导向轨4100和第一驱动器件4300，第一导向轨4100设置在所述第一关节臂3000上，第一导向轨4100具有与圆弧形结构一致的圆弧度，使第一导向轨4100与第一圆弧轨迹重合，可以实现沿着第一圆弧轨迹的导向效果，在第一悬吊关节4000与第一导向轨4100迹之间的装配中，所述第一悬吊关节4000可以开设有第一导向槽4200，并将所述第一导向轨4100与所述第一导向槽4200滑动导向装配，进而满足第一关节臂3000沿着第一圆弧轨迹相对于第一悬吊关节4000定轴转动的效果，在此过程中，第一驱动器件4300设置在所述第一关节臂3000上，所述第一驱动器件4300与所述第一导向轨4100驱动连接，第一驱动器件4300作为驱动源对第一关节臂3000相对于第一悬吊关节4000的运动进行驱动控制。
除此之外，操作器械7000还可以通过其他控制结构实现其他角度或位置的运动，进一步提高手术的灵活性，例如在其中一个实施例中，所述机械臂可以包括横梁5000，所述第一悬吊关节4000设置在所述横梁5000上，将横梁5000作为装配基础。而且，所述横梁5000能够沿着第一直线轨迹伸缩，例如横梁5000可以采用可伸缩的伸缩杆结构，包括 横梁5000的固定段和伸缩段，横梁5000的伸缩段相对于横梁5000的伸固定段沿着第一直线轨迹伸缩，进而实现横梁5000整体的伸缩效果，其中，所述第一直线轨迹可以与所述第一中心轴线3100垂直，从而通过第一直线轨迹、第一中心轴线3100和第五中心轴线1100构建出三维的运动空间，横梁5000的伸缩可以对虚拟基准点3200的横向位置进行调整。
第一悬吊关节4000可以采用任意的装配方式装配在横梁5000上，包括固定装配和活动装配，当第一悬吊关节4000采用活动装配方式装配在横梁5000上后，也可以限定第一悬吊关节4000相对于横梁5000实施特定的运动，进而通过第一悬吊关节4000相对于横梁5000的特定运动进一步提高操作器械7000的运动灵活性，例如在其中一个实施例中，所述第一悬吊关节4000能够以第二中心轴线为转动基准定轴转动装配在所述横梁5000上，所述第二中心轴线可以与所述第一中心轴线3100垂直，第一悬吊关节4000的定轴转动可以在横向上控制机械臂转动，进一步实现操作器械7000在横向上调整角度，和/或，所述第一悬吊关节4000具有第三中心轴线，所述第三中心轴线与所述横梁5000相交构成摆动基准点，所述第一悬吊关节4000以所述摆动基准点为摆动基准，绕着所述第三中心轴线定轴摆动装配在所述横梁5000上，所述第一悬吊关节4000的第三中心轴线与所述第一中心轴线3100平行，第一悬吊关节4000的定轴摆动可以在横向上控制机械臂摆动，进一步实现操作器械7000在横向上调整位置。
第一悬吊关节4000相对于横梁5000的定轴转动和定轴摆动可以通过多种结构形式实现，本领域技术人员可以根据多种结构形式构建所述第一悬吊关节4000的转动中心轴线和第三中心轴线，从而限定所述第一悬吊关节4000相对于横梁5000的特定运动，例如在其中一个实施例中，所述第一悬吊关节4000可以包括转动部4400，使所述转动部4400与所述横梁5000连接，转动部4400例如转轴等，转动部4400能够以所述第一悬吊关节4000的转动中心轴线为基准进行定轴转动，因此所述第一悬吊关节4000可以通过所述转动部4400相对于所述横梁5000定轴转动。同理，所述第一悬吊关节4000可以包括摆动部4500，使所述摆动部4500与所述横梁5000连接，摆动部4500例如一端铰接的悬臂结构等，摆动部4500能够以所述第一悬吊关节4000的第三中心轴线为基准进行定轴摆动，因此所述第一悬吊关节4000通过所述摆动部4500相对于所述横梁5000定轴摆动。
第一悬吊关节4000装配在横梁5000上时，可以单独设置转动部4400、单独设置摆动部4500或同时设置转动部4400和摆动部4500，进而相应的具备定轴转动或定轴摆动的功能，在其中一个实施例中，所述转动部4400通过所述摆动部4500与所述横梁5000连接，即第一悬吊关节4000依次通过转动部4400、摆动部4500与横梁5000连接，或者，所述 摆动部4500通过所述转动部4400与所述横梁5000连接，即第一悬吊关节4000依次通过摆动部4500、转动部4400与横梁5000连接，本领域技术人员可以根据需求采用合适的装配方式，在此不做限定。
为了合理的装配转动部4400和摆动部4500，在其中一个实施例中，所述第一悬吊关节4000可以包括基座4600，将所述第一导向槽4200开设在所述基座4600上，所述转动部4400或所述摆动部4500安装在所述基座4600上，使所述第一导向轨4100与基座4600上的第一导向槽4200滑动导向装配，进而满足第一关节臂3000沿着第一圆弧轨迹相对于第一悬吊关节4000的定轴转动装配，基座4600可以采用任意结构形式，在此不做限定。
在其中一个实施例中，所述机械臂可以包括立柱6000，所述立柱6000能够沿着第二直线轨迹伸缩，例如立柱6000可以采用可伸缩的伸缩杆结构，包括立柱6000的固定段和伸缩段，立柱6000的伸缩段相对于立柱6000的固定段沿着第二直线轨迹伸缩，进而实现立柱6000整体的伸缩效果，所述横梁5000设置在所述立柱6000上，其中，所述第二直线轨迹与所述第一中心轴线3100垂直，从而通过立柱6000的伸缩对虚拟基准点3200的纵向位置进行调整。所述横梁5000也能够以第四中心轴线为转动基准定轴转动装配在所述立柱6000上，所述第四中心轴线与所述第一中心轴线3100垂直，横梁5000相对于立柱6000的定轴转动可以在空间中调整虚拟基准点3200的横向位置，提高手术的灵活性。
所述操作器械7000被配置为能够沿着所述第五中心轴线1100定轴转动，其中，操作器械7000沿着第五中心轴线1100定轴转动的方式可以为操作器械7000自身直接定轴转动或者随着第二关节臂1000间接定轴转动，例如在其中一个实施例中，所述第二关节臂1000可以沿着所述第五中心轴线1100定轴转动装配在所述第一关节臂3000上，操作器械7000装配在第二关节臂1000上后，操作器械7000相对于第二关节臂1000固定，当第二关节臂1000定轴转动时，所述操作器械7000便可以随着所述第二关节臂1000沿着所述第五中心轴线1100定轴转动。
第二关节臂1000定轴转动装配在第一关节臂3000上可以采用多种装配结构，例如直接通过电机等转动驱动结构将第二关节臂1000转动装配在第一关节臂3000上，或者在其中一个实施例中，第二关节臂1000可以采用与第一关节臂3000同样的结构形式，使所述第二关节臂1000的至少一部分为圆弧形结构，所述第二关节臂1000的圆弧形结构具有第二圆弧轨迹，所述第二圆弧轨迹具有所述第五中心轴线1100，所述第二关节臂1000以所述第五中心轴线1100为转动基准，沿着所述第二圆弧轨迹转动装配在所述第一关节臂3000上，第二关节臂1000可以在其部分区段或结构中构成圆弧形结构，也可以全部区段或结构为圆弧形结构，本领域技术人员可以根据需求设置，在此不做限定，第二关节臂1000 的圆弧形结构通过形成具有第五中心轴线1100的第二圆弧轨迹，使得第二关节臂1000可以沿着该第二圆弧轨迹进行转动，转动运动为以第五中心轴线1100为基准的定轴转动，第二关节臂1000的转动会带动其上设置的多个操作器械7000也以第五中心轴线1100为基准的定轴转动。
由于所述第五中心轴线1100与所述第一中心轴线3100相互垂直并相交形成虚拟基准点3200，所以第二关节臂1000定轴转动也会保持与第一关节臂3000在虚拟基准点3200的位置构建出“不动点”，该虚拟基准点3200可以为目标对象的创口位置，因此通过第二关节臂1000和第一关节臂3000带动一个或多个操作器械7000在不同转动基准下进行定轴转动时，不仅可以完成操作器械7000在二维角度下的位置和角度的调节，而且可以保证无论操作器械7000如何转动，都能够保证其精准对位“不动点”，即目标对象的创口位置，保证手术的精准性、稳定性和安全性。
第二关节臂1000相对于第一关节臂3000的活动装配可以直接装配或通过其他部件间接装配，例如在其中一个实施例中，所述机械臂可以包括第二悬吊关节2000，第二悬吊关节2000设置在所述第一关节臂3000上，所述第二关节臂1000沿着所述第二圆弧轨迹滑动装配在所述第二悬吊关节2000上，本领域技术人员可以根据需求采用合适的装配结构。
第二悬吊关节2000可以采用任意结构形式或组成部件，同时第二关节臂1000上也可以设置相应的配合结构与第二悬吊关节2000进行组装，例如在其中一个实施例中，所述机械臂包括第二导向轨2100和第二驱动器件2300，第二导向轨2100设置在所述第二关节臂1000上，第二导向轨2100具有与圆弧形结构一致的圆弧度，使第二导向轨2100与第二圆弧轨迹重合，可以实现沿着第二圆弧轨迹的导向效果，在第二悬吊关节2000与第二导向轨2100迹之间的装配中，所述第二悬吊关节2000可以开设有第二导向槽2200，并将所述第二导向轨2100与所述第二导向槽2200滑动导向装配，进而满足第二关节臂1000沿着第二圆弧轨迹相对于第二悬吊关节2000定轴转动的效果，在此过程中，第二驱动器件2300设置在所述第二关节臂1000上，所述第二驱动器件2300与所述第二导向轨2100驱动连接，第二驱动器件2300作为驱动源对第二关节臂1000相对于第二悬吊关节2000的运动进行驱动控制。
或者在另外一个实施例中，所述第二关节臂1000与所述第一关节臂3000连接，并使第二关节臂1000相对于第一关节臂3000固定，在所述第二关节臂1000上设置有第三驱动器件2400，所述第三驱动器件2400可以被配置为能够驱动操作器械7000沿着所述第五中心轴线1100定轴转动，第三驱动器件2400可以为各种类型的电机等，在此不做限定。
基于第二关节臂1000和第一关节臂3000的圆弧形结构，第二驱动器件2300和第一 驱动器件4300均可以采用任意的器件形式，例如各种传动机构和动力机构等，在其中一个实施例中，所述第一驱动器件4300可以为传动带4320机构或传动丝4340机构，或者，所述第二驱动器件2300也可以为传动带4320机构或传动丝4340机构。
当采用传动带4320机构时，在其中一个实施例中，所述传动带4320机构可以包括带轮4310和传动带4320，所述传动带4320的两端与所述第二关节臂1000或所述第一关节臂3000的两端连接，所述带轮4310与所述传动带4320驱动连接，带轮4310可以采用各类型电机作为动力源，电机驱动带轮4310转动，带轮4310会驱动传动带4320运动，传动带4320在带轮4310的驱动下会对第二关节臂1000或第一关节臂3000的相应一端施加拉动力，使第二关节臂1000或第一关节臂3000能够沿着第二圆弧轨迹或第一圆弧轨迹滑动，实现各自的定轴转动。
当采用传动丝4340机构时，在其中一个实施例中，所述传动丝4340机构可以包括丝轮4330和至少两根传动丝4340，至少一根所述传动丝4340的一端与所述第二关节臂1000或所述第一关节臂3000的一端连接，至少另一根所述传动丝4340的一端与所述第二关节臂1000或所述第一关节臂3000的另一端连接，所述丝轮4330与所述传动丝4340的另一端驱动连接，丝轮4330可以采用各类型电机作为动力源，电机驱动丝轮4330转动，丝轮4330对传动丝4340的一端进行缠绕或释放，当两根传动丝4340分别被丝纶缠绕和释放时，两跟传动丝4340的总长度不会发生变化，被缠绕的传动丝4340会对第二关节臂1000或第一关节臂3000的相应一端施加拉动力，使第二关节臂1000或第一关节臂3000能够沿着第二圆弧轨迹或第一圆弧轨迹滑动，实现各自的定轴转动。
基于机械臂的多种功能和结构形式，机械臂可以根据需求选择不同功能或结构形式进行组合，从而构成不同的组成结构。
举例说明，参阅图5和图6所示，在机械臂的第一实施例中，机械臂的第一关节臂3000和第二关节臂1000均可以采用圆弧形结构的形式，驱动第一关节臂3000或第二关节臂1000定轴转动的第一驱动器件4300或第二驱动器件2300可以采用传动带4320机构，而且第一关节臂3000可以通过转动部4400以定轴转动的方式装配在横梁5000上。参阅图7和图8所示，在机械臂的第二实施例中，机械臂的第一关节臂3000和第二关节臂1000均可以采用圆弧形结构的形式，驱动第一关节臂3000或第二关节臂1000定轴转动的第一驱动器件4300或第二驱动器件2300可以采用传动丝4340机构，而且第一关节臂3000可以通过转动部4400以定轴转动的方式装配在横梁5000上。
参阅图9和图10所示，在机械臂的第三实施例中，机械臂的第一关节臂3000单独采用圆弧形结构的形式，配合的第二关节臂1000采用非圆弧形结构的形式，驱动第一关节 臂3000定轴转动的第一驱动器件4300可以采用传动带4320机构，第二关节臂1000相对于第一关节臂3000固定，转而利用第二关节臂1000上的第三驱动器件2400驱动操作器械7000定轴转动，第一关节臂3000可以通过转动部4400以定轴转动的方式装配在横梁5000上。参阅图11和图12所示，在机械臂的第四实施例中，机械臂的第一关节臂3000单独采用圆弧形结构的形式，配合的第二关节臂1000采用非圆弧形结构的形式，驱动第一关节臂3000定轴转动的第一驱动器件4300可以采用传动丝4340机构，第二关节臂1000相对于第一关节臂3000固定，转而利用第二关节臂1000上的第三驱动器件2400驱动操作器械7000定轴转动，第一关节臂3000可以通过转动部4400以定轴转动的方式装配在横梁5000上。
参阅图13和图14所示，在机械臂的第五实施例中，机械臂的第一关节臂3000和第二关节臂1000均可以采用圆弧形结构的形式，驱动第一关节臂3000或第二关节臂1000定轴转动的第一驱动器件4300或第二驱动器件2300可以采用传动带4320机构，而且第一关节臂3000可以通过转动部4400和摆动部4500以定轴转动和定轴摆动的方式装配在横梁5000上。参阅图15和图16所示，在机械臂的第六实施例中，机械臂的第一关节臂3000和第二关节臂1000均可以采用圆弧形结构的形式，驱动第一关节臂3000或第二关节臂1000定轴转动的第一驱动器件4300或第二驱动器件2300可以采用传动丝4340机构，而且第一关节臂3000可以通过转动部4400和摆动部4500以定轴转动和定轴摆动的方式装配在横梁5000上。
参阅图17和图18所示，在机械臂的第七实施例中，机械臂的第一关节臂3000单独采用圆弧形结构的形式，配合的第二关节臂1000采用非圆弧形结构的形式，驱动第一关节臂3000定轴转动的第一驱动器件4300可以采用传动带4320机构，第二关节臂1000相对于第一关节臂3000固定，转而利用第二关节臂1000上的第三驱动器件2400驱动操作器械7000定轴转动，第一关节臂3000可以通过转动部4400和摆动部4500以定轴转动和定轴摆动的方式装配在横梁5000上。参阅图19和图20所示，在机械臂的第八实施例中，机械臂的第一关节臂3000单独采用圆弧形结构的形式，配合的第二关节臂1000采用非圆弧形结构的形式，驱动第一关节臂3000定轴转动的第一驱动器件4300可以采用传动丝4340机构，第二关节臂1000相对于第一关节臂3000固定，转而利用第二关节臂1000上的第三驱动器件2400驱动操作器械7000定轴转动，第一关节臂3000可以通过转动部4400和摆动部4500以定轴转动和定轴摆动的方式装配在横梁5000上。
参阅图21至图28所示，本申请还提供了一种医疗台车，所述医疗台车可以包括台车本体0011和所述机械臂，所述机械臂设置在所述台车本体0011上，台车本体0011作为装 配基础，可以集成移动功能，进而通过台车本体0011实施对机械臂整体的运输。由于所述机械臂的具体结构、功能原理以及技术效果均在前文详述，在此便不做赘述，任何有关于所述机械臂的技术内容，均可参考前文的记载。
参阅图29至图31所示，本申请还提供了一种操作设备0001，所述操作设备0001可以包括躺卧台0012和所述医疗台车，躺卧台0012可以供患者躺卧，以保持在手术所需的静止状态，医疗台车可以通过其移动功能根据需求移动至躺卧台0012附近的合适位置对患者进行手术操作。
参阅图32所示，本申请还提供了一种手术机器人，所述手术机器人包括所述操作设备0001、主操控设备0002和可视化设备0003，操作设备0001可以实施的手术操作，例如打孔定位、手术区域摆位、末端内窥镜和手术器械的手术操作等，所述主操控设备0002与所述操作设备0001数据连接，使用者可以通过主操控设备0002控制操作设备0001进行运动，实施各种手术操作，可视化设备0003可以用于图像显示、搭载图像平台或能量平台，所述可视化设备0003与所述操作设备0001数据连接，可以通过操作设备0001获取手术的图像信息，供使用者参考，实施精准的控制操作。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (12)

  1. 一种机械臂，其特征在于，所述机械臂包括：
    第一悬吊关节；及
    第一关节臂，所述第一关节臂的至少一部分为圆弧形结构，所述第一关节臂的圆弧形结构具有第一圆弧轨迹，所述第一圆弧轨迹具有第一中心轴线，所述第一关节臂以所述第一中心轴线为转动基准，沿着所述第一圆弧轨迹转动装配在所述第一悬吊关节上，所述第一关节臂被配置为能够安装操作器械，并使所述操作器械相交于所述第一中心轴线构成虚拟基准点。
  2. 根据权利要求1所述的机械臂，其特征在于，所述机械臂包括：
    第一导向轨，设置在所述第一关节臂上，所述第一悬吊关节开设有第一导向槽，所述第一导向轨与所述第一导向槽滑动导向装配；
    第一驱动器件，设置在所述第一关节臂上，所述第一驱动器件与所述第一导向轨驱动连接；及
    横梁，所述第一悬吊关节设置在所述横梁上；所述横梁能够沿着第一直线轨迹伸缩，所述第一直线轨迹与所述第一中心轴线垂直。
  3. 根据权利要求2所述的机械臂，其特征在于，所述第一悬吊关节以第二中心轴线为转动基准定轴转动装配在所述横梁上，所述第二中心轴线与所述第一中心轴线垂直；所述第一悬吊关节包括转动部和摆动部中的至少一者；其中，所述转动部与所述横梁连接，所述第一悬吊关节通过所述转动部相对于所述横梁定轴转动；所述摆动部与所述横梁连接，所述第一悬吊关节通过所述摆动部相对于所述横梁定轴摆动。
  4. 根据权利要求3所述的机械臂，其特征在于，所述转动部通过所述摆动部与所述横梁连接；和/或，所述摆动部通过所述转动部与所述横梁连接。
  5. 根据权利要求3所述的机械臂，其特征在于，所述第一悬吊关节具有第三中心轴线，所述第三中心轴线与所述横梁相交构成摆动基准点，所述第一悬吊关节以所述摆动基准点为摆动基准，绕着所述第三中心轴线定轴摆动装配在所述横梁上，所述第三中心轴线与所述第一中心轴线平行。
  6. 根据权利要求3所述的机械臂，其特征在于，所述第一悬吊关节包括：
    基座，所述第一导向槽开设在所述基座上，所述转动部和所述摆动部中的至少一者安装在所述基座上。
  7. 根据权利要求3所述的机械臂，其特征在于，所述机械臂包括：
    立柱，所述立柱能够沿着第二直线轨迹伸缩，所述横梁设置在所述立柱上，所述第二 直线轨迹与所述第一中心轴线垂直；所述横梁以第四中心轴线为转动基准定轴转动装配在所述立柱上，所述第四中心轴线与所述第一中心轴线垂直。
  8. 根据权利要求1所述的机械臂，其特征在于，所述机械臂包括：
    第二关节臂，所述第二关节臂装配在所述第一关节臂上，所述第二关节臂具有第五中心轴线，所述第五中心轴线与所述第一中心轴线相互垂直并相交形成所述虚拟基准点，所述第二关节臂被配置为用于安装操作器械，并使所述操作器械经过所述虚拟基准点。
  9. 根据权利要求8所述的机械臂，其特征在于，所述操作器械被配置为能够沿着所述第五中心轴线定轴转动；所述第二关节臂沿着所述第五中心轴线定轴转动装配在所述第一关节臂上，所述操作器械随着所述第二关节臂沿着所述第五中心轴线定轴转动；所述第二关节臂的至少一部分为圆弧形结构，所述第二关节臂的圆弧形结构具有第二圆弧轨迹，所述第二圆弧轨迹具有所述第五中心轴线，所述第二关节臂以所述第五中心轴线为转动基准，沿着所述第二圆弧轨迹转动装配在所述第一关节臂上。
  10. 根据权利要求9所述的机械臂，其特征在于，所述机械臂包括：
    第二悬吊关节，设置在所述第一关节臂上，所述第二关节臂沿着所述第二圆弧轨迹滑动装配在所述第二悬吊关节上；
    第二导向轨，设置在所述第二关节臂上，所述第二悬吊关节开设有第二导向槽，所述第二导向轨与所述第二导向槽滑动导向装配；及
    第二驱动器件，设置在所述第二关节臂上，所述第二驱动器件与所述第二导向轨驱动连接。
  11. 根据权利要求9所述的机械臂，其特征在于，所述第二关节臂与所述第一关节臂连接，所述第二关节臂上设置有第三驱动器件，所述第三驱动器件被配置为能够驱动操作器械沿着所述第五中心轴线定轴转动。
  12. 一种医疗台车，其特征在于，所述医疗台车包括：
    台车本体；及
    如权利要求1-11中任一项所述的机械臂，所述机械臂设置在所述台车本体上。
PCT/CN2023/077078 2022-02-22 2023-02-20 机械臂以及医疗台车 WO2023160488A1 (zh)

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