CN109009449B

CN109009449B - Operation arm and slave operation device

Info

Publication number: CN109009449B
Application number: CN201810649857.4A
Authority: CN
Inventors: 王建辰; 高元倩
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2018-06-22
Filing date: 2018-06-22
Publication date: 2020-08-11
Anticipated expiration: 2038-06-22
Also published as: CN109009449A

Abstract

The present invention relates to an operation arm and a slave operation device, the operation arm comprising: the driving mechanism is provided with a shell, the shell is provided with a first main body, the first main body is provided with a mounting surface used for being connected with the power mechanism, a second main body extends on the mounting surface, so that the free end of the second main body protrudes out of the mounting surface, and a notch used for accommodating the power mechanism is formed between the free end of the second main body and the first main body; the connecting rod is arranged in the area of the second body near the free end, so that the connecting rods of the plurality of operating arms extend into the body through one incision.

Description

Operation arm and slave operation device

Technical Field

The invention relates to the field of minimally invasive surgery, in particular to an operating arm and slave operating equipment applying the same.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, and a doctor controls the slave operation device to perform corresponding surgery operation through operating the main operation table. The slave operation device generally includes a mechanical arm and an operation arm disposed on the mechanical arm, the mechanical arm is used to adjust a position of the operation arm, and the operation arm is used to extend into a body and perform an operation. At present, only one operation arm is usually arranged on a mechanical arm of a slave operation device, when a surgical robot performs a surgery, a plurality of operation arms enter a human body from a plurality of incisions on the human body respectively, and the surgery wound is still relatively large.

Disclosure of Invention

Accordingly, there is a need for an operation arm with less surgical trauma, a slave operation device using the operation arm, and a surgical robot.

To achieve the above object, the present invention provides an operation arm comprising:

the driving mechanism is provided with a shell, the shell is provided with a first main body, the first main body is provided with a mounting surface used for being connected with the power mechanism, a second main body extends on the mounting surface, so that the free end of the second main body protrudes out of the mounting surface, and a notch used for accommodating the power mechanism is formed between the free end of the second main body and the first main body;

and the connecting rod is arranged in the area of the second main body close to the free end, so that the connecting rods of the plurality of operating arms extend into the body through one incision.

The second body extends along one edge of the mounting surface to form the housing into an L-shape.

Preferably, the second body extends from a middle region of the mounting surface such that the housing forms a T-shape.

Preferably, the two notches formed by the first main body and the second main body are used for connecting the power mechanism.

Preferably, a connecting disc for connecting the power mechanism is arranged on the mounting surface.

Preferably, the connecting rod is tangent to a side of the second body in an extending direction thereof.

Preferably, the link is a substantially rigid link.

Preferably, the connecting rod is arranged on the bottom surface of the second main body, and the bottom surface of the second main body is a surface facing the human body during operation.

Preferably, the mounting surface is parallel to the link, and the notch is located in the direction of the side surface of the second body.

Preferably, the mounting surface is parallel to the connecting rod, and the notch is located in the direction of the surface of the second body opposite to the bottom surface.

Preferably, the mounting surface is perpendicular to the link.

Preferably, the second body has a first side face and a second side face which are adjacent to each other, and both the first side face and the second side face are used for abutting against the first side face or the second side face of the adjacent operating arm, or the second side face and the first side face or the second side face of the adjacent operating arm are used for being arranged close to each other and spaced apart from each other, so that the operating arms are distributed around a central shaft.

To achieve the above object, the present invention also provides a slave operation apparatus comprising:

the above-mentioned operating arm;

and at least part of the power mechanism is accommodated in the notch and is connected with the operating arm through the mounting surface.

Preferably, the power mechanism has a plurality of power parts for connecting the operating arms, the operating arms are multiple, each operating arm is arranged on the power part corresponding to the operating arm, and the connecting rods of the operating arms are arranged adjacently to extend into the body from one incision.

Preferably, the second bodies of the plurality of operating arms are adjacently disposed.

Preferably, the power mechanism includes:

the side surface of the body is provided with an installation groove, the installation groove penetrates through the bottom surface of the body so that the operation arm can translate into the installation groove from the side surface, and the far end of the operation arm is positioned outside the installation groove;

the power part is arranged on the body and is used for connecting the operating arm, and part of the power part is contained in the gap.

Preferably, a plurality of the power parts are slidably disposed on the body.

When the operation arm is installed, the operation arm is firstly positioned in the installation groove from the opening translation of the side surface of the body of the installation groove, and at the moment, the installation groove penetrates through the bottom surface of the body, so that the operation arm can not be blocked by the bottom surface when the operation arm is translated to the installation groove. After translating to the mounting groove, the operating arm is connected with the power part. The slave operation equipment with the power mechanism enables the operation arm to be installed more simply and quickly.

Drawings

FIG. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;

FIG. 2 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 3 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 4 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 5 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 6 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 7 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 8 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 9 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 10 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 11 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 12 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 13 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 14 is an exploded view of a portion of one embodiment of the slave operation device of the present invention;

fig. 15 is a schematic structural view of an embodiment of the power mechanism shown in fig. 14;

FIG. 16 is an exploded view of a portion of one embodiment of the slave operation device of the present invention;

fig. 17 is a schematic structural view of an embodiment of the power mechanism shown in fig. 16;

FIG. 18 is an exploded view of a portion of one embodiment of the slave operation device of the present invention;

fig. 19 is a schematic structural view of an embodiment of the power mechanism shown in fig. 18;

fig. 20 is a schematic structural view of a power mechanism according to an embodiment of the invention;

FIG. 21 is a partial schematic structural diagram of a slave operation device according to an embodiment of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 to 3 are schematic structural diagrams of an embodiment of a surgical robot according to the present invention, and partial schematic diagrams of different embodiments of a slave operation device, respectively.

The surgical robot includes a master operation table 1 and a slave operation device 2. The main console 1 is configured to transmit a control command to the slave operation device 2 according to a doctor's operation to control the slave operation device 2, and is configured to display an image acquired from the slave operation device 2. The slave operation device 2 is used for responding to the control command sent by the master operation table 1 and performing corresponding operation, and the slave operation device 2 is also used for acquiring the images in the body.

Specifically, the slave manipulation apparatus 2 includes a robot arm 10, a power mechanism 20 provided on the robot arm 10, a manipulation arm 30 provided on the power mechanism 20, and a sleeve 40 that sleeves the manipulation arm 30. The robot arm 10 is used to adjust the position of the operation arm 30; the power mechanism 20 is used for driving the operating arm 30 to perform corresponding operations; manipulator arm 30 is used to extend into the body and perform surgical procedures, and/or acquire in vivo images, with its distally located end instrument 31. Specifically, as shown in fig. 2 and 3, the slave manipulator 2 has a plurality of manipulator arms 30, each of the plurality of manipulator arms 30 passes through the cannula 40, and the distal instruments each extend out of the cannula 40, so that the plurality of manipulator arms extend into the body through one incision and perform the operation. In fig. 2, the region of the operating arm 30 located within the sleeve 40 is a rigid region; in fig. 3, the region of the operating arm 30 within the sleeve 40 is a flexible region, and the sleeve bends with the flexible region. In other embodiments, the sleeve 40 may be omitted, in which case the sleeve is not required.

In one embodiment, the slave operating device 2 further includes a poking card, the poking card is used for penetrating through an incision on a human body and is fixedly arranged in an incision area, and the operating arm 30 extends into the human body through the poking card.

As shown in fig. 4 to 11, the operation arm 30 includes: a terminal instrument 31, a connecting component 32, a connecting rod 33 and a driving mechanism 34 which are connected in sequence. The driving mechanism 34 is used for being connected with the power mechanism 20, and the driving mechanism 34 is provided with a shell 340; the connecting rod 33 is used for penetrating the sleeve 40 and/or poking the card; the connecting component 32 is used for adjusting the position and the posture of the terminal instrument 31; end instrument 31 is used to perform surgical procedures and/or to acquire in vivo images. In other embodiments, the connecting rod 33 may be omitted, and the connecting member 32 may be inserted through the sleeve.

In one embodiment, the connecting rods 33 are disposed on the housing 340 and tangent to the side 341 of the housing 340 in the extending direction thereof, so that the connecting rods 33 of the plurality of operation arms 30 are inserted into the body through one cut. The side 341 of the housing 340 is connected to the bottom 342 of the housing 340, and the bottom 342 of the housing 340 is the surface facing the human body during the operation. The link 33 is a substantially rigid link 33 that is directly mounted to the power mechanism 20 when the operating arm 30 is installed, eliminating the need to bend the link 33. In other embodiments, link 33 may also be a flexible link 33.

The operating arms 30 are tangent to the housing 340, so that the connecting rods 33 of the operating arms 30 can extend into the body through one incision on the human body, the distance between the driving mechanisms 34 of the operating arms 30 can be reduced, the operating arms 30 are further more compact, and the volume of the area where the operating arms 30 are installed on the power mechanism 20 is reduced. Further, since the link 33 is a rigid link 33, the operation is more stable.

In the embodiment shown in fig. 4 and 5, the housing 340 has a first side surface 341A and a second side surface 341B adjacent to each other, and both are used for abutting against the first side surface 341A or the second side surface 341B of the adjacent operating arm 30, so that the plurality of operating arms 30 are distributed around a central axis; or the first side 341A and the second side 341B are configured to be disposed adjacent to and spaced apart from the first side 341A or the second side 341B of the adjacent operating arm 30, so that the plurality of operating arms 30 are distributed around a central axis, for example, the first side 341A of one of the two adjacent housings 340 is disposed opposite to the first side 341A or the second side 341B of the other housing 340, and a gap is formed between the opposite surfaces. The first side 341A and the second side 341B form an acute angle. In other embodiments, the first and second side surfaces 341A and 341B may form a right angle or an obtuse angle.

Further, the edge of the first side surface 341A extends to the edge of the second side surface 341B, so that the two side surfaces 341 are connected, and the connection region is a curved surface. Wherein the connecting rod 33 is tangent to the curved surface, in one embodiment, the radius of curvature of the curved surface is substantially the same as the radius of the connecting rod 33. In other embodiments, the curvature radii of the curved surfaces may also be different. Alternatively, in other embodiments, as shown in fig. 6-11, the connecting rod may not be disposed adjacent to the plurality of sides.

In other embodiments, the housing may be other shapes. In the embodiment shown in fig. 6 and 7, the housing is rectangular. In the embodiment shown in fig. 8 to 11, the housing 340 has a first body 343, the first body 343 has a mounting surface 344 for connecting the power mechanism 20, and a second body 345 extends on the mounting surface 344, so that a free end of the second body 345 protrudes out of the mounting surface 344, and forms a notch 36 with the first body 343 for receiving the power mechanism 20, wherein the free end extends out of an end of the first body 343 which is not connected thereto. In fig. 8 to 10, the second body extends along one edge of the mounting surface to form the housing into an L-shape. In fig. 11, the second body extends from a middle region of the mounting surface such that the housing forms a T-shape with two notches 36.

In each embodiment, the mode of the embodiment shown in fig. 4 and 5 can be adopted for the area where the link is provided in the housing. For example, the second body has a first side face and a second side face adjacent to each other, and both are used for abutting against the first side face or the second side face of the adjacent operation arm, or used for being arranged close to and spaced from the first side face or the second side face of the adjacent operation arm, so that the plurality of operation arms are distributed around a central shaft.

As shown in fig. 4 to 11, the surface of the housing for connecting the power mechanism and the surface provided with the connecting rod may have various positional relationships.

In the embodiment shown in fig. 4, the surface of the housing 340 for connecting the power mechanism is opposite to the surface where the connecting rod 33 is disposed. Specifically, the connecting rod 33 is disposed on the bottom 342 of the housing 340 and adjacent to an edge region of the bottom 342, and a surface of the housing 340 opposite to the bottom 342 is used for connecting the power mechanism.

In the embodiment shown in fig. 6, the surface of the housing 340 for connecting the power mechanism 20 and the surface where the connecting rod 33 is disposed are the same surface, specifically, the bottom 342 of the housing 340 has a connecting plate 35 for connecting the power mechanism 20, and the connecting rod 33 is disposed on the bottom 342 of the housing 340.

In the embodiment shown in fig. 7, the surface of the housing 340 for connecting the power mechanism 20 may be disposed adjacent to the surface where the connecting rod 33 is disposed, that is, one side 341 of the housing 340 for connecting the power mechanism is disposed, and the connecting plate 35 is disposed thereon.

In the embodiment shown in fig. 8 to 11, the link is provided on the second body, and in fig. 8, 9 and 11, the mounting surface 344 is parallel to the link 33, and in fig. 10, the mounting surface 344 is perpendicular to the link 33. In fig. 8, 10, and 11, the notch 36 is located in the direction of the side surface of the second body, and in fig. 9, the notch 6 is located in the direction of the surface of the second body opposite to the bottom surface. Specifically, the connecting rod 33 is disposed on the area of the second body 345 near the free end, for example, on the bottom surface of the second body, which is the surface facing the human body during operation, and is tangent to the side surface of the second body in the extending direction thereof, which is the surface adjacent to the bottom surface. The mounting surface 344 is provided with a connection pad 35 for connection to the power structure 20.

In addition, the connecting rod 33 may be disposed on the side surfaces 341 of the housing 340, and in this case, a surface of the housing 340 for connecting with the power mechanism may be on one of the side surfaces 341, the bottom surface 342, or a surface opposite to the bottom surface 342. The link 33 may also be located adjacent to the side area, not tangential to the side.

In the above embodiment, the link 33 is a straight rod, and the link 33 is rotatably disposed on the housing 340 of the driving mechanism 34, and the driving mechanism 34 drives the link 33 to rotate along the axis thereof. In other embodiments, the connecting rod 33 may be a non-straight rod structure. Alternatively, the link 33 may be fixedly provided to the housing 340.

As shown in fig. 12, in an embodiment, the connecting rod 33 includes a first connecting rod 331 and a second connecting rod 332 connected in sequence, wherein the first connecting rod 331 is disposed on the housing 340 and is fixedly connected to the second connecting rod 332, and the first connecting rod 331 and the second connecting rod 332 form an included angle, which is a non-straight angle. In this embodiment, the second connecting rod 332 is tangent to the side 341 of the housing 340, and the connecting rod 33 is fixedly disposed on the housing 340. At this time, the distal end instrument 31 connected to the link 33 can be relatively rotated, thereby securing the degree of freedom of the operation arm 30. In other embodiments, the second link 33 may be non-tangent to the housing 340, so long as the second links 33 of the plurality of operation arms are ensured to enter the body through one incision.

The first link 33 may also be rotatably disposed on the housing 340. For example, the first link 33 is a flexible rod, a flexible tube, or the first link 33 is connected with the second link 33 through a flexible joint assembly, so that the position between the first link 33 and the second link 33 is adjustable; the second link 33 is inserted through the poking card or the sleeve to limit the position of the second link relative to the human body, so that the first link 33 drives the second link 33 to rotate around the fixed rotation axis, that is, the rotation axis of the second link 33 will not change with the bending of the first link 33. For another example, the second link 33 is fixed in position relative to the first link 33, and at this time, the first link 33 is connected to the second link 33 through a transmission mechanism, so that when the first link 33 rotates, the second link 33 is driven to rotate around the fixed rotation axis. When the first link 33 is rotatably disposed on the housing 340, the first link 33 may be located at a middle region of the surface of the housing 340.

It should be noted that, when the first connecting rod 33 is a flexible rod or a flexible tube, or the first connecting rod 33 is connected to the second connecting rod 33 through a flexible joint assembly, the first connecting rod 33 may also be fixedly connected to the housing 340, and at this time, the distal end instrument 31 connected to the connecting rod 33 may be relatively rotated.

As shown in fig. 13, in an embodiment, the link 33 includes a first link 331 and a second link 332, and the connecting assembly 32 includes a first connecting assembly 321 and a second connecting assembly 322. The first link 331 is disposed on the driving mechanism 34 and is connected to the second link 332 through the first connecting component 321 in a swinging manner, the second link 332 is used for connecting the distal end instrument 31 or the second connecting component 322, wherein when the second link 332 is connected to the second connecting component 322, the distal end instrument 31 is connected to the distal end of the second connecting component 322. The first connecting component 321 is located outside the body and the second connecting component 322 is located inside the body during the operation. Note that, in the present embodiment, the second link 332 is tangent to the side 341 of the housing 340. In other embodiments, the second connecting rod 332 may not be tangent to the housing 340, but may have other positions.

The operation arm 30 drives the connecting assembly 32 through the driving mechanism 34, so that the second connecting rod 332 swings relative to the first connecting rod 331, the positions of the second connecting rod 332 and the terminal instrument 31 connected with the second connecting rod 332 are further adjusted, the space between the driving mechanism 34 of the operation arm 30 and a human body is fully utilized, and the flexibility of the operation arm 30 is improved.

In one embodiment, the number of the first links 331 is plural, the plural first links 331 are sequentially connected via the first connecting element 321 in a swinging manner, the first link 331 located at the proximal end is connected to the driving mechanism 34, and the first link 331 located at the distal end is connected to the second link 332 via the first connecting element 321. This further increases the flexibility of the operating arm 30.

Fig. 14 and 15 are schematic diagrams illustrating an exploded view of a partial structure of a slave operation device and a structure of an embodiment of a power mechanism 20 according to the present invention.

The power mechanism 20 includes a body 210 and a power unit 220. Wherein, the side 211 of the body 210 is provided with an installation groove 213, the installation groove 213 penetrates through the bottom 212 of the body 210, so that the operation arm 30 is translated from the side 211 to the installation groove 213, and the distal end thereof is located outside the installation groove 213, i.e. the distal end instrument 31 of the operation arm 30 is substantially located outside the installation groove 213 during the translation installation, and the distal end instrument 31 does not need to penetrate through the installation groove 213 to extend out of the installation groove 213; the power unit 220 is disposed on the body 210, and is used for connecting the driving mechanism 34 of the operation arm 30 and providing power for the operation arm 30 to make the operation arm 30 perform corresponding operations, such as changing the position or posture of the distal end instrument 31. The bottom surface 212 of the body 210 refers to the surface facing the patient during operation, and the side surface 211 is the surface adjacent to the bottom surface 212.

When the operation arm 30 is installed, the operation arm 30 is firstly translated into the installation groove 213 from the opening of the installation groove 213 located on the side surface 211 of the body 210, and at this time, since the installation groove 213 penetrates through the bottom surface 212 of the body 210, the operation arm 30 is not blocked by the bottom surface 212 in the process of translating to the installation groove 213. After translating to the mounting groove 213, the operation arm 30 is connected to the power unit 220. The slave operation device with the power mechanism 20 makes the operation arm 30 to be installed more simply and quickly.

In this embodiment, there is one mounting groove 213, and there are a plurality of power units 220, and each power unit 220 is connected to its corresponding operating arm 30. The plurality of operation arms 30 connected to the power unit 220 are inserted into the mounting grooves 213, so that the plurality of operation arms 30 can be inserted into the body through one slit.

In other embodiments, the power mechanism 20 may have only one power unit 220. Alternatively, at least two of the plurality of operation arms 30 may be inserted into the mounting groove 213. For example, part of the operation arm 30 is disposed in the body 210 and penetrates the installation groove 213, so that the end of the operation arm extends out of the body 210, and part of the operation arm 30 is disposed outside the body 210 without penetrating the installation groove 213.

In other embodiments, there may be more than one mounting groove 213. For example, there are two mounting grooves 213, wherein at least one mounting groove 213 accommodates two operation arms 30, and the remaining operation arms 30 are accommodated in the other mounting groove 213. At this time, the mounting grooves may be formed on the same side surface or different side surfaces of the body, for example, two side surfaces of the body opposite to each other. A plurality of the operation arms 30 are inserted into the body through two cutouts, each corresponding to one of the installation grooves 213, so that the operation arms 30 inserted from the installation grooves 213 are inserted into the corresponding cutouts.

It should be noted that, when there are a plurality of mounting grooves, at least two mounting grooves may also correspond to one notch, that is, the operating arms extending from the plurality of mounting grooves corresponding to one notch all extend into the body through one notch. Alternatively, a plurality of operation arms 30 extending from the same mounting groove 213 may extend into the body from a plurality of cutouts.

The body 210 further defines a receiving groove 214 for receiving the power portion 220. When the operation arm 30 is mounted, the operation arm 30 is translated so that the link 33 is received in the mounting groove 213 from the side surface 211 of the body 210, so that the driving mechanism 34 of the operation arm 30 is adjacent to the power portion 220 in the receiving groove 214, and then the driving mechanism 34 is connected to the corresponding power portion.

In the embodiment shown in fig. 14 and 15, the surface of the body 210 with the receiving groove 214 is opposite to the bottom surface 212. The mounting groove 213 penetrates the bottom surface of the housing groove 214, that is, the mounting groove 213 penetrates the bottom surface of the housing groove 214 and the bottom surface 212 of the body 210 in the direction of the link 33 of the operation arm 30, so that the operation arm 30 can be mounted from the side surface of the body 210. The power portion 220 is disposed in the receiving groove 214, and a connection surface 221 of the power portion 220 connected to the operation arm 30 is a surface of the power portion 220 facing away from the bottom surface 212 of the body 210. At this time, the surface of the operation arm 30 connected to the power unit 220 is the surface of the driving mechanism 34 facing the bottom surface 212, for example, the operation arm 30 of the embodiment shown in fig. 6, and moves toward the bottom surface 212 and is engaged with the connection surface 221 when being mounted.

In the embodiment shown in fig. 16 and 17, the surface of the body 210 with the receiving groove 214 is the same as the surface with the mounting groove 213, that is, the opening of the receiving groove 214 is located on the side surface 211 of the body 210, and at this time, the mounting groove 213 penetrates through the first inner wall 215 of the receiving groove 214 close to the bottom surface of the body 210, so that the links of the operating arm can all extend out of the body 210 through the mounting groove. The power portion 220 is disposed in the receiving groove 214 and spaced apart from the first inner wall 215 to form a receiving area for receiving the power portion 220, and a connection surface 221 of the power portion 220 and the operating arm 30 is a surface of the power portion 220 facing the bottom surface 212 of the body 210. In this case, the surface of the operation arm 30 connected to the power unit 220 is the surface of the driving mechanism 34 facing away from the bottom surface 212, for example, the operation arm 30 of the embodiment shown in fig. 4, and moves away from the bottom surface 212 and engages with the connection surface 221 when mounted.

In the embodiment shown in fig. 18 and 19, the surface of the body 210 with the receiving groove 214 is opposite to the bottom surface 212. The mounting groove 213 penetrates the bottom surface of the receiving groove 214. The power portion 220 is disposed in the mounting groove 213, and a connection surface 221 of the power portion 220 connected to the operating arm 30 is a surface of the power portion 220 facing the side of the body 210, and the connection surface 221 faces the middle of the receiving groove 214. At this time, the surface of the operation arm 30 connected to the power unit is one side surface of the drive mechanism, and is, for example, the operation arm of the embodiment shown in fig. 7, and moves in the direction of the connection surface 221 when attached, and engages therewith.

In the embodiment shown in fig. 20, similar to the embodiment shown in fig. 18 and 19, the power portion 220 is located at the middle of the accommodating groove 214, the connecting surface 221 faces the side surface of the accommodating groove 214, and the surface of the body 210 opening the accommodating groove 214 is the same as the surface opening the mounting groove 213. The surface of the operating arm 30 connected with the power portion 220 faces the middle of the receiving groove 214, for example, the operating arm 30 of the embodiment shown in fig. 8, 9 and 11, at this time, the power portion 220 is partially received in the notch area of the casing 340 of the driving mechanism 34, and since the link 33 is located in the area of the protruding portion of the bottom surface of the driving mechanism 34, a plurality of operating arms 30 can be inserted into the body through one notch. The surface of the body with the receiving groove may be opposite to the bottom surface 212.

In the above embodiments, the accommodating groove 214 may be omitted from the main body 210, and in this case, the power portion 220 is disposed outside the main body 210, for example, on the surface opposite to the bottom surface 212.

Further, the power portion 220 is slidably disposed on the body 210, specifically, as shown in fig. 14 to 20, the accommodating groove 214 is disposed in the guide rail 230, and the power portion 220 is slidably disposed on the guide rail 230. In one embodiment, the operating arm 30 performs a feeding motion with the power portion 220, i.e. the sliding direction of the power portion 220 is the same as the extending direction of the mounting groove 213. In other embodiments, the sliding direction of the power portion 220 may be other directions to adjust the position of the operating arm 30, for example, the sliding direction of the power portion 220 is perpendicular to the extending direction of the mounting groove 213.

Fig. 21 is a partial schematic structural diagram of the slave operation device according to the present invention.

In one embodiment, the body 210 of the power mechanism 20 is rotatably disposed on the robot arm 10. Specifically, the end of the mechanical arm is n-shaped and is rotatably connected to two surfaces opposite to the body 210, and the surface of the mechanical arm rotatably connected to the body 210 is different from the surface of the body 210 provided with the mounting groove 213. Further, the end of the robot arm has a motor for driving the body 210 to rotate. In this embodiment, the motor is one and is located at one side of the body 210. In other embodiments, there may be two motors respectively located at two sides of the body 210.

It should be noted that the end of the mechanical arm may also be rotatably connected to a surface of the body, and the surface may be the same as the surface of the body on which the mounting groove is formed, or different from the surface of the body on which the mounting groove is formed, for example, adjacent to the surface of the body on which the mounting groove is formed. At this time, when the end of the robot arm has the motor, the motor is located at one side of the robot arm connection body.

In one embodiment, the rotation angle of the power mechanism 20 relative to the robot arm is 0 to 360 degrees. In this way, the operating arm 30 connected to the power section 220 is made easier to adjust. In other embodiments, the rotation angle of the power mechanism 20 relative to the mechanical arm may be other angles, such as 0 to 180 degrees, 0 to 90 degrees, and the like.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An operating arm, comprising:

the connecting rod is arranged in the area, close to the free end, of the second main body, the second main body is provided with a first side face and a second side face which are adjacent to each other, the first side face and the second side face are used for being abutted to or arranged close to the first side face or the second side face of the second main body of the adjacent operating arm, and therefore the connecting rods of the operating arms stretch into the body through one cut.

2. The arm as set forth in claim 1 wherein said second body extends along one edge of said mounting surface to form said housing into an L-shape.

3. The arm as set forth in claim 1 wherein said second body extends from a mid-region of said mounting surface to form said housing into a T-shape.

4. The arm as claimed in claim 3, wherein the two notches formed by the first and second bodies are used for connecting the actuating mechanism.

5. The arm as claimed in claim 1, wherein the mounting surface is provided with a connecting plate for connecting the power mechanism.

6. Operating arm according to claim 1, characterized in that the connecting rod is tangent to the side of the second body in the direction of extension thereof.

7. An operating arm according to claim 1, characterised in that the link is a substantially rigid link.

8. The manipulating arm according to claim 1, wherein the link is disposed on a bottom surface of the second body, the bottom surface of the second body being a surface facing a human body during a surgical operation.

9. The arm as claimed in claim 8, wherein said mounting surface is parallel to said link, and said notch is located in a direction of said second body side surface.

10. The arm as claimed in claim 8, wherein said mounting surface is parallel to said link, and said notch is located in the direction of the surface of said second body opposite said bottom surface.

11. The manipulator arm according to claim 8, wherein the mounting surface is perpendicular to the link.

12. A slave operation device characterized by comprising:

an operating arm as claimed in any one of claims 1 to 11;

13. The slave manipulator according to claim 12, wherein the power mechanism has a plurality of power portions for connecting the manipulation arms, the manipulation arms are provided in plurality, each manipulation arm is provided on the power portion corresponding thereto, and the plurality of links of the plurality of manipulation arms are adjacently provided so as to protrude from an incision into the body.

14. The slave manipulator according to claim 13, wherein the second bodies of a plurality of the manipulator arms are adjacently disposed.

15. The slave manipulator according to claim 12, wherein the power mechanism comprises:

16. The slave operating device of claim 15, wherein a plurality of the power portions are slidably disposed on the body.