CN111227938A - Mechanical arm and medical robot - Google Patents

Mechanical arm and medical robot Download PDF

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Publication number
CN111227938A
CN111227938A CN201811441686.2A CN201811441686A CN111227938A CN 111227938 A CN111227938 A CN 111227938A CN 201811441686 A CN201811441686 A CN 201811441686A CN 111227938 A CN111227938 A CN 111227938A
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joint
arm
axis
rotation
rotation axis
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CN111227938B (en
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李涛
何超
宋彬
师云雷
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Microport Shanghai Medbot Co Ltd
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Microport Shanghai Medbot Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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

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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

The invention relates to a mechanical arm and a medical robot, which have the advantages of small volume, light weight, capability of better avoiding obstacles and the like. The tail end of the mechanical arm is detachably connected with a medical instrument so as to drive the medical instrument to move around a fixed point, and the mechanical arm sequentially comprises a first rotating joint, a first swinging joint, a second rotating joint, a third swinging joint and a self-rotating joint for realizing the self-rotation of the medical instrument from a near end to a far end. In practice, the rotation axis of the rotation joint, the rotation axis of the second rotation joint and the rotation axis of the third swing joint intersect at one point, so that the motion control of the robot is simplified; a third rotary joint is preferably arranged between the first swing joint and the second swing joint, so that the mechanical arm has seven degrees of freedom, and the constraint function of the motionless point is completed through a robot kinematic algorithm.

Description

Mechanical arm and medical robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to a mechanical arm and a medical robot.
Background
With the development of robotics, medical robots are more and more, and from early esox surgical robots to current da vinci surgical robot systems, the medical robots are more and more powerful.
At the same time, the form of surgery is constantly changing from the original open surgery to the current minimally invasive surgery. The most important characteristic of minimally invasive surgery is that the wound is very small, resulting in a very limited surgical field for the doctor, and therefore, various laparoscopes with different functions emerge therewith. From laparoscopy to current capsule laparoscopy, the position of laparoscopy in minimally invasive surgery is becoming increasingly important. Currently, the most advanced combination of robotic systems and surgical systems, namely the da vinci surgical robotic system, also includes a laparoscopic system and is provided with a robotic arm specifically for holding the laparoscope.
The earliest combination of the robot and the laparoscope is an Esso surgical robot system which is used for solving the problem that a doctor and an assistant are not coordinated with each other in the surgical process, so that the doctor can adjust the posture of the laparoscope through the robot system according to the own requirements. The endoscope holding robot meets the basic requirements and is also required to be used in the operation process, if the endoscope holding robot obstructs the operation of a doctor, the doctor can directly adjust a plurality of joints of the robot to enable the joints to reach proper positions, and the position and the posture of the tail end of the laparoscope are still kept unchanged in the adjusting process and after the adjustment. Moreover, since the laparoscope is small, the robot for holding the laparoscope should also be as small as possible for carrying and transportation.
However, the existing mirror holding robot is large in size and heavy in weight, and the obstacle avoidance capability is not ideal.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a mechanical arm and a medical robot, in which the mechanical arm includes at least six rotational joints in sequence from a proximal end to a distal end, so that not only can the volume of the mechanical arm be reduced and the mass of the mechanical arm be reduced, but also the mechanical arm can better restrain a stationary point when adjusting the posture of the medical instrument, and the mechanical arm of the present invention preferably forms redundant adjustment through the seven rotational joints, so that the mechanical arm can also better implement an obstacle avoidance function, and improve the safety and reliability of the mechanical arm.
Therefore, according to an aspect of the present invention, there is provided a robot arm, the distal end of which is used for being detachably connected with a medical instrument to drive the medical instrument to move around a fixed point, and the robot arm sequentially comprises a first rotating joint, a first swinging joint, a second rotating joint, a third swinging joint and a self-rotating joint for realizing the self-rotation of the medical instrument from the proximal end to the distal end;
wherein the axis of rotation of the first revolute joint is perpendicular to the axis of rotation of the first revolute joint; the rotation axis of the first swing joint is parallel to the rotation axis of the second swing joint; the rotation axis of the second swing joint is perpendicular to the rotation axis of the second revolute joint; the rotation axis of the second rotary joint is perpendicular to the rotation axis of the third swing joint; the rotation axis of the third swing joint is perpendicular to the rotation axis of the self-rotation joint, and the rotation axis of the third swing joint is parallel to the rotation axis of the second swing joint.
In addition, according to another aspect of the invention, a medical robot is also provided, which comprises the mechanical arm.
Further, the mechanical arm further comprises a base, a large arm, a middle arm, a front arm, a small arm and a microscope base;
the base is used for being fixed with an external mechanism and is connected with the large arm through the first rotating joint;
the large arm is connected with the middle arm through the first swing joint, and the axis of the large arm and the axis of the middle arm are respectively and vertically intersected with the rotation axis of the first swing joint;
the middle arm is connected with the forearm through the second swing joint, and the axis of the middle arm and the axis of the forearm are respectively and vertically intersected with the rotation axis of the second swing joint;
the forearm is connected with the forearm through the second rotary joint;
the small arm is connected with the microscope base through the third swing joint, and the rotation axis of the third swing joint is vertically intersected with the axis of the small arm;
the autorotation joint is positioned on the microscope base.
Further, the rotation axis of the rotation joint, the rotation axis of the second rotation joint, and the rotation axis of the third swing joint intersect at a point.
Furthermore, the mechanical arm further comprises a microscope base connecting piece, the small arm is connected with the third swing joint through the microscope base connecting piece, and the axis of the microscope base connecting piece is parallel to the axis of the small arm.
Further, the rotation axis of the second revolute joint perpendicularly intersects with the rotation axis of the third revolute joint, the rotation axis of the second revolute joint intersects with the rotation axis of the rotation joint, and the rotation axis of the third revolute joint is perpendicular to and does not intersect with the rotation axis of the rotation joint.
Furthermore, the mechanical arm further comprises a microscope base connecting piece, the small arm is connected with the third swing joint through the microscope base connecting piece, and the microscope base connecting piece and the axis of the small arm are arranged on the same straight line.
Further, the axis of the large arm and the axis of the middle arm intersect at a point on the rotation axis of the first swing joint, and the axis of the middle arm and the axis of the forearm intersect at a point on the rotation axis of the second swing joint.
Further, the axis of the middle arm is parallel to or out of plane with the axis of the big arm, and/or the axis of the front arm is parallel to or out of plane with the axis of the middle arm.
Further, the axis of the large arm and the axis of the front arm are located on the same side of the axis of the middle arm.
Further, the axes of the lens base, the front arm, the small arm and the large arm are in the same plane.
Furthermore, the mechanical arm further comprises a third rotating joint, the third rotating joint is located between the first swinging joint and the second swinging joint, and the rotation axis of the third rotating joint is perpendicular to the rotation axis of the first swinging joint and the rotation axis of the second swinging joint.
Further, the middle arm comprises a middle rear arm and a middle front arm which are coaxially arranged; the middle rear arm is connected with the large arm through the first swing joint and is connected with the middle front arm through the third rotation joint; the middle forearm is connected with the forearm through the second swing joint.
Further, the third swing joint is a fixed point mechanism for driving the medical instrument to move around the fixed point.
Further, the fixed point mechanism is a parallelogram structure, and the parallelogram structure comprises: a first side edge; a second side parallel to the first side; a third side; and a fourth side parallel to the third side; the rotation axis of the parallelogram structure is perpendicular to the rotation axis of the second revolute joint, and the second revolute joint is connected with the first side edge;
the rotation joint is rotatably connected with the second side edge, and the rotation axis of the rotation joint is configured to be always parallel to the third side edge.
Further, the fixed point mechanism comprises an arc-shaped guide rail and a sliding block movably arranged on the arc-shaped guide rail; the arc-shaped guide rail is connected with the second rotating joint; the sliding block is connected with the rotation joint, and the rotation joint is driven by the sliding block to swing around the circle center along the arc-shaped guide rail.
Further, the mechanical arm further comprises a driving module for driving the second rotating joint or the third swinging joint.
Further, the mechanical arm further comprises a control module and a driving module in communication connection with the control module;
the control module is used for obtaining an expected posture of the medical instrument according to a preset expected position and the position of the fixed point and calculating an expected position of each joint of the mechanical arm according to an inverse kinematics model of the mechanical arm; and the control module is used for controlling the driving module to drive each joint according to the expected position of each joint of the mechanical arm, so that the medical instrument moves around the fixed point, and the tail end of the medical instrument moves to the expected position.
Further, the mechanical arm further comprises a position sensor for measuring the position of the joint, and the position sensor is in communication connection with the control module; and the control module is used for acquiring the position of the fixed point by utilizing a positive kinematics model of the mechanical arm according to the position of each joint of the mechanical arm acquired by the position sensor.
Further, the control module obtains the expected speed of each joint of the mechanical arm through an inverse matrix of a Jacobian matrix according to the preset Cartesian speed expected by the medical instrument; and the control module controls the driving module to drive each joint according to the expected speed of each joint of the mechanical arm so as to enable the tail end of the medical instrument to move to the expected position at the expected Cartesian speed.
Furthermore, the mechanical arm has seven degrees of freedom, a torque sensor in communication connection with the controller is arranged on the driving module, the torque sensor is used for detecting external acting force information received on each joint and providing the external acting force information to the control module, the control module determines a redundancy adjusting joint according to the external acting force information fed back by the torque sensor, and controls the driving module to drive the redundancy adjusting joint to move reversely, so that the mechanical arm bypasses an obstacle.
Further, the mechanical arm has seven degrees of freedom, and the mechanical arm further comprises a detection device which is in communication connection with the control module; the detection device is used for detecting the current of the driving module to acquire the torque information output by the driving module; the control module further obtains theoretical joint torque of each joint according to a robot dynamic model, determines the redundancy adjusting joint according to torque information output by the driving module and a preset torque threshold value, and controls the driving module to drive the redundancy adjusting joint to move reversely so that the mechanical arm bypasses an obstacle.
Further, the speed of the redundant adjustment joint for making reverse motion is as follows:
vr＝v0*sgn(τr)+kr*τr
wherein: v. ofrAdjusting joint velocity, v, for redundancy0For a preset basic obstacle avoidance speed, sgn () is a sign function, τrFor redundancy of external moment of joint, krIs the speed-moment coefficient.
Further, the control module obtains an expected position of a next control period of the redundancy adjusting joint according to the speed of the reverse motion of the redundancy adjusting joint so as to reduce the dimension of the seven-degree-of-freedom mechanical arm into a six-degree-of-freedom mechanical arm; the expected position of the next control cycle of the redundancy adjustment joint is as follows:
q_cmdr＝q_curr+vr*cycletime
wherein: q _ cmdrQ _ cur for the next cycle desired positionrAnd the cycle is the control module control cycle for the current position.
Furthermore, the microscope base comprises an inner cavity, and a through hole for passing a medical instrument is arranged at the far end of the microscope base;
the autorotation joint comprises a transmission wheel arranged in the inner cavity so as to drive the medical instrument to rotate, and the transmission wheel is configured to rotate relative to the microscope base and is coaxially arranged with the through hole;
the mechanical arm further comprises a driving module, the driving module comprises a motor and an output wheel, the motor is arranged in the inner cavity, and the motor drives the driving wheel to rotate through the output wheel.
Further, the motor is coaxially connected with the output wheel; the axis of the output wheel is arranged in parallel with the driving wheel and is in transmission connection with the driving wheel.
Furthermore, the driving module further comprises a speed reducing mechanism, and the motor is connected with the output wheel through the speed reducing mechanism.
Further, the output wheel and the driving wheel are in transmission connection through a flexible structure, or the output wheel and the driving wheel are in transmission connection through tooth meshing.
In summary, in the robot arm and the medical robot provided by the present invention, from the proximal end to the distal end, the robot arm sequentially includes the first rotating joint, the first swing joint, the second rotating joint, the third swing joint, and the rotation joint for realizing rotation of the medical instrument, so that adjustment of the spatial position and the posture of the medical instrument is realized through cooperation of the six joints. Compared with the prior art, the mechanical arm is small in overall size, light in weight and convenient to install and use on the side of a sickbed.
In a preferred embodiment, the mechanical arm further comprises a third rotating joint, which is located between the first swinging joint and the second swinging joint, so that redundant adjustment is formed through the third rotating joint, the mechanical arm can complete movement with seven degrees of freedom, the spatial position and posture of medical equipment such as a laparoscope and the like can be adjusted more flexibly, the mechanical arm can avoid obstacles more easily, interference of the mechanical arm on operation of a doctor is prevented, and complexity and difficulty of operation of the doctor are reduced.
In another preferred embodiment, the robot arm of the present invention further comprises a control module and a driving module communicatively connected to the control module; the control module is used for obtaining an expected posture of the medical instrument according to a preset expected position and the position of the fixed point, and calculating an expected position of each joint of the mechanical arm according to the inverse kinematics model of the mechanical arm; and the control module is used for controlling the driving module to drive each joint according to the expected position of each joint of the mechanical arm, so that the medical instrument moves around the fixed point, and the tail end of the medical instrument moves to the expected position. Compared with the prior art, the position of the fixed point can be adjusted in the operation, the requirement of a doctor is met, and the patient can be prevented from being injured additionally.
In other preferred embodiments, the driving module is provided with a torque sensor in communication connection with the control module, the torque sensor is used for detecting external acting force information received by each joint, the control module determines the joint with the largest stress according to the external acting force information fed back by the torque sensor and uses the joint as a redundant adjustment joint, and the driving module is controlled to drive the redundant adjustment joint to move in the opposite direction, so that the mechanical arm bypasses the obstacle. In order to achieve the purpose, in another preferred embodiment, the mechanical arm further includes a detection device, which is in communication connection with the control module, the detection device is configured to detect a current of the driving module to obtain torque information output by the driving module, the control module further obtains a theoretical joint torque of each joint according to a robot dynamics model, determines the redundancy adjusting joint according to the torque information output by the driving module and a preset torque threshold, and controls the driving module to drive the redundancy adjusting joint to move in a reverse direction, so that the mechanical arm bypasses an obstacle. Therefore, the mechanical arm provided by the invention has a good obstacle avoidance function, namely, in the movement process, if the mechanical arm meets an obstacle or is obstructed by external force, the overall configuration is adjusted through the redundant joints on the premise of ensuring the movement track of the tail end, and the obstacle is avoided.
In other preferred embodiments, because many endoscopes are supported by a doctor assistant in the operation process at present, in the operation process, a master hand can change the posture of the endoscope according to the requirements of the doctor, which has high tacit degree requirements on the doctor and the assistant, but the invention realizes the rotation of the medical instrument by driving the self-rotation joint through the driving module, so that the doctor can finish the operation independently and hold the medical instrument such as the laparoscope and the like, thereby reducing the difficulty of the operation, avoiding the waste of manpower resources, and the driving module and the self-rotation joint are integrated in the microscope base, and the endoscope is simple in structure, small in size and suitable for installation and use.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic structural diagram of a six-degree-of-freedom medical robot according to a first embodiment of the present invention;
FIG. 2 is a schematic view of the joint composition of the medical robot shown in FIG. 1;
FIG. 3a is a front view of a six-degree-of-freedom offset medical robot according to a second embodiment of the present invention;
FIG. 3b is a top view of a six-DOF offset placement medical robot according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of the joint composition of a six-DOF medical robot according to a third embodiment of the present invention, wherein the three joints at the end do not intersect at a point;
fig. 5 is a schematic structural view of a seven-degree-of-freedom medical robot according to a fourth embodiment of the present invention;
FIG. 6 is a schematic view of the joint composition of the seven degree-of-freedom medical robot shown in FIG. 5, wherein the three joint rotation axes at the ends intersect at a point;
fig. 7 is a schematic view of the joint composition of another seven-degree-of-freedom medical robot in the fourth embodiment of the present invention, in which the rotation axes of the three joints at the end do not intersect at one point;
fig. 8 is a schematic view showing the joint composition of the seven-degree-of-freedom medical robot in the fifth embodiment of the present invention, wherein the third swing joint has a parallelogram structure;
fig. 9 is a schematic view showing the joint composition of another seven-degree-of-freedom medical robot according to the fifth embodiment of the present invention, in which the third swing joint includes an arc-shaped guide rail and a slider;
fig. 10 is a schematic view of the medical robot adjusting the posture of the laparoscope according to the seventh embodiment of the present invention;
FIG. 11 is a flowchart of a medical robot implementing the motionless point constraint according to a seventh embodiment of the present invention
FIG. 12a is a schematic view of the internal structure of the lens holder according to the ninth embodiment of the present invention;
FIG. 12b is a schematic view of the external structure of the lens holder according to the ninth embodiment of the present invention.
Detailed Description
The robot arm and the medical robot of the present invention will be described in more detail with reference to the drawings, in which preferred embodiments of the present invention are shown, it being understood that a person skilled in the art may modify the invention described herein while still achieving the advantageous effects of the present invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.
In the interest of clarity, not all features of an actual implementation are described. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific details must be set forth in order to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another. Moreover, it will be appreciated that such a development effort might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the art.
The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The following is a list of preferred embodiments of the medical robot and the robot arm thereof for clarity of the description of the present invention, and it should be understood that the present invention is not limited to the following embodiments, and other modifications by conventional technical means of those skilled in the art are within the scope of the idea of the present invention. As used in the appended claims and specification, "large arm", "medium arm" and "small arm" are not limitations on the relative sizes of these components. As used in the appended claims and specification, "proximal" refers to the end distal to the patient; "distal" is the end opposite the "proximal" and specifically refers to the end closer to the patient.
[ EXAMPLES one ]
As shown in fig. 1 and 2, in one embodiment of the present invention, a medical robot 10 is provided, which includes a mechanical arm and a medical instrument detachably connected to an end of the mechanical arm, in this embodiment, the medical instrument is a laparoscope 8, and the mechanical arm is used to drive the laparoscope 8 to move around a fixed point. From the proximal end to the distal end, the mechanical arm comprises a first rotating joint 101, a first swinging joint 102, a second swinging joint 103, a second rotating joint 104, a third swinging joint 105 and a self-rotating joint 106 for realizing self-rotation of the laparoscope 8.
Wherein the rotation axis of the first rotary joint 101 is perpendicular to and intersects with the rotation axis of the first swing joint 102; the rotation axis of the first swing joint 102 is parallel to the rotation axis of the second swing joint 103; the rotation axis of the second swing joint 103 is perpendicular to and intersects the rotation axis of the second revolute joint 104; the rotation axis of the second revolute joint 104 is perpendicular to the rotation axis of the third revolute joint 105, the rotation axis of the third revolute joint 105 is perpendicular to the rotation axis of the rotation joint 106, and the rotation axis of the second revolute joint 104 and the rotation axis of the third revolute joint 105 intersect with the rotation axis of the rotation joint 106 at one point; and the rotation axis of the third swing joint 105 is parallel to the rotation axis of the second swing joint 103.
Further, the above joints are connected through a connecting rod, and specifically, the mechanical arm further comprises a base 1, a large arm 2, a middle arm 3, a front arm 4, a small arm 5, a microscope base connecting piece 6 and a microscope base 7.
The base 1 is used to secure the medical robot 10 to an external mechanism, such as a surgical bed or other mounting object. The distal end of the base 1 is provided with the first rotating joint 101, and the base 1 is connected with the large arm 2 through the first rotating joint 101. Preferably, the axis of the base 1, the axis of the boom 2, and the rotation axis of the first rotary joint 101 are arranged on the same straight line.
The first swing joint 102 is arranged at the far end of the large arm 2, and the large arm 2 is connected with the middle arm 3 through the first swing joint 102. Meanwhile, the axis of the large arm 2 and the axis of the middle arm 3 intersect perpendicularly with the rotation axis of the first swing joint 102, respectively. Preferably, the axis of the large arm 2 and the axis of the middle arm 3 intersect at a point on the rotation axis of the first swing joint 102.
The second swing joint 103 is arranged at the far end of the middle arm 3, and the middle arm 3 is connected with the forearm 4 through the second swing joint 103. The axis of the middle arm 3 and the axis of the forearm 4 are perpendicular to and intersect the rotation axis of the second swing joint 103, and preferably, the axis of the middle arm 3 and the axis of the forearm 4 intersect at a point on the rotation axis of the second swing joint 103.
The second rotary joint 104 is arranged at the distal end of the forearm 4, and the forearm 4 is connected with the small arm 5 through the second rotary joint 104. Preferably, the axis of the forearm 4, the axis of the forearm 5 and the axis of rotation of the second revolute joint 104 are arranged on the same straight line.
The distal end of the small arm 5 is provided with the lens base connecting piece 6, and the lens base connecting piece 6 and the small arm 5 are arranged in an offset way, namely the axis of the lens base connecting piece 6 is parallel to the axis of the small arm 5. The lens base connecting piece 6 and the small arm 5 can be fixedly connected, for example integrally formed, or detachably connected. The distal end of the microscope base connecting piece 6 is provided with the third swing joint 105, and the rotation axis of the third swing joint 105 is vertically intersected with the axis of the forearm 5. The microscope base connecting piece 6 is connected with the microscope base 7 through the third swing joint 105. The microscope base 7 is provided with the rotation joint 106.
In order to reduce the difficulty of motion control of the mechanical arm and simplify the calculation process of the motion control, the rotation axis of the second revolute joint 104, the rotation axis of the third revolute joint 105 and the rotation axis of the rotation joint 106 are configured to intersect at one point. Specifically, in the present embodiment, since the axes of the three joints at the end of the robot arm intersect at a single point, when the posture of the laparoscope 8 is adjusted, it is sufficient to drive only the second rotary joint 104, the third swing joint 105, and the rotation joint 106 to move correspondingly while keeping the first rotary joint 101, the second swing joint 102, and the third swing joint 103 stationary. Similarly, when adjusting the position of the holding point holding laparoscope 8, only three proximal joints need to be adjusted. Therefore, the kinematic equation of the robot can be simplified, and the calculated amount is reduced.
Further, the robot arm of the present embodiment can complete six degrees of freedom of movement through the six joints, thereby facilitating adjustment of the spatial position of the holding point for holding the laparoscope 8 and the posture of the laparoscope 8. And when in operation, the wound position of the patient is used as the motionless point position, the laparoscope 8 extends into the body from the wound position of the patient, and the laparoscope 8 can perform corresponding movement (such as rotation or expansion) around the motionless point in the operation by adjusting the tail end of the mechanical arm and restricting the motionless point. Compared with the existing mechanical arm, such as the da vinci mechanical arm, the mechanical arm of the embodiment is small in overall size, light in weight and capable of being conveniently installed and used on the side of a sickbed.
In the present embodiment, a laparoscope is described as a medical instrument, but the medical instrument is not limited to a laparoscope for detection, and includes a surgical instrument for surgical operation, such as scissors and an electric hook. The present invention is also not particularly limited as to the type of surgical instrument.
[ example two ]
The robot arm according to the embodiment of the present invention is substantially the same as the first embodiment, and the following points are mainly different.
As shown in fig. 3a and 3b, in the second embodiment of the present invention, a part of the links in the robot arm are connected in an offset manner. Specifically, in the top view shown in fig. 3b, the middle arm 3 is located at the right side of the large arm 2, and the front arm 4 is located at the left side of the middle arm 3, i.e., the axis of the middle arm 3 does not intersect, i.e., is out of plane or parallel with, the axis of the large arm 2, and the axis of the front arm 4 does not intersect, i.e., is out of plane or parallel with, the axis of the middle arm 3. Preferably, the axis of the large arm 2 is located on the same side of the axis of the middle arm 3 as the axis of the front arm 4. For example, the large arm 2 and the front arm 4 are both located on the left side of the middle arm 3 (but in practice, not limited to the left side, but may be the right side of the middle arm 3). Here, since the small arm 5 and the front arm 4 are coaxially arranged, the small arm 5 is also located on the left side of the middle arm 3. In addition, in the top view shown in fig. 3b, the lens holder connecting piece 6 and the lens holder 7 are both located on the left side of the forearm 5, while the lens holder connecting piece 6 is located on the left side of the lens holder 7. Therefore, the lens holder connection 6 and the small arm 5 are both arranged on the same side of the middle arm 3, and preferably the lens holder 7 is located on the middle plane of the robot arm, i.e. in the top view angle shown in fig. 3b, the axes of the lens holder 7, the front arm 4, the small arm 5 and the large arm 2 are in the same plane, so that the robot arm with smaller overall width dimension can be obtained, the occupied space of the robot arm in the motion process is smaller, and the installation and the use in the operation process are more convenient.
[ EXAMPLE III ]
The robot arm according to the embodiment of the present invention is substantially the same as the first embodiment, and the following points are mainly different.
As shown in fig. 4, in the third embodiment of the present invention, the rotation axis of the second revolute joint 104, the rotation axis of the third revolute joint 105, and the rotation axis of the rotation joint 106 do not intersect at one point, specifically, the rotation axis of the second revolute joint 104 is perpendicular to and intersects with the rotation axis of the third revolute joint 105, the rotation axis of the third revolute joint 105 is perpendicular to and does not intersect with the rotation axis of the rotation joint 106, and the rotation axis of the second revolute joint 104 intersects with the rotation axis of the rotation joint 106.
In this case, the microscope base connecting piece 6 is an alternative, that is, the small arm 5 can be directly connected to the microscope base 7 through the third swing joint 105, or the small arm 5 and the microscope base connecting piece 6 are fixedly connected or detachably connected and the axes of the two are arranged in a collinear manner, and then the microscope base connecting piece 6 is connected to the microscope base 7 through the third swing joint 105. Such a robotic arm configuration can also accomplish six degrees of freedom of movement, but requires six joints to move together in coordination when adjusting the pose of the laparoscope 8.
[ EXAMPLE IV ]
The robot arm according to the embodiment of the present invention is basically the same as the above-described embodiments, and mainly aims at the different points below.
As shown in fig. 5 and 6, in the fourth embodiment of the present invention, the robot arm has seven degrees of freedom. Specifically, the robot arm further includes a third revolute joint 107 located between the first swing joint 102 and the second swing joint 103, and a rotation axis of the third revolute joint 107 is perpendicular to rotation axes of the first swing joint 102 and the second swing joint 103, respectively.
Preferably, the middle arm 3 comprises a middle rear arm 31 and a middle front arm 32 which are coaxially arranged, the middle rear arm 31 is connected with the large arm 2 through a first swing joint 102, and is connected with the middle front arm 32 through a third rotation joint 107; the middle forearm 32 is connected to the forearm 4 via a second pivot joint 103. Therefore, the third rotating joint 107 and the second rotating joint 104 form a redundant arrangement, so that the mechanical arm can complete the movement with seven degrees of freedom, the spatial position and posture of the laparoscope 8 can be adjusted more flexibly, the mechanical arm can easily avoid obstacles, the interference of the movement of the mechanical arm on the operation of a doctor is prevented, and the complexity and difficulty of the operation of the doctor are reduced.
In the present embodiment, the rotation axis of the second revolute joint 104, the rotation axis of the third revolute joint 105, and the rotation axis of the rotation joint 106 intersect at one point (as shown in fig. 6). Alternatively, as shown in fig. 7, the rotation axis of the second revolute joint 104, the rotation axis of the third revolute joint 105, and the rotation axis of the rotation joint 106 do not intersect at one point. In addition, the large arm 2, the front arm 4, the mirror base 7 and the mirror base connecting piece 6 can also be positioned on the same side of the middle arm 3, similar to the second embodiment.
[ EXAMPLE V ]
The robot arm according to the embodiment of the present invention is substantially the same as the fourth embodiment, and different points will be described below.
In the fifth embodiment of the present invention, as shown in fig. 8, the third swing joint 105 is a fixed point mechanism for driving the laparoscope 8 to swing around the fixed point. The third swing joint 105 is specifically a parallelogram structure, and the parallelogram structure is specifically composed of four swing hinges, including: a first side edge; a second side parallel to the first side; a third side; a fourth side parallel to the third side; the laparoscope 8 can be driven around a fixed point, namely the fixed point FP, by the parallelogram structure. In particular, the axis of rotation of the parallelogram structure is perpendicular to the axis of rotation of the second revolute joint 104, the second revolute joint 104 being connected to a first side of the parallelogram structure. Preferably, the axis of rotation of the second revolute joint 104 is arranged in line with the first side, so that the axis of rotation of the parallelogram structure is not only perpendicular to but also intersects the axis of rotation of the second revolute joint 104. In addition, the rotation joint 106 is rotatably connected to a second side opposite to the first side, and a rotation axis of the rotation joint 106 is always arranged parallel to a third side of the parallelogram structure. The specific configuration method may adopt a wire drive to control the axis swing angle of the rotation joint 106 to be consistent with the parallelogram structure formed by the four swing hinges, or may adopt a parallelogram structure to realize the axis swing angle of the rotation joint 106 to be consistent with the parallelogram structure formed by the four swing hinges, for example, to add a fifth side parallel to the first side, the fifth side is respectively connected to the third side and the laparoscope rod, and the lengths of the fifth side and the second side are equal, so that the fixed point mechanism is a multi-parallelogram structure. The axis of the first side intersects with the rotation axis of the rotation joint 106 at a fixed point, i.e., a fixed point FP.
The mechanical arm of this embodiment adopts motionless point mechanism to realize that medical instrument carries out operation or detection through the wound for the mechanical arm passes through mechanical structure constraint medical instrument such as peritoneoscope and moves around motionless point, has promoted the security and the reliability of mechanical arm.
Further, instead of the parallelogram structure, a fixed point mechanism shown in fig. 9 may be adopted, and the third swing joint 105 includes an arc-shaped guide 1051 and a slider 1052 movably disposed on the arc-shaped guide 1051. The arc-shaped guide 1051 is connected to the second rotary joint 104. Meanwhile, the rotation joint 106 is connected to the slider 1052, so that the rotation joint 106 is driven by the slider 1052 to swing around the center of a circle along the arc-shaped guide track 1051, and the rotation axis of the rotation joint 106 passes through the center of the circle of the arc-shaped guide track 1051. Therefore, the center of the arc guide 1051 is formed as the stationary point FP. Preferably, the rotation axis of the second revolute joint 104 passes through the center of the arc-shaped guide 1051.
Obviously, the robot arm in this embodiment may omit the third revolute joint 107. Thus, the robotic arm may be changed to have six degrees of freedom, but may still achieve restraint of the laparoscope from movement about the fixed point.
[ EXAMPLE six ]
In an embodiment of the present invention, the robot arm further includes a driving module, and the robot arm has an active adjustment mode and a passive adjustment mode. Generally, the operation mode of driving the mechanical arm to joint by a driving module such as a motor on the mechanical arm is the active adjustment of the mechanical arm, and the operation mode of driving the mechanical arm to joint by an external force is the passive adjustment of the mechanical arm. Further, under the passive adjustment mode, the motor on the mechanical arm joint can be used as gravity compensation and matched with external force to drive the mechanical arm joint to move, so that an operator can overcome the resistance of each joint on the mechanical arm, the operator can be assisted to enable the mechanical arm to move to a preset position smoothly, and the comfort level and convenience of the mechanical arm passive adjustment operation are improved.
Further, on the basis of the mechanical arm in the fifth embodiment, the second rotating joint 104 may be driven by the motor M, or only the motor M is used as gravity compensation to realize passive adjustment. In the passive adjustment mode, the second rotary joint 104 is driven to rotate by an external force. In addition, the third swing joint 105 may also be driven by the motor M, or only the motor M is used for gravity compensation to realize passive adjustment, in one embodiment, the motor M may be located at any one of the four swing hinges, and in another embodiment, the motor M drives the slider 1052 to move around the center of the circle along the arc-shaped guide track 1051.
[ EXAMPLE VII ]
It can be seen that in the fifth embodiment of the present invention, the function of the laparoscope capable of moving around the fixed point can be realized by adopting the mechanical configuration of the fixed point mechanism, however, in the first to fourth embodiments of the present invention, the function of the laparoscope always moving around the fixed point cannot be realized by only adopting the mechanical configuration, and the function can be realized by restricting the movement of each joint through the restriction condition. The position of an immobile point cannot be adjusted in an operation by the conventional mechanical arm, and the position of the immobile point is inaccurate and causes additional injury to a patient due to movement deviation of a robot or movement of the patient in an actual operation. Therefore, although the mechanical arm of the embodiment can be additionally provided with components such as an additional control module, the matching capacity of each joint can be improved, the flexibility of adjustment of the mechanical arm is ensured, the function of adjusting the position of the fixed point can be realized in the operation, the requirement of a doctor is met, and the additional injury to a patient is avoided.
Referring first to fig. 10, the robotic arm of the present embodiment allows the laparoscope 8 to be adjusted from the posture a to the posture a' or a ″ by the coordinated movement of six or seven joints, and the laparoscope 8 is moved around the fixed point FP all the time. In some embodiments, the mechanical arm is locked in the active adjustment mode, and the motion of each joint needs to be controlled by a robot kinematic algorithm so as to control the laparoscope to move around the fixed point, for example, the expected movement position of each joint needs to be calculated, and the laparoscope 8 can move around the fixed point FP by means of the mutual cooperation of the motors on each joint. Especially when the posture of the laparoscope 8 is kept still, the laparoscope 8 can be controlled by the robot kinematics algorithm to extend and retract, so that the laparoscope can move along the own lens tube 801. Particularly, for a mechanical arm with seven degrees of freedom, when the mechanical arm obstructs the operation of a doctor in an operation, the robot can be pushed to one side through a robot kinematic algorithm, on the premise that the spatial position and the posture of the laparoscope 8 are not influenced, on one hand, the mechanical arm can bypass a barrier, and on the other hand, the constraint of an immobile point is realized through the robot kinematic algorithm.
In this seventh embodiment of the present invention, the robot arm further includes: a control module; the driving module is in communication connection with the control module; the position sensor is in communication connection with the control module and is used for measuring the position of each joint; wherein, the working method that the arm of this embodiment realized motionless point constraint mainly includes:
first, the robotic arm is locked in a passive adjustment mode, in which the distal end of the laparoscope 8 is manually adjusted to the position of the stab card on the patient (at which time the distal end of the laparoscope coincides with the patient wound), and the control module uses the robotic arm positive kinematics model to adjust the position of each joint based on the position of the position sensorObtaining the position of the end of the laparoscope as the position of an immobile point (noted FP) which is described as a basic coordinate system B of the mechanical armBPFP＝(XFP,YFP,ZFP)；
The laparoscope 8 is then inserted into the stab card and further into the body, at which point the robotic arms need to be locked in an active adjustment mode to facilitate the controlled movement of the laparoscope 8 around the motionless point by the robotic kinematics model during the surgical procedure.
Further, a constraint manner of the stationary point is further described according to the flow shown in fig. 11.
As shown in fig. 11, after the laparoscope is inserted into the stab card and extends into the human body, the mechanical arm is locked in the active adjustment mode, and the laparoscope is controlled to move around the fixed point all the time.
Specifically, the control module of the robot arm according to the embodiment of the present invention obtains a desired posture of the laparoscope (step 403) according to a preset desired position (step 401) and the position of the stationary point (step 402), and then calculates a desired position of each joint of the robot arm by using an inverse kinematics model of the robot arm (step 404). The desired position of the laparoscope may be provided by preoperative surgical planning or may be achieved in other ways, and the present invention is not particularly limited in this respect. The control module then signals each motor to drive the motion of each joint of the robotic arm (step 405) based on the desired position of each joint of the robotic arm (step 404) so that the robotic arm drives the laparoscope around the fixed point FP (step 406) and controls the movement of the laparoscope tip to the desired position (step 406).
Further, in this embodiment, the desired pose of the laparoscope comprises a desired pose of the laparoscope along the Z-axis of a desired coordinate system; the desired pose of the Z-axis of the desired coordinate system of the laparoscope is calculated as follows:
Figure BDA0001884827950000151
wherein, PtoFor the expected position of the end of the laparoscope under the base coordinate system of the mechanical armIs represented by (a); pfThe position of the fixed point is represented under the base coordinate of the mechanical arm; n isteIs a representation of the desired pose of the Z-axis of the desired coordinate system of the laparoscope in the robot base coordinate system. At the same time, the present invention does not impose a mandatory constraint on the orientation of the X-axis and Y-axis of the desired coordinate system of the laparoscope. Can be decided according to the actual adaptive situation. For example,
the expected pose of the Y axis of the expected coordinate system of the laparoscope is as follows:
pte＝nte×rtc
the expected pose of the X-axis of the expected coordinate system of the laparoscope is as follows:
rte＝pte×nte
wherein: p is a radical ofteA representation of a desired pose of a Y-axis of a desired coordinate system of the laparoscope in a robot base coordinate system; r istcIs the representation of the current attitude of the X axis of the coordinate system of the laparoscope under the base coordinate system of the mechanical arm; r isteIs a representation of the desired pose of the X-axis of the desired coordinate system of the laparoscope in the base coordinate system of the robot arm.
In a preferred embodiment, the control module further calculates the velocity of each robot arm joint in conjunction with the magnitude of the desired cartesian motion velocity (or a default velocity). The joint velocity is specifically:
Figure BDA0001884827950000161
wherein
Figure BDA0001884827950000162
J is the jacobian matrix and v is the desired cartesian velocity.
Specifically, the control module obtains the expected speed of each joint of the mechanical arm through an inverse matrix of a Jacobian matrix according to the expected Cartesian speed of the laparoscope; and the control module controls the motor to drive each joint to move according to the expected speed of each joint of the mechanical arm so as to drive the laparoscope to move around the motionless point, and the tail end of the laparoscope moves to a expected position at the expected Cartesian speed. The actual joint movement speed during posture adjustment is obtained according to the preset joint speed, so that the bottom layer speed control can be increased, the movement stability is ensured, and the shaking generated in the movement process is prevented.
[ example eight ]
For the seven-degree-of-freedom mechanical arm, the seven-degree-of-freedom mechanical arm also has an obstacle avoidance function, namely in the motion process, if the mechanical arm meets an obstacle or is obstructed by external force, on the premise of ensuring the motion track of the tail end, the overall configuration is adjusted through redundant joints, and the obstacle is avoided.
In this embodiment, a torque sensor in communication connection with the control module is further arranged on a motor of each joint on the mechanical arm, and the torque sensor is used for detecting external acting force applied to each joint and feeding back the external acting force to the control module. When the torque sensor detects external acting force, the control module determines the joint with the largest stress as a redundancy adjusting joint and controls the motor to give a reverse movement speed to the redundancy adjusting joint, so that the mechanical arm is controlled to bypass the obstacle.
Optionally, the reverse movement speed of the redundant adjustment joint is:
vr＝v0*sgn(τr)+kr*τr
wherein: v. ofrFor avoiding obstacle joint velocity, i.e. redundantly adjusting joint velocity, v0For a preset basic obstacle avoidance speed, sgn () is a sign function, τrFor redundancy of external moment of joint, krIs the speed-moment coefficient.
Wherein when taur>At 0, sgn (τ)r) 1 is ═ 1; when tau isr<At 0, sgn (τ)r) -1; when tau isrWhen 0, sgn (τ)r)＝0。
Further, the desired position for the next control cycle of the redundant adjustment joint can be obtained:
q_cmdr＝q_curr+vr*cycletime
wherein: q _ cmdrFor the next cycle expected position，q_currAnd the cycle is the control module control cycle for the current position.
Therefore, the control module also obtains the expected position of the next control period of the redundancy adjusting joint according to the speed of the reverse motion of the redundancy adjusting joint so as to reduce the dimension of the seven-degree-of-freedom mechanical arm into the six-degree-of-freedom mechanical arm, thereby avoiding the obstacle and realizing the adjustment of the posture of the laparoscope.
In an alternative embodiment, the motor of the seven-degree-of-freedom robot arm may not be provided with a torque sensor, but a detection device directly monitors the torque (current) output by the motor, so as to monitor the external acting force, so that the control module directly determines the joint with the highest stress according to the monitored torque output by the motor, determines the joint as a redundancy adjustment joint, and provides a reverse speed for the redundancy adjustment joint, so that the robot arm bypasses the obstacle.
Specifically, after the output torque of the motor is obtained, the control module judges whether the difference between the output torque of the motor and the theoretical joint torque exceeds a preset threshold value, and if the difference exceeds the preset threshold value, the mechanical arm is judged to be subjected to external interference.
Here, the inventors found that the robot dynamics model is typically:
Figure BDA0001884827950000171
wherein: q is the true position of the joint,
Figure BDA0001884827950000172
is the true velocity of the joint or joints,
Figure BDA0001884827950000173
is the true acceleration of the joint; b is an inertia matrix, C is a position velocity correlation matrix, g is a gravity matrix, FυTo be a damping coefficient, FsFor friction, sgn () is a sign function and τ is the theoretical joint moment. It can be seen that using the robot dynamics model and trajectory planning, the drive torque during the operation of each joint can be predicted, and therefore, if the drive torque is not predicted, the drive torque can be predictedAfter the output torque of the actual motor exceeds the theoretical joint torque and reaches a preset torque threshold value, the corresponding joint can be judged to be subjected to external interference, and the joint is adjusted in a redundant mode.
[ EXAMPLE ninth ]
In the ninth embodiment of the present invention, as shown in fig. 12a and 12b, the microscope base 7 and the rotation joint 106 are disposed as follows: the lens holder 7 comprises an inner cavity 701 and is provided with a through hole at the distal end for passing the endoscope 8. The rotation joint 106 includes a transmission wheel 704 disposed in the inner cavity 701, the transmission wheel 704 is rotatable relative to the lens holder 7, and the transmission wheel 704 is disposed coaxially with the through hole. Accordingly, the laparoscope 8 comprises a lens tube 801, and the driving wheel 704 can be connected with the lens tube 801 to drive the laparoscope 8 to rotate. The driving module comprises a motor 702 and an output wheel 703, which are arranged in the inner cavity 701, and the motor 702 drives the driving wheel 704 to rotate through the output wheel 703. Further, the motor 702 is coaxially connected with the output wheel 703; the output wheel 703 is in transmission connection with the transmission wheel 704, and the axis of the output wheel 703 is arranged in parallel with the transmission wheel 704. Preferably, the driving module further comprises a speed reducing mechanism, and the motor 702 is connected with the output wheel 703 through the speed reducing mechanism. In some embodiments, the output wheel 703 is in driving connection with the driving wheel 704 by a toothed engagement, for example by an inter-gear engagement, or by a chain-gear engagement. In some embodiments, the output wheel 703 is drivingly connected to the driving wheel 704 through a flexible structure, such as a timing belt, a steel wire, or the like, and the friction between the wheels. In a preferred embodiment, the output wheel 703 is in driving connection with the driving wheel 704 through a flexible structure for reducing the volume. Preferably, the rotation joint 106 further comprises a locking device for locking the laparoscope 8, and the locking device includes, but is not limited to, a brake.
The mechanical arm of the embodiment drives the rotation joint 106 to rotate the laparoscope 8 through the driving module, so that an operator can adjust the laparoscope 8 to a proper position according to requirements, the adjustment is more convenient, and the adjustment precision is higher. The existing mechanical arm for holding the endoscope generally adopts a manual driving laparoscope 8 to rotate, and particularly, the laparoscope 8 is driven to rotate through the rotation of a damper. Since the damper itself provides resistance during rotation, the laparoscope 8 can stay in the desired position after the manual laparoscope 8 is rotated. However, in this mode, the accuracy of the adjustment is not sufficient and the operator experience is also not good. Therefore, the laparoscope can be driven to rotate by the driving devices such as the motor and the like, the adjustment precision is high, and the operation comfort of a doctor is better. In addition, the rotation joint 106 of the present embodiment can be driven by a driving module, and the driving module and the rotation joint 106 are integrated in the microscope base 7, so that the structure is simple, the size is small, and the rotation joint is suitable for installation and use.
Finally, the preferred embodiments of the present invention are described above, but not limited to the scope of the embodiments disclosed above, for example, the structure of the third swinging joint forming the fixed point mechanism is not limited to the way the parallelogram or the arc-shaped guide rail and the slide rail are engaged, as long as the third swinging joint has a fixed point about which the third swinging joint swings, and the axes of the medical instruments pass through the fixed point.
In summary, in the robot arm and the medical robot provided by the present invention, the spatial position and posture of the laparoscope can be adjusted by at least six joints. Compared with the prior art, the mechanical arm is small in overall size, light in weight and convenient to install and use on the side of a sickbed. In addition, the laparoscope is rotated by driving the autorotation joint through the driving module, so that a doctor can complete operation and holding the laparoscope independently, the difficulty of the operation is reduced, and the waste of human resources is avoided.
In addition, the mechanical arm is preferably provided with a third rotating joint which forms redundant arrangement with the second rotating joint, so that the mechanical arm can complete seven-degree-of-freedom movement, the spatial position and the posture of medical instruments such as a laparoscope and the like can be adjusted more flexibly, the mechanical arm can avoid obstacles easily, the interference of the mechanical arm on the operation of a doctor is prevented, and the complexity and the difficulty of the operation of the doctor are reduced.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims (28)

1. The mechanical arm is characterized in that the mechanical arm sequentially comprises a first rotating joint, a first swinging joint, a second rotating joint, a third swinging joint and a self-rotating joint for realizing the self-rotation of the medical instrument from a near end to a far end;
wherein the axis of rotation of the first revolute joint is perpendicular to the axis of rotation of the first revolute joint; the rotation axis of the first swing joint is parallel to the rotation axis of the second swing joint; the rotation axis of the second swing joint is perpendicular to the rotation axis of the second revolute joint; the rotation axis of the second rotary joint is perpendicular to the rotation axis of the third swing joint; the rotation axis of the third swing joint is perpendicular to the rotation axis of the self-rotation joint, and the rotation axis of the third swing joint is parallel to the rotation axis of the second swing joint.
2. The robotic arm of claim 1, further comprising a base, a large arm, a middle arm, a front arm, a small arm, and a lens mount;
the base is used for being fixed with an external mechanism and is connected with the large arm through the first rotating joint;
the large arm is connected with the middle arm through the first swing joint, and the axis of the large arm and the axis of the middle arm are respectively and vertically intersected with the rotation axis of the first swing joint;
the middle arm is connected with the forearm through the second swing joint, and the axis of the middle arm and the axis of the forearm are respectively and vertically intersected with the rotation axis of the second swing joint;
the forearm is connected with the forearm through the second rotary joint;
the small arm is connected with the microscope base through the third swing joint, and the rotation axis of the third swing joint is vertically intersected with the axis of the small arm;
the autorotation joint is positioned on the microscope base.
3. The robot arm according to claim 2, wherein a rotation axis of said rotation joint, a rotation axis of said second revolute joint, and a rotation axis of said third revolute joint intersect at a point.
4. A robotic arm as claimed in claim 3, further comprising a base link, the forearm being connected to the third revolute joint by the base link, and the axis of the base link being parallel to the axis of the forearm.
5. The mechanical arm according to claim 2, wherein the rotation axis of the second revolute joint perpendicularly intersects with the rotation axis of the third revolute joint, the rotation axis of the second revolute joint perpendicularly intersects with the rotation axis of the rotation joint, and the rotation axis of the third revolute joint is perpendicular to and does not intersect with the rotation axis of the rotation joint.
6. The mechanical arm as claimed in claim 5, further comprising a microscope base connecting piece, wherein the small arm is connected with the third swing joint through the microscope base connecting piece, and the axes of the microscope base connecting piece and the small arm are arranged on the same straight line.
7. A robotic arm as claimed in claim 2, in which the axis of the large arm and the axis of the medium arm intersect at a point on the axis of rotation of the first revolute joint and the axis of the medium arm and the axis of the forearm intersect at a point on the axis of rotation of the second revolute joint.
8. A robotic arm as claimed in claim 2, in which the axis of the middle arm is parallel to or out of plane with the axis of the large arm and/or the axis of the front arm is parallel to or out of plane with the axis of the middle arm.
9. A robotic arm as claimed in claim 8, in which the axis of the large arm is on the same side of the axis of the medium arm as the axis of the front arm.
10. A robotic arm as claimed in claim 9, in which the axes of the base, forearm and large arm are in the same plane.
11. The robotic arm of claim 1, further comprising a third revolute joint located between the first and second revolute joints, and having a rotational axis perpendicular to the rotational axes of the first and second revolute joints, respectively.
12. A robotic arm as claimed in claim 11, in which the middle arm comprises a coaxially arranged middle rear arm and a middle front arm; the middle rear arm is connected with the large arm through the first swing joint and is connected with the middle front arm through the third rotation joint; the middle forearm is connected with the forearm through the second swing joint.
13. A robotic arm as claimed in claim 1 or 11, in which the third revolute joint is a fixed point mechanism for driving the medical instrument around the fixed point.
14. A robotic arm as claimed in claim 13, in which the fixed point mechanism is a parallelogram structure comprising: a first side edge; a second side parallel to the first side; a third side; and a fourth side parallel to the third side; the rotation axis of the parallelogram structure is perpendicular to the rotation axis of the second revolute joint, and the second revolute joint is connected with the first side edge;
the rotation joint is rotatably connected with the second side edge, and the rotation axis of the rotation joint is configured to be always parallel to the third side edge.
15. The mechanical arm of claim 13, wherein the fixed point mechanism comprises an arcuate rail and a slider movably disposed on the arcuate rail; the arc-shaped guide rail is connected with the second rotating joint; the sliding block is connected with the rotation joint, and the rotation joint is driven by the sliding block to swing around the circle center along the arc-shaped guide rail.
16. A robotic arm as claimed in claim 13, further comprising a drive module for driving the second revolute joint or the third revolute joint.
17. A robotic arm as claimed in any one of claims 1, 4, 5 or 11, further comprising a control module, and a drive module in communicative connection with the control module;
the control module is used for obtaining an expected posture of the medical instrument according to a preset expected position and the position of the fixed point and calculating an expected position of each joint of the mechanical arm according to an inverse kinematics model of the mechanical arm; and the control module is used for controlling the driving module to drive each joint according to the expected position of each joint of the mechanical arm, so that the medical instrument moves around the fixed point, and the tail end of the medical instrument moves to the expected position.
18. A robotic arm as claimed in claim 17, further comprising a position sensor for measuring the position of a joint, the position sensor being in communicative connection with the control module; and the control module is used for acquiring the position of the fixed point by utilizing a positive kinematics model of the mechanical arm according to the position of each joint of the mechanical arm acquired by the position sensor.
19. The robotic arm of claim 17, wherein the control module further obtains a desired velocity of each joint of the robotic arm through an inverse of a jacobian matrix according to a preset desired cartesian velocity of the medical instrument; and the control module controls the driving module to drive each joint according to the expected speed of each joint of the mechanical arm so as to enable the tail end of the medical instrument to move to the expected position at the expected Cartesian speed.
20. A robotic arm as claimed in claim 17, having seven degrees of freedom, wherein the drive module is provided with a torque sensor in communication with the control module, the torque sensor is configured to detect external force information applied to each joint and provide the detected external force information to the control module, and the control module determines a redundant adjustment joint according to the external force information fed back by the torque sensor and controls the drive module to drive the redundant adjustment joint to move in a reverse direction so that the robotic arm bypasses an obstacle.
21. A robotic arm as claimed in claim 17, having seven degrees of freedom, the robotic arm further comprising a detection device, the detection device being in communicative connection with the control module; the detection device is used for detecting the current of the driving module to acquire the torque information output by the driving module; the control module further obtains theoretical joint torque of each joint according to a robot dynamic model, determines the redundancy adjusting joint according to torque information output by the driving module and a preset torque threshold value, and controls the driving module to drive the redundancy adjusting joint to move reversely so that the mechanical arm bypasses an obstacle.
22. A robotic arm as claimed in claim 20 or 21, in which the redundant adjustment joints are reversed at a speed of:
vr＝v0*sgn(τr)+kr*τr
wherein: v. ofrAdjusting joint velocity, v, for redundancy0For a preset basic obstacle avoidance speed, sgn () is a sign function, τrFor redundancy of external moment of joint, krIs the speed-moment coefficient.
23. The robotic arm of claim 22, wherein the control module further obtains a desired position for a next control cycle of the redundant adjustment joint based on a speed of a reverse motion of the redundant adjustment joint to reduce the dimension of the seven degree of freedom robotic arm to a six degree of freedom robotic arm; the expected position of the next control cycle of the redundancy adjustment joint is as follows:
q_cmdr＝q_curr+vr*cycletime
wherein: q _ cmdrQ _ cur for the next cycle desired positionrAnd the cycle is the control module control cycle for the current position.
24. A robotic arm as claimed in claim 2,
the microscope base comprises an inner cavity, and a through hole for the medical instrument to pass through is arranged at the far end of the microscope base;
the autorotation joint comprises a transmission wheel arranged in the inner cavity so as to drive the medical instrument to rotate, and the transmission wheel is configured to rotate relative to the microscope base and is coaxially arranged with the through hole;
the mechanical arm further comprises a driving module, the driving module comprises a motor and an output wheel, the motor is arranged in the inner cavity, and the motor drives the driving wheel to rotate through the output wheel.
25. A robotic arm as claimed in claim 24, in which the motor is connected coaxially with the output wheel; the axis of the output wheel is arranged in parallel with the driving wheel and is in transmission connection with the driving wheel.
26. A robotic arm as claimed in claim 25, in which the output wheel is drivingly connected to the drive wheel by a flexible structure, or in which the output wheel is drivingly connected to the drive wheel by a toothed engagement.
27. A robotic arm as claimed in claim 24, in which the drive module further comprises a speed reduction mechanism, the motor being connected to the output wheel via the speed reduction mechanism.
28. A medical robot comprising a robotic arm as claimed in any one of claims 1 to 27.
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CN114098951A (en) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 Mechanical arm, slave operation device and surgical robot
CN114098957A (en) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 Mechanical arm, slave operation device and surgical robot
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CN114098992A (en) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 Mechanical arm, slave operation device and surgical robot
CN114288025A (en) * 2021-12-14 2022-04-08 苏州微创畅行机器人有限公司 Robot for orthopedics department
CN114452004A (en) * 2020-11-10 2022-05-10 重庆金山医疗机器人有限公司 Control method for position and posture of tail end of surgical robot
CN114631961A (en) * 2022-02-08 2022-06-17 查显进 Multi-degree-of-freedom medical minimally invasive robot
CN114683314A (en) * 2022-04-08 2022-07-01 上海微创医疗机器人（集团）股份有限公司 Arm joint, arm and surgical robot
CN115024826A (en) * 2022-08-11 2022-09-09 科弛医疗科技(北京)有限公司 Control method for robot arm structure and control method for surgical robot
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CN113855243A (en) * 2020-06-30 2021-12-31 北京术锐技术有限公司 Telecentric movement mechanism and surgical robot system
CN113855243B (en) * 2020-06-30 2024-01-23 北京术锐机器人股份有限公司 Telecentric motion mechanism and surgical robot system
CN111839592B (en) * 2020-08-13 2023-12-29 厦门市领汇医疗科技有限公司 Prostate detection device
CN111839592A (en) * 2020-08-13 2020-10-30 厦门市领汇医疗科技有限公司 Prostate detection device
CN114452004B (en) * 2020-11-10 2023-12-12 重庆金山医疗机器人有限公司 Control method for tail end position and posture of surgical robot
CN114452004A (en) * 2020-11-10 2022-05-10 重庆金山医疗机器人有限公司 Control method for position and posture of tail end of surgical robot
EP4245244A4 (en) * 2020-11-10 2024-10-16 Chongqing Jinshan Medical Robotics Co Ltd Surgical robot, and surgical robot system
CN112932673A (en) * 2021-02-03 2021-06-11 山东省千佛山医院 Mechanical arm layout structure of minimally invasive surgical robot
WO2022247481A1 (en) * 2021-05-25 2022-12-01 敏捷医疗科技(苏州)有限公司 Mechanical arm and control method therefor
CN113275948A (en) * 2021-06-11 2021-08-20 山东大学 Periscopic detection system capable of facing milling cutter and working method
CN113658247B (en) * 2021-07-29 2024-05-28 武汉联影智融医疗科技有限公司 Instrument space prediction method, apparatus, computer device and storage medium
CN113658247A (en) * 2021-07-29 2021-11-16 武汉联影智融医疗科技有限公司 Instrument space prediction method and device, computer equipment and storage medium
CN114098957A (en) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 Mechanical arm, slave operation device and surgical robot
CN114098952A (en) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 Mechanical arm, slave operation device and surgical robot
CN114098992A (en) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 Mechanical arm, slave operation device and surgical robot
CN114098951A (en) * 2021-11-11 2022-03-01 深圳市精锋医疗科技股份有限公司 Mechanical arm, slave operation device and surgical robot
CN114288025A (en) * 2021-12-14 2022-04-08 苏州微创畅行机器人有限公司 Robot for orthopedics department
CN114288025B (en) * 2021-12-14 2024-03-15 苏州微创畅行机器人有限公司 Orthopedics robot
CN114631961B (en) * 2022-02-08 2024-10-11 查显进 Multi-degree-of-freedom medical minimally invasive robot
CN114631961A (en) * 2022-02-08 2022-06-17 查显进 Multi-degree-of-freedom medical minimally invasive robot
CN114683314B (en) * 2022-04-08 2024-02-09 上海微创医疗机器人（集团）股份有限公司 Mechanical arm joint, mechanical arm and surgical robot
CN114683314A (en) * 2022-04-08 2022-07-01 上海微创医疗机器人（集团）股份有限公司 Arm joint, arm and surgical robot
CN115024826A (en) * 2022-08-11 2022-09-09 科弛医疗科技(北京)有限公司 Control method for robot arm structure and control method for surgical robot

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