CN113662673B - Mechanical arm, slave operation device and surgical robot - Google Patents
Mechanical arm, slave operation device and surgical robot Download PDFInfo
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- CN113662673B CN113662673B CN202110981875.4A CN202110981875A CN113662673B CN 113662673 B CN113662673 B CN 113662673B CN 202110981875 A CN202110981875 A CN 202110981875A CN 113662673 B CN113662673 B CN 113662673B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 193
- 230000033001 locomotion Effects 0.000 claims description 16
- 210000000245 forearm Anatomy 0.000 claims description 5
- 238000001356 surgical procedure Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 206010052428 Wound Diseases 0.000 description 6
- 208000027418 Wounds and injury Diseases 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 235000012766 Cannabis sativa ssp. sativa var. sativa Nutrition 0.000 description 1
- 235000012765 Cannabis sativa ssp. sativa var. spontanea Nutrition 0.000 description 1
- 229920000742 Cotton Polymers 0.000 description 1
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 229920004933 Terylene® Polymers 0.000 description 1
- 235000009120 camo Nutrition 0.000 description 1
- 235000005607 chanvre indien Nutrition 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000011487 hemp Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000005020 polyethylene terephthalate Substances 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
- A61B34/37—Master-slave robots
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (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 application relates to the technical field of medical equipment, and provides a mechanical arm, a secondary operation device and a surgical robot, wherein the surgical robot comprises the secondary operation device, the secondary operation device comprises the mechanical arm, the mechanical arm comprises a frame, an execution end and at least one driving arm, and the frame, the at least one driving arm and the execution end are sequentially connected; the mechanical arm also comprises a driving structure for driving the execution end, the driving structure comprises a driving piece and a transmission mechanism, and the transmission mechanism is in transmission connection between the driving piece and the execution end; the driving piece is arranged at one end, far away from the execution end, of the driving arm connected with the execution end; or the driving piece is arranged on other driving arms; or the driving piece is arranged on the frame. According to the application, the driving piece is far away from the execution end, so that the weight of the execution end is greatly reduced, and the inertia of the execution end is relatively reduced, so that an operator can operate more easily, and the success rate of operation is further improved.
Description
Technical Field
The application belongs to the technical field of medical equipment, and particularly relates to a mechanical arm, a slave operation device and a surgical robot with the slave operation device.
Background
Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.
With the progress of technology, minimally invasive surgical robot technology is gradually mature and widely applied. Minimally invasive surgical robots generally include a master operation console for transmitting control commands to a slave operation device according to operations of a doctor to control the slave operation device, and a slave operation device for responding to the control commands transmitted from the master operation console and performing corresponding surgical operations.
The slave operating device includes a robot arm and a brake device provided at a distal end of the robot arm. The mechanical arm generally comprises a large arm, a small arm and an execution end, and the driving structure of the traditional execution end is close to the load end, for example, a motor is directly placed at a joint of the execution end, so that the weight of the execution end is high, and the inertia is high. However, the smaller the weight of the actuating end and the smaller the inertia, the easier the operation is, so that the existing structural design causes great operational burden and inconvenient operation for the operator.
Disclosure of Invention
The embodiment of the application aims to provide a mechanical arm, a mechanical arm and a surgical robot, which are used for solving the technical problem that an operator is inconvenient to operate due to the fact that a driving structure of an execution end is close to the execution end in the prior art.
In order to achieve the above object, the present application adopts the following technical scheme: the mechanical arm comprises a frame, an executing end and at least one driving arm, wherein the frame, the at least one driving arm and the executing end are sequentially connected;
the mechanical arm further comprises a driving structure for driving the execution end, the driving structure comprises a driving piece and a transmission mechanism, and the transmission mechanism is in transmission connection between the driving piece and the execution end;
the driving piece is arranged at one end, far away from the execution end, of the driving arm connected with the execution end; or the driving piece is arranged on other driving arms; or the driving piece is arranged on the frame.
In a possible embodiment, the mechanical arm includes two driving arms, namely a big arm and a small arm, a first rotating joint is arranged between the big arm and the frame, a second rotating joint is arranged between the small arm and the big arm, and a third rotating joint is arranged between the executing end and the small arm;
the large arm is rotationally arranged on the frame through a first rotating shaft, the large arm is rotationally connected with the small arm through a second rotating shaft, and the executing end is rotationally arranged on the small arm of the executing end through a third rotating shaft.
In a possible embodiment, the transmission is a wire transmission.
In a possible embodiment, the drive member is provided on the first rotary joint.
In a possible embodiment, the transmission mechanism comprises a first transmission assembly and a second transmission assembly, the first transmission assembly forms a first closed transmission chain between the first rotary joint and the second rotary joint, the second transmission assembly forms a second closed transmission chain between the second rotary joint and the third rotary joint, and the first transmission assembly and the second transmission assembly synchronously move at the second rotary joint through a second rotating shaft.
In a possible embodiment, the first transmission assembly comprises a first wire wheel, a second wire wheel and a first transmission member, wherein the first wire wheel is fixedly sleeved on the first rotating shaft, the second wire wheel is fixedly sleeved on one end of the second rotating shaft, and the first transmission member is respectively wound on the first wire wheel and the second wire wheel;
the second transmission assembly comprises a third wire wheel, a fourth wire wheel and a second transmission part, wherein the third wire wheel is fixedly sleeved on the other end of the second rotating shaft, the fourth wire wheel is fixedly sleeved on the third rotating shaft, and the second transmission part is respectively wound on the third wire wheel and the fourth wire wheel.
In a possible embodiment, the first transmission member is disposed between the first wire wheel and the second wire wheel.
In a possible embodiment, two sets of guiding wheel sets are provided in the forearm, and the two sets of guiding wheel sets are respectively arranged close to the third wire wheel and the fourth wire wheel.
In a possible embodiment, the guiding wheel set comprises two guiding wheels which are oppositely arranged, the distance between the two guiding wheels in the two guiding wheel sets is equal, and the second transmission piece is respectively connected with the guiding wheels in a guiding way.
In a possible embodiment, the first transmission assembly further comprises a first tensioning device for adjusting the tensioning force of the first transmission member;
the second transmission assembly further includes a second tensioning device for adjusting a tensioning force of the second transmission member.
In a possible embodiment, the transmission forms a third closed transmission chain between the first, second and third rotary joints and commutates at the second rotary joint.
In a possible embodiment, the driving member is provided on the frame.
In a possible embodiment, the transmission mechanism comprises a third transmission assembly and a fourth transmission assembly;
the third transmission assembly forms a fourth closed transmission chain among the output shaft of the driving piece, the first rotating joint and the second rotating joint, and performs reversing at the first rotating joint;
the fourth transmission assembly forms a fifth closed transmission chain between the second rotating joint and the third rotating joint;
the third transmission assembly and the fourth transmission assembly synchronously move at the second rotary joint through a second rotating shaft.
In a possible embodiment, the transmission mechanism forms a sixth closed transmission chain among the output shaft of the driving piece, the first rotating joint, the second rotating joint and the third rotating joint, and the transmission mechanism is respectively reversed at the first rotating joint and the second rotating joint.
In a possible embodiment, the driving member is provided on the second rotational joint.
In a possible embodiment, the transmission forms a seventh closed transmission chain between the second revolute joint and the third revolute joint.
In a possible embodiment, the driving member is provided on the large arm and is located between the first rotational joint and the second rotational joint.
The mechanical arm provided by the application has the beneficial effects that: according to the mechanical arm provided by the embodiment of the application, the driving piece is arranged at a position far away from the execution end, and is connected to the execution end in a transmission way through the transmission mechanism, so that the execution end can be driven to move through the driving piece at a distance. Meanwhile, the driving piece is far away from the execution end, so that the weight of the execution end is greatly reduced, and the inertia of the execution end is relatively reduced, so that an operator can operate more easily, and the success rate of surgery is further improved.
In a second aspect, the application also provides a slave operation device comprising the mechanical arm.
The slave operation equipment provided by the application is convenient to operate by the arrangement of the mechanical arm.
In a third aspect, the present application also provides a surgical robot comprising the above-described slave operating device.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a main operation console according to an embodiment of the present application, in which a mechanical arm is not shown;
fig. 2 is a schematic perspective view of a slave operation device according to an embodiment of the present application;
fig. 3 is a schematic perspective view of a mechanical arm according to an embodiment of the present application;
FIG. 4 is a schematic view of a portion of the main arm, the forearm and the actuator shown in FIG. 3;
FIG. 5 is a side view schematic of FIG. 4;
FIG. 6 is a schematic cross-sectional view of A-A of FIG. 5;
fig. 7 is a schematic structural diagram of a driving member, a wire transmission mechanism and an execution end according to a first embodiment of the present application;
FIG. 8 is a simplified schematic side view of the drive device of FIG. 7;
fig. 9 is a schematic structural diagram of a driving member, a wire transmission mechanism and an execution end according to a second embodiment of the present application;
fig. 10 is a schematic structural diagram of a driving member, a wire transmission mechanism and an execution end according to a third embodiment of the present application;
fig. 11 is a schematic structural diagram of a driving member, a wire transmission mechanism and an execution end according to a fourth embodiment of the present application;
fig. 12 is a schematic structural diagram of a driving member, a wire transmission mechanism and an execution end according to a fifth embodiment of the present application;
fig. 13 is a schematic structural diagram of a driving member, a wire transmission mechanism and an execution end according to a sixth embodiment of the present application.
Wherein, each reference sign in the figure:
100. a slave operating device; 200. a main operation console; 300. a surgical instrument; 10. a mechanical arm; 20. an actuating device; 11. a frame; 12. a large arm; 13. a forearm; 14. an execution end; 15. a driving member; 16. a steel wire transmission mechanism; 161. a first transmission assembly; 1611. a first wire wheel; 1612. a second wire wheel; 1613. a first transmission member; 1614. a tensioning wheel; 162. a second transmission assembly; 1621. a third wire wheel; 1622. a fourth wire wheel; 1623. a second transmission member; 1624. tensioning the nut; 1625. a guide wheel set; 17. a first rotary joint; 171. a first rotating shaft; 18. a second revolute joint; 181. a second rotating shaft; 19. a third revolute joint; 191. a third rotating shaft; 161a, a fifth wire wheel; 162a, a sixth wire wheel; 163a, seventh wire wheel; 164a, third steel wire; 161b, a third transmission assembly; 162b, a fourth drive assembly; p1, a first closed transmission chain; p2, a second closed transmission chain; p3, a third closed transmission chain; p4, a fourth closed transmission chain; p5, a fifth closed transmission chain; p6, a sixth closed transmission chain; p7, a seventh closed transmission chain; and P8, an eighth closed transmission chain.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
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. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment. The terms "distal," "proximal," and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the procedure that is distal to the operator and "proximal" refers to the end of the procedure that is proximal to the operator.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The minimally invasive surgery robot generally includes a slave operation device and a master operation console, fig. 1 shows a master operation console 200 according to an embodiment of the present application, fig. 2 shows a slave operation device 100 according to an embodiment of the present application, a surgeon performs related control operations on the slave operation device 100 on the master operation console 200, the slave operation device 100 performs surgery on a human body according to input instructions of the master operation console 200, the master operation console 200 and the slave operation device 100 may be placed in one operating room or in different rooms, and even the master operation console 200 and the slave operation device 100 may be far apart, for example, the master operation console 200 and the slave operation device 100 may be located in different cities, respectively, and the master operation console 200 and the slave operation device 100 may perform data transmission through a wired manner or may perform data transmission through a wireless manner.
The slave operation device 100 includes a robot arm 10 and an actuating means 20 provided at a distal end of the robot arm 10, a surgical instrument 300 for performing a surgical operation is connected to the actuating means 20, and the actuating means 20 drives the surgical instrument to move by a plurality of actuators therein. A plurality of surgical instruments 300 may be coupled to one actuator 20, and the distal ends of the plurality of surgical instruments 300 may be passed through one incision into the body, thereby reducing the number of surgical incisions and allowing for a more rapid postoperative recovery.
As shown in fig. 3, the mechanical arm 10 according to an embodiment of the present application includes a frame 11, an executing end 14, and at least one driving arm, where the frame 11, the at least one driving arm, and the executing end 14 are sequentially connected; the number of the driving arms can be determined according to actual execution requirements, for example, when the motion to be executed is simpler, one driving arm can be selected, one end of the driving arm is connected with the frame 11, the other end of the driving arm is connected with the execution end 14, and when the motion to be executed is more complex, two or more driving arms can be selected, and the more driving arms, the higher the number of the driving arms, the higher the degree of freedom, and the more complex operation can be executed.
Referring to fig. 3 to 8, the mechanical arm 10 further includes a driving structure for driving the executing end 14, the driving structure includes a driving member 15 and a transmission mechanism, and the transmission mechanism is in transmission connection between the driving member 15 and the executing end 14. The transmission mechanism can be a rope transmission mechanism, a belt transmission mechanism, a chain transmission mechanism and the like, wherein the rope transmission refers to mechanical transmission for transmitting power and motion by leaning against friction force between a rope wound on a sheave and a sheave member. The rope transmission mechanism is generally provided with a steel wire transmission mechanism 16, a cotton transmission mechanism, a hemp transmission mechanism and a terylene transmission mechanism, and the application can be selected according to actual requirements and the characteristics of each rope transmission.
The transmission mechanism is a steel wire transmission mechanism 16, and the steel wire rope has the advantages of long-distance load transmission, high bearing safety coefficient, safe and reliable use, higher tensile strength, fatigue strength and impact toughness resistance, wear resistance, shock resistance, good running stability and the like, and is suitable for being applied to the application to drive the execution end 14.
In particular, the driving element 15 in the present application is disposed away from the actuating end 14, and in particular, the driving element 15 may be disposed at an end of the driving arm connected to the actuating end 14, which is away from the actuating end 14; or the driving piece 15 is arranged on other driving arms; or the driving member 15 is provided on the frame 11. The specific position of the driving member 15 may be set according to the actual design requirement. For example, when the number of driving arms is one, the driving member 15 may be disposed at one end of the driving arm away from the execution end 14, or may be disposed on the frame 11; for another example, when the number of driving arms is plural, the driving member 15 may be disposed at an end of the driving arm connected to the execution end 14, which is far from the execution end 14; or the driving piece 15 is arranged on other driving arms; or the driving member 15 is provided on the frame 11.
In summary, in the present application, by disposing the driving member 15 at a position far away from the execution end 14 and connecting the driving member 15 to the execution end 14 through the transmission mechanism, the execution end 14 can be driven to move by the driving member 15 at a distance, and the driving member 15 is disposed far away from the execution end 14, so that the weight of the execution end 14 is greatly reduced, the inertia of the execution end 14 is relatively reduced, and thus the operation of an operator is easier, and the success rate of the operation is further improved.
Embodiment one:
referring to fig. 4 to 7, in the present embodiment, the mechanical arm 10 includes two driving arms, namely a large arm 12 and a small arm 13, that is, the mechanical arm 10 includes two driving arms. Wherein, a first rotary joint 17 is arranged between the big arm 12 and the frame 11, a second rotary joint 18 is arranged between the small arm 13 and the big arm 12, and a third rotary joint 19 is arranged between the executing end 14 and the small arm 13. Specifically, the large arm 12 is rotatably disposed on the frame 11 through the first rotation shaft 171, the large arm 12 and the small arm 13 are rotatably connected through the second rotation shaft 181, the executing end 14 is rotatably disposed on the small arm 13 through the third rotation shaft 191, the first rotation shaft 171 and the second rotation shaft 181 are parallel to each other, and the second rotation shaft 181 and the third rotation shaft 191 are spatially perpendicular to each other. It should be understood that, in other embodiments of the present application, the mechanical arm 10 may include only one driving arm, or three or more driving arms, according to the actual design requirement of the mechanical arm 10, and each driving arm may be a linear telescopic structure, rather than a rotational connection, which is not particularly limited herein.
The driving element 15 is a motor capable of outputting a rotational motion. Of course, in other embodiments, the driving member 15 may be a rotary cylinder, a linear motor, a linear cylinder, or the like, which is not limited only herein.
Referring to fig. 6 and 7, the driving member 15 is disposed on the first rotary joint 17, specifically, the driving member 15 is fixed on one end of the large arm 12 far away from the execution end 14, and the wire transmission mechanism 16 is respectively connected between the driving member 15 and the execution end 14 in a transmission manner, so that the driving member 15 at one end of the large arm 12 is transmitted to the execution end 14, which not only can drive the execution end 14, but also can separate the driving member 15 with a larger weight from the execution end 14, thereby effectively reducing the load of the execution end 14, and further making the execution end 14 lighter to operate.
Specifically, referring to fig. 7 and 8, the transmission mechanism includes a first transmission assembly 161 and a second transmission assembly 162, the first transmission assembly 161 forms a first closed transmission chain P1 between the first rotary joint 17 and the second rotary joint 18, and the second transmission assembly 162 forms a second closed transmission chain P2 between the second rotary joint 18 and the third rotary joint 19. The first transmission assembly 161 and the second transmission assembly 162 synchronously move at the second rotary joint 18 through the second rotary shaft 181, that is, the first transmission assembly 161 is a primary wire transmission, the second transmission assembly 162 is a secondary wire transmission, and the primary wire transmission transmits the movement to the secondary wire transmission at the second rotary shaft 181, so as to drive the execution end 14 to move.
More specifically, the first transmission assembly 161 includes a first wire wheel 1611, a second wire wheel 1612, and a first transmission member 1613, where the first wire wheel 1611 is fixedly sleeved on the first rotating shaft 171, the first wire wheel 1611 can rotate along with the driving member 15, the second wire wheel 1612 is fixedly sleeved on one end of the second rotating shaft 181, the first transmission member 1613 is respectively wound on the first wire wheel 1611 and the second wire wheel 1612, and the first transmission member 1613 is used for transmitting the rotation motion of the first wire wheel 1611 to the second wire wheel 1612. The second transmission component 162 includes a third wire wheel 1621, a fourth wire wheel 1622, and a second transmission component 1623, where the third wire wheel 1621 is fixedly sleeved on the other end of the second rotating shaft 181, the fourth wire wheel 1622 is fixedly sleeved on the third rotating shaft 191, the second transmission component 1623 is respectively wound around the third wire wheel 1621 and the fourth wire wheel 1622, and the second transmission component 1623 is used to transmit the rotational movement of the third wire wheel 1621 to the fourth wire wheel 1622, thereby driving the third rotating shaft 191 to rotate and driving the executing end 14 to move.
Wherein, the first transmission member 1613 and the second transmission member 1623 are both steel wires.
In order to ensure the tensioning force of the first transmission part 1613 and the second transmission part 1623 during the movement, the application is also correspondingly provided with a first tensioning device and a second tensioning device. Wherein, the first overspeed device tensioner is used for adjusting the rate of tension of first transmission 1613, and the second overspeed device tensioner is used for adjusting the rate of tension of second transmission 1623.
Specifically, the first tensioning device is a tensioning wheel 1614 and the second tensioning device is a tensioning nut 1624. The tensioning wheel 1614 is sleeved on the first rotating shaft 171, and the tensioning nut 1624 is arranged on the second transmission part 1623. It will be appreciated that in other embodiments of the present application, when the first transmission 1613 and the second transmission 1623 are in the same closed drive chain, only one tensioning device need be provided in the first transmission 1613 and the second transmission 1623; in addition, the first transmission 1613 may also adjust the tension by tensioning the nut, and the second transmission 1623 may also adjust the tension by tensioning the pulley, which is not limited only herein.
Referring to fig. 7 and 8, the first transmission member 1613 between the first wire wheel 1611 and the second wire wheel 1612 is disposed in a crossing manner, so that the space occupied by the first transmission member 1613 in the large arm 12 is reduced as much as possible, and interference between the first transmission member 1613 and the structure in the large arm 12 is avoided.
Referring to fig. 8, two sets of guide wheel sets 1625 are disposed in the forearm 13, and the two sets of guide wheel sets 1625 are disposed adjacent to the third wire wheel 1621 and the fourth wire wheel 1622, respectively; the guiding wheel set 1625 comprises two guiding wheels which are oppositely arranged, the distance between the two guiding wheels in the two guiding wheel sets 1625 is equal, and the second transmission part 1623 is respectively connected with the guiding wheels in a guiding way. As shown in fig. 8, by the arrangement of four guide wheels, the two steel wires of the second transmission part 1623 can keep constant transmission between the four guide wheels, so as to ensure that the second transmission part 1623 is stably transmitted in the small arm 13, and simultaneously occupies small space and cannot interfere with other structures in the small arm 13.
Embodiment two:
all technical features of the mechanical arm in this embodiment are substantially the same as those of the mechanical arm in the first embodiment, and the driving member 15 in this embodiment is also disposed on the first rotary joint 17, specifically, the driving member 15 is fixed on an end of the large arm 12 away from the execution end 14, which is different in that: referring to fig. 9, in the present embodiment, the transmission mechanism forms a third closed transmission chain P3 among the first rotary joint 17, the second rotary joint 18 and the third rotary joint 19, and performs reversing at the second rotary joint 18. I.e. the whole transmission is in a closed transmission chain, only one tensioning device needs to be provided in this embodiment, i.e. the arrangement of tensioning devices can be reduced in this embodiment compared to the first embodiment.
Specifically, referring to fig. 9, the transmission mechanism includes a fifth wire wheel 161a, a sixth wire wheel 162a, a seventh wire wheel 163a and a third wire 164a, the fifth wire wheel 161a is fixed on the first rotating shaft 171, the sixth wire wheel 162a is fixed on the second rotating shaft 181, the seventh wire wheel 163a is fixed on the third rotating shaft 191, the third wire 164a is wound around the fifth wire wheel 161a and the seventh wire wheel 163a, and the sixth wire wheel 162a is reversed by winding a plurality of turns, so that the movement of the driving member 15 can be transmitted to the executing end 14 through the third wire 164 a.
Embodiment III:
all technical features of the mechanical arm in this embodiment are substantially the same as those of the mechanical arm in the first embodiment, and the difference is that: referring to fig. 10, in the present embodiment, the driving member 15 is disposed on the frame 11, that is, the driving member 15 is not disposed on the large arm 12 or the small arm 13, so that the load of the executing end 14 can be further reduced, and the executing end 14 is lighter to operate.
Specifically, the transmission mechanism includes a third transmission assembly 161b and a fourth transmission assembly 162b; the third transmission assembly 161b forms a fourth closed transmission chain P4 between the output shaft of the driving member 15, the first rotary joint 17 and the second rotary joint 18, and commutates at the first rotary joint 17; the fourth drive assembly 162b forms a fifth closed drive chain P5 between the second 18 and third 19 revolute joints; the third transmission assembly 161b and the fourth transmission assembly 162b move synchronously at the second revolute joint 18 via the second rotation shaft 181. That is, in this embodiment, the wire transmission mechanism 16 is divided into two stages of wire transmission, the first stage transmits the motion of the driving member 15 to the second rotating shaft 181, and the second stage transmits the motion of the second rotating shaft 181 to the actuating end 14.
The specific structure of the third transmission assembly 161b and the fourth transmission assembly 162b includes two wire wheels and a wire, which are not repeated here.
In addition, in order to ensure the transmission stability of the third transmission assembly 161b and the fourth transmission assembly 162b, tensioning devices are respectively disposed in the third transmission assembly 161b and the fourth transmission assembly 162b, and guiding wheel sets can be correspondingly disposed according to the structural design requirement.
Embodiment four:
all technical features of the mechanical arm in this embodiment are substantially the same as those of the mechanical arm in the third embodiment, and the driving member 15 in this embodiment is also disposed on the frame 11, which is different in that: referring to fig. 11, in the present embodiment, the transmission mechanism forms a sixth closed transmission chain P6 among the output shaft of the driving member 15, the first rotary joint 17, the second rotary joint 18 and the third rotary joint 19, and commutates between the first rotary joint 17 and the second rotary joint 18, respectively. I.e. the whole transmission is in one closed transmission chain, only one tensioning device needs to be provided in this embodiment, i.e. the arrangement of tensioning devices can be reduced in this embodiment compared to the third embodiment.
Fifth embodiment:
all technical features of the mechanical arm in this embodiment are substantially the same as those of the mechanical arm in the first embodiment, and the difference is that: in this embodiment, referring to fig. 12, the driving member 15 is disposed on the second rotary joint 18, so that the load of the executing end 14 is reduced, the operation of the executing end 14 is facilitated, the number of joints involved in the transmission mechanism can be reduced, and the coupling phenomenon between the transmission mechanism and the second rotary joint 18 can be avoided.
Specifically, the transmission mechanism forms a seventh closed transmission chain P7 between the second rotary joint 18 and the third rotary joint 19, which has a simple structure and occupies a small space. More specifically, the output shaft of the driving member 15 is fixedly connected to the second rotating shaft 181, and the specific structure of the transmission mechanism is the same as that of the second transmission assembly 162, and will not be repeated here.
Example six:
all technical features of the mechanical arm in this embodiment are substantially the same as those of the mechanical arm in the first embodiment, and the difference is that: in this embodiment, referring to fig. 13, the driving member 15 is disposed on the large arm 12 and located between the first rotary joint 17 and the second rotary joint 18.
Specifically, the wire drive mechanism 16 forms an eighth closed drive chain P8 between the output end of the driving element 15, the second rotary joint 18 and the third rotary joint 19. The load on the actuator 14 can also be reduced, facilitating movement of the actuator 14.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (14)
1. The mechanical arm is characterized by comprising a frame, an executing end and at least one driving arm, wherein the frame, the at least one driving arm and the executing end are sequentially connected;
the mechanical arm further comprises a driving structure for driving the execution end, the driving structure comprises a driving piece and a transmission mechanism, and the transmission mechanism is in transmission connection between the driving piece and the execution end;
wherein the driving piece is arranged on the frame;
the mechanical arm comprises two driving arms, namely a big arm and a small arm, a first rotating joint is arranged between the big arm and the frame, a second rotating joint is arranged between the small arm and the big arm, and a third rotating joint is arranged between the executing end and the small arm;
the large arm is rotationally arranged on the frame through a first rotating shaft, the large arm is rotationally connected with the small arm through a second rotating shaft, and the execution end is rotationally arranged on the small arm of the execution end through a third rotating shaft;
the transmission mechanism comprises a third transmission assembly and a fourth transmission assembly, the third transmission assembly forms a fourth closed transmission chain among the output shaft of the driving piece, the first rotating joint and the second rotating joint and commutates at the first rotating joint, the fourth transmission assembly forms a fifth closed transmission chain among the second rotating joint and the third rotating joint, and the third transmission assembly and the fourth transmission assembly synchronously move at the second rotating joint through a second rotating shaft; or the transmission mechanism forms a sixth closed transmission chain among the output shaft of the driving piece, the first rotating joint, the second rotating joint and the third rotating joint, and the first rotating joint and the second rotating joint are respectively reversed.
2. The mechanical arm of claim 1, wherein the transmission mechanism is a wire transmission mechanism. .
3. The mechanical arm of claim 1, wherein the first axis of rotation and the second axis of rotation are parallel to each other, and the second axis of rotation and the third axis of rotation are spatially perpendicular to each other.
4. The mechanical arm of claim 1, wherein the drive member is a motor capable of outputting rotational motion.
5. The mechanical arm of claim 4, wherein the driving member comprises a rotary cylinder, a linear motor, or a linear cylinder.
6. The mechanical arm of claim 1, wherein the third transmission assembly further comprises a first wire wheel, a second wire wheel and a first transmission member, the first wire wheel is fixedly sleeved on the first rotating shaft, the first wire wheel can rotate along with the driving member, the second wire wheel is fixedly sleeved on one end of the second rotating shaft, the first transmission member is respectively wound on the first wire wheel and the second wire wheel, and the first transmission member is used for transmitting the rotation motion of the first wire wheel to the second wire wheel.
7. The mechanical arm of claim 6, wherein the fourth transmission assembly further comprises a third wire wheel, a fourth wire wheel and a second transmission member, the third wire wheel is fixedly sleeved on the other end of the second rotating shaft, the fourth wire wheel is fixedly sleeved on the third rotating shaft, the second transmission member is respectively wound on the third wire wheel and the fourth wire wheel, and the second transmission member is used for transmitting the rotary motion of the third wire wheel to the fourth wire wheel.
8. The mechanical arm of claim 7, wherein two sets of guiding wheel sets are provided in the forearm, the two sets of guiding wheel sets being disposed adjacent to the third wire wheel and the fourth wire wheel, respectively.
9. The mechanical arm of claim 7, wherein the third transmission assembly further comprises a first tensioning device for adjusting a tensioning force of the first transmission member;
the fourth transmission assembly further includes a second tensioning device for adjusting the tensioning force of the second transmission member.
10. The mechanical arm of claim 9, wherein the first tensioning device is a tensioning wheel, the second tensioning device is a tensioning nut, wherein the tensioning wheel is sleeved on the first rotating shaft, and the tensioning nut is arranged on the second transmission member.
11. The mechanical arm of claim 7, wherein two sets of guiding wheel sets are provided in the small arm, and the two sets of guiding wheel sets are respectively arranged close to the third wire wheel and the fourth wire wheel.
12. The mechanical arm according to claim 11, wherein the guiding wheel set comprises two guiding wheels which are oppositely arranged, the two guiding wheels in the two guiding wheel sets are equally spaced, and the second transmission piece is respectively connected with the guiding wheels in a guiding way.
13. A slave manipulator apparatus comprising a manipulator according to any one of claims 1 to 12, actuation means provided at the distal end of the manipulator, and a surgical instrument for performing surgery, the actuation means being coupled to and driving the surgical instrument in motion.
14. A surgical robot comprising a master operation console and a slave operation device according to claim 13, the slave operation device being arranged to perform a respective operation in accordance with input instructions of the master operation console.
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| CN202110981875.4A CN113662673B (en) | 2021-08-25 | 2021-08-25 | Mechanical arm, slave operation device and surgical robot |
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| CN202110981875.4A CN113662673B (en) | 2021-08-25 | 2021-08-25 | Mechanical arm, slave operation device and surgical robot |
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| CN113662673B true CN113662673B (en) | 2023-08-22 |
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| CN117243701A (en) * | 2022-06-11 | 2023-12-19 | 深圳市精锋医疗科技股份有限公司 | Input device and surgical robot |
| CN117426809B (en) * | 2023-12-21 | 2024-03-15 | 苏州康多机器人有限公司 | Tensioning method and tensioning tool for rope of surgical instrument |
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