CN116965936A

CN116965936A - Mechanical arm and surgical robot

Info

Publication number: CN116965936A
Application number: CN202310481054.3A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shenzhen Konuositeng Technology Co ltd
Current assignee: Shenzhen Konuositeng Technology Co ltd
Priority date: 2023-04-26
Filing date: 2023-04-26
Publication date: 2023-10-31

Abstract

The application provides a mechanical arm and a surgical robot, wherein the mechanical arm comprises a first arm, a second arm, a third arm, a mechanical holding arm and a transmission mechanism, and the second arm is pivotally connected with the first arm around a second axis at a second joint; the third arm is pivotally connected to the second arm about a third axis at a third joint; the holding arm is pivotally connected to the third arm around a fourth axis at a fourth joint, and the holding arm is used for installing the surgical instrument and can drive the surgical instrument to translate along a fifth axis and/or rotate around the fifth axis; the transmission mechanism is used for driving the mechanical holding arm to rotate around a sixth axis, the sixth axis and the fifth axis are intersected at a telecentric point, the first arm is provided with a first cavity for accommodating the second arm, and the second arm is provided with a second cavity for accommodating the third arm. The application can reduce the size and weight of the mechanical arm, and on the other hand, can reduce the torsion force at each joint.

Description

Mechanical arm and surgical robot

Technical Field

The present application relates generally to the technical field of medical instruments, and more particularly to a mechanical arm and a surgical robot.

Background

Surgical robots are mechanical systems that can be remotely manipulated and assist a surgeon in completing a procedure, and include three components: doctor's console, patient side robotic arm system and imaging system. The patient side mechanical arm system comprises a plurality of mechanical arms. The mechanical arm is provided with a plurality of sections of connecting arms. The two adjacent connecting arms are relatively movable with a specific degree of freedom, so that the tail end of the mechanical arm can achieve the movement of multiple degrees of freedom. A surgical instrument or endoscope is mounted to the distal end of the robotic arm. When in operation, a doctor manipulates the mechanical arm to enable the operation instrument to realize movements in three degrees of freedom of pitching, deflecting and inserting, and the operation instrument is penetrated through tissues such as chest, abdominal wall and the like to replace a human hand to perform operation.

Remote center of motion (remote center of motion, RCM) is a mechanical design widely used in robotic arms of minimally invasive surgical robots, defined as ports into the abdominal cavity of a patient during surgery. The mechanical arm is operated to enable the surgical instrument to realize movements in three degrees of freedom of pitching, deflecting and inserting, and the longitudinal axis of the surgical instrument or the extension line of the longitudinal axis of the surgical instrument always passes through the RCM point in the movement process so as to avoid non-surgical injury of the surgical instrument to the abdominal incision of a patient.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the application is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the above problems, a first aspect of the present application provides a robotic arm for a surgical robot, the robotic arm comprising:

a first arm;

a second arm pivotally connected to the first arm about a second axis at a second joint;

a third arm pivotally connected to the second arm about a third axis at a third joint, the third axis being parallel to the second axis;

a holding arm pivotally connected to the third arm about a fourth axis at a fourth joint, the fourth axis being parallel to the second axis, the holding arm being for mounting a surgical instrument and being capable of driving the surgical instrument to translate along and/or rotate about a fifth axis, the fifth axis being fixed relative to the holding arm; and

the transmission mechanism is used for driving the mechanical holding arm to rotate around a sixth axis, the sixth axis is parallel to the second axis, the sixth axis and the fifth axis are intersected at a telecentric point, the telecentric point is fixed relative to the first arm,

the first arm is provided with a first cavity, the first cavity is used for accommodating the second arm when the mechanical arm is in a folded state, the second arm is provided with a second cavity, and the second cavity is used for accommodating the third arm when the mechanical arm is in a folded state.

According to the mechanical arm disclosed by the application, the extension line of the motion track of the surgical instrument mounted on the holding mechanical arm along the fifth axis always passes through the telecentric point, and the holding mechanical arm always can rotate around the sixth axis passing through the telecentric point, so that the surgical instrument is prevented from causing non-surgical damage to the abdominal incision of a patient. When the mechanical arm is in a folding state, the second arm is stored through the first cavity arranged on the first arm, and the third arm is stored through the second cavity arranged on the second arm, so that a good storage effect is achieved, the mechanical arm is more compact in structure, the size and the weight of the mechanical arm are reduced, and the torsion force of each joint can be reduced.

Optionally, when the robotic arm is in a folded state, the second axis, the third axis, and the fourth axis are coplanar, and the second axis is located between the fourth axis and the third axis.

Optionally, the outer profile of the first arm, the outer profile of the second arm and the outer profile of the third arm are each configured to be symmetrical with respect to a first plane, the first plane being perpendicular to the second axis, the telecentricity point being located in the first plane.

Optionally, in a direction parallel to the second axis, the first arm has a first dimension, the second arm has a second dimension, the third arm has a third dimension,

a distance of any two of the centroid of the first arm, the centroid of the second arm, and the centroid of the third arm in a direction parallel to the second axis is less than half of a smallest of the first dimension, the second dimension, and the third dimension.

Optionally, the centroid of the first arm, the centroid of the second arm and the centroid of the third arm are coplanar.

Optionally, in a direction parallel to the second axis, the holding arm has a fourth dimension,

a distance of any two of a centroid of the first arm, a centroid of the second arm, a centroid of the third arm, and a centroid of the holding arm in a direction parallel to the second axis is less than half of a smallest one of the first dimension, the second dimension, the third dimension, and the fourth dimension.

Optionally, the centroid of the first arm, the centroid of the second arm, the centroid of the third arm, and the centroid of the arm holder are coplanar.

Optionally, the first dimension is greater than the second dimension, and the second dimension is greater than the third dimension.

Optionally, a plane perpendicular to the second axis and passing through the telecentric point is a first plane having opposite first and second sides,

the first arm comprises two first connecting rods which are oppositely arranged along a second axis, the two first connecting rods are connected at a first joint, the two first connecting rods are respectively positioned at the first side and the second side, and the first cavity is defined between the two first connecting rods;

the second arm comprises two second connecting rods which are oppositely arranged along a second axis, the two second connecting rods are correspondingly connected to the two first connecting rods at the second joints respectively, the two second connecting rods are mutually connected at the third joints, the two second connecting rods are respectively positioned at the first side and the second side, and the second cavity is defined between the two second connecting rods.

Optionally, the transmission mechanism is disposed at the first link on the first side, the second link on the second side, and the third arm; or alternatively

The transmission mechanism is arranged at the first connecting rod positioned at the second side, the second connecting rod positioned at the first side and the third arm.

Optionally, the transmission mechanism includes:

a third drive wheel located on the second side and fixedly connected to the first link on the second side at the second joint, the third drive wheel being rotatable about the second axis relative to the second arm; and

the fourth driving wheel is positioned on the second side and fixedly connected to the third arm at the third joint, the fourth driving wheel is connected to the third driving wheel through a second driving belt in a driving manner, and the fourth driving wheel is rotatable relative to the second arm around the third axis.

Optionally, the transmission mechanism includes:

a fifth drive wheel fixedly connected to the second link at the third joint, the fifth drive wheel rotatable about the third axis relative to the third arm; and

a sixth drive wheel fixed to the arm at the fourth joint, the sixth drive wheel being drivingly connected to the fifth drive wheel by a third drive belt, the sixth drive wheel being rotatable about the fourth axis relative to the third arm.

Optionally, the transmission mechanism includes:

a first drive wheel located on the first side and rotatable relative to the first arm about a seventh axis, the seventh axis being parallel to the second axis, the first drive wheel for connection to a power source; and

the second transmission wheel is positioned on the first side and fixedly connected to the second connecting rod positioned on the first side at the second joint, the second transmission wheel is connected to the first transmission wheel through a first transmission belt in a transmission mode, and the second transmission wheel is rotatable relative to the first arm around the second axis.

Optionally, the distance of the sixth axis and the fourth axis is equal to the distance of the second axis and the third axis, and the distance of the sixth axis and the second axis is equal to the distance of the fourth axis and the third axis.

Optionally, the fifth axis is perpendicular to the sixth axis.

Optionally, the robotic arm further comprises a base, the first arm being pivotally connected to the base at a first joint about a first axis, the first axis being fixed relative to the base, the first axis passing through the telecentric point.

Optionally, the first axis is perpendicular to the sixth axis.

The second aspect of the application provides a surgical robot, which comprises a frame and at least one mechanical arm arranged on the frame, wherein the mechanical arm is the mechanical arm.

According to the surgical robot of the second aspect of the application, by applying the mechanical arm, the accuracy of the movement of the surgical instrument is improved, so that the safety of the operation is improved. In addition, the miniaturization and the light weight of the surgical robot are facilitated, so that the flexibility of the movement of the surgical robot is improved.

Drawings

The following drawings of embodiments of the present application are included as part of the application. Embodiments of the present application and their description are shown in the drawings to explain the principles of the application. In the drawings of which there are shown,

FIG. 1 is a schematic structural view of a patient side robotic arm system according to an embodiment of the present application;

FIG. 2 is a front view of a robotic arm in an expanded state according to an embodiment of the application;

FIG. 3 is a perspective view of the robotic arm of FIG. 2 in a folded state;

FIG. 4 is a perspective view of the robotic arm shown in FIG. 2 in an expanded state;

FIG. 5 is a schematic illustration of the mechanical arm of FIG. 2 with the first link on the first side, the second link on the second side, and the third arm removed;

FIG. 6 is a partial cross-sectional view of the robotic arm shown in FIG. 2 at a second joint; and

fig. 7 is a partial cross-sectional view of the robotic arm shown in fig. 2 at a third joint.

Reference numerals illustrate:

10: the robotic arm system 11: base seat

12: handle 13: upright post

100: mechanical arm 101: adjusting arm portion

102: the operation arm portion 103: arm for holding a tool

104: base 105: first arm

105a: first link 105b: first cavity

106: second arm 106a: second connecting rod

106b: a second chamber 107: third arm

108: first belt 109: second transmission belt

110: third belt 111: first joint

112: second joint 113: third joint

114: fourth joint 115: first driving wheel

116: a second drive wheel 117: third driving wheel

118: fourth drive wheel 119: fifth driving wheel

120: sixth drive wheel R: telecentric point

AX1: the first axis AX2: a second axis

AX3: third axis AX4: fourth axis

AX5: fifth axis AX6: sixth axis

AX7: a seventh axis

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that embodiments of the application may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the embodiments of the application.

In the following description, a detailed structure will be presented for a thorough understanding of embodiments of the present application. It will be apparent that embodiments of the application may be practiced without limitation to the specific details that are set forth by those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application, as the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component". It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and the like are used in the present application for the purpose of illustration only and are not limiting.

Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings, which illustrate representative embodiments of the present application and not limit the present application.

An exemplary embodiment according to the present application will now be described in more detail with reference to fig. 1 to 7.

A surgical robot according to an embodiment of the present application is a robot that can remotely manipulate a completed surgery, and may include a control system (also referred to as a doctor console), a robotic arm system 10 (also referred to as a patient side robotic arm system 10, as shown in fig. 1), and an imaging system.

The control system is provided with a display unit for displaying the environment of the surgical instrument, a doctor operation control mechanism, an armrest and the like. Wherein, set up the observation window on the display element and be used for the doctor to observe, operation control mechanism constructs for its action can correspond the action of surgical instruments, and the handrail is used for placing doctor's arm. In addition, the control console of the doctor is also provided with other control switches which are convenient for touching or pressing by hands or feet and are used for performing various functional operations to complete man-machine interaction.

The imaging system has a display screen, an endoscope controller, system electronics, an image processor, and the like.

The robotic arm system 10 may include at least one robotic arm 100 having a plurality of links (e.g., a first arm 105, a second arm 106, and a third arm 107 as described below) on the robotic arm 100, with adjacent links being movable relative to each other with a particular degree of freedom such that the distal end of the robotic arm 100 may be movable with multiple degrees of freedom (e.g., 7 degrees of freedom, and different degrees of freedom depending on the surgical instrument), the distal end of the robotic arm 100 having a manipulator holder 103, and the surgical instrument or endoscope being removably mounted on the manipulator holder 103.

In one example, referring to fig. 1, a robotic arm system 10 includes a base 11, a column 13 is provided on the base 11, and at least one robotic arm 100 (only one robotic arm 100 is shown in fig. 1) is provided on the column 13 that is liftable relative to the base 11. A handle 12 may also be provided on the base 11, and an operator may assist in completing movement of the base 11 via the handle 12.

The robotic arm 100 may generally include an adjustment arm portion 101 and an operation arm portion 102. The distal end of the arm portion 102 is used to mount a holding arm 103, and the holding arm 103 is used to mount a surgical instrument or endoscope. The mechanical holding arm 103 may also be provided with an instrument driving device to drive the surgical instrument to perform actions such as insertion and clamping. Before manipulating the robot to perform a surgery, it is necessary to manipulate the adjustment arm portion 101 so that the surgical instrument mounted at the distal end of the manipulation arm portion 102 reaches a designated position and then lock the rotational joint of the adjustment arm portion 101. In operation, the operation is completed by remotely controlling the operation arm portion 102 while maintaining the locking of the rotational joint of the adjustment arm portion 101 to prevent the relative rotation between the links (i.e., the connection arms) of the adjustment arm portion 101 during the operation.

The inventors found that, for the operation arm portion, the related art generally adopts a structure in which a plurality of connection arms are sequentially stacked in the thickness direction, so that the surgical instrument connected to the holding arm is located at the outermost layer of the operation arm portion, which is disadvantageous for the storage of the mechanical arm, and increases the risk that the surgical instrument is liable to collide with other mechanical arms. Further, the laminated structure causes the connecting arm to receive both bending moment and torque, and therefore, the higher the connecting arm of the operation arm portion (i.e., the connecting arm closer to the adjustment arm portion) is, the higher the rigidity thereof is required to ensure that the torque and bending moment can be received, thus increasing the volume and weight of the mechanical arm.

To overcome or ameliorate at least one of the above problems, embodiments of the present application provide a robotic arm. The robot arm 100 according to the embodiment of the present application will be described in detail with reference to fig. 2 to 7. The improvement of the robot arm 100 in the present application may involve structural improvement of the above-described operation arm portion 102.

The robot arm 100 according to an embodiment of the present application may include a first arm 105, a second arm 106, a third arm 107, a holding arm 103, and a transmission mechanism. The second arm 106 is pivotally connected to the first arm 105 about a second axis AX2 at a second joint 112. The third arm 107 is pivotally connected to the second arm 106 about a third axis AX3 at a third joint 113. The third axis AX3 is parallel to the second axis AX2. The holding arm 103 is pivotally connected to the third arm 107 about a fourth axis AX4 at a fourth joint 114. The fourth axis AX4 is parallel to the second axis AX2. The manipulator 103 is used for mounting a surgical instrument and is capable of driving the surgical instrument in translation along the fifth axis AX5 and/or in rotation about the fifth axis AX 5. The surgical instrument may be an instrument (such as a clamp, a scissors, etc.) for performing a surgical operation on a focal region, or may be an imaging device (such as an endoscope, etc.) for providing an image of the focal region in real time. The surgical instrument can translate along the fifth axis AX5 for insertion or extraction, and can rotate about the fifth axis AX5 to adjust the orientation of the surgical instrument end effector, driven by the drive mechanism built into the manipulator. The fifth axis AX5 is fixed with respect to the arm 103. Therefore, the movement states of the fifth axis AX5 and the holding arm 103 are the same. The transmission mechanism is used for driving the arm 103 to rotate around the sixth axis AX6. The sixth axis AX6 is parallel to the second axis AX2, and the sixth axis AX6 intersects the fifth axis AX5 at a telecentric point R. The telecentric point R is fixed with respect to the first arm 105. That is, the positional relationship of the telecentric point R and the first arm 105 remains unchanged. Thereby, the sixth axis AX6 is fixed with respect to the first arm 105. Therefore, the movement states of the sixth axis AX6 and the first arm 105 are the same. Alternatively, the fifth axis AX5 is perpendicular to the sixth axis AX6.

Wherein the first arm 105 is provided with a first cavity 105b. The first cavity 105b is for receiving the second arm 106 when the robotic arm 100 is in a folded state. The second arm 106 is provided with a second cavity 106b. The second cavity 106b is for receiving the third arm 107 when the robotic arm 100 is in a folded state. The robotic arm 100 herein has an extended state and a collapsed state. As the mechanical arm 100 changes from the folded state to the unfolded state, at least one of the angle between the first arm 105 and the second arm 106 and the angle between the second arm 106 and the third arm 107 increases. In the example of the application, to ensure that the sixth axis AX6 is fixed relative to the first arm 105, the angle between the first arm 105 and the second arm 106 and the angle between the second arm 106 and the third arm 107 are varied at the same rate at the same time.

In general, the holding arm 103 is configured such that the longitudinal axis of the surgical instrument coincides with the fifth axis AX5 when the surgical instrument is mounted to the holding arm 103, i.e. the longitudinal axis of the surgical instrument passes through the telecentric point R. That is, the longitudinal axis of the surgical instrument always passes through the telecentric point R during operation of the robotic arm 100, thereby avoiding non-surgical damage to the patient's abdominal incision by the surgical instrument.

When the mechanical arm 100 is in a folded state, the second arm 106 is accommodated by the first cavity 105b arranged on the first arm 105, and the third arm 107 is accommodated by the second cavity 106b arranged on the second arm 106, so that on one hand, a better accommodating effect is achieved, and the structure is more compact; on the other hand, interference between the mechanical arms 100 or between the mechanical arms 100 and other structures can be avoided, so that transportation of the mechanical arms 100 or the mechanical arm system 10 is facilitated. The robot arm 100 in the folded state herein may be understood as the robot arm 100 in the fully folded state. That is, when the robot arm 100 is in the folded state, the volume of the robot arm 100 may be as small as possible.

In one example, when the robotic arm 100 is in a folded state, the second axis AX2, the third axis AX3, and the fourth axis AX4 are coplanar. And the second axis AX2 is located between the fourth axis AX4 and the third axis AX 3. The robot arm 100 thus provided can ensure a smaller size in the folded state, thereby being more advantageous in reducing occupation of the external space.

Optionally, the outer contour of the first arm 105, the outer contour of the second arm 106 and the outer contour of the third arm 107 are each configured symmetrically with respect to the first plane. In other words, each of the outer profile of the first arm 105, the outer profile of the second arm 106, and the outer profile of the third arm 107 is configured to be symmetrical about the first plane. The first plane is perpendicular to the second axis AX2. The telecentric point R is located in the first plane. In this way, the geometrical center position of the robot arm 100 is always maintained in this first plane also when the robot arm 100 is in a fully folded state, or when performing pitch, yaw or insertion movements. This symmetrical design may reduce the torque of the connecting arm and thus may reduce the requirements on the stiffness of the connecting arm, thereby reducing the size of the mechanical arm 100 in a direction parallel to the second axis AX2 and the weight of the mechanical arm 100. In addition, this symmetrical design places the surgical instruments closer to the geometric center of the robotic arm 100 in a direction parallel to the second axis AX2, preventing the surgical instruments mounted on adjacent robotic arms 103 from colliding with each other to some extent. Further, this facilitates reducing the overall weight and volume of the robotic arm system 10.

Alternatively, in a direction parallel to the second axis AX2, the first arm 105 has a first size, the second arm 106 has a second size, and the third arm 107 has a third size. And a distance of any two of the centroid of the first arm 105, the centroid of the second arm 106, and the centroid of the third arm 107 in a direction parallel to the second axis AX2 is less than half of the smallest of the first dimension, the second dimension, and the third dimension. This may make the movement of the robotic arm and thus the surgical instrument more stable. Further, the torque of the link arm can be reduced, and thus the requirement for the rigidity of the link arm can be reduced, so that the size of the robot arm 100 in the direction parallel to the second axis AX2 and the weight of the robot arm 100 can be reduced.

Further, the centroid of the first arm 105, the centroid of the second arm 106, and the centroid of the third arm 107 are coplanar. That is, in the direction parallel to the second axis AX2, the distance of any two of the centroid of the first arm 105, the centroid of the second arm 106, and the centroid of the third arm 107 is zero. Alternatively, in the case where the first arm 105, the second arm 106, and the third arm 107 are each symmetrical about the first plane, the centroid of the first arm 105, the centroid of the second arm 106, and the centroid of the third arm 107 all lie in the first plane.

Further, in a direction parallel to the second axis AX2, the arm 103 has a fourth dimension. And a distance of any two of the centroid of the first arm 105, the centroid of the second arm 106, the centroid of the third arm 107, and the centroid of the arm 103 in a direction parallel to the second axis AX2 is less than half of the smallest one of the first dimension, the second dimension, the third dimension, and the fourth dimension. This can reduce the size of the combination of the first arm 105, the second arm 106, the third arm 107, and the holding arm 103 in the direction parallel to the second axis AX2. This may further increase the stability of the movement of the robotic arm and the surgical instrument and further reduce the torque of the connecting arm, thus further reducing the requirements on the stiffness of the connecting arm.

Further, the centroid of the first arm 105, the centroid of the second arm 106, the centroid of the third arm 107, and the centroid of the arm 103 are coplanar. That is, in a direction parallel to the second axis AX2, the distance of any two of the centroid of the first arm 105, the centroid of the second arm 106, the centroid of the third arm 107, and the centroid of the arm 103 is zero. Alternatively, in the case where the first arm 105, the second arm 106, the third arm 107, and the holding arm 103 are symmetrical with respect to the first plane, the centroid of the first arm 105, the centroid of the second arm 106, the centroid of the third arm 107, and the centroid of the holding arm 103 are all located in the first plane.

In the illustrated example, the first dimension is greater than the second dimension, and the second dimension is greater than the third dimension. Thus, the dimension of the combination of the first arm 105, the second arm 106, and the third arm 107 in the direction parallel to the second axis AX2 is the first dimension. This is more advantageous for achieving stowing of the robot arm 100.

In the illustrated example of the application, the first plane is a plane perpendicular to the second axis AX2 and passing through the telecentric point R. The first plane has opposite first and second sides.

The first arm 105 may include two first links 105a disposed opposite along the second axis AX2. The two first links 105a are connected at a first joint 111. Two first links 105a are located on the first side and the second side, respectively. The two first links 105a define a first cavity 105b therebetween. The outer contour of the first arm 105 is here substantially U-shaped. The first cavity 105b is generally configured as a U-shaped cavity. The second arm 106 can be completely folded and accommodated in the first cavity 105b, with the dimension of the first cavity 105b in the length direction of the first arm 105 being allowed, so as to reduce the occupation of the second arm 106 for the external space of the first arm 105 in the folded state, and also prevent the second arm 106 from interfering with the first arm 105 during rotation about the second axis AX2. In the example shown in the present application, both first links 105a are configured as elongated straight bars, having a substantially rectangular cross section, and both first links 105a are parallel to each other. In other examples, not shown, the two first links 105a may be configured in other shapes, such as arcuate bars, bent bars, or other shapes other than bar-like, etc., as desired, and may be configured in other shapes in cross-section, such as circular, oval, polygonal, etc., but with the first cavity 105b being formed to accommodate the second arm 106.

The second arm 106 may include two second links 106a disposed opposite along the second axis AX2. The two second links 106a are respectively connected to the two first links 105a at the second joints 112. The two second links 106a are connected to each other at a third joint 113. Two second links 106a are located on the first side and the second side, respectively. The two second links 106a define a second cavity 106b therebetween. The two second links 106a are spaced apart from each other at the second joint 112 to allow the third arm 107 in the folded state to be placed between the two second links 106a, and may even allow the third connecting arm to move through the spacing space of the two second connecting links at the second joint 112. In the illustrated example of the application, both second links 106a are configured as elongated straight bars having a generally rectangular cross-section, with the two second links 106a being parallel to each other. In other examples, not shown, the two second links 106a may be configured in other shapes, such as arcuate bars, bent bars, or other shapes that are not rod-like, etc., as desired, and their cross-sections may be configured in other shapes, such as circular, oval, polygonal, etc., but it is necessary to ensure that the second arms 106 are received into the first cavities 105b, and that the second cavities 106b formed are capable of receiving the third arms 107.

To further reduce the overall size of the robotic arm 100, the transmission mechanism is disposed in a spaced apart relationship in the first arm 105 and the second arm 106. For example, in the example shown in fig. 5, the transmission mechanism is provided at the first link 105a on the first side, the second link 106a on the second side, and the third arm 107. Wherein the first side is the side closer to the straight face in fig. 5. In other not shown examples, the transmission mechanism may be provided at the first link 105a on the second side, the second link 106a on the first side, and the third arm 107.

The transmission mechanism of the embodiment of the application can be a flexible transmission component (such as belt wheel transmission) at each connecting arm, can also be a rigid transmission component (such as transmission rod transmission and gear transmission), and can be different at different connecting arms. In the example shown in fig. 5, the transmission is configured as a pulley transmission at each connecting arm.

During the movement of the robot arm 100, the second arm 106, the third arm 107, and the robot arm 103 can be linked by the transmission mechanism such that the connection line of the second axis AX2 and the third axis AX3, the connection line of the third axis AX3 and the fourth axis AX4, the connection line of the fourth axis AX4 and the sixth axis AX6, and the connection line of the sixth axis AX6 and the second axis AX2 always constitute four sides of a parallelogram, as shown in fig. 2. That is, four vertexes of the parallelogram are located on the second axis AX2, the third axis AX3, the fourth axis AX4, and the sixth axis AX6, respectively. Therefore, the distance of the sixth axis AX6 and the fourth axis AX4 is equal to the distance of the second axis AX2 and the third axis AX3, and the distance of the sixth axis AX6 and the second axis AX2 is equal to the distance of the fourth axis AX4 and the third axis AX 3.

Specifically, in the example shown in fig. 5, the transmission mechanism is provided at the first arm 105 at the first link 105a located at the first side. The transmission mechanism may include a first transmission wheel 115 and a second transmission wheel 116. The first drive wheel 115 is located on the first side and is rotatable about a seventh axis AX7 relative to the first arm 105. The seventh axis AX7 is parallel to the second axis AX2. The first drive wheel 115 is for connection to a power source. The power source here may be an electric motor. The second drive wheel 116 is located on the first side and is fixedly connected to the second link 106a located on the first side at the second joint 112. The second drive wheel 116 is drivingly connected to the first drive wheel 115 by the first drive belt 108. The second transmission wheel 116 is rotatable relative to the first arm 105 about the second axis AX2. Here, in the case where the power source outputs the actuation torque, the actuation torque may be transmitted to the second transmission wheel 116 via the first transmission belt 108 through the first transmission wheel 115 to rotate the second arm 106 around.

Further, the transmission mechanism is provided at the second arm 106 at the second link 106a located at the second side. The transmission mechanism may comprise a third transmission wheel 117 and a fourth transmission wheel 118. The third transmission wheel 117 is located on the second side and is fixedly connected to the first link 105a located on the second side at the second joint 112. The third drive wheel 117 is rotatable about the second axis AX2 relative to the second arm 106. The fourth transmission wheel 118 is located on the second side and is fixedly connected to the third arm 107 at the third joint 113. The fourth drive wheel 118 is drivingly connected to the third drive wheel 117 by the second drive belt 109. The fourth drive wheel 118 is rotatable about a third axis AX3 relative to the second arm 106. When the second arm 106 swings, the axial distance between the third transmission wheel 117 and the fourth transmission wheel 118 is unchanged, so that the relative rotation between the third transmission wheel 117 and the fourth transmission wheel 118 can be limited by the second transmission belt 109. Meanwhile, since the fourth transmission wheel 118 is fixed to the third arm 107, the relative angle between the third arm 107 and the first arm 105 is always unchanged.

Further, the transmission mechanism may comprise a fifth transmission wheel 119 and a sixth transmission wheel 120 at the third arm 107. The fifth transmission wheel 119 is fixedly connected to the second link 106a at the first side at the third joint 113. The fifth transmission wheel 119 is rotatable relative to the third arm 107 about a third axis AX 3. The sixth drive wheel 120 is fixed to the arm 103 at the fourth joint 114. The sixth drive wheel 120 is drivingly connected to a fifth drive wheel 119 by a third drive belt 110. The sixth transmission wheel 120 is rotatable about a fourth axis AX4 with respect to the third arm 107. The fifth driving wheel 119 is fixed relative to the second arm 106, and when the second arm 106 swings, the axial center distance between the fifth driving wheel 119 and the sixth driving wheel 120 is unchanged, so that the relative rotation between the fifth driving wheel 119 and the sixth driving wheel 120 can be limited by the third driving belt 110, and the relative angle between the second arm 106 and the holding arm 103 is unchanged all the time.

By the above arrangement of the transmission mechanism, it is achieved that the relative angle between the third arm 107 and the first arm 105 and the relative angle between the second arm 106 and the holding arm 103 are kept constant throughout the movement of the mechanical arm 100, so as to keep the above parallelogram, so that the holding arm 103 is pitched about the sixth axis AX6.

In addition, the robotic arm 100 may also include a base 104. The first arm 105 is pivotally connected to the base 104 about a first axis AX1 at a first joint 111. The first axis AX1 is fixed relative to the base 104. The first axis AX1 passes through the telecentric point R. By providing the base 104 and the first arm 105 being rotatable relative to the base 104 about the first axis AX1, a deflecting movement of the holding arm 103 and the surgical instrument can be achieved. The base 104 here may be used to connect to the adjustment arm part 101.

Alternatively, the first axis AX1 is perpendicular to the sixth axis AX6. Further alternatively, in the case where the first arm 105, the second arm 106, and the third arm 107 are each symmetrical with respect to the first plane, the first axis AX1 is in the first plane.

In the illustrated example of the present application, the first axis AX1 perpendicularly intersects the second axis AX2 and the third axis AX 3. In other examples, not shown, the first axis AX1 may be perpendicular to but not intersect the second axis AX2 and the third axis AX3, may intersect at other angles, and may be neither perpendicular nor intersect nor be parallel, as long as the first axis AX1 is guaranteed to pass through the telecentric point R.

In the illustrated example of the application, the extending direction of the first arm 105 is parallel to the first axis AX 1. In other examples not shown, the extending direction of the first arm 105 may be disposed at an angle to the first axis AX 1.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the application. Terms such as "disposed" or the like as used herein may refer to either one element being directly attached to another element or one element being attached to another element through an intermediate member. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present application has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the application to the embodiments described. Those skilled in the art will appreciate that many variations and modifications are possible in light of the teachings of the application, which variations and modifications are within the scope of the application as claimed.

Claims

1. A robotic arm for a surgical robot, the robotic arm comprising:

a first arm;

2. The mechanical arm of claim 1, wherein the mechanical arm comprises a plurality of arms,

the second axis, the third axis, and the fourth axis are coplanar when the robotic arm is in a collapsed state, and the second axis is located between the fourth axis and the third axis.

3. The robotic arm of claim 1, wherein the outer profile of the first arm, the outer profile of the second arm, and the outer profile of the third arm are each configured to be symmetrical with respect to a first plane, the first plane being perpendicular to the second axis, the point of telecentricity being located within the first plane.

4. The mechanical arm of claim 1, wherein the first arm has a first dimension, the second arm has a second dimension, the third arm has a third dimension in a direction parallel to the second axis,

5. The robotic arm of claim 4, wherein the centroid of the first arm, the centroid of the second arm, and the centroid of the third arm are coplanar.

6. The mechanical arm of claim 4, wherein the mechanical arm comprises a plurality of arms,

in a direction parallel to the second axis, the holding arm has a fourth dimension,

7. The mechanical arm of claim 6, wherein the mechanical arm comprises a plurality of arms,

the centroid of the first arm, the centroid of the second arm, the centroid of the third arm, and the centroid of the arm are coplanar.

8. The mechanical arm of claim 4, wherein the mechanical arm comprises a plurality of arms,

the first dimension is greater than the second dimension, and the second dimension is greater than the third dimension.

9. The mechanical arm of claim 1, wherein the mechanical arm comprises a plurality of arms,

the plane perpendicular to the second axis and passing through the telecentric point is a first plane having opposite first and second sides,

10. The mechanical arm of claim 9, wherein the mechanical arm comprises a plurality of arms,

the transmission mechanism is arranged at the first connecting rod positioned at the first side, the second connecting rod positioned at the second side and the third arm; or alternatively

11. The mechanical arm of claim 10, wherein the transmission mechanism comprises:

12. The mechanical arm of claim 10, wherein the transmission mechanism comprises:

13. The mechanical arm of claim 10, wherein the transmission mechanism comprises:

14. The robotic arm of any one of claims 1-13, wherein a distance of the sixth axis and the fourth axis is equal to a distance of the second axis and the third axis, and a distance of the sixth axis and the second axis is equal to a distance of the fourth axis and the third axis.

15. The robotic arm of any one of claims 1-13, wherein the fifth axis is perpendicular to the sixth axis.

16. The robotic arm of any one of claims 1-13, further comprising a base, the first arm being pivotably connected to the base about a first axis at a first joint, the first axis being fixed relative to the base, the first axis passing through the telecentric point.

17. The robotic arm of claim 16, wherein the first axis is perpendicular to the sixth axis.

18. A surgical robot, characterized in that it comprises a frame and at least one robot arm arranged on the frame, the robot arm being a robot arm according to any one of claims 1 to 17.