CN116985177A - Rotary joint and mechanical arm mechanism - Google Patents

Abstract

The application provides a rotary joint and a mechanical arm mechanism, wherein the rotary joint comprises a first part, a second part and a wiring mechanism, the second part is rotatably arranged around a first axis relative to the first part, and the maximum rotation angle of the second part relative to the first part is not less than 360 degrees; the wire-moving mechanism comprises a wire-moving roller, a flexible cable and a wire-pulling assembly, wherein the wire-moving roller can revolve around a first axis, and the wire-moving roller can rotate around a second axis; the first end of the flexible cable is fixedly arranged relative to the first part, and the second end of the flexible cable bypasses the winding roller and is fixedly arranged relative to the second part; the stay wire assembly comprises a stay wire, the stay wire is provided with a traction end, and the traction end is connected with the winding roller and fixedly arranged relative to the second axis. According to the application, the winding roller is connected with the wire pulling component to apply pulling force to the winding roller, so that the flexible cable is kept in a tight state, and backlog, mutual interference and mutual winding caused by loosening of the flexible cable in the moving process are avoided.

Description

Rotary joint and mechanical arm mechanism

Technical Field

The present application relates generally to the technical field of medical devices, and more particularly to a rotary joint and a mechanical arm mechanism.

Background

The surgical robot system is a complex of various scientific and technical means of integrating machines, electricity and software, and is applied to the field of clinical surgery. A single-hole surgical robot is one type of minimally invasive surgical robot. The single-hole surgical robot can realize all intervention of various surgical instruments in the surgical process by only forming one hole in soft tissue of the body surface of a patient.

The single-hole surgical robot is usually provided with three or four linear motion modules at the tail end, and an endoscope and a surgical instrument driving module are usually arranged on the linear motion modules. Meanwhile, in order to facilitate different angle demands of the endoscope and the matched instrument in the operation process, an external rotary joint is usually added at the tail end for realizing the rotation of three or four linear motion modules. Since each linear movement module and the endoscope or surgical instrument drive module require power and signal communication, it can be a difficult problem to place several strands of wire in motion between the outer stationary portion and the inner rotating portion of the outer rotary joint, while ensuring functionality and as much as possible, appearance integrity.

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 rotary joint for a mechanical arm mechanism, the rotary joint comprising:

a first portion;

a second portion rotatably disposed about a first axis relative to the first portion, the second portion having a maximum rotation angle relative to the first portion of not less than 360 °; and

the wiring mechanism, the wiring mechanism includes:

the winding roller can revolve around the first axis, and the winding roller can rotate around the second axis;

the first end of the flexible cable is fixedly arranged relative to the first part, and the second end of the flexible cable bypasses the winding roller and is fixedly arranged relative to the second part; and

a pull wire assembly including a pull wire having a pull end connected to the wire winding roller and fixedly disposed relative to the second axis, the pull wire assembly providing a force tending to urge the wire winding roller toward the pull wire assembly,

the wiring mechanism is configured such that:

the pull wire always applies a pulling force to the winding roller during rotation of the second portion relative to the first portion.

According to the rotary joint of the first aspect of the application, the second part has a relative motion relation with respect to the first part, and the wire pulling assembly can ensure that the flexible cable cannot be loosened or broken when the two parts rotate relatively. Further, the maximum rotation angle of the second part relative to the first part is not less than 360 degrees, and the rotation range is large. By arranging the wiring mechanism, the second end of the flexible cable moves along with the second part in the process of rotating the second part relative to the first part, and the wire-pulling assembly is connected with the wire-winding roller to apply tension to the wire-winding roller, so that the flexible cable is kept in a tensioned state, and backlashes, mutual interference and mutual winding caused by loosening of the flexible cable in the moving process are avoided; because the flexible cable bypasses the winding roller, the winding roller can be driven to rotate in the moving process of the flexible cable, so that friction born by the flexible cable in the moving process is reduced, the damage of the flexible cable is reduced, and the service life of the flexible cable is prolonged.

Optionally, a length of the flexible cable between the first end and the second end is not less than a circumference of a track of the winding roller that makes one revolution about the first axis.

Optionally, the length of the pull wire is not less than half the circumference of the track of the winding roller rotating around the first axis.

Optionally, the second axis is parallel to the first axis; or alternatively

The second axis intersects the first axis; or alternatively

The second axis is different from the first axis.

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

Optionally, the wire pulling assembly further includes a rotating member rotatably disposed about a third axis relative to the second portion, the third axis being fixedly disposed relative to the second portion, at least a portion of the wire being wound around the rotating member.

Optionally, the third axis is parallel to the first axis; or alternatively

The third axis intersects the first axis; or alternatively

The third axis is different from the first axis.

Alternatively, the wire is configured as a coil spring, one end of which is fixedly connected to the rotating member, and the other end of which is configured as a pulling end.

Optionally, the wire pulling assembly further comprises a resilient member acting on the rotating member for applying a force to the rotating member such that the rotating member has a tendency to rotate to wind up the wire.

Alternatively, the elastic member is configured as a constant force spring.

Optionally, the pull wire assembly includes:

a first rotating portion that rotates about a fourth axis; and

a second rotating portion rotating around the third axis, the third axis being parallel to the fourth axis, the second rotating portion being configured as the rotating member, the constant force spring including:

a first winding part wound around the first rotating part, the first winding part

The first winding portion is configured to cause a force end; and

a second winding portion wound around the second rotating portion, the second winding portion being configured as a force receiving end,

wherein the stay wire is configured as a rope, the rope is wound on the second rotating part, and a winding area of the rope in the second rotating part is different from a winding area of the second winding part in the second rotating part;

the winding direction of the rope at the second rotating part is opposite to the winding direction of the second winding part.

Alternatively, the elastic member is configured as a coil spring disposed coaxially with the rotating member, and both end portions of the coil spring are connected to the rotating member and one fixed member, respectively.

Optionally, the wire assembly further comprises a fixing member fixed to the second portion, the rotation member being rotatably connected to the fixing member about the third axis.

Optionally, the fixing member includes a base and a support portion fixed to the base, the rotating member is rotatably connected to the support portion about the third axis, the support portion has a third wire passing hole for passing the wire, and the base is fixed to the second portion.

Optionally, the routing mechanism further comprises a wire winding support rotatably connected to the second portion about the first axis, and the wire winding roller is rotatably connected to the wire winding support about the second axis.

Optionally, the wiring mechanism further comprises a winding support bearing, an axis of the winding support bearing is coincident with the first axis, and the winding support is connected to the second portion through the winding support bearing, so that the winding support can rotate around the first axis relative to the second portion.

Optionally, the radially outer dimension of the second portion is smaller than the radially inner dimension of the first portion,

the winding roller is positioned in a gap between the first portion and the second portion,

the second portion includes an inner cavity extending in a direction parallel to the first axis and configured to at least partially house the wire assembly, and a first wire passing hole penetrating through the second portion in a direction intersecting the first axis, the first wire passing hole configured to pass through the wire.

Optionally, the second portion includes a first wire via, and the first wire via is used for penetrating the pull wire.

Optionally, the second portion includes a second via, the second via being configured to pass through the flexible cable.

A second aspect of the present application provides a mechanical arm mechanism for a single-hole surgical robot, the mechanical arm mechanism comprising:

an operation arm;

a holding arm;

the rotary joint, wherein the first part is connected to the operation arm, and the second part is connected to the holding arm; and

and the actuator is movably connected to the holding arm along the length direction of the holding arm and is electrically connected to the flexible cable of the wiring mechanism.

According to the mechanical arm mechanism disclosed by the application, by applying the rotary joint, the maximum rotation angle of the mechanical holding arm relative to the operation arm is not smaller than 360 degrees, the mechanical arm mechanism can adapt to the wiring requirement of the flexible cable in the rotary joint, occupies a small space, and can prevent the flexible cable from intertwining and interfering due to loosening.

Optionally, the mechanical arm mechanism includes at least two mechanical holding arms, and the at least two mechanical holding arms are spaced around the first axis.

Optionally, the first axis is parallel to the length direction of the holding arm.

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 view of a single-hole surgical robot according to a preferred embodiment of the present application;

FIG. 2 is a schematic illustration of a connection structure of a rotary joint and a manipulator-holding mechanism according to a preferred embodiment of the present application;

FIG. 3 is a cross-sectional view of the rotary joint of FIG. 2, the cross-sectional view being perpendicular to the first axis;

FIG. 4 is a perspective cross-sectional view of the rotary joint shown in FIG. 2;

FIG. 5 is a perspective exploded view of the rotary joint shown in FIG. 2;

FIG. 6 is a perspective view of the rotary joint of FIGS. 2-5 after removal of the first portion;

FIG. 7 is a perspective view of the wire assembly shown in FIGS. 4 and 5;

FIG. 8 is a cross-sectional view of the wire assembly illustrated in FIG. 7, with the cross-sectional plane perpendicular to the third and fourth axes;

FIG. 9 is another cross-sectional view of the rotary joint shown in FIG. 2;

FIG. 10 is yet another cross-sectional view of the rotary joint shown in FIG. 2;

FIG. 11 is yet another cross-sectional view of the rotary joint shown in FIG. 2; and

fig. 12 is yet another cross-sectional view of the rotary joint shown in fig. 2.

Reference numerals illustrate:

100: rotary joint 110: first part

120: second portion 121: inner cavity

122: first via hole 123: second via hole

126: knuckle bearing 130: wiring mechanism

131: winding support 132: winding roller

133: flexible cable 134: winding support bearing

135: wire assembly 136: rotating member

137: pull wire 137a: pulling end

138: elastic member 138a: a first winding part

138b: second winding portion 139: fixing member

139a: base 139b: support part

139b1: third via 140: a first rotating part

150: guide pulley 200: operating arm

300: arm AX1: a first axis

AX2: the second axis AX3: third axis

AX4: fourth axis R1: first direction of rotation

R2: second rotation direction D1: in the length direction

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. The terms "upper", "lower", "front", "rear", "left", "right" and the like are used herein for illustrative purposes only and are not limiting.

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".

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.

Referring to fig. 1 to 3, and fig. 9 to 12, a single-hole surgical robot provided in an embodiment of the present application may include a mechanical arm mechanism. The mechanical arm mechanism provided by the embodiment of the present application may include an operation arm 200, a holding arm 300, a rotation joint 100, and an actuator (not shown). The holding arm 300 is pivotably connected to the operating arm 200 by means of the rotary joint 100. An actuator or endoscope actuator is movably connected to the holding arm 300 along the length direction D1 of the holding arm 300. The holding arm 300 may also be equipped with an endoscope (not shown).

The rotary joint 100 according to the present application will be described in detail with reference to examples shown in fig. 2 to 12. The rotary joint 100 according to the present application may include a first portion 110, a second portion 120, and a cabling mechanism 130. The second portion 120 is rotatably disposed about a first axis AX1 relative to the first portion 110. The maximum rotation angle of the second portion 120 with respect to the first portion 110 is not less than 360 °. The routing mechanism 130 may include a wire winding roller 132, a flexible cable 133, and a wire pulling assembly 135. The wire winding roller 132 is revolvable around the first axis AX1. And the winding roller 132 is rotatable about the second axis AX 2. That is, the winding roller 132 can both rotate and revolve. The first axis AX1 is an axis along which the wire winding roller 132 revolves. The second axis AX2 is an axis on which the winding roller 132 rotates. The first end of the flexible cable 133 is fixedly disposed relative to the first portion 110. For example, the first end of the coiled cable may be directly or indirectly secured to the first portion 110. The second end of the flexible cable 133 is wrapped around the wire winding roller 132 and fixedly disposed relative to the second portion 120. The flexible cable 133 is wound around the outer circumferential surface of the winding roller 132, and the coating angle is less than 360 °. The second end of flexible cable 133 may be directly or indirectly secured to second portion 120. The pull wire assembly 135 may include a pull wire 137. The pull wire 137 has a pulling end 137a. The pulling end 137a of the pulling wire 137 may be directly or indirectly connected to the winding roller 132, and the pulling end 137a is fixedly disposed with respect to the second axis AX 2. The pull wire assembly 135 provides a force that causes the wire winding roller 132 to move along the trajectory of the pull wire 137 toward the pull wire assembly 135. The force provided by the pull wire assembly 135 herein may be a pulling force. The routing mechanism 130 is configured such that: the pull wire 137 always applies a pulling force to the wire winding roller 132 during rotation of the second portion 120 relative to the first portion 110.

According to the rotary joint 100 of the embodiment of the present application, the second portion 120 has a relative motion relation with respect to the first portion 110, and the pull wire assembly 135 can ensure that the flexible cable 133 does not break or stretch out when the two rotate relatively. Further, the maximum rotation angle of the second portion 120 with respect to the first portion 110 is not less than 360 °, and the rotation range is large. By arranging the wiring mechanism 130, the second end of the flexible cable 133 moves along with the second portion 120 in the process of rotating the second portion 120 relative to the first portion 110, and the winding roller 132 is connected through the stay wire assembly 135 to apply a tensile force to the winding roller 132, so that the flexible cable 133 is kept in a tensioned state, and backlashes, mutual interference and mutual winding caused by loosening of the flexible cable 133 in the moving process are avoided; because flexible cable 133 walks around wire winding gyro wheel 132 to can drive wire winding gyro wheel 132 rotatory at flexible cable 133 in-process that removes, with the friction that reduces flexible cable 133 in the removal in-process received, reduce flexible cable 133's damage, extension flexible cable 133's life.

Referring to fig. 3 to 7, and fig. 9 to 12, for example, the length of the flexible cable 133 between the first end and the second end is not less than the circumference of the locus of the winding roller 132 rotating around the first axis AX1 by one revolution. The minimum limit angle of rotation of the rotary joint 100 is not less than ±180°, to ensure that the length of the flexible cable 123 can ensure that the second end of the flexible cable 123 moves ±180° when the rotary joint 100 rotates to both limit positions. Here, ±180° is understood as an angular range, +180° and-180 ° are angles corresponding to the extreme positions. Between +180 deg. and-180 deg., a 0 deg. position can be considered as the starting position. One of +180° and-180 ° can also be regarded as the start position. The portion of flexible cable 133 between the first and second ends is contactable and wound around winding roller 132. By defining the length of the flexible cable 133 between the first and second ends, it is ensured that the flexible cable 133 is always wound around the winding roller 132 during one revolution of the winding roller 132 around the first axis AX1.

With continued reference to fig. 3-7, and fig. 9-12, for example, the length of the pull wire 137 is not less than half the circumference of the track of the winding roller 132 that makes one revolution about the first axis AX1. The minimum limit angle of rotation of the rotary joint 100 is not less than ±180°, the angle at which the second end of the flexible cable 123 can be moved is ±180°, and the angle through which the wire winding roller 132 revolves is ±90°, thus ensuring that the length of the wire 137 can ensure that the second end moves ±180° when the rotary joint 100 rotates to both limit positions. This is advantageous in ensuring that the pulling wire 137 is always capable of pulling the wire winding roller 132 and applying a pulling force to the wire winding roller 132, so that the flexible cable 133 is always kept in a tensioned state.

In one example, the second axis AX2 here may be parallel to the first axis AX1 (see fig. 3, 9 to 12). In another example, the second axis AX2 may intersect the first axis AX1. In yet another example, the second axis AX2 may be out of plane with the first axis AX1, i.e., the first axis AX1 and the second axis AX2 are out of plane straight lines.

Referring to fig. 4 and 5, for example, the second axis AX2 is perpendicular to the first axis AX1. The second axis AX2 here may be perpendicular to the first axis AX1 and intersect. Of course, the second axis AX2 may also be perpendicular to the first axis AX1 but not intersect.

Referring to fig. 3-5, and fig. 7-12, the wire assembly 135 may further include a rotating member 136. The rotating member 136 is rotatably disposed about a third axis AX3 relative to the second portion 120. The third axis AX3 is fixedly disposed relative to the second portion 120. At least a portion of the wire 137 is wound around the rotating member 136. By winding the pull wire 137 by the rotating member 136, the wiring requirement of the pull wire 137 can be adapted, and the occupation of the corresponding space of the pull wire 137 can be reduced.

In one example, the third axis AX3 may be parallel to the first axis AX1 (see fig. 4, 5, 7, and 8). In another example, the third axis AX3 may intersect the first axis AX1. In yet another example, the third axis AX3 may be different from the first axis AX1.

In one embodiment of the pull wire assembly 135 of the present application, the pull wire 137 may be configured as a coil spring (not shown). One end of the coil spring is fixedly connected to the rotating member 136. The other end of the coil spring is configured as a pulling end 137a. That is, tension is applied to the winding roller 132 by the coil spring so that the flexible cable 133 is kept taut all the time, preventing the flexible cable 133 from being loose.

Referring to fig. 2-12, in another embodiment of the pull wire assembly 135 of the present application, the pull wire assembly 135 may further include a resilient member 138. The elastic member 138 acts on the rotating member 136. The elastic member 138 serves to apply a force to the rotating member 136 such that the rotating member 136 has a tendency to rotate to wind up the wire 137. That is, the elastic member 138 serves to apply a force to the rotating member 136 such that the rotating member 136 has a tendency to rotate, thereby enabling the wire 137 to be wound up.

Referring to fig. 4-8, in one example of the resilient member 138 shown in an embodiment of the present application, the resilient member 138 may be configured as a constant force spring. The constant force spring can output constant acting force, so that the tension force born by the winding roller 132 tends to be constant, the flexible cable 133 is stable, and damage to the flexible cable 133 due to unstable stress can be effectively prevented. The constant force spring can provide constant torsion force to ensure that the pull wire 137 can be freely retracted.

With continued reference to fig. 4-8, for example, the pull wire assembly 135 may include a first rotating portion 140 and a second rotating portion. The first rotating portion 140 rotates about the fourth axis AX 4. The second rotating part rotates around a third axis. The third axis is parallel to the fourth axis. The second rotating portion is configured as the rotating member 136 described above. The constant force spring may include a first coiled portion 138a and a second coiled portion 138b. The first winding portion 138a is wound around the first rotating portion 140. The first winding portion 138a is configured to force the end. The second winding portion 138b is wound around the second rotating portion. The second winding portion 138b is configured as a force receiving end. Wherein the pull wire 137 is configured as a rope, such as a steel wire rope. The rope is wound around the second rotating portion. And the winding area of the rope in the second rotating part is different from the winding area of the second winding part 138b in the second rotating part. The winding area of the second winding portion 138b at the second rotation portion may correspond to the winding area position of the first winding portion 138a at the first rotation portion 140. The winding direction of the first winding portion 138a may be the same as the winding direction of the second winding portion 138b. The winding direction of the first winding portion 138a may be opposite to the winding direction of the second winding portion 138b. The winding direction of the rope in the second rotating portion is opposite to the winding direction of the second winding portion 138b, so that automatic winding of the rope can be achieved by the constant force spring. In the case where the rope is pulled by an external force, the rope can be released from the second rotating portion, and a part of the first winding portion 138a is released from the first rotating portion 140 and wound to the second rotating portion, so that the number of windings of the constant force spring at the second rotating portion increases. When the external force is removed, the first winding portion 138a located at the first rotating portion 140 makes the force to reset the constant force spring to the first rotating portion 140 and wind the constant force spring around the first rotating portion 140, so as to drive the second rotating portion to rotate, so as to pull the rope to be rewound to the second rotating portion.

Referring to fig. 4, 5, 7 and 8, the wire assembly 135 may further include a securing member 139. The fixing member 139 is fixed to the second portion 120. The rotating member 136 is rotatably connected to the stationary member 139 about the third axis AX 3. In other words, the rotating member 136 is indirectly mounted to the second portion 120 through the stationary member 139.

With continued reference to fig. 4, 5, 7, and 8, further, the fixing member 139 may include a base 139a and a support 139b. The support portion 139b is fixed to the base 139a. The rotating member 136 is rotatably connected to the supporting portion 139b about the third axis AX 3. The support portion 139b has a third wire passing hole 139b1 for passing the wire 137. The base 139a may be secured to the second portion 120 by fastening fasteners or the like. The rotating member 136 is here mounted to the second part 120 by a base 139a. The supporting portion 139b is penetrated through the third wire passing hole 139b1 to locate the wire 137 and guide the direction of the wire 137, so as to prevent the wire 137 from interfering with itself or other structures.

In another example of the elastic member 138 not shown in the embodiment of the present application, the elastic member 138 may be configured as a coil spring. The coil spring is disposed coaxially with the rotating member 136. The two ends of the coil spring are connected to the rotating member 136 and one fixed member 139, respectively. Here, a coil spring is used as the elastic member 138 instead of the constant force spring described above. The coil spring is simple in construction compared to a constant force spring, except that the force provided is variable.

Referring to fig. 3 to 7 and fig. 9 to 12, the routing mechanism 130 may further include a winding support 131. The wire support 131 is rotatably connected to the second portion 120 about the first axis AX1. The winding roller 132 is rotatably connected to the winding support 131 about the second axis AX 2. That is, the winding roller 132 is capable of rotating about the second axis AX2 with respect to the winding support 131. The winding roller 132 and the winding supporter 131 revolve together about the first axis AX1 with respect to the second portion 120. The wire winding support 131 is connected to the pulling end 137a of the wire 137 such that the wire 137 indirectly applies a pulling force to the wire winding roller 132 through the wire winding support 131.

Referring to fig. 4 to 6, the routing mechanism 130 may further include a wire supporting bearing 134. The axis of the wire support bearing 134 coincides with the first axis AX1. The wire support 131 is connected to the second portion 120 by a wire support bearing 134 to enable the wire support 131 to rotate about the first axis AX1 relative to the second portion 120. The wire support bearing 134 is sleeved outside the second portion 120 and is located in the gap between the first portion 110 and the second portion 120. A portion of the wire support bearing 134 is fixedly coupled to the second portion 120. The other portion of the wire support bearing 134 is fixedly coupled to the wire support 131 and rotatable about the first axis AX1 with respect to the second portion 120. This helps reduce friction between the wire winding support 131 and the second portion 120, between the flexible cable 133 and the second portion 120, and between the wire winding roller 132 and the second portion 120, thereby helping to protect the flexible cable 133, the wire winding roller 132, the wire winding support 131, and the like, and helping to reduce resistance of the rotary joint 100 during rotation.

In the example shown in fig. 2-6 and 9-12, the radially outer dimension of the second portion 120 is less than the radially inner dimension of the first portion 110. That is, the first portion 110 is sleeved outside the second portion 120. The wire winding roller 132 is positioned in the gap between the first portion 110 and the second portion 120. The portion of flexible cable 133 between the first and second ends may be located in the gap between first portion 110 and second portion 120. The second portion 120 may include an inner cavity 121 and a first via 122. The inner cavity 121 is disposed to extend in a direction parallel to the first axis AX1. Lumen 121 is used to at least partially house a pull wire assembly 135. The first via 122 penetrates the second portion 120 in a direction intersecting the first axis AX1. The first wire through hole 122 is used for threading the pull wire 137 such that the pull wire 137 can be led out from the inner cavity 121 via the first wire through hole 122 and connected to the wire winding support 131. The first wire vias 122 may position and guide the wire 137. The direction intersecting the first axis AX1 here may be, for example, a direction perpendicular to the first axis AX1.

In other examples not shown, the second portion 120 may be sleeved outside of the first portion 110. The second portion 120 may include a first via 122. The first via 122 is used to pass through the pull wire 137 such that the pull wire 137 enters the gap between the second portion 120 and the first portion 110 from the outside of the second portion 120 via the first via 122.

Referring to fig. 4 to 6, the second portion 120 may optionally include a second via 123. The second wire through hole 123 is used for penetrating the flexible cable 133, so that the flexible cable 133 can enter a gap between the first portion 110 and the second portion 120 through the second wire through hole 123, and further, the flexible cable 133 can bypass the winding roller 132 and be fixedly connected to the first portion 110.

With continued reference to fig. 4-6, in addition, a guide pulley 150 may be disposed between the first end of flexible cable 133 and first portion 110. The flexible cable 133 may be wound around the guide pulley 150 after being wound around the winding roller 132 and secured to the first portion 110. That is, a portion between the first end and the second end of the flexible cable 133 may be wound around the winding roller 132 and the guide pulley 150. This further positions the routing of the flexible cable 133 and also helps prevent interference between the flexible cable 133 and the first portion 110.

Referring again to fig. 4-6, alternatively, the first portion 110 and the second portion 120 described above may be rotatably coupled by a knuckle bearing 126. The rotary joint 100 according to the present application may include two knuckle bearings 126. The two knuckle bearings 126 may be spaced apart in a direction parallel to the first axis AX1.

Fig. 9-12 illustrate schematic views of a rotary joint 100 during rotation according to one embodiment of the application. The parts of the figure corresponding to the arm 300 are denoted by letters a, b, c for the arm 300 in different positions, respectively, in order to distinguish between the rotation angle and the change in position of the rotary joint 100. The use of the rotary joint 100 will now be described in conjunction with the drawings as follows:

initial position as shown in fig. 9, the pull wire assembly 135 in the initial position still provides a pulling force, but the brake device may be designed throughout the drive portion of the rotary joint 100 to ensure that the inner ring member as the second portion 120 does not move relative to the outer ring member as the first portion 110 without power input.

Referring to fig. 9, 10 and 12, during the rotation of the second portion 120 from the initial position along the second rotation direction R2, since one end of the flexible cable 133 is fixed to the first portion 110 and the other end is fixed to the second portion 120, when the rotation angle of the second portion 120 along the second rotation direction R2 is α, the rotation angle of the outer rings of the winding support 131, the winding roller 132 and the winding support bearing 134 along the second rotation direction R2 is α/2, and at the same time, the winding support 131 pulls the pull wire assembly 135 to release the rope, and the released rope is also α/2 with respect to the first axis AX1. Referring to fig. 10, when the second portion 120 reaches a position in which the rotation angle in the second rotation direction R2 is not less than 180 °, the rotation is stopped by reaching a predetermined mechanical limit. Here, considering that the winding roller 132 and the winding support 131 occupy a certain volume/length, if the mechanical limit position is set to a position stopped by 180 ° to cause the rotation angle of the second portion 120 to be unable to reach 360 °, the mechanical limit may be set to a position greater than 180 °, such as 185 ° or 190 °, to ensure that the rotation angle of the second portion 120 can reach not less than 360 °.

Referring to fig. 9 and 11, when the second portion 120 rotates in the first rotation direction R1 from the first mechanically limited position, the constant force spring in the wire pulling assembly 135 provides a pulling force pulling the outer rings of the wire supporting member 131, the wire winding roller 132 and the wire winding supporting bearing 134 to synchronously rotate about the first axis AX1 in the first rotation direction R1. In this process, when the rotation angle of the second portion 120 is α, the rotation angles of the winding support 131, the winding roller 132 and the winding support bearing 134 are α/2. Until the second portion 120 rotates to the initial position. The second portion 120 continues to rotate in the first rotational direction R1 from the initial position in a similar manner to the rotation in the second rotational direction R2 from the initial position described above, except in reverse order.

Referring to fig. 1 to 12, the present application further provides a mechanical arm mechanism. The mechanical arm can be used for a single-hole surgical robot. The robotic arm mechanism may include an operating arm 200, a holding arm 300, the rotary joint 100 described above, and an actuator. The first portion 110 is connected to an operating arm 200. The second portion 120 is connected to the holding arm 300. The actuator is movably connected to the holding arm 300 in the length direction D1 of the holding arm 300. And the actuator is electrically connected to the flexible cable 133 of the cabling mechanism 130.

According to the mechanical arm mechanism of the application, by applying the rotary joint 100, the maximum rotation angle of the mechanical arm 300 relative to the operation arm 200 is not smaller than 360 degrees, the mechanical arm mechanism can adapt to the wiring requirement of the flexible cable 133 in the rotary joint 100, occupies small space, and can prevent the flexible cable 133 from intertwining and interfering due to loosening.

Referring to fig. 1-3 and 9-12, for example, the robotic arm mechanism may include at least two holding arms 300. At least two holding arms 300 are spaced about the first axis AX1.

In the example shown in fig. 1 to 3 and 9 to 12, the robot arm mechanism includes three holding arms 300. The arm 300 may be connected to the second portion 120 by a detachable connection such as a snap fit. For example, a holding arm connection is configured on the circumferential inner wall of the second portion 120 for positioning and connection with the holding arm 300. In the mounted state in which the holding arm 300 is mounted to the second part 120, the holding arm 300 is located in the inner cavity 121 of the second part 120. The flexible cable 133 is split into three wires after passing through the second wire through hole 123 of the second portion 120 to be respectively routed to the three holding arms 300.

Referring to fig. 2 and 4, the first axis AX1 may alternatively be parallel to the length direction D1 of the arm 300.

According to the rotary joint and the mechanical arm mechanism, through a novel wiring mode, the flexible cable between the mechanical arm and the rotary joint at the tail end of the single-hole surgical robot can meet the required rotary motion. The winding roller is adopted, when the rotation angle of the first part exceeds 360 degrees, the movement angle of the flexible cable is half of the rotation angle of the first part, and the flexible cable can be kept within a circle, so that the flexible cable is prevented from being mutually wound and interfered. The stay wire assembly is used for providing tension for the flexible cable and the winding roller when the winding roller returns, so that the flexible cable is prevented from being overstocked and wound due to loosening in the rotating process.

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 (22)

1. A rotary joint for a robotic arm mechanism, the rotary joint comprising:

a first portion;

a second portion rotatably disposed about a first axis relative to the first portion, the second portion having a maximum rotation angle relative to the first portion of not less than 360 °; and

the wiring mechanism, the wiring mechanism includes:

the winding roller can revolve around the first axis, and the winding roller can rotate around the second axis;

the first end of the flexible cable is fixedly arranged relative to the first part, and the second end of the flexible cable bypasses the winding roller and is fixedly arranged relative to the second part; and

a pull wire assembly including a pull wire having a pull end connected to the wire winding roller and fixedly disposed relative to the second axis, the pull wire assembly providing a force that causes the wire winding roller to tend toward the pull wire assembly,

the wiring mechanism is configured such that:

the pull wire always applies a pulling force to the winding roller during rotation of the second portion relative to the first portion.

2. The rotary joint of claim 1 wherein a length of the flexible cable between the first end and the second end is not less than a circumference of a track of the winding roller that is rotated one revolution about the first axis.

3. The rotary joint according to claim 1, wherein the length of the pull wire is not less than half the circumference of the track of the winding roller that makes one revolution about the first axis.

4. The rotary joint of claim 1 wherein the second axis is parallel to the first axis; or alternatively

The second axis intersects the first axis; or alternatively

The second axis is different from the first axis.

5. The rotary joint of claim 4 wherein the second axis is perpendicular to the first axis.

6. The rotary joint of claim 1 wherein the cable assembly further comprises a rotating member rotatably disposed about a third axis relative to the second portion, the third axis being fixedly disposed relative to the second portion, at least a portion of the cable being wound about the rotating member.

7. The rotary joint of claim 6 wherein the third axis is parallel to the first axis; or alternatively

The third axis intersects the first axis; or alternatively

The third axis is different from the first axis.

8. The rotary joint according to claim 6, wherein the pull wire is configured as a coil spring having one end fixedly connected to the rotating member and the other end configured as a pulling end.

9. The rotary joint according to claim 6, wherein the cable assembly further comprises a resilient member acting on the rotating member for applying a force to the rotating member that causes the rotating member to have a tendency to rotate to wind up the cable.

10. The rotary joint according to claim 9, wherein the rotary joint comprises a plurality of rotatable members,

the elastic member is configured as a constant force spring.

11. The rotary joint according to claim 10, wherein the rotary joint comprises a plurality of rotatable members,

the pull wire assembly includes:

a first rotating portion that rotates about a fourth axis; and

a second rotating portion rotating about the third axis, the third axis being parallel to the fourth axis, the second rotating portion being configured as the rotating member,

the constant force spring includes:

a first winding part wound around the first rotating part, the first winding part

The first winding portion is configured to cause a force end; and

a second winding portion wound around the second rotating portion, the second winding portion being configured as a force receiving end,

wherein the stay wire is configured as a rope, the rope is wound on the second rotating part, and a winding area of the rope in the second rotating part is different from a winding area of the second winding part in the second rotating part;

the winding direction of the rope at the second rotating part is opposite to the winding direction of the second winding part.

12. The rotary joint according to claim 9, wherein the rotary joint comprises a plurality of rotatable members,

the elastic member is configured as a coil spring disposed coaxially with the rotating member, and both end portions of the coil spring are connected to the rotating member and one fixed member, respectively.

13. The rotary joint according to claim 6, wherein,

the wire assembly also includes a securing member secured to the second portion, the rotating member being rotatably connected to the securing member about the third axis.

14. The rotary joint according to claim 13, wherein the rotary joint comprises a plurality of rotatable members,

the fixing member includes a base to which the support portion is fixed, and a support portion to which the rotating member is rotatably connected about the third axis, the support portion having a third wire passing hole for passing the wire, the base being fixed to the second portion.

15. The rotary joint of claim 1 wherein the cabling mechanism further comprises a cabling support rotatably connected to the second portion about the first axis, the cabling roller rotatably connected to the cabling support about the second axis.

16. The rotary joint according to claim 15, wherein the rotary joint comprises a plurality of rotatable members,

the wiring mechanism further comprises a winding support bearing, wherein the axis of the winding support bearing is overlapped with the first axis, and the winding support piece is connected to the second part through the winding support bearing so that the winding support piece can rotate around the first axis relative to the second part.

17. The rotary joint according to claim 1, wherein,

the radially outer dimension of the second portion is smaller than the radially inner dimension of the first portion,

the winding roller is positioned in a gap between the first portion and the second portion,

the second portion includes an inner cavity extending in a direction parallel to the first axis and configured to at least partially house the wire assembly, and a first wire passing hole penetrating through the second portion in a direction intersecting the first axis, the first wire passing hole configured to pass through the wire.

18. The rotary joint according to claim 1, wherein,

the second portion includes a first wire through hole for threading the pull wire.

19. The rotary joint according to claim 1, wherein,

the second portion includes a second via for threading the flexible cable.

20. A robotic arm mechanism for a single hole surgical robot, the robotic arm mechanism comprising:

an operation arm;

a holding arm;

the rotary joint according to any one of claims 1 to 19, the first portion being connected to the operating arm and the second portion being connected to the holding arm; and

and the actuator is movably connected to the holding arm along the length direction of the holding arm and is electrically connected to the flexible cable of the wiring mechanism.

21. The robotic arm mechanism of claim 20, wherein the robotic arm mechanism comprises at least two of the holding arms, the at least two holding arms being spaced about the first axis.

22. The robotic arm mechanism of claim 21, wherein the first axis is parallel to a length direction of the arm.