CN118267113A - Flexible joint assembly and surgical robot - Google Patents

Abstract

The application provides a flexible joint assembly and a surgical robot, wherein the flexible joint assembly comprises a joint main body, a first joint, a linkage joint and a second joint which are connected in sequence in a rotating way, the flexible joint assembly further comprises a linkage rope, a first end of the linkage rope is connected with the joint main body, a second end of the linkage rope is connected with the linkage joint, and the linkage rope penetrates through the first joint; when the first joint rotates relative to the joint main body, the linkage rope drives the linkage joint to rotate in the opposite direction relative to the first joint, so that the axial direction of the joint main body is parallel to the axial direction of the linkage joint, decoupling of the first joint and the second joint is realized, and the control difficulty is reduced when the position precision of the second joint is controlled.

Description

Flexible joint assembly and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a flexible joint assembly and a surgical robot.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. With the development of robotics, minimally invasive surgical robots have been developed. The minimally invasive surgery robot can reduce wounds, is quick to recover and can be remotely operated by doctors.

In the related art, a surgical robot includes a console and a slave manipulator, which are movable, and an actuator having a plurality of joints is generally connected to the end of the manipulator so that the actuator has a plurality of degrees of freedom of movement when performing a surgical operation, and since the actuator needs to extend into a patient, a driving and transmitting structure of the plurality of joints is generally disposed at one end of the actuator connected to the manipulator. The operator can control the actuating mechanism to move through the control console so as to perform operation.

However, the multi-joint of the present actuator needs to ensure the position precision of the end joint when moving, each joint is independently driven, the connection and arrangement of the driving ropes are complex, and the control is complex, so that a joint assembly with relatively simple and practical control is needed.

Disclosure of Invention

The application provides a flexible joint assembly and a surgical robot, which are used for solving the technical problems that the multi-joint of an actuating mechanism of the surgical robot in the related art needs to ensure the position precision of a tail end joint when moving, and each joint is independently driven and controlled to be complex.

In a first aspect, the present application provides a flexible joint assembly comprising a joint body, a first joint, a linkage joint, and a second joint in sequential rotational connection.

The flexible joint assembly further comprises a linkage rope, a first end of the linkage rope is connected with the joint main body, a second end of the linkage rope is connected with the linkage joint, and the linkage rope penetrates through the first joint; when the first joint rotates relative to the joint body, the linkage rope drives the linkage joint to rotate in the opposite direction relative to the first joint, so that the axial direction of the joint body is kept parallel to the axial direction of the linkage joint.

According to the flexible joint assembly provided by the embodiment of the application, the linkage joint is added between the first joint and the second joint which can independently move, and the joint main body and the linkage joint are connected through the linkage rope, so that the first joint can drive the linkage joint to passively move relative to the first joint through the linkage rope when moving, the decoupling of the first joint and the second joint is realized, and the control difficulty is reduced when the position precision of the second joint is controlled.

As an alternative embodiment, the flexible joint assembly provided by the application may further include a first connection joint and a second connection joint, the first connection joint is rotatably connected with the joint body around a first rotation axis, and a first end of the first joint is rotatably connected with the first connection joint around a second rotation axis; the second connecting joint is rotationally connected with the second end of the first joint around a third rotating shaft; the linkage joint is rotationally connected with the second connecting joint around the fourth rotating shaft.

So set up, first joint can have two degrees of freedom of rotation, and the realization linkage that the linkage joint can correspond with it is rotatory.

As an alternative embodiment, the first axis of rotation is parallel to the fourth axis of rotation; the second rotating shaft is parallel to the third rotating shaft.

The rotation direction of the first connecting joint relative to the joint main body is opposite to the rotation direction of the linkage joint relative to the second connecting joint; the direction of rotation of the first joint relative to the first joint is opposite to the direction of rotation of the second joint relative to the first joint.

So set up, when first joint rotates, can guarantee to be connected with the linkage joint the second joint only translate for the gesture of joint main part, reduced the degree of difficulty of controlling the second joint.

As an alternative embodiment, the plurality of the connecting ropes may be plural, and the plurality of connecting ropes are parallel to each other and distributed at different positions around the central axis of the first joint.

By the arrangement, the balance of the linkage joint in different directions in the linkage process of the first joint can be ensured.

As an alternative embodiment, the plurality of linkage lines form two linkage groups, each of which may include at least two linkage lines; the linkage ropes of each linkage group are centrally symmetrical relative to the central axis of the first joint.

The arrangement is that the linkage ropes of each linkage group can be matched with each other, and the linkage joints are pulled when the first joints rotate, so that the stress of the linkage joints is balanced.

As an alternative embodiment, the flexible joint assembly provided by the present application further comprises a first drive line and a second drive line; the first driving rope passes through the joint main body and is connected with the first joint; the first drive cable is configured to drive rotation of the first joint relative to the joint body.

The second driving rope sequentially passes through the joint main body, the first joint and the linkage joint and is connected with the second joint; the second drive cable is configured to drive rotation of the second joint relative to the linkage joint.

The first joint and the second joint can be driven to rotate independently through different driving ropes, and decoupling of the first driving rope and the second driving rope is achieved through the linkage joint.

As an alternative embodiment, the flexible joint assembly provided by the application may further include a third connecting joint, the third connecting joint is rotatably connected with the linkage joint around a fifth rotation axis, and the second joint is rotatably connected with the third connecting joint around a sixth rotation axis.

By the arrangement, the second joint has two degrees of freedom relative to the linkage joint, so that the movement precision of the tail end of the flexible joint assembly is improved.

As an alternative embodiment, the flexible joint assembly is provided with two first drive groups, each first drive group comprising at least two first drive strings, the first drive strings of each first drive group being centrosymmetric with respect to the central axis of the first joint; the first driving rope of one of the two first driving groups is arranged close to the first rotating shaft, and the first driving rope of the other of the two first driving groups is arranged close to the second rotating shaft.

The flexible joint assembly is provided with two second driving groups, each second driving group comprises at least two second driving ropes, and the second driving ropes of each second driving group are symmetrical relative to the center axis of the second joint; the second driving rope of one of the two second driving groups is arranged near the fifth rotating shaft, and the second driving rope of the other of the two second driving groups is arranged near the sixth rotating shaft.

So set up, can control the rotation of equidirectional through different drive groups respectively to guarantee that the drive rope has long enough arm of force when the drive, in order to reduce the demand of drive power.

As an optional embodiment, the flexible joint assembly provided by the application may further include a transmission box, where the transmission box includes a box body and at least four transmission shafts disposed in the box body, and the first driving ropes of the two first driving groups and the second driving ropes of the two second driving groups are respectively wound on different transmission shafts.

By the arrangement, the compactness of the transmission and driving structure of the flexible joint assembly can be improved, and the occupied space is reduced.

In a second aspect, the application provides a surgical robot, which comprises a robot main body, a mechanical arm and a flexible joint assembly in the technical scheme, wherein the mechanical arm is connected with the robot main body, and the flexible joint assembly is detachably connected with the mechanical arm; the second joint of the flexible joint assembly is connected with any one of the endoscope and the clamping assembly.

The application provides a flexible joint assembly and a surgical robot, wherein the flexible joint assembly comprises a joint main body, a first joint, a linkage joint and a second joint which are connected in sequence in a rotating way; the flexible joint assembly further comprises a linkage rope, a first end of the linkage rope is connected with the joint main body, a second end of the linkage rope is connected with the linkage joint, and the linkage rope penetrates through the first joint; when the first joint rotates relative to the joint main body, the linkage rope drives the linkage joint to rotate in the opposite direction relative to the first joint, so that the axial direction of the joint main body is parallel to the axial direction of the linkage joint, decoupling of the first joint and the second joint is realized, and the control difficulty is reduced when the position precision of the second joint is controlled.

In addition to the technical problems, features constituting the technical solutions, and advantages brought by the technical features of the technical solutions described above, other technical problems that the flexible joint assembly and the surgical robot provided by the present application can solve, other technical features included in the technical solutions, and advantages brought by the technical features, further detailed description will be given in the detailed description of the embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a flexible joint assembly according to an embodiment of the present application;

FIG. 2 is a partial view of the position A of FIG. 1;

FIG. 3 is a schematic view of the structure of a distal end of a flexible joint assembly according to an embodiment of the present application;

FIG. 4 is a partial view of the position B of FIG. 3;

FIG. 5 is an internal schematic view of a distal end of a flexible joint assembly according to an embodiment of the present application;

FIG. 6 is an elevation view of an end of a flexible joint assembly provided in accordance with an embodiment of the present application;

FIG. 7 is a schematic end view of the bottom of FIG. 6;

FIG. 8 is a cross-sectional view taken along the direction C-C in FIG. 6;

FIG. 9 is a cross-sectional view taken along the direction D-D in FIG. 6;

fig. 10 is a schematic structural view of a connection joint according to an embodiment of the present application;

fig. 11 is a schematic view of a surgical robot according to another embodiment of the present application.

Reference numerals illustrate:

10-a flexible joint assembly;

100-joint body;

200-first joint; 210-a first drive string;

300-linkage joint; 310-linkage rope;

400-second joint; 410-a second drive string;

500-first connection joints; 501-a first rotating shaft; 502-a second rotating shaft;

600-a second connection joint; 601-a third spindle; 602-fourth rotating shaft;

700-third joint; 701-a fifth rotating shaft; 702-a sixth axis of rotation;

800-a transmission box;

20-a robot body;

30-mechanical arm.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application.

First, it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present application, and are not intended to limit the scope of the present application. Those skilled in the art can adapt it as desired to suit a particular application.

Further, it should be noted that, in the description of the present application, terms such as "upper", "lower", "left", "right", "front", "rear", "inner", "outer", and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or components must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

Furthermore, it should be noted that, in the description of the present application, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; there may be communication between the interiors of the two members. The specific meaning of the above terms in the present application can be understood by those skilled in the art according to the specific circumstances.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the operation difficulty is greatly increased, and actions such as fatigue, tremble and the like of a doctor in the long-time operation process can be amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robotics, minimally invasive surgical robotics have evolved. A common minimally invasive surgical robot consists of a doctor console (master hand), a patient surgical platform (slave hand), and a display device, where a surgeon operates an input device and transmits input to the patient surgical platform connected to a remotely operated surgical instrument, thereby performing an accurate surgical operation.

The surgical robot comprises a movable console and a mechanical arm, and an operator can control the mechanical arm to move through the console so as to perform surgical operation. The distal end of the robotic arm is typically coupled to an articulating actuator such that the actuator has multiple degrees of freedom of movement during a surgical procedure, and because the actuator is required to extend into the patient, the articulating drive and transmission structure is typically disposed at the end of the actuator that is coupled to the robotic arm. However, in order to ensure that the tail end of an actuator of the current surgical robot has higher operation precision, each joint is independently driven, and the motion of each joint needs to be coupled, so that the connection and arrangement of driving ropes are complex, the control logic of the whole joint is complex, and the design cost is high.

In view of the above problems, the application provides a flexible joint assembly and a surgical robot, wherein the flexible joint assembly is applied to the surgical robot, and a linkage joint is added between two joints capable of moving independently, and a joint main body and the linkage joint are connected through a linkage rope, so that a first joint can be driven to move passively relative to the first joint through the linkage rope when moving, thereby realizing decoupling of the two joints, and reducing control difficulty when controlling the position precision of a second joint, and further reducing design cost.

In order to facilitate understanding, the following first describes an application scenario of the flexible joint assembly and the surgical robot provided in the embodiments of the present application.

The surgical robot comprises a master mobile phone robot and a slave mobile phone robot, wherein an operator controls the master mobile phone robot, and the slave mobile phone robot executes surgical operation according to a control signal of the master mobile phone robot. It should be noted that, the surgical robot provided in the embodiment of the present application is a minimally invasive surgical robot, and is used for performing a minimally invasive surgical operation, and the embodiment of the present application is not described herein in detail.

Fig. 1 is a schematic structural view of a flexible joint assembly according to an embodiment of the present application, fig. 2 is a partial view of a position a in fig. 1, fig. 3 is a schematic structural view of an end of the flexible joint assembly according to an embodiment of the present application, and fig. 4 is a partial view of a position B in fig. 3.

As shown in fig. 1 to 4, an embodiment of the present application provides a flexible joint assembly 10, the flexible joint assembly 10 including a joint main body 100, a first joint 200, a linkage joint 300, and a second joint 400 connected in sequence. The joint main body 100, the first joint 200, the linkage joint 300 and the second joint 400 are sequentially connected, and the linkage rope 310 is used for realizing linkage movement of the linkage joint 300 relative to the first joint 200 so as to realize decoupling of the second joint 400 relative to the first joint 200.

Wherein the first joint 200 is rotatably connected with the joint main body 100, the linkage joint 300 is rotatably connected with the first joint 200, and the second joint 400 is rotatably connected with the linkage joint 300. The second joint 400 may be coupled to an end effector, including but not limited to an endoscope, a clamp, etc., upon application of the flexible joint assembly 10 to a surgical robot, the position of the end effector on the second joint 400 may be controlled by autonomous movement of the first joint 200 and the second joint 400 after the position of the joint body 100 is determined upon performing a surgical procedure.

In some embodiments, the flexible joint assembly 10 further comprises a linkage line 310, a first end of the linkage line 310 being connected to the joint body 100, a second end of the linkage line 310 being connected to the linkage joint 300, the linkage line 310 passing through the first joint 200. When the first joint 200 rotates relative to the joint main body 100, the link rope 310 drives the link joint 300 to rotate in the opposite direction relative to the first joint 200.

It will be appreciated that, with reference to the joint body 100, when the first joint 200 rotates relative to the joint body 100, the linkage joint 300 receives traction from the linkage rope 310, so as to rotate in the opposite direction relative to the first joint 200, and further, the linkage joint 300 does not angularly deflect relative to the joint body 100. Therefore, when the first joint 200 rotates relative to the joint main body 100 under the interlocking action of the interlocking joint 300, only the second joint 400 connected to the interlocking joint 300 is deflected, and no deflection occurs.

Illustratively, the positions of the joint body 100, the first joint 200, the linkage joint 300, and the second joint 400 when coaxially disposed are defined as initial positions, but when the first joint 200 rotates relative to the joint body 100, the second joint 400 translates relative to the joint body 100 from the initial positions, i.e., the axial direction of the second joint 400 remains parallel to the axial direction of the joint body 100 during rotation of the first joint 200. In this way, when the rotation of the second joint 400 relative to the linkage joint 300 is controlled, the deflection angle required by the end effector to reach the preset position can be more conveniently calculated, thereby simplifying the coupling relationship between the second joint 400 and the first joint 200.

It should be noted that, in the flexible joint assembly 10 provided in the embodiment of the present application, the linkage joint 300 is added between the first joint 200 and the second joint 400 that can move independently, and the joint main body 100 and the linkage joint 300 are connected through the linkage rope 310, so that the first joint 200 can drive the linkage joint 300 to move passively relative to the first joint 200 through the linkage rope 310 when moving, thereby implementing decoupling of the first joint 200 and the second joint 400, and reducing control difficulty when controlling position accuracy of the second joint 400, and further reducing design cost of a control system.

The specific connection and the manner of the linkage between the first joint 200 and the joint body 100, and the linkage joint 300 and the first joint 200 will be described in detail.

Fig. 5 is an internal schematic view of a distal end of a flexible joint assembly according to an embodiment of the present application.

Referring to fig. 1 to 5, in a possible implementation manner, the flexible joint assembly 10 provided in an embodiment of the present application may further include a first connection joint 500 and a second connection joint 600, where the first connection joint 500 is rotatably connected with the joint body 100 around a first rotation axis 501, a first end of the first joint 200 is rotatably connected with the first connection joint 500 around a second rotation axis 502, a second end of the second connection joint 600 is rotatably connected with a second end of the first joint 200 around a third rotation axis 601, and the linkage joint 300 is rotatably connected with the second connection joint 600 around a fourth rotation axis 602.

It will be appreciated that the first joint 200 is coupled to the joint body 100 by the first coupling joint 500 such that the first joint 200 may have two degrees of rotational freedom with respect to the joint body 100. The linkage joint 300 is connected to the first joint 200 through the second connection joint 600, and the linkage joint 300 now has two degrees of rotational freedom with respect to the first joint 200, so that when the first joint 200 rotates with respect to the joint main body 100 in the two degrees of freedom, the linkage joint 300 can correspondingly realize linkage rotation.

Illustratively, one of the first connection joint 500 and the joint body 100 is provided with a rotation shaft portion, and the other is provided with a rotation shaft hole, and the rotation shaft portion is inserted into the rotation shaft hole so as to realize relative rotation of the two. The rotation shaft portions and the rotation shaft holes may be provided in pairs and distributed at both sides of the first connection joint 500 and the joint main body 100, thereby improving the reliability of the rotational connection of the first connection joint 500 and the joint main body 100.

Illustratively, one of the first joint 500 and the joint main body 100 is provided with a first engagement portion, and the other is provided with a second engagement portion, and the first engagement portion and the second engagement portion are engaged to form a gear-like engagement structure. The surfaces of the first engagement portion and the second engagement portion are arc-shaped surfaces abutting each other, thereby ensuring smoothness of relative rotation of the first connection joint 500 and the joint main body 100. In addition, the first connection joint 500 and the joint main body 100 may be connected by a connection member, and connection shafts of the connection member and the first connection joint 500 and the joint main body 100 are the rotation centers of the first engagement portion and the second engagement portion, respectively, so that the relative rotation angle range of the first connection joint 500 and the joint main body 100 may be increased by a compact structure while improving the connection reliability of the first connection joint 500 and the joint main body 100.

It should be noted that the rotational connection structure of the first joint 200 and the first connection joint 500 may be the same as or similar to the connection structure of the first connection joint 500 and the joint body 100, and the rotational connection structure of the second connection joint 600 and the first joint 200 and the linkage joint 300 may be the same as or similar to the connection structure of the first connection joint 500 and the joint body 100, which will not be repeated here.

In some embodiments, the first axis of rotation 501 may be parallel to the fourth axis of rotation 602. The second rotation shaft 502 may be parallel to the third rotation shaft 601. When the first joint 200 is rotated about the first rotation axis 501 with respect to the joint main body 100 through the first connection joint 500, the link rope 310 may pull the link joint 300 to rotate about the fourth rotation axis 602 with respect to the second connection joint 600. When the first joint 200 rotates about the second rotation axis 502 with respect to the first connection joint 500, the linkage line 310 may pull the linkage joint 300 to rotate about the third rotation axis 601 with respect to the first joint 200 through the second linkage joint 300.

The rotation direction of the first connection joint 500 with respect to the joint main body 100 is opposite to the rotation direction of the linkage joint 300 with respect to the second connection joint 600. The direction of rotation of the first joint 200 relative to the first connection joint 500 is opposite to the direction of rotation of the second connection joint 600 relative to the first joint 200.

It should be noted that, when the first joint 200 rotates, only translation of the second joint 400 connected to the linkage joint 300 relative to the posture of the joint main body 100 can be ensured, so as to decouple the second joint 400 from the first joint 200, and reduce the difficulty of performing high-precision position control on the second joint 400.

In some embodiments, the plurality of linkage lines 310 may be multiple, and the plurality of linkage lines 310 are parallel to each other and distributed around the central axis of the first joint 200 at different positions on the circumference of the first joint 200, so as to ensure the balance of the rotation of the linkage joint 300 in different directions during the linkage process of the first joint 200.

It will be appreciated that since the length of the linkage line 310 remains unchanged, when the first joint 200 is rotated with respect to the joint main body 100, the end of the linkage line 310 connected to the joint main body 100 is subjected to a tensile force, and the tensile force can be transmitted to the end connected to the linkage joint 300 through the linkage line 310, thereby pulling the linkage joint 300 to deflect. The link ropes 310 passing through the first joint 200 and distributed at different positions on the circumference side of the first joint 200 may play a role of pulling the link joint 300 to perform a linked deflection when the first joint 200 rotates in different directions.

In some embodiments, the plurality of linkage lines 310 form two linkage groups, each linkage group may include at least two linkage lines 310, the linkage lines 310 of each linkage group being centered symmetrically with respect to the central axis of the first joint 200. Thus, the link ropes 310 of each link group may cooperate with each other to pull the link joint 300 when the first joint 200 rotates, so that the link joint 300 is stressed equally.

Illustratively, each linkage group may include two linkage lines 310, and the two linkage groups may include four linkage lines 310, and the first joint 200 may perform forward rotation and reverse rotation about the first rotation axis 501 and forward rotation and reverse rotation about the second rotation axis 502 with respect to the joint body 100, i.e., the first joint 200 may have four rotation directions with respect to the joint body 100. The four linkage lines 310 may correspond to the four rotation directions, respectively, and when the first joint 200 is active relative to the joint body 100, the linkage joint 300 may deflect correspondingly in the four directions, that is, the linkage joint 300 rotates forward and backward relative to the first joint 200 about the third rotation axis 601, and rotates forward and backward about the fourth rotation axis 602.

The specific driving structure of the first joint 200 and the second joint 400 will be described in detail.

Fig. 6 is a front view of an end of a flexible joint assembly according to an embodiment of the present application, fig. 7 is a schematic end view of the bottom of fig. 6, fig. 8 is a cross-sectional view along the direction C-C in fig. 6, fig. 9 is a cross-sectional view along the direction D-D in fig. 6, and fig. 10 is a schematic structural view of a joint according to an embodiment of the present application.

Referring to fig. 6 to 10 in combination with fig. 1 to 5, in one possible implementation, the flexible joint assembly 10 provided in the present application further includes a first driving rope 210 and a second driving rope 410; the first driving rope 210 is connected with the first joint 200 through the joint body 100; the first drive cable 210 is configured to drive the first joint 200 to rotate relative to the joint body 100. The second driving rope 410 sequentially passes through the joint body 100, the first joint 200, the linkage joint 300, and is connected with the second joint 400; the second drive cable 410 is configured to drive the second joint 400 to rotate relative to the linkage joint 300.

It will be appreciated that the first joint 200 and the second joint 400 are independently driven to rotate by different driving ropes, and the end length of the second driving rope 410 is longer than that of the first driving rope 210, so that when the first driving rope 210 drives the first joint 200 to rotate relative to the joint main body 100, the second driving rope 410 penetrating the first joint 200 is driven, but the first driving rope 210 and the second driving rope 410 are decoupled due to the reverse rotation of the linkage joint 300, so that when the first driving rope 210 drives the first joint 200 to rotate, the second driving rope 410 does not passively exert a pulling force on the second joint 400.

It should be noted that the first driving rope 210 and the second driving rope 410 may be powered by different driving sources, respectively.

In some embodiments, the flexible joint assembly 10 provided by the present application may further include a third connection joint 700, where the third connection joint 700 is rotatably connected with the linkage joint 300 around the fifth rotation axis 701, and the second joint 400 is rotatably connected with the third connection joint 700 around the sixth rotation axis 702, so that the second joint 400 has two degrees of freedom of movement with respect to the linkage joint 300, thereby improving the precision of movement of the end of the flexible joint assembly 10.

It is understood that the connection structure of the third connection joint 700 and the linkage joint 300 and the second joint 400 may be similar to that of the first connection joint 500 and the second connection joint 600, and will not be described herein.

In some embodiments, the first drive string 210 is a plurality of, the plurality of first drive strings 210 forming two first drive groups; each first drive-group comprises at least two first drive-ropes 210, the first drive-ropes 210 of each first drive-group being centrosymmetric with respect to the central axis of the first joint 200. The first drive string 210 of one of the two first drive groups is disposed proximate the first rotational axis 501 and the first drive string 210 of the other of the two first drive groups is disposed proximate the second rotational axis 502.

Wherein, the two first driving groups are respectively used for driving the first joint 200 to rotate around the first rotating shaft 501 and the second rotating shaft 502 relative to the joint main body 100. The first driving rope 210 disposed near the first rotation shaft 501 is used to drive the first joint 200 to rotate around the second rotation shaft 502 relative to the joint body 100, so as to have a longer moment arm and obtain a larger driving moment. The first driving rope 210 disposed near the second rotation shaft 502 is used to drive the first joint 200 to rotate around the first rotation shaft 501 relative to the joint body 100, so as to have a longer moment arm and obtain a larger driving moment.

In some embodiments, the second drive strings 410 are a plurality of, the plurality of second drive strings 410 forming two second drive groups. Each second drive-group includes at least two second drive-ropes 410, the second drive-ropes 410 of each second drive-group being centrosymmetric with respect to a central axis of the second joint 400. The second driving string 410 of one of the two second driving groups is disposed near the fifth rotation shaft 701, and the second driving string 410 of the other of the two second driving groups is disposed near the sixth rotation shaft 702.

The two second driving sets are respectively used for driving the second joint 400 to rotate around the fifth rotating shaft 701 and the sixth rotating shaft 702 relative to the linkage joint 300. The second driving rope 410 disposed near the fifth rotating shaft 701 is used to drive the second joint 400 to rotate around the sixth rotating shaft 702 relative to the linkage joint 300, so as to have a longer moment arm and obtain a larger driving moment. The second driving rope 410 disposed near the sixth rotation shaft 702 is used to drive the second joint 400 to rotate around the fifth rotation shaft 701 relative to the linkage joint 300, so as to have a longer moment arm, and obtain a larger driving moment.

For example, there may be four first driving ropes 210, and the four first driving ropes 210 are used to drive the forward rotation and the reverse rotation of the first joint 200 about the first rotation axis 501 and the forward rotation and the reverse rotation about the second rotation axis 502, respectively, of the joint body 100 to provide a pulling force. The second driving ropes 410 may have four, and the four second driving ropes 410 are used to drive the forward rotation and the reverse rotation of the second joint 400 about the fifth rotation axis 701 and the forward rotation and the reverse rotation about the sixth rotation axis 702, respectively, with respect to the linkage joint 300, to provide a pulling force.

For example, the first connection joint 500 may be provided with a plurality of through holes for passing through the coupling ropes 310, 210, 410, respectively, and corresponding through holes for guiding the coupling ropes 310, 210, 410, respectively. The number of the through holes in the first connection joint 500 may be twelve, corresponding to the four coupling ropes 310, the four first driving ropes 210, and the four second driving ropes 410, respectively. Since the lengths and the connection fixing positions of the linkage rope 310, the first driving rope 210, and the second driving rope 410 are different, the first joint 200, the second connection joint 600, the linkage joint 300, the third connection joint 700, and the second joint 400 may be provided with corresponding numbers of through holes for the corresponding linkage rope 310, the first driving rope 210, and the second driving rope 410 to pass through or fix, which is not described herein.

It should be noted that the driving ropes in the same group can be stretched and contracted respectively to keep the stress balance of the corresponding joints, and the rotation in different directions can be controlled respectively through different driving groups, so that the driving ropes are ensured to have a sufficiently long force arm when in driving, and the driving force requirement is reduced. In addition, due to the adoption of the linkage joint 300 and the linkage rope 310, the driving structure of the whole flexible multi-joint assembly is simplified, and the production and manufacturing cost is reduced.

In some embodiments, the flexible joint assembly 10 provided by the embodiment of the present application may further include a transmission box 800, where the transmission box 800 includes a box body and at least four transmission shafts disposed in the box body, and the first driving ropes 210 of the two first driving groups and the second driving ropes 410 of the two second driving groups are respectively wound around different transmission shafts, so that the compactness of the transmission and driving structure of the flexible joint assembly 10 may be improved, and the space occupation may be reduced.

Wherein, a plurality of driving shafts may be disposed in parallel with each other, and each driving shaft is driven to rotate by one driving unit, thereby providing a pulling force to the first driving rope 210 and the second driving rope 410. The drive unit may be a motor.

Taking four transmission shafts as an example, the four transmission shafts respectively correspond to two first driving groups and two second driving groups. Two driving ropes of the corresponding driving group are wound on each driving shaft, and the winding directions of the two driving ropes are opposite, so that the driving ropes are used for realizing forward rotation and reverse rotation of the first joint 200 or the second joint 400 around corresponding rotation.

For example, a guide shaft and a guide wheel may be further provided in the driving box 800, and a certain installation gap is required between the plurality of driving shafts because space is required for arranging the driving unit, and the guide shaft and the guide wheel may be used to guide the first driving rope 210 and the second driving rope 410, so that the first driving rope 210 and the second driving rope 410 on different driving shafts are close to each other, and thus enter the inside of the joint body 100 having a smaller diameter at corresponding positions, thereby improving compactness of layout.

It should be noted that, in the embodiment of the present application, the specific number of the guide shafts and the guide wheels is not limited, and the design may be performed according to the specific arrangement positions of the plurality of transmission shafts, which is not described herein.

Fig. 11 is a schematic view of a surgical robot according to embodiment 2 of the present application.

Referring to fig. 11 in combination with fig. 1, an embodiment of the present application provides a surgical robot, which may include a master operation robot and a slave execution robot, and may control the slave execution robot to perform a surgery by operating the master operation robot, wherein both the master operation robot and the slave execution robot may move on the ground.

The main operation robot can be provided with an operation platform and a display device, medical operators can control the auxiliary execution robot through the operation platform, and can observe the end effector of the auxiliary execution robot through the display device and display an operation picture.

In some embodiments, the slave execution robot in the surgical robot includes a robot body 20, a mechanical arm 30, and the flexible joint assembly 10 in the above-described aspects, the mechanical arm 30 is connected with the robot body 20, and the flexible joint assembly 10 is detachably connected with the mechanical arm 30. The second joint 400 of the flexible joint assembly 10 is connected with any of an endoscope and a clamp assembly.

It should be noted that, the surgical robot provided in the embodiment of the present application may include all the technical schemes and technical effects of the flexible joint assembly 10 in the above technical scheme, which are not described herein again.

The embodiment of the application provides a flexible joint assembly 10 and a surgical robot, wherein the flexible joint assembly 10 comprises a joint main body 100, a first joint 200, a linkage joint 300, a second joint 400 and a linkage rope 310; the first joint 200 is rotatably connected with the joint main body 100; the linkage joint 300 is rotatably connected with the first joint 200; the second joint 400 is rotatably connected with the linkage joint 300, a first end of the linkage rope 310 is connected with the joint body 100, a second end of the linkage rope 310 is connected with the linkage joint 300, and the linkage rope 310 penetrates through the first joint 200; when the first joint 200 rotates relative to the joint main body 100, the linkage rope 310 drives the linkage joint 300 to rotate in the opposite direction relative to the first joint 200, so that decoupling of the first joint 200 and the second joint 400 is realized, and when the position accuracy of the second joint 400 is controlled, the control difficulty is reduced.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims (10)

1. The flexible joint assembly is characterized by comprising a joint main body, a first joint, a linkage joint and a second joint which are connected in sequence in a rotating way;

The first end of the linkage rope is connected with the joint main body, the second end of the linkage rope is connected with the linkage joint, and the linkage rope penetrates through the first joint; when the first joint rotates relative to the joint main body, the linkage rope drives the linkage joint to rotate in the opposite direction relative to the first joint, so that the axial direction of the joint main body is kept parallel to the axial direction of the linkage joint.

2. The flexible joint assembly of claim 1, further comprising a first connection joint and a second connection joint, the first connection joint being rotatably coupled to the joint body about a first axis of rotation, a first end of the first joint being rotatably coupled to the first connection joint about a second axis of rotation; the second connecting joint is rotationally connected with the second end of the first joint around a third rotating shaft; the linkage joint is rotationally connected with the second connecting joint around a fourth rotating shaft.

3. The flexible joint assembly of claim 2, wherein the first axis of rotation is parallel to the fourth axis of rotation; the second rotating shaft is parallel to the third rotating shaft;

the rotation direction of the first connecting joint relative to the joint main body is opposite to the rotation direction of the linkage joint relative to the second connecting joint; the direction of rotation of the first joint relative to the first connection joint is opposite to the direction of rotation of the second connection joint relative to the first joint.

4. The flexible joint assembly of claim 2, wherein the plurality of linkage lines are parallel to one another and are distributed at different locations around the central axis of the first joint on the circumference of the first joint.

5. The flexible joint assembly of claim 4, wherein a plurality of said linkage lines form two linkage groups, each said linkage group comprising at least two said linkage lines; the linkage ropes of each linkage group are centrosymmetric relative to the central axis of the first joint.

6. The flexible joint assembly of any one of claims 2-5, further comprising a first drive line and a second drive line; the first driving rope passes through the joint main body to be connected with the first joint; the first drive cable is configured to drive the first joint to rotate relative to the joint body;

the second driving rope sequentially passes through the joint main body, the first joint and the linkage joint and is connected with the second joint; the second drive cable is configured to drive rotation of the second joint relative to the linkage joint.

7. The flexible joint assembly of claim 6, further comprising a third connection joint rotatably connected to the linkage joint about a fifth axis of rotation, the second joint rotatably connected to the third connection joint about a sixth axis of rotation.

8. The flexible joint assembly of claim 7, wherein the flexible joint assembly is provided with two first drive groups, each first drive group comprising at least two first drive strings, the first drive strings of each first drive group being centrally symmetric with respect to a central axis of the first joint; the first driving rope of one of the two first driving groups is arranged close to the first rotating shaft, and the first driving rope of the other of the two first driving groups is arranged close to the second rotating shaft;

The flexible joint assembly is provided with two second driving groups, each second driving group comprises at least two second driving ropes, and the second driving ropes of each second driving group are symmetrical relative to the center axis of the second joint; the second driving ropes of one of the two second driving groups are arranged close to the fifth rotating shaft, and the second driving ropes of the other of the two second driving groups are arranged close to the sixth rotating shaft.

9. The flexible joint assembly of claim 8, further comprising a drive box comprising a box body and at least four drive shafts disposed within the box body, the first drive strings of two of the first drive groups and the second drive strings of two of the second drive groups being respectively wound around different ones of the drive shafts.

10. A surgical robot comprising a robot body, a robotic arm, and the flexible joint assembly of any one of claims 1-9, the robotic arm being coupled to the robot body, the flexible joint assembly being detachably coupled to the robotic arm; the second joint of the flexible joint assembly is connected with any one of an endoscope and a clamping assembly.