CN211723419U

CN211723419U - Operation arm and operation robot

Info

Publication number: CN211723419U
Application number: CN202020149647.1U
Authority: CN
Inventors: 丁立; 闫泳利; 黄善灯
Original assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Current assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Priority date: 2020-01-23
Filing date: 2020-01-23
Publication date: 2020-10-23
Anticipated expiration: 2030-01-23

Abstract

The utility model provides a surgical mechanical arm, which comprises a preoperative positioning component, an execution component and a telecentric operation component arranged between the preoperative positioning component and the execution component, wherein the execution component comprises an execution rod and a surgical instrument arranged at one end of the execution rod, which is relatively far away from the telecentric operation component; the telecentric control assembly is provided with a rotary driving piece and a sensor, the rotary driving piece is connected to one end of the executing rod, which is relatively close to the telecentric control assembly, and can drive the executing rod and the surgical instrument to synchronously rotate along the axial direction of the executing rod; the sensor is connected with the telecentric control assembly, and synchronous rotation along the axial direction of the execution rod does not exist between the sensor and the surgical instrument; the sensor is used for detecting the environmental force and/or the environmental moment to which the surgical instrument is subjected. The utility model provides a surgical manipulator is through with designing between sensor and the surgical instrument for do not exist along the synchronous pivoted structure of executive rod axial for the sensor can be installed in comparatively stable installation environment, and the measurement accuracy of sensor improves.

Description

Operation arm and operation robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to an operation arm and operation robot.

Background

The birth of the minimally invasive surgery overcomes the defects of large incision, large bleeding amount, more complications, high surgery risk and the like of the traditional surgery to a great extent. Minimally invasive surgery is becoming an emerging field of medical research and clinical application due to the recent rapid development and gaining favor of medical staff and patients.

The minimally invasive surgery can be more sensitive and accurate by assisting the doctor with the surgical robot. Taking the da vinci surgical robot as an example, the da vinci surgical robot can enlarge the visual field of a doctor by ten times, effectively filters the hand vibration of the doctor, and has wide clinical application in the field of minimally invasive surgery.

The surgical mechanical arm suitable for the surgical robot needs to drive a surgical instrument to perform surgical operation, and the surgical instrument needs to reach the inside of a patient body by stretching into a tiny wound formed on the surface of the skin when in use. This requires the surgical instrument to perform the surgical operation in a stable, vibration-free state with a minute wound opened on the skin surface as a fixed point. However, the current surgical mechanical arm suitable for a surgical robot cannot completely meet the use requirements in clinical performance, and particularly, a doctor cannot acquire mechanical feedback of a pathological tissue to the surgical instrument under the surgical operation because of lack of mechanical detection of the surgical operation performed by the surgical instrument, so that the accuracy of the doctor in the surgical operation is reduced due to lack of mechanical information.

SUMMERY OF THE UTILITY MODEL

In view of the above, there is a need for an improved surgical manipulator and a surgical robot, which can detect the mechanical feedback of the surgical tool acting on the human tissue, improve the interaction between the surgeon and the human tissue, and improve the precision of the surgeon during the surgical operation.

The utility model provides a surgical mechanical arm, which comprises a preoperative positioning component, an execution component and a telecentric operation and control component arranged between the preoperative positioning component and the execution component, wherein the execution component comprises an execution rod and a surgical instrument arranged at one end of the execution rod, which is relatively far away from the telecentric operation and control component; the telecentric control assembly is provided with a rotary driving piece and a sensor, the rotary driving piece is connected to one end of the executing rod, which is relatively close to the telecentric control assembly, and can drive the executing rod and the surgical instrument to synchronously rotate along the axial direction of the executing rod;

the sensor is connected to the telecentric operating assembly and no synchronous rotation exists between the sensor and the surgical instrument along the axial direction of the actuating rod; the sensor is used for detecting the environmental force and/or the environmental torque suffered by the surgical instrument.

Furthermore, the telecentric control assembly is of a parallel structure and comprises a static platform and a first movable platform which is connected with the static platform and can move relative to the static platform; the static platform is connected to the preoperative positioning assembly, and the sensor is connected to the first movable platform.

Further, the surgical mechanical arm further comprises a control driving piece for driving the surgical instrument to move, and the control driving piece is arranged between the execution rod and the first movable platform; the sensor is arranged on the rotary driving piece; the rotary driving part can drive the control driving part, the execution rod and the surgical instrument to synchronously rotate along the axial direction of the execution rod;

the sensor obtains the environmental force and/or the environmental torque applied to the surgical instrument by detecting the overall stress state of the rotary driving piece, the control driving piece and the execution rod.

Furthermore, an avoiding hole is formed in the first movable platform, and the rotary driving piece stretches into the avoiding hole and is connected with the control driving piece.

Further, the surgical mechanical arm further comprises a control driving member for driving the surgical instrument to move, and the rotary driving member is arranged between the control driving member and the sensor; the rotary driving part can drive the control driving part, the execution rod and the surgical instrument to synchronously rotate along the axial direction of the execution rod;

Further, the number of the control driving pieces is at least three; two of the control drivers are used for controlling the surgical instrument to deflect towards two different staggered directions, and the other control driver is used for controlling the surgical instrument to open and close.

Furthermore, a plurality of first telescopic elements are arranged between the first movable platform and the static platform, and two ends of each first telescopic element are respectively and rotatably connected to the static platform and the first movable platform; the rotating connection points between the first telescopic element and the first movable platform are arranged at intervals; and the rotating connection points between the first telescopic element and the static platform are also arranged at intervals.

Furthermore, the first telescopic element and each rotating connection point of the first movable platform are paired in pairs in a nearby manner, a first included angle is correspondingly formed between each group of two rotating connection points in the same pair and the center of the first movable platform, and the first included angles are equal in size.

Furthermore, the first telescopic element and each rotating connection point between the static platforms are paired in pairs in a nearby mode, a second included angle is correspondingly formed between each two rotating connection points of each group of same pairs and the center of the static platform, and the second included angles are equal in size.

The utility model provides a surgical manipulator is through with designing between sensor and the surgical instrument for do not exist along the synchronous pivoted structure of executive rod axial for the sensor can be installed in comparatively stable installation environment, and the measurement accuracy of sensor improves.

The utility model also provides a surgical robot, including the operation arm, the operation arm is above-mentioned arbitrary one the operation arm.

The utility model provides a surgical robot can realize the detection of the mechanical feedback of operation utensil effect on human tissue through adopting foretell operation arm, provides the feedback of mechanical data for doctor's operation to the information interaction of doctor with human tissue has been increased, the utility model provides a surgical robot has extensive application prospect.

Drawings

Fig. 1 is a schematic structural view of a surgical robot according to a first embodiment of the present invention.

Fig. 2 is a schematic structural view of the telecentric manipulating assembly shown in fig. 1.

Fig. 3 is a block diagram of a part of the components of the surgical robot arm shown in fig. 1 in a first embodiment.

Fig. 4 is a block diagram of a second embodiment of some components of the surgical robot arm shown in fig. 1.

Fig. 5 is a schematic view of the telecentric manipulation assembly of fig. 1 from a top view.

100. A surgical manipulator; 10. a preoperative positioning assembly; 20. a telecentric manipulation assembly; 30. an execution component; 11. A moving arm; 12. a telescopic arm; 21. a static platform; 22. a first movable platform; 23. a first telescopic element; 24. a rotating connection point; 31. an actuating lever; 32. a surgical instrument; 41. rotating the driving member; 42. a sensor; 43. controlling the driving member; 241. a hooke hinge joint; 242. and (5) cylinder liners.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1, fig. 1 is a schematic structural view of a surgical robot arm 100 according to a first embodiment of the present invention.

The utility model provides a surgical mechanical arm 100, which is used in a da vinci surgical robot. In this embodiment, the surgical robotic arm 100 is used to assist a surgeon in performing complex surgical procedures by minimally invasive means. It is understood that in other embodiments, the surgical robotic arm 100 may also be used in other medical instruments to assist a surgeon in performing a surgical procedure.

The da vinci surgical robot generally comprises an operating component (not shown) for a doctor to perform active control operation, a surgical robot arm 100 and an image processing device (not shown), wherein the operating component is coupled to the surgical robot arm 100 and can transmit the active control operation of the doctor to the surgical robot arm 100; the surgical manipulator 100 can respond to the control operation of a doctor on the operation assembly and correspondingly execute the follow-up operation action so as to perform minimally invasive surgery on a patient, and the motion trail and the surgical process of the surgical manipulator 100 can be transmitted to the image processing equipment through the endoscope; the image processing equipment can present the peeping picture of the endoscope in real time and can amplify the peeping picture of the endoscope, so that the operation vision of a doctor is clearer.

The operation assembly generally includes a main controller (not shown) and a foot pedal controller (not shown), the main controller is coupled to the surgical robot 100 and moves synchronously with the surgical robot 100, and the doctor controls the surgical robot 100 to perform positioning through the main controller and opens and closes the operation state of the surgical robot 100 through the foot pedal controller. The main controller can not only filter the micro-vibration of the hands of the doctor, but also reduce the moving distance of the hands of the doctor in a same ratio, and can greatly improve the degree of coordination of the eyes and the hands of the doctor by matching with the amplified endoscope picture in the image processing equipment, thereby ensuring the accuracy of the operation.

The image processing equipment is coupled with the endoscope, can present the picture that the endoscope was peered in real time to the picture that the endoscope was peered can be enlarged if necessary, and the magnification can be adjusted according to different operation demands. It can be understood that, after the amplification factor of the endoscope is adjusted, the doctor can synchronously adjust the times of the hands moving distance of the doctor in the main controller when the hands moving distance is reduced at the same ratio, so that the amplification factor of the endoscope is matched with the times when the hands moving distance of the doctor is reduced at the same ratio in the main controller, the degree of eye-hand coordination of the doctor is ensured to the maximum degree, and the precision of the operation is improved.

The endoscope has at least an illumination function and an image acquisition function. The endoscope can be a three-dimensional lens so as to keep basically consistent with a picture when the human eyes directly see; meanwhile, the image shot by the three-dimensional lens selected by the endoscope has high definition, and can be used for subsequent amplification processing of image processing equipment.

The utility model provides a surgical manipulator 100, which comprises a preoperative positioning component 10, a telecentric operation and control component 20 and an execution component 30, wherein the telecentric operation and control component 20 is arranged between the preoperative positioning component 10 and the execution component 30; the preoperative positioning assembly 10 is used to move the performance assembly 30 to a position generally adjacent the lesion; the telecentric operating assembly 20 is used for controlling the actuating assembly 30 to move within a small amplitude range; the performance assembly 30 is used to perform surgical procedures.

Specifically, the preoperative positioning assembly 10 is capable of driving the effector assembly 30 through a wide range of positional adjustments. The preoperative positioning assembly 10 comprises at least one moving arm 11 and/or at least one telescopic arm 12, wherein the moving arm 11 has two degrees of freedom and can drive the execution assembly 30 to translate and rotate; the telescopic arm 12 has a degree of freedom that enables the actuator assembly 30 to translate.

The telecentric control assembly 20 can drive the actuator assembly 30 to perform fine position adjustment with the telecentric motionless point as the center of oscillation. Generally, the telecentric manipulating assembly 20 has multiple degrees of freedom simultaneously, which enables the actuating assembly 30 to be driven for flexible surgical procedures.

The actuating assembly 30 includes a surgical instrument 32, the surgical instrument 32 is located at an end of the actuating assembly 30, and the surgical instrument 32 can perform a micro-movement by swinging, rotating, etc. to perform a surgical operation. The surgical instrument 32 may be an electric knife, forceps, clip, or hook, or other surgical instruments, which are not described in detail herein. The surgical instrument 32 is typically removably mounted to the end of the effector assembly 30, and different surgical instruments 32 can be replaced to perform different surgical procedures, as desired for different surgical needs, or as desired for different surgical stages of the same procedure.

The utility model provides a surgical manipulator 100 has avoided the steel band winding in the surgical manipulator through setting up whole synchronous pivoted executive component 30, can realize the accurate measurement to the mechanics information on surgical instrument 32.

Specifically, the actuating assembly 30 includes an actuating rod 31, the actuating rod 31 being hollow inside and connected to a surgical instrument 32; a surgical instrument 32 is positioned on an end of the actuating shaft 31 relatively remote from the distal manipulating assembly 20. The surgical robotic arm 100 further includes a rotational drive member 41, the rotational drive member 41 being disposed on the telecentric manipulation assembly 20; the rotary driving member 41 is connected to the actuating rod 31 and can drive the actuating rod 31 and the surgical tool 32 to rotate synchronously along the axial direction of the actuating rod 31 in a form of integral movement.

The surgical robotic arm 100 further comprises a sensor 42, the sensor 42 being connected to the actuating rod 31 and configured to detect an environmental force and/or an environmental torque to which the surgical implement 32 is subjected.

It should be additionally noted that the mutual connection between the sensor 42 and the actuating rod 31 may be a direct contact between the two, that is, the actuating rod 31 directly contacts with the measuring surface of the sensor 42; it is also possible for the sensor 42 to be in indirect contact with the actuating rod 31, i.e. the actuating rod 31 is connected to an intermediate transition element which in turn is in direct contact with the measuring surface of the sensor 42, so that the actuating rod 31 is connected to the sensor 42.

It should also be understood that the environmental forces and/or moments experienced by the surgical tool 32 are referred to herein as forces and/or moments exerted on the surgical tool 32 by the external environment, such as the reaction forces provided by the tissue when the surgical tool 32 is clamped; when there are multiple forces coupled to the surgical instrument 32 and creating a moment of action, the surgical instrument 32 will be subjected to both the environmental force and the environmental moment.

In the present embodiment, the sensor 42 is a six-axis force and torque sensor, and in this case, the sensor 42 can synchronously sense the environmental force and/or the environmental torque received by the surgical instrument 32 located on the measurement surface thereof. It will be appreciated that the sensor 42 may alternatively be a force sensor when it is only necessary to measure the environmental force to which the surgical tool 32 is subjected; sensor 42 may alternatively be a torque sensor when it is desired to measure only the ambient torque to which surgical instrument 32 is subjected.

Due to the synchronous rotation of the actuating rod 31 and the surgical instrument 32, the connecting cable (not shown) inside the actuating rod 31 moves in an integral manner, thereby avoiding the disadvantage that the connecting cable is wound in the conventional structure, which results in the failure to realize a reliable mechanical sensor, and enabling the sensor 42 to realize the accurate measurement of the environmental force and/or the environmental torque applied to the surgical instrument 32.

Referring to fig. 2, fig. 2 is a schematic structural view of the telecentric manipulating assembly 20 shown in fig. 1. The telecentric operating assembly 20 comprises a static platform 21, a first movable platform 22 and a plurality of first telescopic elements 23 arranged between the static platform 21 and the first movable platform 22, one side of the static platform 21 relatively far away from the first movable platform 22 is fixedly connected to the preoperative positioning assembly 10, one side of the first movable platform 22 relatively far away from the static platform 21 is fixedly connected to the executing assembly 30, and two ends of each first telescopic element 23 are respectively and rotatably connected to the static platform 21 and the first movable platform 22; the actuating assembly 30 has a preset telecentric motionless point, the coordinated extension and retraction among the plurality of first telescopic elements 23 can control the first movable platform 22 to move relative to the static platform 21 and drive the actuating assembly 30 to extend and retract and swing, the swing center of the actuating assembly 30 is the telecentric motionless point, and the extension and retraction path of the actuating assembly 30 passes through the telecentric motionless point.

So configured, the preoperative positioning assembly 10 need only assume the function of substantially moving the actuator 30, while the telecentric controls assembly 20 provides precise control of the actuator 30. The number of positioning units in the preoperative positioning assembly 10 can be correspondingly reduced, thereby reducing the accumulation of multiple positioning unit errors and response time periods to improve the accuracy of the procedure.

Secondly, the plurality of first telescopic elements 23 in the telecentric operating assembly 20 are arranged in parallel rather than in series, and errors of the plurality of first telescopic elements 23 cannot be accumulated and transmitted, and can be cancelled out. In addition, because each of the first telescoping members 23 is independently driven, the response time periods for the plurality of first telescoping members 23 are not cumulatively transferred. Precise control of the effector assembly 30 by the telecentric manipulation assembly 20 can reduce intra-operative displacement errors and shorten response times.

On the other hand, due to the improvement of the control precision of the actuating assembly 30 by the telecentric operating assembly 20, the actuating assembly 30 can bear larger load under the condition of the same precision as that of the existing da vinci surgical robot, so that more complex operations can be completed. In addition, when the executive component 30 is operated, the executive component can swing by taking a telecentric fixed point as a swing center, so that only a tiny wound needs to be formed on the surface of the skin of a patient for the executive component 30 to pass through, the wound of the patient is small, and the postoperative recovery is fast.

The first telescopic element 23 is preferably an electric cylinder. Preferably, in order to miniaturize the surgical robot arm 100, the electric cylinder is a small-sized electric cylinder as long as the load motion during the operation can be carried.

In this embodiment, the sensor 42 is coupled to the telecentric manipulating assembly 20 and the sensor 42 is stationary relative to the telecentric manipulating assembly 20, i.e., there is no synchronous rotation between the sensor 42 and the surgical instrument 32 in the axial direction of the actuating rod 31. In this case, the sensor 42 is mounted in a stable mounting environment, which is advantageous for improving the measurement accuracy of the sensor 42.

The utility model provides a surgical manipulator 100 is through with designing between sensor 42 and the surgical instrument 32 for there is not the synchronous pivoted structure along executive rod 31 axial for sensor 42 can install in comparatively stable installation environment, and sensor 42's measurement accuracy improves.

Further, the sensor 42 is installed on the first movable platform 22 in the telecentric control assembly 20, and at this time, the sensor 42 is installed on the telecentric control assembly 20 with the parallel mechanism structure, and the improvement of the self-motion precision of the telecentric control assembly 20 reduces the error between the measurement result of the sensor 42 and the actual mechanical detection real value.

Further, between the sensor 42 and the rotary drive 41, the rotary drive 41 is further away from the preoperative positioning assembly 10 relative to the sensor 42, i.e., the sensor 42 is closer to the preoperative positioning assembly 10 relative to the rotary drive 41.

Referring to fig. 3, fig. 3 is a block diagram illustrating a portion of the surgical robot 100 shown in fig. 1 according to a first embodiment.

In this embodiment, the surgical robot arm 100 further includes a control driving member 43 for driving the surgical instrument 32 to move, and the control driving member 43 is disposed between the actuating rod 31 and the first movable platform 22; the sensor 42 is installed at one end of the rotary driving member 41 relatively far away from the first movable platform 22; the rotary driving element 41 can drive the control driving element 43, the execution rod 31 and the surgical instrument 32 to synchronously rotate along the axial direction of the execution rod 31;

the sensor 42 detects the overall force applied to the rotary driving element 41, the control driving element 43 and the actuating lever 31, so as to obtain the environmental force and/or the environmental torque applied to the surgical tool 32.

Further, the first movable platform 22 is provided with an avoiding hole (not shown), and the rotary driving member 41 is connected to the control driving member 43 by extending into the avoiding hole, so that the rotary driving member 41 drives the control driving member 43 to rotate.

Referring also to fig. 4, fig. 4 is a block diagram of a second embodiment of some components of the surgical robotic arm 100 shown in fig. 1.

The control drive 43 in this embodiment is disposed between the actuating lever 31 and the rotary drive 41, and the sensor 42 is disposed between the rotary drive 41 and the first movable platform 22.

At this time, the first movable platform 22 serves as a bearing platform to bear the control driving part 43, the rotary driving part 41 and the sensor 42, and the sensor 42 is arranged on the first movable platform 22, so that disturbance caused by the control driving part 43 and the rotary driving part 41 is lower, and the detection accuracy is improved.

Further, the number of the control driving members 43 is at least three, and two of the three control driving members 43 are used for controlling the surgical instrument 32 to deflect (swing) towards two different directions which are staggered, that is, the two control driving members 43 are control elements for performing swing motion on the surgical instrument 32; one of the three control drives 43 is used to control the surgical tool 32 to open and close.

Further, the three control driving members 43 are arranged in an equilateral triangle, that is, the centers of the three control driving members 43 are surrounded to form an equilateral triangle, and the axial direction of the actuating rod 31 passes through the centers of the equilateral triangles.

The three control drivers 43 are arranged with the axial direction of the actuating rod 31 as the center, and the distribution of the positions of the three control drivers enables the dynamic balance performance to be maintained during the movement.

In order to improve the stability of the surgical robot arm 100, in an embodiment of the present invention, the plurality of rotation connection points 24 between each first telescopic element 23 and the first movable platform 22 are arranged in a common circle, and the rotation connection points 24 between each first telescopic element 23 and the static platform 21 are arranged in a common circle; the diameter of the circle formed by the enclosure of the rotating connecting point 24 on the static platform 21 is 1 to 2 times of the diameter of the circle formed by the enclosure of the rotating connecting point 24 on the first movable platform 22.

With the arrangement, the first movable platform 22 has small vibration in the process of moving relative to the static platform 21, and the total amount of errors between the first telescopic elements 23 can be mutually compensated, so that the stability of the surgical manipulator 100 is improved.

It should be understood that the cross-section of the stationary platform 21 and the first movable platform 22 along the radial direction may be circular, polygonal, or other irregular shapes, as long as the plurality of rotation connection points 24 of the first telescopic elements 23 are arranged on the stationary platform 21 and the first movable platform 22 in a concentric manner.

In order to further improve the stability of the surgical robotic arm 100, in an embodiment of the present invention, the diameter of the circle defined by the rotation connection point 24 on the stationary platform 21 is 1.7 times the diameter of the circle defined by the rotation connection point 24 on the first movable platform 22.

With the arrangement, the first movable platform 22 has the minimum vibration in the process of moving relative to the static platform 21, and meanwhile, the space volume occupied by the first movable platform 22 and the static platform 21 can be relatively compressed, and the most balanced combination property is provided between the light structure and the high performance.

In order to realize the rotational connection between the first telescopic element 23 and the first movable platform 22 and the stationary platform 21, in an embodiment of the present invention, a ball joint and a hooke joint 241 are respectively disposed at two ends of the first telescopic element 23; the first telescopic element 23 is connected to one of the stationary platform 21 and the first movable platform 22 by a ball joint and to the other of the stationary platform 21 and the first movable platform 22 by a hooke hinge joint 241.

With such an arrangement, two ends of the first telescopic element 23 can be respectively rotatably connected with the first movable platform 22 and the stationary platform 21, and the connection performance of the first telescopic element 23 is better. The action principle is as follows: the ball joint has three degrees of freedom, the hooke joint 241 has two degrees of freedom, and the ball joint and the hooke joint 241 are respectively disposed at both ends of the first telescopic element 23, so that the first movable platform 22 can realize six degrees of freedom of movement.

In order to achieve the cost of the first telescopic element 23 rotatably connected to the first movable platform 22 and the stationary platform 21, in an embodiment of the present invention, the surgical manipulator 100 further includes a cylinder sleeve 242, and the cylinder sleeve 242 is sleeved on and rotatably connected to the first telescopic element 23; the cylinder sleeve 242 is provided with a hooke hinge joint 241 at one end relatively far away from the first telescopic element 23 and the first telescopic element 23 is provided with one end relatively far away from the cylinder sleeve 242; one of the cylinder sleeve 242 and the first telescopic element 23 is connected to the first moving platform 22 by a corresponding hooke hinge joint 241; the other of the cylinder sleeve 242 and the first telescopic element 23 is connected to the stationary platform 21 by a corresponding hooke hinge joint 241.

With such an arrangement, the first telescopic element 23 can realize power transmission between the first movable platform 22 and the stationary platform 21 through the hooke hinge joint 241 with low manufacturing difficulty and low cost, and does not need to provide a ball joint with high cost and easy damage, thereby having a better cost performance advantage. The action principle is as follows: the hooke hinge joints 241 at both ends of the first telescopic element 23 have two degrees of freedom, and the cylinder sleeve 242 has one degree of freedom, so that the telescopic movement of the first telescopic element 23 in the axial direction can be realized, and the first movable platform 22 can realize the movement with six degrees of freedom.

It is understood that in other embodiments, other joints may be adopted to connect the first telescopic element 23 with the first movable platform 22 and the stationary platform 21, as long as the first movable platform 22 has a certain degree of freedom and can drive the executing assembly 30 to complete the surgical operation.

In order to improve the motion stability of the surgical robot arm 100, in one embodiment of the present invention, the number of the first telescopic elements 23 is six, and the rotation connection points 24 between the first telescopic elements 23 and the first movable platform 22 are all spaced from each other; and the rotation connection points 24 between the first telescopic element 23 and the static platform 21 are also arranged at intervals.

With such an arrangement, the distribution of the spaced rotation connection points 24 reduces the vibration interference between the first telescopic elements 23, and can further improve the motion stability of the surgical robot arm 100. In addition, when the six first telescopic elements 23 drive the first movable platform 22 to move, not only can the multi-directional comprehensive movement of the first movable platform 22 be realized, but also the slow calculation speed due to the excessively redundant kinematics analysis cannot be generated.

It is understood that in other embodiments, the number of the first telescopic elements 23 may be three, four, five, or even more, as long as the first movable platform 22 can bring the executing assembly 30 to complete the surgical operation.

Referring to fig. 5, fig. 5 is a schematic top view of the telecentric manipulating assembly 20 shown in fig. 1. In order to further improve the motion stability of the surgical robot arm 100 and facilitate the kinematic analysis, in one embodiment of the present invention, two-by-two pairs are formed between the first telescopic element 23 and each rotation connection point 24 between the first movable platform 22 in a nearby manner; and a first included angle α is correspondingly formed between each group of two same-pair rotating connection points 24 and the center of the first movable platform 22, and the sizes of the first included angles α are equal.

There are six rotational connection points 24, respectively designated M, between the first telescopic element 23 and the first mobile platform 22₁To M₆(ii) a The six pivotal connection points 24 are grouped together in a nearby manner, i.e. the two pivotal connection points 24 that are closest together form a pair, forming M₁And M₂、M₃And M₄、M₅And M₆The three groups of pairing relationships. Each timeThe two rotation connection points 24 form a first included angle α with the center of the first movable platform 22, and the three first included angles α are equal.

At this time, the first telescopic elements 23 will form a symmetrical distribution on the first movable platform 22, which is beneficial to improving the motion stability of the surgical robot arm 100.

Preferably, the first angle α is in the range of 15 ° to 60 °. At this time, the included angle range between the first telescopic element 23 and each of the rotation connection points 24 of the first movable platform 22 is in a preferred range, which is not only beneficial to ensuring the motion stability, but also convenient for realizing the motion analysis of the telescopic amount of each first telescopic element 23 through a relatively suitable included angle range.

In order to further improve the motion stability of the surgical robot arm 100, the first telescopic element 23 and each rotation connection point 24 between the static platform 21 are paired in pairs in a nearby manner; two rotation connection points 24 of the same pair and the center of the static platform 21 correspondingly form a second included angle β, and the magnitude of each second included angle β is equal.

There are six rotational connection points 24, respectively designated S, between the first telescopic element 23 and the stationary platform 21₁To S₆(ii) a The six pivotal connection points 24 are grouped in such a way that they are close together, i.e. two pivotal connection points 24 that are closest together are paired to form S₁And S₂、S₃And S₄、S₅And S₆The three groups of pairing relationships. Each pair of the two rotation connection points 24 forms a second included angle β with the center of the stationary platform 21, and the three second included angles β are equal to each other.

At this time, the first telescopic elements 23 will form a symmetrical distribution on the static platform 21, which is beneficial to improving the motion stability of the surgical robot arm 100.

Preferably, the second angle β is in the range of 60 ° to 105 °.

At this time, the included angle range between the first telescopic element 23 and each of the rotation connection points 24 of the stationary platform 21 is in a preferred interval, which is not only beneficial to ensuring the motion stability, but also convenient for realizing the motion analysis of the telescopic amount of each of the first telescopic elements 23 through a relatively suitable included angle range.

Preferably, the pairs of the respective pivot points 24 of the first telescopic element 23 on the stationary platform 21 are offset from the pairs of the respective pivot points 24 of the corresponding first telescopic element 23 on the first movable platform 22, i.e. the same pair of pivot points 24 of the first telescopic element 23 on the stationary platform 21 is not paired with the two pivot points 24 of the corresponding first telescopic element 23 on the first movable platform 22.

The utility model also provides a surgical robot, including foretell surgical manipulator 100. The utility model provides a surgical robot can realize the detection of the mechanics feedback that is used in human tissue to surgical instrument 32 through adopting foretell surgical manipulator 100, provides the feedback of mechanics data for doctor's operation to the information interaction of doctor with human tissue has been increased, the utility model provides a surgical robot has extensive application prospect.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

It will be appreciated by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be taken as limiting the present invention, and that suitable modifications and variations of the above embodiments are within the scope of the invention as claimed.

Claims

1. A surgical robotic arm (100) comprising a preoperative positioning assembly (10), an actuating assembly (30), and a telecentric manipulation assembly (20) disposed between the preoperative positioning assembly (10) and the actuating assembly (30), the actuating assembly (30) comprising an actuating rod (31) and a surgical instrument (32) disposed at an end of the actuating rod (31) relatively distal from the telecentric manipulation assembly (20); a rotary driving part (41) and a sensor (42) are arranged on the telecentric operating and controlling component (20), the rotary driving part (41) is connected to one end of the executing rod (31) which is relatively close to the telecentric operating and controlling component (20) and can drive the executing rod (31) and the surgical instrument (32) to synchronously rotate along the axial direction of the executing rod (31);

the sensor (42) is connected to the telecentric operating assembly (20) and the sensor (42) and the surgical instrument (32) do not rotate synchronously along the axial direction of the execution rod (31); the sensor (42) is used for detecting an environmental force and/or an environmental torque to which the surgical tool (32) is subjected.

2. The surgical robotic arm (100) of claim 1, wherein the telecentric manipulation assembly (20) is a parallel configuration and the telecentric manipulation assembly (20) comprises a stationary platform (21) and a first movable platform (22) connected to the stationary platform (21) and movable relative to the stationary platform (21); the stationary platform (21) is connected to the preoperative positioning assembly (10), and the sensor (42) is connected to the first movable platform (22).

3. The surgical robot arm (100) of claim 2, wherein the surgical robot arm (100) further comprises a control drive (43) for driving the movement of the surgical instrument (32), the control drive (43) being disposed between the actuation lever (31) and the first movable platform (22); the sensor (42) is mounted to the rotary drive (41); the rotary driving part (41) can drive the control driving part (43), the execution rod (31) and the surgical tool (32) to synchronously rotate along the axial direction of the execution rod (31);

the sensor (42) obtains the environmental force and/or the environmental torque applied to the surgical instrument (32) by detecting the overall force application state of the rotary driving element (41), the control driving element (43) and the execution rod (31).

4. A surgical robotic arm (100) as claimed in claim 3, wherein said first movable platform (22) is provided with an escape aperture, and said rotary drive member (41) is connected to said control drive member (43) by extending into said escape aperture.

5. The surgical robot arm (100) as claimed in claim 2, characterized in that the surgical robot arm (100) further comprises a control drive (43) for driving the movement of the surgical implement (32), the rotational drive (41) being arranged between the control drive (43) and the sensor (42); the rotary driving part (41) can drive the control driving part (43), the execution rod (31) and the surgical tool (32) to synchronously rotate along the axial direction of the execution rod (31);

6. The surgical robot arm (100) as claimed in claim 3 or 5, characterized in that said control drive (43) is at least three in number; wherein two of the control drives (43) are used for controlling the surgical instrument (32) to deflect towards two different staggered directions, and the other control drive (43) is used for controlling the surgical instrument (32) to open and close.

7. The surgical robot arm (100) according to claim 2, characterized in that a plurality of first telescopic elements (23) are arranged between said first mobile platform (22) and said static platform (21), and both ends of each first telescopic element (23) are respectively and rotatably connected to said static platform (21) and said first mobile platform (22); the rotating connection points (24) between the first telescopic element (23) and the first movable platform (22) are arranged at intervals; and the rotating connection points (24) between the first telescopic element (23) and the static platform (21) are also arranged at intervals.

8. The surgical robot arm (100) according to claim 7, wherein said first telescopic element (23) and said first movable platform (22) are paired in pairs in a nearby manner, and a first included angle (α) is formed between each set of two rotating connection points (24) of the same pair and the center of said first movable platform (22), and the sizes of said first included angles (α) are equal.

9. The surgical robot arm (100) according to claim 8, wherein the rotating connection points (24) between the first telescopic element (23) and the stationary platform (21) are paired in pairs in a nearby manner, and a second included angle (β) is formed between each two rotating connection points (24) of each same pair and the center of the stationary platform (21), and the second included angles (β) are equal in size.

10. A surgical robot comprising a surgical robot arm, characterized in that the surgical robot arm is a surgical robot arm (100) according to any one of claims 1 to 9.