CN214434492U

CN214434492U - Flexible arm of operation robot, preoperative positioning mechanism and operation robot

Info

Publication number: CN214434492U
Application number: CN202022333866.8U
Authority: CN
Inventors: 柳建飞; 黄善灯; 潘鲁锋; 闫泳利
Original assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Current assignee: Noahtron Intelligence Medtech Hangzhou Co Ltd
Priority date: 2020-01-23
Filing date: 2020-10-19
Publication date: 2021-10-22
Anticipated expiration: 2030-10-19
Also published as: CN214434493U; CN215458618U; CN214342596U; CN112754670A; CN112754670B; CN116370099A; CN215130047U; CN214342597U; CN214434491U; CN111214291A

Abstract

The utility model relates to a flexible arm of operation robot, preoperative positioning mechanism and operation robot, the flexible arm of operation robot includes: a driver; the first screw rod is connected with the driver and can rotate under the driving of the driver; the first lead screw nut is in threaded connection with the first lead screw and can move along the axial direction of the first lead screw under the rotation of the first lead screw; and the anti-collision pad is sleeved on the first screw rod and fixedly arranged on the driver, and is positioned between the first screw rod nut and the driver. The utility model provides a flexible arm of surgical robot is provided with the crashproof pad in, the crashproof pad can prevent that first screw-nut is direct to collide with the driver, avoids first screw-nut or driver wearing and tearing, prolongs the life of first screw-nut and driver, guarantees the use accuracy of before the art during long-time service of positioning mechanism.

Description

Flexible arm of operation robot, preoperative positioning mechanism and operation robot

RELATED APPLICATIONS

The priority of the chinese patent application entitled "surgical robotic arm and surgical robot", filed on 23/1/2020, application number 202010076420.3, is incorporated herein by reference in its entirety.

Technical Field

The embodiment of the utility model provides a relate to the medical instrument field, especially relate to a flexible arm of surgical robot, preoperative positioning mechanism and surgical robot.

Background

The minimally invasive surgery is a surgery performed by opening a tiny wound on the body of a patient, wherein part of execution mechanisms in the surgical robot penetrate through the tiny wound and enter a focus position, a preoperative positioning mechanism in the surgical robot is used for roughly moving the execution mechanisms to a position close to the focus, and then a telecentric control mechanism in the surgical robot drives the execution mechanisms to telescopically swing by taking the wound of the patient as a telecentric motionless point, so that a doctor is assisted to complete the minimally invasive surgery. Minimally invasive surgery is favored by more and more patients due to the advantages of small trauma, light pain and quick recovery.

A conventional surgical robot telescopic arm generally includes a first lead screw and a first lead screw nut, and the first lead screw nut is sleeved on the first lead screw and can move along an axial direction of the first lead screw under rotation of the first lead screw. In order to improve the mobility of the telescopic arm, it is generally desirable for the first spindle nut to have a large stroke on the first spindle.

However, in the conventional surgical robot telescopic boom, when the first lead screw nut moves to a side relatively close to the motor, the first lead screw nut and the driver are easily and directly collided, so that the first lead screw nut and the driver are abraded, the precision of the surgical robot telescopic boom may be reduced after long-time use, and medical accidents may occur in severe cases.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a flexible arm of surgical robot, preoperative positioning mechanism and surgical robot.

The utility model provides a flexible arm of surgical robot, include: a driver; the first screw rod is connected to the driver and can rotate under the driving of the driver; the first lead screw nut is in threaded connection with the first lead screw and can move along the axial direction of the first lead screw under the rotation of the first lead screw; and the anti-collision pad is sleeved on the first screw rod and fixedly arranged on the driver, and is positioned between the first screw rod nut and the driver.

The utility model provides a flexible arm of surgical robot is provided with the crashproof pad in, the crashproof pad can prevent that first screw-nut is direct to collide with the driver, avoids first screw-nut or driver wearing and tearing, prolongs the life of first screw-nut and driver, guarantees the use accuracy of before the art during long-time service of positioning mechanism.

In a possible solution, the driver includes a first motor and a first motor seat for mounting the first motor, and the crash pad is fixedly disposed at an end of the first motor seat. So set up, need not to establish other parts that are used for fixed crashproof pad in addition, first motor cabinet can enough play the effect of installation motor, can also play the effect of fixed crashproof pad.

In a possible scheme, the crash pad comprises a crash part and a fixing part, the crash part is annular, and the inner edge of the crash part protrudes towards the direction of the first motor and forms the fixing part; the anti-collision part is fixedly arranged at the end part of the first motor base through the fixing part. The anti-collision part is fixedly arranged at the end part of the first motor base through the fixing part, the fixing mode is simple, and the anti-collision part can play a role in better protecting the first screw rod nut.

In a possible solution, the driver further includes a first screw bearing, an inner surface of the first screw bearing is matched with the first screw, an outer surface of the first screw bearing abuts against an inner wall of the first motor base, and the first screw bearing can play a role of supporting the first screw and can also reduce friction force of the first screw during rotation.

In a feasible scheme, the telescopic arm of the surgical robot further comprises an outer ring fixing seat and an inner ring fixing seat, the outer ring fixing seat and the inner ring fixing seat are respectively located on two sides of the first screw rod bearing, the outer ring fixing seat abuts against an outer ring of the first screw rod bearing, and the inner ring fixing seat abuts against an inner ring of the first screw rod bearing; the inner ring fixing seat can compress the first lead screw bearing to the outer ring fixing seat. So set up, the inner circle and the outer lane of first lead screw bearing have all obtained better fixed, and first lead screw bearing's installation fastness is high.

In a possible scheme, the crash pad comprises a crash part and a fixing part, the crash part is annular, and the inner edge of the crash part protrudes towards the direction of the first motor and forms the fixing part; and an installation hole is formed between the outer ring fixing seat and the first screw rod, and the fixing part can stretch into and be fixed in the installation hole. So set up, the crash pad need not to fix the setting on first lead screw through other fasteners, and the installation is simple, and the follow-up maintenance of being convenient for is changed to be difficult for droing in the use.

In a feasible scheme, the outer ring fixing seat is installed at the end part of the first motor seat, and the inner ring fixing seat is in threaded connection with the first screw rod; the inner ring fixing seat can compress the first screw rod bearing to the outer ring fixing seat through threaded fit. According to the arrangement, the inner ring fixing seat is in threaded connection with the first screw rod bearing, the inner ring fixing seat is simple and convenient to install, the inner ring fixing seat can enable the first screw rod bearing to be tightly pressed to the outer ring fixing seat, and therefore the first screw rod bearing is fixedly installed.

In a feasible scheme, the end part of the first motor base is provided with a threaded mounting hole, the outer ring fixing base is fixedly mounted at the end part of the first motor base through a threaded fastener, the connection mode of the outer ring fixing base is simple and convenient, other structures for fixing the outer ring fixing base do not need to be additionally arranged, and the production and mounting processes are simplified.

In a feasible scheme, the number of the first screw rod bearings is at least two, and at least two first screw rod bearings are sleeved on the first screw rod side by side, so that the contact area between the first screw rod bearings and the first screw rod can be increased, and the supporting effect on the first screw rod is better; the two first screw rod bearings are sleeved on the first screw rods in parallel and are tightly attached and installed through the inner ring fixing seat and the outer ring fixing seat.

The utility model also provides a before-operation positioning mechanism, including foretell flexible arm of surgical robot.

The utility model provides a set up the crashproof pad in the position mechanism before art, can avoid first screw-nut or driver wearing and tearing, the life of first screw-nut of extension and driver, the use accuracy when guaranteeing the long-time in active service of position mechanism before the art.

The utility model also provides a surgical robot, which comprises the preoperative positioning mechanism; the telecentric control mechanism comprises a static platform, a movable platform and a plurality of telescopic components arranged between the static platform and the movable platform, wherein one side of the static platform, which is relatively far away from the movable platform, is connected to the preoperative positioning mechanism, two ends of the plurality of telescopic components are respectively and rotatably connected to the static platform and the movable platform, and the movable platform can be controlled to move relative to the static platform through the matched telescopic motion among the plurality of telescopic components; the actuating mechanism is connected to one side of the movable platform, which is relatively far away from the static platform, and can stretch and swing under the driving of the movable platform; the actuating mechanism is provided with a preset telecentric motionless point, the swing center of the actuating mechanism is the telecentric motionless point, and the telescopic path of the actuating mechanism penetrates through the telecentric motionless point.

The operation robot actuating mechanism provided by the utility model can bear large load, has high precision of the motion path of the actuating mechanism in the operation process, and can complete more precise and complex operation; and for traditional da vinci operation robot, the utility model provides an operation robot integration nature is high, and occupation space is littleer, can provide bigger operation field of vision for the doctor.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention or the conventional technologies, the drawings required to be used in the description of the embodiments or the conventional technologies will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic view of the overall structure of the preoperative positioning mechanism, the telecentric operation mechanism and the actuating mechanism of the surgical robot of the present invention;

fig. 2 is a schematic view of the overall structure of the preoperative positioning mechanism of the surgical robot shown in fig. 1;

FIG. 3 is a cross-sectional view of the preoperative positioning mechanism shown in FIG. 2;

FIG. 4 is an enlarged view of a portion A of FIG. 3;

FIG. 5 is a schematic view of a first sleeve of the preoperative positioning mechanism;

FIG. 6 is a schematic structural view of a second sleeve of the preoperative positioning mechanism;

FIG. 7 is a schematic structural view of a guide assembly of the preoperative positioning mechanism;

FIG. 8 is a schematic view of a first lead screw nut at a first angle;

FIG. 9 is a schematic view of the first lead screw nut at a second angle;

FIG. 10 is a schematic view of the crash pad construction;

FIG. 11 is a partial enlarged view of portion B of FIG. 3;

FIG. 12 is a schematic view of the second sleeve and the telecentric mechanism;

FIG. 13 is a schematic view of the second sleeve at another angle;

FIG. 14 is a schematic structural view of the movable platform;

FIG. 15 is a schematic view of a rotating link assembly;

FIG. 16 is a cross-sectional view of the rotating link assembly;

FIG. 17 is a schematic structural view of the bushing;

FIG. 18 is a schematic view of the mounting of the rotating link assembly to the stationary platform;

FIG. 19 is a schematic view of the mounting of the rotating link assembly to the movable platform;

FIG. 20 is a schematic view of a rotary connector assembly including a connector sleeve;

fig. 21 is a schematic structural view of the connecting sleeve;

FIG. 22 is a schematic structural view of the telescopic unit;

FIG. 23 is a cross-sectional view of the telescoping unit;

FIG. 24 is a schematic view of the installation of the telescoping unit and the rotating connection assembly;

FIG. 25 is a schematic view of the mounting of the rotating connection assembly and the driving member bracket;

FIG. 26 is a schematic view of the mounting of the driving member and the driving member bracket;

reference numbers in the figures:

100. a preoperative positioning mechanism; 110. a driver; 111. a first motor; 112. a first motor mount; 120. a first lead screw; 121. a first threaded hole; 130. a first lead screw nut; 131. a first moving part; 132. a first mounting portion; 133. a first limiting part; 1331. accommodating grooves; 141. A coupling; 142. a first screw bearing; 143. an inner ring fixing seat; 144. an outer ring fixing seat; 150. a first sleeve; 151. a slide rail mounting groove; 152. a first mounting hole; 153. an end plate; 160. a second sleeve; 161. a slide block mounting groove; 162. mounting a plate; 1621. a first fixing hole; 170. a guide assembly; 171. a slide rail; 1711. a sliding track; 1712. a second mounting hole; 172. a slider; 1721. a sliding groove; 1722. A sliding projection; 180. an anti-collision pad; 181. an anti-collision part; 182. a fixed part; 190. a first limit piece; 191. a third mounting hole;

200. a telecentric control mechanism; 210. a static platform; 211. mounting grooves; 212. a weight reduction groove; 220. a movable platform; 230. a telescopic unit; 231. a drive member; 2311. a second motor; 232. a second lead screw; 233. a push rod assembly; 2331. a stroke chamber; 2332. a second feed screw nut; 23321. a second moving part; 23322. a second mounting portion; 2333. a push rod; 234. an outer sleeve; 235. a linear bearing; 236. a second limiting member; 240. rotating the connecting assembly; 241. a first shaft; 2411. a second fixing hole; 2412. a second escape portion; 242. a second shaft; 2421. a first pin shaft; 2422. A second pin shaft; 2423. a limiting block; 243. a shaft sleeve; 2431. a through hole; 2432. a first pin shaft mounting hole; 2433. a second pin shaft mounting hole; 2434. a second bearing groove; 2435. a first escape portion; 244. a first bearing; 245. a second bearing; 2461. a first retainer ring; 2462. a second retainer ring; 247. fixing the connecting piece; 248. connecting sleeves; 2481. a first connection portion; 24811. a first bearing groove; 2482. a second connecting portion; 2483. a third escape portion; 250. a drive member support; 251. a rotation connecting part; 252. a driving member mounting portion; 2521. an accommodating cavity; 2522. an operating chamber; 253. a first opening; 254. a second opening; 255. a fourth escape portion; 256. a driving member mounting hole; 257. an abutting portion;

300. and an actuator.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral part; the connection can be mechanical connection, electrical connection or communication connection; either directly or indirectly through intervening media, either internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art. The technical solution of the present invention will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

The minimally invasive surgery is a surgery performed by opening a tiny wound on the body of a patient, wherein part of execution mechanisms in the surgical robot penetrate through the tiny wound and enter a focus position, and a telecentric control mechanism in the surgical robot drives the execution mechanisms to telescopically swing by taking the wound of the patient as a telecentric motionless point, so that a doctor is assisted to complete the minimally invasive surgery operation. Minimally invasive surgery is favored by more and more patients due to the advantages of small trauma, light pain and quick recovery.

Referring to fig. 1, fig. 1 is a schematic view illustrating an overall structure of a preoperative positioning mechanism 100, a telecentric operation mechanism 200 and an actuating mechanism 300 of the surgical robot of the present invention. The utility model provides a surgical robot controls mechanism 200 and actuating mechanism 300 including before art positioning mechanism 100, heart far away, and before art positioning mechanism 100, heart far away control mechanism 200 and actuating mechanism 300 connect gradually. The preoperative positioning mechanism 100 is used to move the actuator 300 to a position substantially near the lesion; the telecentric control mechanism 200 is used for controlling the actuator 300 to move within a small amplitude range; the actuator 300 is used to perform a surgical procedure.

Specifically, the preoperative positioning mechanism 100 is capable of driving the actuator 300 through a wide range of positional adjustments. The preoperative positioning mechanism 100 includes at least one moving arm and/or at least one telescopic arm, which can drive the actuator 300 to translate or rotate.

The telecentric control mechanism 200 can drive the actuator 300 to perform fine position adjustment with the telecentric motionless point as the center of oscillation. Generally, the telecentric steering mechanism 200 has multiple degrees of freedom simultaneously, which can drive the actuator 300 to perform flexible surgical operations.

The actuator 300 has a preset telecentric motionless point, the swing center of the actuator 300 is the telecentric motionless point, and the telescopic path of the actuator 300 passes through the telecentric motionless point. The actuator 300 includes a surgical instrument at an end of the actuator 300, and the surgical instrument can be moved slightly by its own swing, rotation, or the like to perform a surgical operation. The surgical instrument may be an electric knife, forceps, clip or hook, or other surgical instruments, which are not described herein. The surgical instruments are typically removably mounted to the end of the actuator 300, and can be replaced to perform different surgical procedures as needed for different surgical procedures, or as needed for different surgical stages of the same procedure.

It should be noted that the telecentric motionless point referred to herein is a fixed motionless point selected along the length direction of the actuator 300, and the motion performed by the actuator 300 under the control of the telecentric control mechanism 200 has a regularity of swinging around the fixed motionless point, and the fixed motionless point is not displaced. Specifically, the swing of the surgical instrument takes the telecentric motionless point as a swing center, and the front-back telescopic motion of the actuator 300 moves along the telecentric motionless point.

In the specific operation process, the position of the telecentric motionless point is the position of a wound on the surface of the human skin in the operation; the purpose of the motion of the actuator 300 having regularity relative to the telecentric motionless point is to ensure that the area of the wound of the human body is not enlarged due to the motion of the instrument during the motion of the actuator 300, so as to realize minimally invasive surgery with a small wound.

It is additionally emphasized that the position of the telecentric stop is not necessarily fixed throughout the performance of the entire procedure, and is selected during a single procedure and is variable during different procedures. For example, a doctor performs a surgical operation on different wounds, the surgical operations performed on the two wounds enable the control device to select telecentric motionless points at different positions in different time periods according to parameters such as the length of the actual executing mechanism 300, and the like, as long as the movement under a single surgical operation is ensured to form regular movement of the telecentric motionless points.

Referring to fig. 2 and 3, fig. 2 is a schematic overall structure diagram of the preoperative positioning mechanism 100 of the surgical robot shown in fig. 1; fig. 3 is a cross-sectional view of the preoperative positioning mechanism 100 shown in fig. 2. The utility model provides a before art positioning mechanism 100 includes flexible arm (not reference numeral), and flexible arm includes driver 110, first lead screw 120 and first screw-nut 130, and driver 110 is connected in first lead screw 120 and can drive first lead screw 120 and rotate, drives first screw-nut 130 and rotates for first lead screw 120 to drive first screw-nut 130 along first lead screw 120's axial displacement.

The driver 110 includes a first motor 111 and a first motor base 112 for mounting the first motor 111, an external thread is provided on the first lead screw 120, an internal thread matched with the first lead screw 120 is provided in the first lead screw nut 130, the driver 110 drives the first lead screw 120 to rotate, and the first lead screw nut 130 can move along the axial direction of the first lead screw 120 under the rotation of the first lead screw 120. It is understood that the driver 110 may be other driving devices as long as the first lead screw 120 can be driven to rotate.

Preferably, in the present embodiment, the first screw 120 is a ball screw, and the first screw nut 130 is a ball screw nut that fits the first screw 120. The ball screw has small friction coefficient, high transmission precision and transmission efficiency and self-locking performance.

Referring to fig. 4, fig. 4 is a partially enlarged view of a portion a in fig. 3. The preoperative positioning mechanism 100 further comprises a coupler 141 and a first lead screw bearing 142, wherein the coupler 141 is used for connecting the output shaft of the first motor 111 and the first lead screw 120, so that the output shaft of the first motor 111 and the first lead screw 120 rotate coaxially; the first screw bearing 142 is used for receiving the first motor base 112 and the first screw 120.

Specifically, an inner ring of the first screw bearing 142 is matched with the first screw 120, an outer ring of the first screw bearing 142 abuts against an inner wall of the first motor base 112, and the first screw bearing 142 can play a role in supporting the first screw 120 and can also reduce friction force of the first screw 120 when rotating.

In order to improve the installation stability of the first screw bearing 142, in the present embodiment, the preoperative positioning mechanism 100 further includes an inner ring fixing seat 143 and an outer ring fixing seat 144, the outer ring fixing seat 144 and the inner ring fixing seat 143 are respectively located at two sides of the first screw bearing 142, the outer ring fixing seat 144 abuts against an outer ring of the first screw bearing 142, and the inner ring fixing seat 143 abuts against an inner ring of the first screw bearing 142; the inner ring holder 143 can press the first lead screw bearing 142 onto the outer ring holder 144. So set up, first lead screw bearing 142's inner circle and outer lane have all obtained better fixed, and first lead screw bearing 142's installation fastness is high.

Preferably, in this embodiment, the outer ring fixing seat 144 is installed at an end of the first motor seat 112, and the inner ring fixing seat 143 is screwed to the first lead screw 120; the inner ring fixing seat 143 can press the first screw bearing 142 onto the outer ring fixing seat 144 by screw-fitting. With such an arrangement, the inner ring fixing seat 143 is in threaded connection with the first screw bearing 142, the inner ring fixing seat 143 is simple and convenient to install, and the inner ring fixing seat 143 can compress the first screw bearing 142 to the outer ring fixing seat 144, so that the first screw bearing 142 is fixedly installed.

In order to simplify the installation manner of outer ring fixing base 144, in this embodiment, a threaded installation hole is opened at an end portion of first motor base 112, and outer ring fixing base 144 is fixedly installed at the end portion of first motor base 112 through a threaded fastener. The connection mode of the outer ring fixing seat 144 is simple and convenient, and other structures for fixing the outer ring fixing seat 144 do not need to be additionally arranged. It is understood that the inner ring fixing seat 143 or the outer ring fixing seat 144 may also be fixed by other methods, such as gluing, welding, etc., as long as the inner ring or the outer ring of the first screw rod bearing 142 can be correspondingly fixed.

Furthermore, the number of the first screw rod bearings 142 is at least two, and the at least two first screw rod bearings 142 are sleeved on the first screw rod 120 side by side, so that the contact area between the first screw rod bearings 142 and the first screw rod 120 can be increased, and the supporting effect on the first screw rod 120 is better; the two first lead screw bearings 142 are sleeved in parallel on the first lead screw 120 and are closely mounted through the inner ring fixing seat 143 and the outer ring fixing seat 144. It is understood that the first lead screw bearing 142 may be one or more, and is not limited herein.

Because the preoperative positioning mechanism needs to bear a telecentric control mechanism and an actuating mechanism at the front end of the surgical robot, a driver with higher power is usually needed to drive the first lead screw to rotate and drive the first lead screw nut to move along the axial direction of the first lead screw. Traditional surgical robot directly splines first screw-nut usually to guarantee the accurate degree of first screw-nut displacement, thereby guarantee the accuracy of before-operation positioning mechanism when flexible. However, when the conventional preoperative positioning mechanism is used for a long time, the first lead screw nut is subjected to a large torsion force for a long time, so that the matching precision of the first lead screw nut and the first lead screw is reduced, the stretching precision of the preoperative positioning mechanism is reduced, and a medical accident may occur in a serious case.

Referring again to fig. 2 and 3, and also to fig. 5-7, fig. 5 is a schematic structural view of the first sleeve 150 of the preoperative positioning mechanism 100; FIG. 6 is a schematic view of the second sleeve 160 of the preoperative positioning mechanism 100; fig. 7 is a schematic diagram of the guide assembly 170 of the preoperative positioning mechanism 100. In order to solve the above problem, the telescopic arm of the preoperative positioning mechanism 100 of the present invention further includes a first sleeve 150, a second sleeve 160 and a guiding assembly 170, wherein the first sleeve 150 is sleeved on the first lead screw 120 and is fixedly arranged on the driver 110; the second sleeve 160 is partially accommodated in the first sleeve 150, and the second sleeve 160 is fixedly connected to the first lead screw nut 130 and can move relative to the first sleeve 150 under the driving of the first lead screw nut 130; the guide assembly 170 is located between the first sleeve 150 and the second sleeve 160, and is capable of guiding the second sleeve 160 to move along the axial direction of the first sleeve 150.

So set up, before the art positioning mechanism 100 through setting up guide assembly 170, has reduced the torsional force that first screw-nut 130 received, has avoided appearing smooth silk scheduling problem between first lead screw 120 and the first screw-nut 130 when long-term the use, has guaranteed the cooperation precision of first lead screw 120 with first screw-nut 130 long-term the use, has prolonged the life of before the art positioning mechanism 100.

In order to further reduce the torsional force applied to the first lead screw nut 130, in the present embodiment, there are two guide assemblies 170, the two guide assemblies 170 are symmetrically distributed on the axis of the first sleeve 150, the torsional force applied to the first lead screw nut 130 is further reduced, and at the same time, the moment applied to each guide assembly 170 can be reduced, and the service lives of the first lead screw nut 130 and the guide assemblies 170 are prolonged. It is understood that in other embodiments, there may be one guide assembly 170 regardless of the useful life of the guide assembly 170; the number of the guide assemblies 170 may be three, four or more, regardless of the manufacturing cost and the installation cost, as long as the reduction of the torsion force applied to the first lead screw nut 130 can be achieved.

In this embodiment, the guiding assembly 170 includes a sliding rail 171 and a sliding block 172 capable of sliding along the sliding rail 171, one of the sliding rail 171 and the sliding block 172 is fixed on the inner wall of the first sleeve 150, and the other is fixed on the outer wall of the second sleeve 160. The slide rail 171 and the slider 172 are stably and accurately engaged with each other, and have a simple structure to facilitate machining and installation. It will be appreciated that in other embodiments, other forms of engagement may be used, such as two cooperating slides, etc., as long as the guiding function is achieved.

Preferably, in this embodiment, the sliding rail 171 is fixedly disposed on an inner wall of the first sleeve 150, the sliding block 172 is fixedly disposed on an outer wall of the second sleeve 160 relatively close to an end of the first sleeve 150, so as to increase a distance of relative movement between the first sleeve 150 and the second sleeve 160, the sliding rail 171 is disposed on the inner wall of the first sleeve 150, the sliding block 172 is fixedly disposed on an outer wall of the second sleeve 160, so as to prevent the guiding component 170 from being exposed, the first sleeve 150 and the second sleeve 160 can protect the guiding component 170, and the service life of the guiding component 170 is prolonged. It is understood that in other embodiments, the sliding block 172 may be disposed in the middle of the outer wall of the second sleeve 160, regardless of the relative movement distance between the first sleeve 150 and the second sleeve 160; if the protection of the guide assembly 170 is not considered, the sliding rail 171 may be disposed on the outer wall of the second sleeve 160, and the sliding block 172 may be disposed on the inner wall of the first sleeve 150.

In this embodiment, the sliding groove 1721 is formed in the sliding block 172, and the sliding groove 1721 is in sliding fit with the sliding rail 171, so that the sliding block 172 and the sliding rail 171 can be conveniently mounted and used. It should be understood that in other embodiments, the slide rail 171 may be provided with a slide groove that is engaged with the slider 172, as long as the slide rail 171 can be engaged with the slider 172 to slide.

In order to increase the stability of the sliding rail 171 engaged with the slider 172, in this embodiment, two sides of the sliding rail 171 along the length direction are recessed inwards to form a sliding track 1711, inner walls of two sides of the sliding groove 1721 extend outwards to form a sliding protrusion 1722, and the sliding protrusion 1722 is engaged with the sliding track 1711 and can slide along the sliding track 1711. In this way, the sliding track 1711 and the sliding protrusion 1722 can be matched with each other to prevent the slider 172 from falling off from the sliding rail 171, and the installation between the sliding track 1711 and the sliding protrusion 1722 is simple; the sliding track 1711 is disposed along the length direction of the sliding rail 171, and the overall length is longer, so that the sliding path of the sliding block 172 is longer, and the distance of relative movement between the first sleeve 150 and the second sleeve 160 is further increased.

Further, in order to simplify the installation of the slide rail 171, a slide rail installation groove 151 is formed on the inner wall of the first sleeve 150, and the slide rail 171 is fixedly embedded in the slide rail installation groove 151. During installation, the slide rail installation grooves 151 can play a role in pre-fixing the slide rails 171, so that the time required by installation is greatly reduced, and the installation process is simplified. It is understood that in other embodiments, other means commonly used in the art may be used to mount the sliding rail 171 to the first sleeve 150 without forming the sliding rail mounting groove 151.

Furthermore, in order to increase the stability of the connection between the slide rail 171 and the slide rail mounting groove 151, the groove surface of the slide rail mounting groove 151 is a plane, and the slide rail 171 and the slide rail mounting groove 151 are in plane contact. With the arrangement, the contact area between the slide rail 171 and the slide rail mounting groove 151 can be increased, and the problem that the slide rail 171 shakes when the slide block 172 slides on the slide rail 171 is prevented. It can be understood that the sliding rail 171 and the sliding rail mounting groove 151 may also be in curved surface contact or irregular surface contact, as long as stable contact between the sliding rail 171 and the sliding rail mounting groove 151 can be achieved.

In order to further simplify the installation steps of the slide rail 171 and the first sleeve 150, the first sleeve 150 is provided with a plurality of first installation holes 152, the slide rail 171 is provided with a plurality of second installation holes 1712 corresponding to the first installation holes 152, and the first installation holes 152 and the second installation holes 1712 are used for threaded fasteners (not shown) to penetrate through and fix the first sleeve 150 and the slide rail 171. So set up, simple installation has saved installation time greatly between slide rail 171 and the first sleeve 150 to firm in connection between slide rail 171 and the first sleeve 150, slide rail 171 can bear bigger moment of torsion, and is difficult for droing. It is understood that in other embodiments, the sliding rail 171 may be connected to the first sleeve 150 by other means, such as hinge, welding, etc., as long as the sliding rail 171 can be fixed on the first sleeve 150.

Preferably, the plurality of first mounting holes 152 are uniformly distributed along the axial direction of the first sleeve 150, so as to further improve the reliability of the connection between the sliding rail 171 and the first sleeve 150.

Further, in order to simplify the installation of the slider 172, a slider installation groove 161 is formed in the outer wall of the second sleeve 160, and the slider 172 is fixedly embedded in the slider installation groove 161. During installation, the slider mounting groove 161 can play a role of pre-fixing the slider 172, so that the time required by installation is greatly reduced, and the installation flow is simplified. It is understood that in other embodiments, other means commonly used in the art may be used to mount the slider 172 to the second sleeve 160 without forming the slider mounting slot 161.

Further, in order to increase the stability of the connection between the slider 172 and the slider mounting groove 161, the groove surface of the slider 172 is a flat surface, and the slider 172 is in flat contact with the slider mounting groove 161. So set up, can increase the area of contact between slider 172 and the slider mounting groove 161, slider 172 appears rocking scheduling problem when preventing to appear slider 172 and slide on slide rail 171. It is understood that the slider 172 may be in contact with the slider mounting groove 161 by a curved surface or irregular surface, as long as the slider 172 can be stably contacted with the slider mounting groove 161.

Referring to fig. 2 and 3 again, in order to protect the guiding assembly 170, the preoperative positioning mechanism 100 further includes an end plate 153, the end plate 153 is fixedly disposed at an end of the first sleeve 150 relatively far from the driver 110, a through hole for the second sleeve 160 to extend into is formed on the end plate 153, and the second sleeve 160 can slide relative to the end plate 153. So set up, not only can play the effect of supporting second sleeve 160, can also prevent that impurity such as external solid particle from entering into inside first sleeve 150 or the second sleeve 160, influence the use accuracy of preoperative positioning mechanism 100.

Referring to fig. 5 again, in order to increase the connection stability between the second sleeve 160 and the first lead screw nut 130, in the embodiment, a mounting plate 162 is disposed in the second sleeve 160, and the mounting plate 162 is fixedly connected to the first lead screw nut 130. It is understood that in other embodiments, the second sleeve 160 and the first lead screw nut 130 may be connected by other means such as a connecting rod.

Referring to fig. 5 again, and referring to fig. 8 and 9 together, fig. 8 is a schematic structural diagram of the first lead screw nut 130 at a first angle; fig. 9 is a structural diagram of the first lead screw nut 130 at a second angle. In order to enable the first lead screw nut 130 to be more easily mounted on the mounting plate 162, the first lead screw nut 130 includes a first moving portion 131 and a first mounting portion 132 which are connected to each other, the first moving portion 131 is screwed with the first lead screw 120, and the first mounting portion 132 is fixedly connected to the mounting plate 162; the radial dimension of the first mounting portion 132 is greater than the radial dimension of the first moving portion 131, a first fixing hole 1621 for fixing the first lead screw nut 130 is formed in the mounting plate 162, and the radial dimension of the first fixing hole 1621 is greater than the radial dimension of the first moving portion 131 and smaller than the radial dimension of the first mounting portion 132. So set up, can save greatly that the installation between first screw-nut 130 and the mounting panel 162 is long to the firm degree of connection between first screw-nut 130 and the mounting panel 162 has been increased.

Preferably, in this embodiment, the mounting plate 162 is provided with a third mounting hole (not numbered), the first mounting portion 132 is provided with a second threaded hole (not numbered), and the mounting plate 162 can be fixed to the first mounting portion 132 by a threaded fastener which is inserted into the third mounting hole and is threadedly coupled to the second threaded hole. The first screw rod nut 130 is connected with the mounting plate 162 through the threaded fastener, so that the connection is firm and stable, the mounting is simple and convenient, and the mounting time is saved. It is understood that in other embodiments, the first lead screw nut 130 and the mounting plate 162 can be connected by other common means, such as gluing, welding, snap-fit connection, etc.

To improve the mobility of the preoperative positioning mechanism, it is generally desirable for the first lead screw nut to have a greater travel on the first lead screw. However, in the conventional preoperative positioning mechanism, when the first lead screw nut moves to a side relatively close to the motor, the first lead screw nut is easily and directly collided with the driver, so that the first lead screw nut and the driver are abraded, the precision of the preoperative positioning mechanism may be reduced after long-time use, and a medical accident may occur in a serious case.

Referring to fig. 4, 8 and 9 again, and also referring to fig. 10, fig. 10 is a schematic structural view of the crash pad 180. Based on the above problem, the telescopic arm in the preoperative positioning mechanism 100 of the application further comprises an anti-collision pad 180, the anti-collision pad 180 is sleeved on the first lead screw 120 and is fixedly arranged on the driver 110, the anti-collision pad 180 is positioned between the first lead screw nut 130 and the driver 110, the first lead screw nut 130 can be prevented from directly colliding with the driver 110, the first lead screw nut 130 or the driver 110 is prevented from being worn, the service lives of the first lead screw nut 130 and the driver 110 are prolonged, and the use precision of the preoperative positioning mechanism 100 in long-time service is ensured.

In this embodiment, the crash pad 180 sets firmly in the tip of first motor cabinet 112, so set up, need not to set up other parts that are used for fixed crash pad 180, and first motor cabinet 112 can enough play the effect of installation motor, can also play the effect of fixed crash pad 180.

In this embodiment, the crash pad 180 includes a crash part 181 and a fixing part 182, the crash part 181 is annular, and an inner edge of the crash part 181 protrudes toward the motor and forms the fixing part 182; the anti-collision part 181 is fixedly arranged at the end of the first motor base 112 through the fixing part 182, the fixing mode is simple, and the anti-collision part 181 can play a role in better protecting the first screw nut 130.

It can be understood that the anti-collision portion 181 may be a circular ring, or may be a square ring, an elliptical ring, a rectangular ring, an elliptical ring, or another irregular ring, as long as the anti-collision function can be achieved. In addition, the anti-collision part 181 and the fixing part 182 may be made of the same material or different materials; can be integrally formed or formed in a split way.

In order to further simplify the installation process of the crash pad 180, in the embodiment, an installation aperture (not numbered) is formed between the outer ring fixing base 144 and the first screw 120, and the fixing portion 182 can extend into and be fixed in the installation aperture. So set up, the crash pad 180 need not to be fixed the setting on first lead screw 120 through other fasteners, and the installation is simple, and the follow-up maintenance of being convenient for is changed to be difficult for droing in the use.

In traditional preoperative positioning mechanism, the change of self length is usually realized through the cooperation of first lead screw and first lead screw nut, and through screw-thread fit between first lead screw and the first lead screw nut to realize that first lead screw nut moves back and forth along first lead screw axial direction. However, the conventional preoperative positioning mechanism has difficulty in ensuring that the first lead screw nut cannot be disengaged from the first lead screw when moving, so that the reliability of the preoperative positioning mechanism in working is difficult to ensure.

Referring to fig. 11, fig. 11 is a partially enlarged view of a portion B in fig. 3. In order to solve the above problem, the preoperative positioning mechanism 100 of the present invention further includes a first position limiting member 190, the first position limiting member 190 is fixedly connected to the first lead screw 120 and is located on one side of the first lead screw nut 130 relatively far away from the driver 110; the first limiting member 190 is disposed on a moving path of the first lead screw nut 130, and can prevent the first lead screw nut 130 from coming off from an end of the first lead screw 120 when moving along the first lead screw 120, so as to improve reliability of the preoperative positioning mechanism 100 in service.

In order to maximize the path of the first lead screw nut 130 moving on the first lead screw 120, a first retaining member 190 is fixedly disposed at an end of the first lead screw nut 130 relatively far from the driver 110.

In order to simplify the installation steps of the first position-limiting member 190, the first position-limiting member 190 is provided with a third installation hole 191, the end portion of the first screw rod 120 relatively far away from the driving motor is provided with a first threaded hole 121, and the first position-limiting member 190 can be fixed to the first screw rod 120 through a threaded fastener which penetrates through the third installation hole 191 and is in threaded connection with the first threaded hole 121. It can be understood that the first position-limiting member 190 can also be mounted on the first lead screw 120 by other methods such as adhesive bonding and snap-fit connection, as long as it can perform the position-limiting function.

In order to increase the mounting stability of the first position-limiting member 190, the first screw nut 130 includes a first moving portion 131 and a first position-limiting portion 133 connected to the first moving portion 131, the first moving portion 131 is connected to the first screw 120 by a screw, the first position-limiting portion 133 is provided with an accommodating groove 1331, and the accommodating groove 1331 can accommodate the first position-limiting member 190.

It should be noted that the threaded connection in this application is not only a common threaded connection, but also a threaded connection between the first lead screw 120 and the first lead screw nut 130.

With the orientation shown in fig. 3, the mounting process of the preoperative positioning mechanism 100 of the present invention is: firstly, a first screw nut 130 is installed on a first screw 120 (or the installed first screw 120 and the first screw nut 130 are directly purchased), a first screw bearing 142 is installed on the first screw 120, then an outer ring fixing seat 144 is installed at one end of a first motor base 112, an anti-collision pad 180 is installed outside the outer ring fixing seat 144, the first screw 120 extends into the first motor base 112 from bottom to top, an inner ring fixing seat 143 is movably sleeved with the first screw 120 upwards and downwards and is screwed, a coupler 141 is installed, and a motor output shaft and the first screw 120 are pre-fixed through the coupler 141; mounting the slide rail 171 on the inner wall of the first sleeve 150, mounting the slider 172 on the outer wall of the second sleeve 160, and mounting the slider 172 on the slide rail 171; the installation tool is inserted from the lower part of the second sleeve 160, the first lead screw nut 130 is installed on the installation plate 162 of the second sleeve 160, the first limit piece 190 is installed, and finally the fastening nut of the coupling 141 is screwed, so that the output shaft of the motor is coaxially and fixedly connected with the first lead screw 120.

At present, a telecentric control mechanism in the DaVinci surgical robot usually adopts a serial mechanism to execute surgical operation, the serial mechanism is characterized in that the telecentric control mechanism is long, and a plurality of mechanical arms sometimes interfere and collide in the surgery, which can influence the normal operation of the surgery. In addition, the serial arrangement can cause errors and response time of each mechanical structure to be accumulated in sequence, and finally, the errors in the movement of the actuating mechanism are large, so that the risk of surgical operation is increased.

Referring also to fig. 12, fig. 12 is a schematic structural view of the second sleeve 160 and the telecentric mechanism 200. In order to solve the above problem, the utility model provides a telecentric control mechanism 200 includes static platform 210, moving platform 220 and a plurality of telescopic units 230 arranged between static platform 210 and moving platform 220, one side of static platform 210 relatively far away from moving platform 220 is fixedly connected to the preoperative positioning assembly, one side of moving platform 220 relatively far away from static platform 210 is fixedly connected to the executive component, both ends of each telescopic unit 230 are respectively rotatably connected to static platform 210 and moving platform 220; the cooperative extension and retraction among the plurality of extension units 230 can control the brake platform 220 to move relative to the static platform 210 and drive the execution assembly to extend and retract and swing, so that the swing center of the execution assembly is a telecentric motionless point, and the extension path of the execution assembly passes through the telecentric motionless point.

The stationary platform 210 is substantially cylindrical or truncated cone-shaped, one side of the stationary platform 210 is used for connecting the preoperative positioning mechanism 100, and the other side of the stationary platform 210 is used for connecting the telescopic unit 230; the static platform 210 is provided with a plurality of mounting grooves 211 for mounting the rotating connecting assembly 240 on a side thereof relatively close to the telescopic unit 230, and can accommodate a portion of the rotating connecting assembly 240, so as to reduce the overall size of the surgical robot. In order to reduce the volume of the stationary platform 210 and the telescopic unit 230 after installation, in the present embodiment, the end of the second sleeve 160 takes into account the function of the stationary platform 210 for rotationally connecting with the telescopic unit 230. It is understood that in other embodiments, a static platform 210 for mounting the telescopic unit 230 may be provided.

The movable platform 220 is substantially cylindrical or circular truncated cone-shaped, one side of the movable platform 220 is used for connecting the telescopic unit 230, and the other side is used for connecting the actuating mechanism 300; one side of the movable platform 220, which is relatively close to the telescopic unit 230, is provided with a plurality of mounting grooves 211 for mounting the rotating connection assembly 240, and can accommodate part of the rotating connection assembly 240, so as to reduce the overall size of the surgical robot.

One end of each telescopic unit 230 is rotatably connected to the static platform 210, the other end of each telescopic unit 230 is rotatably connected to the movable platform 220, each telescopic unit 230 comprises a driving part 231 capable of being independently driven, and each telescopic unit 230 is matched with the telescopic structure to change the relative position relationship between the movable platform 220 and the static platform 210, so that the rotation, swing, deflection and other movements of the movable platform 220 are realized.

With such an arrangement, the plurality of telescopic units 230 in the telecentric control assembly are arranged in parallel rather than in series, and errors of the plurality of telescopic units 230 cannot be accumulated and transmitted, and can be offset. In addition, because each telescopic unit 230 is driven independently, the response time of the telescopic units 230 is not transmitted cumulatively, and thus, the displacement error in the operation can be reduced and the response time can be shortened by implementing the precise control of the executive component through the telecentric operation component. On the other hand, due to the improvement of the telecentric control assembly on the control precision of the executive assembly, under the condition of the same precision as that of the traditional DaVinci surgical robot, the load which can be borne by the executive assembly is larger, and therefore more complex operations can be completed.

In order to improve the motion stability of the telecentric manipulating mechanism 200, the number of the telescopic units 230 is six, and the rotating connection points between the telescopic units 230 and the movable platform 220 are arranged at intervals; and the rotation connection points between the telescopic unit 230 and the static platform 210 are also arranged at intervals. With such an arrangement, the arrangement mode of the spaced rotary connection points reduces the vibration interference between the telescopic units 230, and can further improve the motion stability of the telecentric control mechanism 200.

In order to improve the motion stability of the telecentric control mechanism 200, the telescopic unit 230 and the rotating connection points of the movable platform 220 are paired in pairs in a nearby manner, a first included angle is correspondingly formed between the two rotating connection points of each group in the same pair and the center of the movable platform 220, and the first included angles are equal in size; the rotating connection points between the telescopic unit 230 and the stationary platform 210 are paired in pairs in a nearby manner, a second included angle is correspondingly formed between the two rotating connection points of each group of same pairs and the center of the stationary platform 210, and the second included angles are equal in size. With such an arrangement, the rotation connection points of the telescopic units 230 on the movable platform 220 and the static platform 210 are arranged in a pairwise matching combination manner, so that the motion stability of the telecentric control mechanism 200 is improved, and the kinematic analysis is conveniently realized.

In order to improve the stability of the telecentric operating mechanism 200, a plurality of rotation connection points between each telescopic unit 230 and the movable platform 220 are arranged in a same circle, and the rotation connection points between each telescopic unit 230 and the static platform 210 are arranged in a same circle; the diameter of the circle defined by the rotation connection points on the movable platform 220 is larger than the diameter of the circle defined by the rotation connection points on the stationary platform 210. With such an arrangement, the movable platform 220 has a small vibration in the process of moving relative to the stationary platform 210, and the total amount of errors between the telescopic units 230 can be compensated with each other, so that the stability of the telecentric operating mechanism 200 is improved.

It is understood that the cross-section of the static platform 210 and the moving platform 220 along the radial direction may be circular, polygonal, or other irregular shapes, as long as the plurality of rotation connection points of each telescopic unit 230 are arranged on the static platform 210 and the moving platform 220 in a common circle.

Referring to fig. 13 and 14, fig. 13 is a schematic structural view of the second sleeve 160 at another angle; fig. 14 is a structural schematic of the movable platform 220. In order to further improve the integration level of the telecentric control mechanism 200 and reduce the number of parts in the surgical robot, in the embodiment, the mounting slot 211 penetrates through the outer peripheral wall of the static platform 210/the movable platform 220, so as to prevent the inner wall of the mounting slot 211 from obstructing the rotation of the middle second shaft 242 of the rotation connection assembly 240; the junction of the inner wall of the mounting groove 211 and the outer peripheral wall of the static platform 210/the movable platform 220 is provided with a chamfer to prevent the junction from being too sharp to scratch an operator, and prevent the junction from damaging elements such as the first retainer ring 2461, the shaft sleeve 243 or the second bearing 245 in the rotating connection assembly 240.

In order to make the telecentric control mechanism 200 lighter, a lightening slot 212 or lightening holes (not shown) are further formed on one side of the static platform 210/the movable platform 220, which is relatively close to the telescopic unit 230, so that the weight of the static platform 210/the movable platform 220 is lightened, and the precision of the surgical robot is improved.

In the rotating connection assembly disclosed in the conventional art, a ball hinge or a hooke hinge is generally used to connect the telescopic unit and the movable platform, so as to achieve flexible movement of the movable platform. However, the ball hinge and the hooke hinge have a large amount of wear on the shaft structure after long-term use, and it is difficult to meet the accuracy requirement of the surgical robot during long-term use. Since the ball hinge and the hooke hinge are both rotating connection assemblies used in a large amount in the mechanical field, those skilled in the art generally only procures and uses them, and it is difficult to think of improving the hinges.

Referring to fig. 15 and 19 together, fig. 15 is a schematic structural view of the rotating connecting member 240; FIG. 16 is a cross-sectional view of the rotating link assembly 240; fig. 17 is a schematic structural view of the boss 243; FIG. 18 is a schematic view of the mounting of the rotating link assembly 240 to the stationary platform 210; fig. 19 is a schematic view of the installation of the rotating connecting assembly 240 and the movable platform 220.

In order to solve the above problem, the rotating connection assembly 240 of the present invention includes a first shaft 241, a second shaft 242, a shaft sleeve 243 and two first bearings 244 for realizing the rotating connection of some components of the surgical robot. In this embodiment, the rotating connection assembly 240 is used for rotatably connecting the telescopic unit 230 with the movable platform 220 and the stationary platform 210. It is understood that in other embodiments, the rotational connection assembly 240 may also be applied to rotational connections at other locations of a surgical robot.

The first shaft 241 is substantially cylindrical and is fixedly arranged on the movable platform 220 or the static platform 210, the shaft sleeve 243 is penetrated by the first shaft 241, and the shaft sleeve 243 can rotate relative to the first shaft 241; the first shaft 241 is substantially perpendicular to the second shaft 242, and the second shaft 242 can rotate relative to the first shaft 241 under the driving of the shaft sleeve 243.

The second shaft 242 includes a first pin 2421 and a second pin 2422 both having a substantially cylindrical shape, and the first pin 2421 and the second pin 2422 are coaxially disposed; one end of the first pin 2421 and one end of the second pin 2422 are respectively fixed on the shaft sleeve 243 and can rotate relative to the first shaft 241 along with the shaft sleeve 243; the other ends of the first pin 2421 and the second pin 2422 are used for the first bearing 244 to be sleeved. One ends of the first pin 2421 and the second pin 2422, which are relatively far away from the shaft sleeve 243, extend outward in the radial direction and form a limiting block 2423, and the limiting block 2423 is used for preventing the first bearing 244 from falling off the first pin 2421 or the second pin 2422.

It is understood that in other embodiments, the end portions of the first pin 2421 and the second pin 2422 may not be provided with the stop block 2423, and the first bearing 244 may be fixed to the first pin 2421 or the second pin 2422 by other means, such as an interference connection, etc.

The shaft sleeve 243 is provided therein with a through hole 2431, a first pin shaft mounting hole 2432 and a second pin shaft mounting hole 2433, the through hole 2431 extends along the axis of the shaft sleeve 243 and penetrates through two ends of the shaft sleeve 243 for the first shaft 241 to penetrate through, and the shaft sleeve 243 can rotate relative to the first shaft 241. The first pin shaft mounting hole 2432 and the second pin shaft mounting hole 2433 are respectively located at two sides of the shaft sleeve 243, the first pin shaft mounting hole 2432 and the second pin shaft mounting hole 2433 are coaxially arranged and perpendicular to the axis of the through hole 2431, the first pin shaft 2421 is fixedly arranged in the first pin shaft mounting hole 2432, the second pin shaft 2422 is fixedly arranged in the second pin shaft mounting hole 2433, and the first pin shaft 2421 and the second pin shaft 2422 can rotate along with the shaft sleeve 243.

The two first bearings 244 respectively correspond to the first pin 2421 and the second pin 2422, and the first bearings 244 are respectively sleeved on ends of the first pin 2421 and the second pin 2422 departing from the shaft sleeve 243. The outer race of the first bearing 244 is connected to a connection sleeve 248 or a driving member supporter 250 in the surgical robot and enables the external member to rotate with respect to the first and

second pin shafts

2421 and 2422.

Optionally, in this embodiment, the rotating connecting assembly 240 further includes two second bearings 245, and the bushing 243 is rotatably connected to the first shaft 241 through the second bearings 245.

Specifically, the two second bearings 245 are respectively sleeved on the first shaft 241, and an inner ring of each second bearing 245 is fixedly connected to the first shaft 241 and an outer ring of each second bearing 245 is fixedly connected to the shaft sleeve 243, so that the shaft sleeve 243 can rotate relative to the first shaft 241. Since the first bearing 244 has a supporting function, the diameter of the through hole 2431 may be slightly larger than that of the first shaft 241, and the shaft sleeve 243 may be prevented from contacting and rubbing the first shaft 241 when rotating with respect to the first shaft 241, so that not only the wear of the first shaft 241 may be reduced, but also the smoothness of the shaft sleeve 243 during rotation may be increased.

Further, in order to facilitate the installation and fixation of the second bearings 245, the two ends of the shaft sleeve 243 are both provided with second bearing grooves 2434, and the two second bearings 245 are respectively arranged in the second bearing grooves 2434 and are sleeved with the first shaft 241; the inner ring of the second bearing 245 is sleeved with the first shaft 241, and the outer ring is connected to the inner wall of the second bearing groove 2434 and in surface contact with the inner wall of the second bearing groove 2434, so that the contact area between the shaft sleeve 243 and the second bearing 245 is large, and the stability of the shaft sleeve 243 during rotation is improved.

Preferably, in order to avoid friction generated by contact between the inner ring of the second bearing 245 and the sleeve 243 when the outer ring of the second bearing 245 rotates, the second bearing groove 2434 is stepped, the outer ring of the second bearing 245 abuts against the second bearing groove 2434, and the inner ring of the second bearing 245 is suspended in the second bearing groove 2434, so that the inner ring of the second bearing 245 is prevented from being worn by the sleeve 243 when the sleeve 243 rotates, and the service life of the second bearing 245 is prolonged.

In this embodiment, the second bearing 245 is pressed against the wall surface of the second bearing groove 2434 by the inner wall of the mounting groove 211 on the movable platform 220 or the stationary platform 210 in the surgical robot, so as to fix the second bearing 245. The arrangement can be matched with the movable platform 220 or the static platform 210 in the surgical robot, so that the integration performance of the whole surgical robot is better, and the surgical robot is convenient to develop towards miniaturization.

In order to further reduce the wear of the second bearing 245, the rotating connection assembly 240 further includes two first retaining rings 2461, and the first retaining rings 2461 are respectively sleeved on the first pin 2421 and the second pin 2422 and respectively located between the second bearing 245 and the inner wall of the mounting groove 211; the first retainer ring 2461 is connected to the side wall of the inner ring of the second bearing 245, so that the inner ring of the second bearing 245 can be prevented from being directly contacted with the inner wall of the mounting groove 211 to cause abrasion of the inner ring of the second bearing 245, and the function of fastening the inner ring of the second bearing 245 can be achieved; on the other hand, the first retainer ring 2461 does not contact the outer ring of the second bearing 245, and the first retainer ring 2461 prevents the outer ring of the second bearing 245 from being worn by the first retainer ring 2461 when the outer ring of the second bearing 245 rotates, thereby shortening the service life of the second bearing 245. The first retainer ring 2461 may be circular, square, oval, trapezoid, polygon, or other irregular shapes, as long as it can be matched with the inner walls of the second bearing 245 and the mounting groove 211 to protect the second bearing 245.

It should be understood that in other embodiments, the second bearing 245 may be fixed by other means such as interference connection between the inner ring of the second bearing 245 and the first shaft 241, and the second bearing 245 may be fixed by other external elements as long as the inner ring of the second bearing 245 is fixed to the first shaft 241 and the outer ring is fixed to the sleeve 243, which are not listed here.

In order to make the overall structure more compact after the static platform 210/moving platform 220 and the rotating connecting assembly 240 are installed, in this embodiment, two opposite inner wall surfaces of the installation groove 211 can press the second bearing 245 into the second bearing groove 2434 of the shaft sleeve 243 through the first retainer ring 2461, so as to fix the inner ring of the second bearing 245, and there is no need to additionally provide other elements for fixing the inner ring of the second bearing 245, thereby reducing the number of parts in the surgical robot and making the integrity of the whole surgical robot higher.

Optionally, in this embodiment, in order to further reduce the overall size of the rotation connection assembly 240, the outer surface of the bushing 243 is inwardly contracted and forms a first receding portion 2435 relatively close to the first bearing 244, so as to reduce the linear distance between the two first bearings 244, thereby further reducing the size of the entire rotation connection assembly 240 and facilitating the development of miniaturization of the surgical robot. It is understood that the first relief portion 2435 may be integrally formed with the shaft sleeve 243, or may be formed by cutting in a subsequent step.

Further, the distance between the axis of the shaft sleeve 243 and the first yielding portion 2435 is smaller than the radius of the shaft sleeve 243, so that the mechanical strength of the shaft sleeve 243 can be ensured, and the yielding effect can be achieved.

Preferably, the first yielding part 2435 is a plane, so that the processing and forming are facilitated, and the manufacturing cost is reduced; the first receding part 2435 is parallel to the rotation plane of the first bearing 244, which can play a role in positioning and is convenient for the installation of the shaft sleeve 243; the contact area between the first receding portion 2435 and the connecting sleeve 248 or the driving member bracket 250 can be increased, so that the fit between the shaft sleeve 243 and the connecting sleeve 248 or the driving member bracket 250 is more stable.

It should be noted that the rotation plane of the first bearing 244 refers to a plane perpendicular to the rotation axis of the first bearing 244. It is understood that the first yielding portion 2435 may have other shapes such as a concave curved surface as long as the yielding function is achieved.

In order to further reduce the wear of the first bearing 244, the rotating connecting assembly 240 further includes two second retaining rings 2462, and the two second retaining rings 2462 are respectively sleeved on the first shaft 241 and located between the first bearing 244 and the first receding portion 2435, so as to prevent the first bearing 244 and the first receding portion 2435 from contacting and wearing each other. The second retainer ring 2462 is connected to a side wall of the inner ring of the first bearing 244, and can prevent the inner ring of the first bearing 244 from directly contacting the first relief portion 2435 to cause abrasion of the inner ring of the first bearing 244; on the other hand, the second retainer 2462 does not contact the outer race of the first bearing 244, and the second retainer 2462 prevents the outer race of the first bearing 244 from being worn by the second retainer 2462 during rotation of the outer race of the first bearing 244, thereby shortening the service life of the first bearing 244. The second retainer 2462 may be circular, square, oval, trapezoidal, polygonal, or other irregular shapes as long as it can be matched with the first bearing 244 and the first receding portion 2435 to protect the first bearing 244.

Optionally, in this embodiment, in order to simplify the step of connecting the rotating connection assembly 240 to the movable platform 220 or the stationary platform 210, the rotating connection assembly 240 further includes a fixed connection member 247, a second fixed hole 2411 is formed in an end portion of the first shaft 241 along a radial direction of the first shaft 241, the fixed connection member 247 is inserted through the second fixed hole 2411 and the rotating connection assembly 240 is installed to the stationary platform 210 or the movable platform 220 of the surgical robot.

Preferably, the two end portions of the first shaft 241 are respectively provided with two second fixing holes 2411, the two fixing connecting members 247 are respectively provided with two second fixing holes 2411, and the rotating connecting assembly 240 is mounted on the movable platform 220 or the stationary platform 210.

Optionally, in this embodiment, in order to make the overall structure of the surgical robot more compact, the first shaft 241 is radially contracted and forms a second yield 2412, and the second yield 2412 is used to provide a yield space for the stationary platform 210 or the movable platform 220, so as to facilitate the surgical robot to further develop towards miniaturization.

Preferably, the second relief portion 2412 is planar and perpendicular to the axis of the second fixing hole 2411. Due to the arrangement, on one hand, the processing and the forming are convenient; on the other hand, the contact area between the second receding portion 2412 and the stationary platform 210 or the movable platform 220 can be increased, so that the first shaft 241 can be more firmly and fixedly mounted on the movable platform 220 or the stationary platform 210; in addition, an avoidance space can be provided for the movable platform 220 or the static platform 210 to a greater extent, so that the overall structure of the surgical robot is more compact. It is understood that, in other embodiments, the second yielding portion 2412 may have other shapes such as a concave curved surface, as long as it can perform the yielding function.

The plurality of telescopic units 230 are all arranged between the static platform 210 and the movable platform 220, one end of each telescopic unit is rotatably connected to the static platform 210, the other end of each telescopic unit is rotatably connected to the movable platform 220, and the telescopic matching among the plurality of telescopic units 230 can control the movable platform 220 to move relative to the static platform 210. At least one end of the telescopic unit 230 is connected to the movable platform 220 or the stationary platform 210 through a rotating connection assembly 240, in this embodiment, one end of the telescopic unit 230 is connected to the movable platform 220 through the rotating connection assembly 240, and the other end of the telescopic unit 230 may be connected to the stationary platform 210 through the rotating connection assembly 240, or may be connected to the stationary platform 210 in another manner; it is understood that in other embodiments, the telescoping unit 230 may employ the rotating link assembly 240 at only one end connected to the stationary platform 210, so long as the telecentric manipulating mechanism 200 has sufficient degrees of freedom.

Referring to fig. 20 and 21, fig. 20 is a schematic structural view of the rotating connecting assembly 240 including the connecting sleeve 248; fig. 21 is a schematic structural view of the connecting sleeve 248. In order to make the occupied space of the rotating connection assembly 240 and the telescopic unit 230 smaller after being installed, in this embodiment, the rotating connection assembly 240 further includes a connection sleeve 248, the connection sleeve 248 includes a first connection portion 2481 and a second connection portion 2482 which are oppositely arranged, the first connection portion 2481 is in a shape of Chinese character 'ao', two first bearing grooves 24811 for installing the first bearings 244 are respectively opened on two side walls, inner rings of the two first bearings 244 are respectively and fixedly connected to the first pin 2421 and the second pin 2422, and outer rings are respectively and fixedly connected to inner walls of the two first bearing grooves 24811; the second connection portion 2482 is used to connect the telescopic unit 230. With such an arrangement, the connection sleeve 248 can play both a role of connecting the telescopic unit 230 and a role of mounting the first bearing 244, and can rotate relative to the first shaft 241, so that the integration between the rotating connection assembly 240 and the telescopic unit 230 is better, and the structure is more compact.

Preferably, the first bearing groove 24811 is stepped, the outer ring of the first bearing 244 abuts against the first bearing groove 24811, and the inner ring of the first bearing 244 is suspended in the first bearing groove 24811, so that the inner ring of the first bearing 244 can be prevented from being worn, and the service life of the first bearing 244 can be prolonged.

In the present embodiment, only the rotating connecting assembly 240 connected to the movable platform 220 is provided with the connecting sleeve 248, but it should be understood that in other embodiments, the rotating connecting assembly 240 connected to the stationary platform 210 may be provided with the connecting sleeve 248 as long as it can perform a connecting function.

In order to further simplify the installation steps of the rotating connection assembly 240 and the telescopic unit 230, the second connection portion 2482 is formed by extending the third receding portion 2483 in a direction away from the first connection portion 2481, and can be inserted into and fixed at an end portion of the telescopic unit 230 relatively close to one end of the rotating connection assembly 240, so that the installation is simple, and the insertion installation mode does not increase the overall volume of the surgical robot.

In order to ensure the stability of the rotation connection assembly 240 and the telescopic unit 230 after installation, the periphery of the second connection portion 2482 is provided with an abutting surface (not numbered), the second connection portion 2482 is in surface contact with the telescopic assembly through the abutting surface, the contact area between the second connection portion 2482 and the telescopic assembly is increased, the problems of shaking and the like at the connection position of the rotation connection assembly 240 and the telescopic unit in the service process of the surgical robot are prevented, and the stability after connection is improved.

Because the movable platform 220 is driven by the telescopic unit 230 to have a large displacement, in order to prevent a position conflict between the connecting sleeve 248 and the movable platform 220 in the movement process, a third abdicating part 2483 is further arranged between the first connecting part 2481 and the second connecting part 2482 of the connecting sleeve 248, the third abdicating part 2483 is used for providing an avoidance space for the rotation of the first connecting part 2481, the rotation angle of the connecting sleeve 248 relative to the first shaft 241 can be increased, and the position conflict between the rotating connecting assembly 240 and another rotating connecting assembly 240 or the movable platform 220 is prevented.

Because the connecting sleeve 248 has a higher possibility of colliding with another rotating connecting assembly 240 or the moving platform 220 in the direction along the rotating circumferential direction of the first connecting portion 2481, in order to make the third abdicating portion 2483 have a better abdicating effect, both sides of the third abdicating portion 2483 are contracted relative to the first connecting portion 2481 along the rotating circumferential direction of the first connecting portion 2481 to form abdicating concave portions, so that the rotating angle of the connecting sleeve 248 relative to the sleeve 243 can be further increased, and the rotating connecting assembly 240 is further prevented from colliding with another rotating connecting assembly 240 or the moving platform 220 when rotating relative to the moving platform 220.

It should be noted that the circumferential direction of the first connection portion 2481 refers to a direction in which the first connection portion 2481 rotates under the driving of the outer ring of the first bearing 244 in the rotation connection assembly 240.

Preferably, the receding concave part is in a concave arc shape, so that the receding concave part is convenient to machine and form, has no sharp part, and prevents damage to users or other parts.

The conventional surgical robot has a redundant size due to a large space required for installation or operation of the telescopic unit. Referring to fig. 22 and 24, fig. 22 is a schematic structural diagram of the telescopic unit 230; fig. 23 is a sectional view of the telescopic unit 230, and fig. 24 is an installation view of the telescopic unit 230 and the rotation connection assembly 240. In one embodiment of the present invention, the telescopic unit 230 includes a driving member 231, a second lead screw 232 and a push rod assembly 233; the second lead screw 232 is connected to an output shaft (not numbered) of the driving member 231 and can rotate along with the rotation of the output shaft; the push rod assembly 233 is connected to the second lead screw 232 and can move along the axial direction of the second lead screw 232 under the rotation of the second lead screw 232, the push rod assembly 233 is provided with a stroke chamber 2331, the second lead screw 232 extends into the stroke chamber 2331, and the stroke chamber 2331 provides a stroke for the movement of the push rod assembly 233 relative to the second lead screw 232.

The utility model provides a surgical robot telescopic unit 230 sets up stroke chamber 2331 in push rod assembly 233 to provide the stroke that push rod assembly 233 removed for second lead screw 232 through stroke chamber 2331. When the surgical robot telescopic unit 230 is installed, the push rod assembly 233 only needs to extend into the stroke chamber 2331 to be connected with the second lead screw 232, and the operation space required by installation is small; and set up stroke chamber 2331 in the push rod assembly 233, push rod assembly 233 can stretch out and draw back and slide along the axial of second lead screw 232 in stroke chamber 2331, when reducing the required space of stretching out and drawing back and sliding of push rod assembly 233, still has longer stroke distance, has solved the problem that the required space is big during telescopic unit installation and operation among the prior art.

Preferably, the second screw 232 is a ball screw, which has a small friction coefficient, high transmission precision and efficiency, and self-locking performance.

In the embodiment, the push rod assembly 233 is a hollow cylinder, the push rod assembly 233 is sleeved and fixedly connected to the second connecting portion 2482, and an inner wall surface of the second sleeve 160 is in surface contact with the second connecting portion 2482. By the arrangement, the abutting area between the second sleeve 160 and the second connecting portion 2482 can be increased, and the situation that the operating precision is affected by shaking generated between the push rod assembly 233 and the rotating connecting assembly 240 in the using process of the telecentric control mechanism 200 is prevented.

In order to reduce the processing cost, in the embodiment, the push rod assembly 233 includes a second screw nut 2332 and a push rod 2333, the push rod 2333 is fixedly connected to the second screw nut 2332, and the second screw nut 2332 is in threaded fit with the second screw 232.

In order to ensure the connection stability between the push rod 2333 and the second lead screw nut 2332, in this embodiment, the second lead screw nut 2332 includes a second moving portion 23321 and a second mounting portion 23322 connected to each other, the second moving portion 23321 is in threaded fit with the second lead screw 232, and the push rod 2333 is sleeved and fixedly connected to the second mounting portion 23322.

In order to save the mounting time between the push rod 2333 and the second screw nut 2332 and further increase the stability of the connection of the two, the outer diameter of the second mounting portion 23322 is smaller than that of the second moving portion 23321.

Specifically, in the present embodiment, the second mounting portion 23322 is threadedly coupled to the push rod 2333. It is understood that in other embodiments, the second mounting portion 23322 and the push rod 2333 may be fixed by gluing, welding, or the like.

In order to fix the second limiting member 236 in the telescopic unit 230, in the present embodiment, the outer diameter of the push rod 2333 is equivalent to the outer diameter of the second moving portion 23321, so that the second limiting member 236 can be fixed when the push rod 2333 is connected to the second moving portion 23321, which is fast and convenient. It is understood that in other embodiments, the outer diameter of the second moving portion 23321 may be larger or smaller than the outer diameter of the push rod 2333 as long as the screw-fit movement between the second moving portion 23321 and the second screw rod 232 can be realized.

In order to save the mounting time between the second mounting portion 23322 and the push rod 2333, a guide surface (not numbered) is provided at one end of the second mounting portion 23322 away from the second moving portion 23321; and/or, a guide surface (not numbered) is provided at an end of the push rod 2333 relatively close to the second lead screw nut 2332.

In order to increase the connection strength between the push rod 2333 and the second mounting portion 23322, the push rod 2333 is screwed and glued to the second mounting portion 23322, which can further increase the connection strength between the two, preventing the second mounting portion 23322 and the push rod 2333 from loosening when the second lead screw nut 2332 is rotated on the second lead screw 232. It is understood that in other embodiments, the push rod 2333 and the second mounting portion 23322 may also be connected in an interference fit.

In order to simplify the installation process, in the present embodiment, the second lead screw nut 2332 is integrally formed with the push rod 2333, and the connection reliability of the second lead screw nut 2332 and the push rod 2333 is high.

In order to increase the stroke distance between the push rod 2333 and the second lead screw 232 and increase the integration degree between the telescopic unit 230 and the rotation connection assembly 240, in the present embodiment, the stroke chamber 2331 penetrates both end portions of the push rod 2333. With such an arrangement, the stroke distance between the push rod 2333 and the second screw rod 232 can be maximized, and the stroke chamber 2331 formed between the push rod 2333 can be sleeved and fixed, so that the integration level between the telescopic unit 230 and the rotating connection assembly 240 is increased. It is understood that in other embodiments, the end of the push rod 2333 relatively far from the second lead screw nut 2332 may be a solid structure, and the push rod 2333 may be connected to the rotating connection assembly 240 in other manners.

It is understood that the push rod assembly 233 may also be an integral cylindrical structure with internal threads for engaging with the lead screw for simplifying the installation process. With this arrangement, the mounting process can be simplified, and the accuracy error generated when the telescopic unit 230 is mechanically moved can be reduced.

In order to protect the internal structure of the telescopic unit 230, the telescopic unit 230 further includes an outer sleeve 234, the outer sleeve 234 is sleeved on the second lead screw 232 and is fixedly connected to the driving member 231, and one end of the push rod assembly 233 extends out of the outer sleeve 234. With the arrangement, the internal structure of the telescopic unit 230 can be protected, the linear bearing 235 can be fixed, and the precision of the push rod assembly 233 during telescopic sliding is increased.

In order to further increase the precision of the push rod assembly 233 during the sliding and extending process, the telescopic unit 230 further includes a linear bearing 235, the linear bearing 235 is fixed in the outer sleeve 234 and sleeved on the push rod assembly 233, and the second lead screw 232 assembly is axially slidably engaged with the linear bearing 235.

Specifically, the inner ring of the linear bearing 235 is used for supporting the push rod assembly 233, and the outer ring of the linear bearing 235 abuts against the inner wall of the outer sleeve 234, so that the precision of the push rod assembly 233 during telescopic sliding along the screw rod is increased.

It will be appreciated that when the precision of the movement of the push rod assembly 233 is not critical, the push rod assembly 233 may also be provided with only the outer sleeve 234 and no linear bearing 235.

In order to prevent the linear bearing 235 from being separated from the outer sleeve 234, in the embodiment, the linear bearing 235 and the outer sleeve 234 are fixed by gluing, and when the push rod assembly 233 telescopically slides along the second lead screw 232, the linear bearing 235 cannot be separated from the outer sleeve 234, so that the movement precision of the push rod assembly 233 can be ensured.

It will be appreciated that in other embodiments, the telescopic unit 230 further comprises a slip-preventing member (not numbered) disposed between the linear bearing 235 and the outer sleeve 234.

In order to prevent the second lead screw nut 2332 from coming off the second lead screw 232, the telescopic unit 230 further includes a second limiting member 236, the second limiting member 236 protrudes out of the outer circumference of the push rod assembly 233, and the size of the outer circumference of the second limiting member 236 is greater than the size of the inner diameter of the linear bearing 235.

In the present embodiment, the second limiting member 236 is a circular ring, and it is understood that in other embodiments, the second limiting member 236 may also be a bump or other shape as long as it can perform the limiting function.

In the present embodiment, in order to facilitate the installation of the second limiting member 236, the second limiting member 236 is disposed between the second lead screw nut 2332 and the push rod 2333, and there is no need to provide any other structure for installing the second limiting member 236. It is understood that in other embodiments, the second limiting member 236 may be additionally disposed without considering the integrity of the telescopic unit 230.

In the telescopic unit disclosed in the conventional art, the driving member bracket is generally only used for mounting the driving member, and a rotating connection assembly is required to be additionally arranged between the driving member bracket and the stationary platform so as to ensure that the telescopic unit and the stationary platform have sufficient degree of freedom. The traditional driving piece bracket and the static platform have loose structure, complex installation steps and low integration level, and are not beneficial to the development of the surgical robot towards integration.

To solve the above problem, please refer to fig. 25 and 26 together, fig. 25 is a schematic installation diagram of the rotation connection assembly 240 and the driving member bracket 250; fig. 26 is a schematic view of the installation of the driving member 231 and the driving member holder 250. The telecentric control mechanism 200 in this embodiment further includes a driving member bracket 250, which includes a rotation connection portion 251 and a driving member installation portion 252, the rotation connection portion 251 can be rotatably connected to the static platform 210 of the surgical robot, and an inner cavity (not numbered) for accommodating the driving member 231 is opened inside the driving member installation portion 252; the rotation connecting portion 251 is integrally formed with the mounting portion. So set up, driving piece support 250 can enough play the effect of installation driving piece 231, again can with rotate to be connected in quiet platform 210 to simplify the installation step of telecentric control mechanism 200, be favorable to surgical robot to the development towards wholeization, integrate.

In the present embodiment, a through hole (not numbered) for extending the output shaft of the driving member 231 is opened at an end of the driving member mounting portion 252 away from the rotation connecting portion 251. It is understood that in other embodiments, the through hole may be opened at a side portion of the rotation connection portion 251, which is not limited herein.

Since the driving member 231 has an output shaft (not numbered), the inner cavity includes a receiving cavity 2521 and an operating cavity 2522 that are communicated with each other, the receiving cavity 2521 is used for receiving the driving member 231, and the operating cavity 2522 is used for providing an operating space when the driving member 231 is installed, so as to facilitate the installation of the driving member 231.

To further facilitate mounting of actuator 231 and minimize the volume of actuator holder 250, an operating cavity 2522 is located at an end of the interior cavity relatively close to rotational connection 251. It is understood that the operation cavity 2522 may be disposed at other positions of the inner cavity regardless of the volume of the driving member holder 250, and is not limited thereto.

To further facilitate installation of the driving member 231, in this embodiment, the inner cavity extends entirely through at least one side of the driving member bracket 250, which facilitates the placement of the driving member 231 in the inner cavity by the worker, and saves the time required for installation of the driving member 231. It should be noted that the lumen extends entirely through at least one side of the driver support 250, meaning that the lumen defines an opening on one side of the driver support 250 that is approximately the same size as the lumen along a cross-sectional shape parallel to that side. It will be appreciated that the lumen may extend entirely through only one side of actuator support 250, or may extend through opposing sides of actuator support 250, thereby facilitating easier installation of actuator 231.

Preferably, one side of the driving member bracket 250 is provided with a first opening 253, and the first opening 253 is recessed inwards to form an inner cavity; the first opening 253 is located on a side of the driving member bracket 250 away from the axis of the stationary platform 210. So configured, the first opening 253 is near the outer edge of the telecentric control mechanism 200, which facilitates the placement of the driver 231 into the inner cavity through the first opening 253 by the worker.

It is understood that first opening 253 may be located elsewhere on actuator bracket 250 without regard to facilitating the installation of actuator 231.

In order to further save the installation time of the driving member 231, the driving member bracket 250 is provided with a first opening 253 and a second opening 254 facing opposite directions, the first opening 253 and the second opening 254 are formed by integrally penetrating through two back sides of the driving member bracket 250 by an inner cavity, and a worker can more conveniently put the driving member 231 into the inner cavity through the first opening 253.

Preferably, the driving member mounting portion 252 includes two end plates 153 and two side plates, and the two end plates 153 and the two side plates are enclosed into a frame shape for easy processing and forming.

It will be appreciated that in other embodiments, the driver mounting portion 252 may be a capless box, as the driver 231 may be more easily mounted in the cavity.

In order to prevent the driving member support 250 from position collision with other structures when rotating, the driving member support 250 further includes a fourth positioning portion 255, the fourth positioning portion 255 is located between the rotating connection portion 251 and the driving member mounting portion 252, and the fourth positioning portion 255 provides an avoiding space for the rotating connection portion 251 to rotate, so as to prevent the driving member support 250 from position collision with the stationary platform 210, the rotating connection assembly 240 or another driving member support 250 during the rotating process, which affects the working precision of the telecentric operating mechanism 200.

Because the driving member support 250 is more likely to collide with the static platform 210, the rotating connection assembly 240 or another driving member support 250 in the direction along the rotation circumferential direction of the rotation connection portion 251, in order to make the fourth relief portion 255 have a better relief effect, along the rotation circumferential direction of the rotation connection portion 251, two sides of the fourth relief portion 255 are contracted relative to the rotation connection portion 251 to form a relief concave portion, which can further increase the rotation angle of the driving member support 250 relative to the static platform 210, and further prevent the driving member support 250 from colliding with the static platform 210, the rotating connection assembly 240 or another driving member support 250 in the position when rotating relative to the static platform 210.

It should be noted that the circumferential direction of the rotation connecting portion 251 refers to the direction in which the rotation connecting portion 251 rotates under the action of the outer ring of the first bearing 244 in the rotation connecting assembly 240.

In order to fix the driving member 231 to the driving member mounting portion 252, a driving member 231 mounting hole is opened at an end of the driving member mounting portion 252 opposite to the rotation connecting portion 251, and the driving member 231 is fixedly mounted to the driving member bracket 250 through the driving member 231 mounting hole.

In order to save the installation time of driving element 231, it is preferable that driving element bracket 250 is rectangular, two mounting holes for driving element 231 are provided, two mounting holes for driving element 231 are respectively distributed on the diagonal lines of the end of driving element bracket 250, and driving element 231 can be fixedly installed on driving element bracket 250 by only two mounting points, which greatly saves the installation time of driving element 231.

In order to improve the integration between the driver bracket 250 and the telescopic unit 230, the driver bracket 250 further includes an abutting portion 257, the abutting portion 257 is formed by extending the end surface of the driver mounting portion 252 away from the rotation connecting portion 251, and the abutting portion 257 is used for connecting the outer sleeve 234. With such an arrangement, the driving member bracket 250 can not only play a role of mounting the driving member 231, but also play a role of connecting the outer sleeve 234 in the telescopic unit 230, so that the integration level of the telecentric control mechanism 200 is increased, and the reliability of the connection between the driving member bracket 250 and the telescopic unit 230 is high. It is understood that in other embodiments, there may be a centering structure between the driver support 250 and the telescoping unit 230, regardless of the degree of integration of the telecentric manipulating mechanism 200.

In order to further improve the connection reliability between the driving member bracket 250 and the telescopic unit 230, the abutting portion 257 has an abutting surface on the outer circumference, the abutting portion 257 is in surface contact with the outer sleeve 234 through the abutting surface, the contact area between the abutting portion 257 and the outer sleeve 234 is large, the connection reliability between the driving member bracket 250 and the telescopic unit 230 is improved, and the problem that the driving member bracket 250 and the telescopic unit 230 shake when the telecentric control mechanism 200 is in service is prevented.

To further save the installation time of the driving member 231, a stepped hole (not numbered) is formed in the abutting portion 257 for pre-fixing the driving member 231 and allowing the output shaft of the driving member 231 to extend out of the inner cavity. When the staff installs driving piece 231, put into the shoulder hole with driving piece 231 earlier, then stretch into the fastener in driving piece 231 mounting hole and fix driving piece 231 in the inner chamber, the shoulder hole plays the effect of pre-fixing, is convenient for the fastener to stretch into driving piece 231 mounting hole, and it is long to have saved driving piece 231's installation.

The utility model also provides a drive assembly, including driving piece 231 and driving piece support 250, driving piece support 250 is used for installing driving piece 231.

Preferably, in order to facilitate the output shaft of the driving member 231 to extend out of the driving member holder 250, the driving member 231 is mounted at an end of the driving member mounting portion 252 relatively far from the rotation connecting portion 251. It is understood that the driving member 231 may be installed at an end of the driving member mounting portion 252 relatively close to the rotation connecting portion 251 as long as the driving member 231 can be fixed on the driving member bracket 250.

The surgical robot provided by the utility model completes minimally invasive surgery by the mutual cooperation of the preoperative positioning mechanism 100, the telecentric control mechanism 200 and the actuating mechanism 300, the preoperative positioning mechanism 100 reduces the torsional force on the first lead screw nut 130 through the guide assembly 170, and the service life of the preoperative positioning mechanism 100 is prolonged through the cooperation with the anti-collision pad 180 and the first limiting piece 190; the telecentric steering mechanism 200 employs a mode in which a plurality of telescopic units 230 are arranged in parallel, which reduces time-related cumulative errors and displacement errors and increases the capacity of the preoperative positioning mechanism 100 to carry the actuator 300.

In the present application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first feature or the second feature or indirectly contacting the first feature or the second feature through an intermediate.

Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lower level than the second feature.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," or the like, 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 invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A surgical robotic telescopic arm, comprising:

a driver;

the first screw rod is connected to the driver and can rotate under the driving of the driver;

the first lead screw nut is in threaded connection with the first lead screw and can move along the axial direction of the first lead screw under the rotation of the first lead screw; and

the anti-collision pad is sleeved on the first screw rod and fixedly arranged on the driver, and the anti-collision pad is positioned between the first screw rod nut and the driver.

2. A surgical robot telescopic arm according to claim 1, wherein the driver comprises a first motor and a first motor mount for mounting the first motor, and the crash pad is fixedly arranged at an end of the first motor mount.

3. The telescopic arm of a surgical robot according to claim 2, wherein the crash pad includes a crash-proof portion and a fixing portion, the crash-proof portion is ring-shaped, and an inner edge of the crash-proof portion protrudes toward the first motor and forms the fixing portion; the anti-collision part is fixedly arranged at the end part of the first motor base through the fixing part.

4. A surgical robot arm according to claim 2, wherein the driver further comprises a first screw bearing, an inner surface of the first screw bearing is engaged with the first screw, and an outer surface of the first screw bearing abuts against an inner wall of the first motor base.

5. The surgical robot telescopic arm according to claim 4, further comprising an outer ring fixing seat and an inner ring fixing seat, wherein the outer ring fixing seat and the inner ring fixing seat are respectively located at two sides of the first screw rod bearing, the outer ring fixing seat abuts against an outer ring of the first screw rod bearing, and the inner ring fixing seat abuts against an inner ring of the first screw rod bearing; the inner ring fixing seat can compress the first lead screw bearing to the outer ring fixing seat.

6. The telescopic arm of a surgical robot according to claim 5, wherein the crash pad includes a crash-proof portion and a fixing portion, the crash-proof portion is ring-shaped, and an inner edge of the crash-proof portion protrudes toward the first motor and forms the fixing portion; and an installation hole is formed between the outer ring fixing seat and the first screw rod, and the fixing part can stretch into and be fixed in the installation hole.

7. A surgical robot telescopic arm according to claim 5, wherein the outer ring fixing seat is mounted at an end of the first motor seat, and the inner ring fixing seat is in threaded connection with the first screw rod; the inner ring fixing seat can compress the first screw rod bearing to the outer ring fixing seat through threaded fit.

8. The telescopic arm of a surgical robot as claimed in claim 7, wherein a threaded mounting hole is formed in an end of the first motor mount, and the outer ring fixing seat is fixedly mounted on the end of the first motor mount through a threaded fastener.

9. A surgical robotic arm according to claim 4, wherein the number of the first screw bearings is at least two, and at least two of the first screw bearings are sleeved side by side on the first screw.

10. A preoperative positioning mechanism, comprising a surgical robotic telescopic arm according to any one of claims 1-9.

11. A surgical robot, comprising:

the preoperative positioning mechanism of claim 10;

the telecentric control mechanism comprises a static platform, a movable platform and a plurality of telescopic components arranged between the static platform and the movable platform, wherein one side of the static platform, which is relatively far away from the movable platform, is connected to the preoperative positioning mechanism, two ends of the plurality of telescopic components are respectively and rotatably connected to the static platform and the movable platform, and the movable platform can be controlled to move relative to the static platform through the matched telescopic motion among the plurality of telescopic components;

the actuating mechanism is connected to one side of the movable platform, which is relatively far away from the static platform, and can stretch and swing under the driving of the movable platform;

the actuating mechanism is provided with a preset telecentric motionless point, the swing center of the actuating mechanism is the telecentric motionless point, and the telescopic path of the actuating mechanism penetrates through the telecentric motionless point.