CN217525353U - Operation mechanical arm - Google Patents

Abstract

Embodiments of the present description provide a surgical robotic arm comprising a suspension assembly and an arm assembly; the arm assembly comprises a lifting arm, a main arm, a linkage arm and a manipulator which are connected in sequence; the suspension assembly comprises a guide rail and a sliding piece, the guide rail is used for being arranged on an external support, the sliding piece is movably matched with the guide rail, and the lifting arm is arranged on the sliding piece; wherein the guide rail provides the slider with translational freedom in a first direction and a second direction, the first direction being perpendicular to the second direction. The suspension assembly can provide support for the arm assembly, and space around the operating table can be made available, so that more activity space is provided for medical personnel.

Description

Operation mechanical arm

Technical Field

The specification relates to the field of medical instruments, in particular to a surgical mechanical arm.

Background

The surgical robot is applied to surgical operation, can assist doctors to perform operations such as clamping, excision, cutting and suturing, and has the advantages of small operation wound, fine operation, clear visual field and the like. Generally, a surgical robot includes a bedside robot tower and a robot arm, wherein the bedside robot tower is used for supporting the robot arm, and the bedside robot tower occupies a large amount of space beside an operating table, resulting in a limited activity space for medical staff of the bedside robot tower.

SUMMERY OF THE UTILITY MODEL

One of the embodiments of the present description provides a surgical robotic arm comprising a suspension assembly and an arm assembly; the arm assembly comprises a lifting arm, a main arm, a linkage arm and a manipulator which are connected in sequence; the suspension assembly comprises a guide rail and a sliding piece, the guide rail is used for being arranged on an external support, the sliding piece is movably matched with the guide rail, and the lifting arm is arranged on the sliding piece; wherein the guide rail provides the slider with translational freedom in a first direction and a second direction, the first direction being perpendicular to the second direction.

In some embodiments, the guide rail includes a first rail for fixing to the external support in a first direction and a second rail movably disposed on the first rail in a second direction, the slider being movably engaged with the second rail.

In some embodiments, the manipulator is predisposed with a distal motionless point, the arm assembly being adapted to control the manipulator to perform a panning motion and/or a tilting motion about the distal motionless point.

In some embodiments, the lifting arm is configured to telescope along a first axis, the first axis being arranged to pass through the distal stationary point, the first axis being perpendicular to the first direction and the second direction.

In some embodiments, the main arm includes a cross arm configured in an L-shape rotatably connected with the lift arm about the first axis, and a vertical arm arranged parallel to the first axis.

In some embodiments, the arm assembly further comprises a gravity balance mechanism disposed in the lifting arm and in driving communication with the main arm, the gravity balance mechanism being configured to at least partially balance the force applied by the main arm to the lifting arm in the direction of gravity.

In some embodiments, the linkage arm comprises a first arm segment and a second arm segment rotatably connected to each other, the first arm segment rotatably connected to the vertical arm, the second arm segment rotatably connected to the manipulator; the linkage arms are formed into parallel linkage mechanisms.

In some embodiments, the linkage arm further comprises a position adjustment mechanism for maintaining the second arm segment parallel to the vertical arm at all times during movement of the linkage arm.

In some embodiments, the position adjusting mechanism includes a driving wheel, a driving rope, and a tensioning wheel, the driving wheel is respectively disposed at two ends of the first arm section and the second arm section, the driving rope is wound on the driving wheel, and the tensioning wheel abuts on the driving rope to tension and/or loosen the driving rope.

In some embodiments, the arm assembly further comprises a torque balancing mechanism disposed within the primary arm for at least partially balancing the torque applied to the primary arm by the linkage arm.

In some embodiments, the torque balancing mechanism comprises an elastic member and a balancing rope, one end of the elastic member is connected with the inner wall of the main arm, the other end of the elastic member is connected with one end of the balancing rope, and the other end of the balancing rope is connected with the linkage arm; the elastic force of the elastic piece can act on the linkage arm through the balance rope to at least partially balance the torque applied to the main arm by the linkage arm.

According to the structure of the surgical mechanical arm, the suspension assembly can be suspended on external supports such as a ceiling and the like, support is provided for the arm assembly, the space around an operating table can be made free, and more activity space is provided for medical staff. And, the suspension assembly still includes guide rail and slider, and the slider can drive arm component and slide along the guide rail, and the cooperation of guide rail and slider can not only realize the more convenient removal of arm component, can also enlarge the home range of arm component.

Drawings

The present description will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:

FIG. 1A is a schematic view of an application scenario of a surgical robotic arm according to some embodiments herein;

FIG. 1B is a side view of an application scenario of a surgical robotic arm according to some embodiments herein;

FIG. 2 is a schematic structural view of a suspension assembly according to some embodiments herein;

FIG. 3 is a schematic structural view of an arm assembly according to some embodiments herein;

FIG. 4 is a schematic diagram of a linkage arm according to some embodiments of the present disclosure;

FIG. 5 is a schematic diagram of a torque balancing mechanism according to some embodiments herein.

Description of the reference numerals:

1. an arm assembly; 11. a lifting arm; 111. a housing; 112. a telescopic rod; 12. a main arm; 121. a cross arm; 122. a vertical arm; 123. a reinforcement; 13. a linkage arm; 131. a first arm section; 132. a second arm section; 133. a drive device; 134. a position adjustment mechanism; 135. a driving wheel; 1351. a first wheel; 1352. a second wheel; 1353. a third wheel; 1354. a fourth wheel; 136. a drive rope; 1361. a first drive line; 1362. a second drive rope; 137. a tension wheel; 138. a first virtual bar; 139. a second virtual bar; 14. a manipulator; 141. a flexible joint; 15. a torque balancer; 151. an elastic member; 152. a balancing rope; 2. a suspension assembly; 21. a guide rail; 211. a first track; 2111. a first guide structure; 212. a second track; 22. a slider; 3. an operating table; 4. a sleeper; p, a far-end fixed point; v1, a first direction; v2, a second direction; a1, a first axis; PM, pitching motion direction; SM, swing motion direction.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the present description, and that for a person skilled in the art, the present description can also be applied to other similar scenarios on the basis of these drawings without inventive effort. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.

It should be understood that "system", "apparatus", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.

As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

Flow charts are used in this description to illustrate operations performed by a system according to embodiments of the present description. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.

The surgical manipulator may be a manipulator applied to endoscopic minimally invasive surgery, which assists a surgeon in precisely controlling a surgical instrument to perform various surgical actions. In the operation process, the operation mechanical arm needs to be stably supported above or beside an operation table through a bedside mechanical arm tower, and the common bedside mechanical arm tower is large in size and large in occupied space. Accordingly, embodiments of the present description provide a surgical robotic arm whose suspension assembly can suspend an arm assembly from a support such as a ceiling without the need for a bedside robotic arm tower to make room beside an operating table.

In some embodiments, the surgical robotic arm may comprise a single Kong Shoushu robotic arm, which may be applied to single-port interventional procedures. For example, for a single Kong Shoushu robotic arm, since only one interventional incision needs to be made on the body of the patient during the treatment process, all instruments can be introduced during the surgical procedure, and the required degree of freedom is relatively low, the structure of the surgical robotic arm can be simplified.

FIG. 1A is a schematic view of an application scenario of a surgical robotic arm according to some embodiments herein;

fig. 1B is a side view of an application scenario of a surgical robotic arm, shown in some embodiments herein.

As shown in fig. 1A and 1B, embodiments of the present description provide a surgical robotic arm including a suspension assembly 2 and an arm assembly 1, the suspension assembly 2 may be an assembly that provides support for the arm assembly 1.

In some embodiments, the arm assembly 1 may include a lifting arm 11, a main arm 12, a linkage arm 13, and a manipulator 14 connected in sequence, and the movement of the lifting arm 11, the main arm 12, and the linkage arm 13 may operate the manipulator 14 to perform at least one of lifting, pitching, and yawing motions. In some embodiments, for a suspension-mounted arm assembly, the lift arm 11 may provide a lift degree of freedom for the manipulator 14, the main arm 12 may provide a rotational degree of freedom for the manipulator 14 to perform a yaw motion about a distal dead point (e.g., the distal dead point mentioned in fig. 3), and the linkage arm 13 may provide a rotational degree of freedom for the manipulator 14 to perform a pitch motion about the distal dead point. More detailed embodiments of the arm assembly 1 can be seen in figures 3 to 5 and their associated description.

In some embodiments, the suspension assembly 2 includes a guide rail 21, the guide rail 21 being adapted to be disposed on an external support, which may be an external structure such as a ceiling, or drop ceiling of an operating room. The suspension assembly 2 further includes a sliding member 22, the sliding member 22 is movably coupled to the guide rail 21, the lifting arm 11 is disposed on the sliding member 22, the sliding member 22 can drive the lifting arm 11 to slide along the guide rail 21, wherein the guide rail 21 can provide the sliding member 22 with a translational degree of freedom along a first direction V1 and a second direction V2, and the first direction V1 is perpendicular to the second direction V2. A more detailed embodiment of the suspension assembly 2 can be seen in figure 2 and its associated description.

In some examples of operating room applications, the rail 21 may be laid on a ceiling, the first direction V1 and the second direction V2 may be parallel to the ceiling, the first direction V1 may be parallel to the length direction of the operating table 3, and the second direction V2 may be parallel to the width direction of the operating table 3, so that the slider 22 facilitates free movement of the arm assembly 1 within the operating table 3.

According to the structure of the operation mechanical arm, the suspension assembly 2 can be suspended on external supports such as a ceiling and the like, and provides support for the arm assembly 1, so that the space around the operation table 3 can be made free, and more activity space can be provided for medical staff. And, suspension assembly 2 still includes guide rail 21 and slider 22, and slider 22 can drive arm module 1 along guide rail 21 slip, and the cooperation of guide rail 21 and slider 22 not only can realize arm module 1 more convenient removal, can also enlarge the home range of arm module 1.

Fig. 2 is a schematic structural view of a suspension assembly 2 according to some embodiments herein.

As shown in fig. 2, in some embodiments, the guide rail 21 may include a first rail 211 and a second rail 212, the first rail 211 and the second rail 212 providing the slider 22 with translational degrees of freedom in the first direction V1 and the second direction V2, respectively.

In some embodiments, the first track 211 is for securing to an external support along the first direction V1. In some embodiments, the first track 211 may be embedded inside the outer support, exposing only the track surface outwardly. In some embodiments, the first rail 211 can be secured to the surface of the outer support by snapping, welding, fastener attachment, or the like in a variety of ways. In some embodiments, the surface of the external support may be provided with a plurality of sleepers 4, the first rail 211 may be fixed to the sleepers 4, and the sleepers 4 may buffer the force of the first rail 211 on the external support.

In some embodiments, the second rail 212 is movably disposed on the first rail 211 along the second direction V2. In some embodiments, first guide structure 2111 is formed on first track 211, and first guide structure 2111 can be a groove track or a land track; a slider or roller is formed on the second rail 212 and movably engaged with the first guide structure 2111 such that the second rail 212 can move in the first direction V1 with respect to the first rail 211.

In some embodiments, the slider 22 is movably coupled to the second track 212. In some embodiments, the second track 212 has a second guiding structure formed thereon, which may also be a groove track or a land track; the slider 22 is movably coupled to the second guide structure and is movable in the second direction V2 relative to the second rail 212.

According to the connection mode of the first rail 211, the second rail 212 and the slider 22, the second rail 212 can drive the slider 22 to move along the first direction V1, the slider 22 can slide along the second direction V2 relative to the second rail 212, and then the slider 22 can realize the translational freedom degrees along the first direction V1 and the second direction V2, so that the translational freedom degrees along the first direction V1 and the second direction V2 are provided for the arm assembly 1.

In some embodiments, the first rail 211 may be two parallel rails, two ends of the second rail 212 are movably engaged with the first rail 211, respectively, and the first rail 211 may form a support and a limit for the two ends of the second rail 212, which may improve the connection stability of the second rail 212 to the first rail 211.

In some embodiments, the second rail 212 may be two parallel rails, the sliding member 22 is configured as a flat plate, and the two sides of the sliding member 22 are slidably connected to the second rail 212, so that the second rail 212 may form a support for the two sides of the sliding member 22, thereby improving the connection stability of the sliding member 22 to the second rail 212. In some embodiments, the arm assembly 1 may be disposed at a central location of the slide 22, which may be the area between the two second rails 212 of the slide 22.

In some embodiments, the slider 22 may be manually moved along the guide rail 21. Illustratively, the healthcare worker may apply a pulling force to the arm assembly 1 in the first direction V1 to slide the second rail 212 along the first rail 211, and then the healthcare worker continues to apply a pulling force to the arm assembly 1 in the second direction V2 to slide the slider 22 along the second rail 212 until the manipulator 14 of the arm assembly 1 is proximate to the access incision of the patient. In some embodiments, the slider 22 may also be automatically slid by a motor in cooperation with a belt, rack and pinion, or the like.

In some embodiments, the suspension assembly 2 further comprises a braking device (not shown in the figures) arranged on the guide rail 21 for controlling the parking of the slider 22 on the guide rail 21. In some embodiments, the braking device may include an electromagnet having a property that when energized, magnetism is generated, and when de-energized, magnetism disappears; the electromagnet may be disposed on the second guide rail 21, and when the sliding member 22 needs to be parked, the electromagnet is energized to generate magnetism, so that the second guide rail 21 can be attracted and parked on the first guide rail 21, and at the same time, the electromagnet can provide attraction force for the sliding member 22, so that the sliding member 22 is parked on the second guide rail 21. In some embodiments, electromagnets may also be provided on the first rail 21 and the slide 22, respectively, and the second rail 21 and the slide 22 are parked based on the same principle. The provision of a detent on suspension assembly 2 not only enables slide 22 to be rapidly parked in a desired position, but also prevents slide 22 from sliding during the performance of a surgical procedure with arm assembly 1, ensuring the stability of arm assembly 1.

Figure 3 is a schematic structural view of an arm assembly 1 according to some embodiments herein. The arm assembly 1 according to the embodiments of the present description will be described in detail below, and it should be noted that the following embodiments are only used for explaining the present application and do not constitute a limitation to the present application.

In some embodiments, the manipulator 14 is predisposed with a distal motionless point P, which is the point at which the spatial position of the arm assembly 1 remains unchanged when performing the surgical operation, and the main arm 12 and the linkage arm 13 in the arm assembly 1 can be used to control the manipulator 14 to perform a pan and/or tilt motion, respectively, about the distal motionless point P. The horizontal swinging motion of the manipulator 14 may be a reciprocating swinging motion in a horizontal plane with the far-end stationary point P as a center, specifically, refer to a direction indicated by an arrow Sm in fig. 3; the pitching motion of the manipulator 14 may be a reciprocating motion in a vertical plane with the center of the distal stationary point P as a center, and may be specifically referred to a direction indicated by an arrow Pm in fig. 3.

In some embodiments, a plurality of flexible joints 141 (not shown) are provided on manipulator 14, and flexible joints 141 are used for manipulating surgical instruments, for example, flexible joints 141 may connect and control an endoscope, a clamp, a needle holder, a scalpel, and the like. In a surgical application scenario, the distal stationary point P of the manipulator 14 may be located at or near an interventional incision of the patient from which the flexible joint 141 extends into the patient to perform clamping, resection, cutting, suturing, and the like.

In some embodiments, the lifting arm 11 of the arm assembly 1 is configured to telescope along a first axis A1, wherein the first axis A1 is perpendicular to the first direction V1 and the second direction V2, for example, the first axis A1 may be a vertical direction when the surgical robotic arm is disposed on a ceiling. The first axis A1 may be arranged to pass through a distal dead point P, which moves in the direction of the first axis A1 when the lifting arm 11 is extended or retracted, facilitating adjustment of the distal dead point P of the manipulator 14 near the interventional incision site of the patient.

In some embodiments, the lifting arm 11 includes a housing 111 and a telescopic rod 112, the housing 111 is fixedly connected to the sliding member 22, and the telescopic rod 112 is configured to be capable of being extended and retracted relative to the first axis A1 of the lifting arm 11. In some embodiments, the telescopic rod 112 may be a power push rod, which can automatically adjust the telescopic length.

In some embodiments, the main arm 12 of the arm assembly 1 comprises a transverse arm 121 configured in an L-shape, the transverse arm 121 being rotatably connected to the lifting arm 11 about the first axis A1, and a vertical arm 122, the vertical arm 122 being arranged parallel to the first axis A1. In some embodiments, one end of the cross arm 121 is rotatably connected to the telescopic rod 112 of the lifting arm 11 about the first axis A1, and the other end of the cross arm 121 is fixedly connected to one end of the vertical arm 122, and during the rotation of the cross arm 121 about the first axis A1, the vertical arm 122 always rotates parallel to the first axis A1, so that the vertical arm 122 can drive the manipulator 14 to perform a horizontal swinging motion in a horizontal direction.

In some embodiments, main arm 12 may further include a reinforcement member 123, and the reinforcement member 123 is provided at a position where horizontal arm 121 and vertical arm 122 are connected, for improving strength between horizontal arm 121 and vertical arm 122.

In some embodiments, the arm assembly 1 further comprises a gravity balance mechanism (not shown) disposed within the lift arm 11 and drivingly connected to the main arm 12, the gravity balance mechanism being configured to at least partially balance a force applied by the main arm 12 to the lift arm 11 in the direction of gravity, which may include forces caused by the weight of the main arm 12, the linkage arm 13, and the manipulator 14. In some embodiments, the gravity balancing mechanism may completely balance the force in the direction of gravity applied by the main arm 12 to the lift arm 11; in some embodiments, some of the forces in the direction of gravity exerted by the main arm 12 on the lift arm 11 are balanced by the gravity balance mechanism, and some of the forces are borne by the lift arm 11 itself. The gravity balance mechanism can reduce the force borne by the lifting arm 11, avoid overlarge stress at the joint of the cross arm 121 of the main arm 12 and the telescopic rod 112 of the lifting arm 11, and ensure the smoothness of the rotation of the cross arm 121 relative to the telescopic rod 112.

In some embodiments, the gravity balancing mechanism may counteract the force in the direction of gravity applied by the main arm 12 to the lift arm 11 by generating a force in an opposite direction and equal in magnitude to the force in the direction of gravity applied by the main arm 12 to the lift arm 11. In some embodiments, the gravity balance mechanism includes, but is not limited to, any one of a weight, a mechanical tension spring, a constant force spring, a magnetic spring, a cylinder balance mechanism, and the like.

Figure 4 is a schematic diagram of the structure of a linkage arm 13 according to some embodiments herein.

As shown in connection with fig. 3 and 4, in some embodiments, the linkage arm 13 of the arm assembly 1 comprises a first arm segment 131 and a second arm segment 132 rotatably connected to each other, the first arm segment 131 being rotatably connected to the vertical arm 122, the second arm segment 132 being rotatably connected to the manipulator 14; wherein, the rotation axis between the first arm section 131 and the vertical arm 122, the rotation axis between the second arm section 132 and the first arm section 131, and the rotation axis between the second arm section 132 and the manipulator 14 are parallel to each other, and can be perpendicular to the first axis A1 direction.

In some embodiments, the linkage arms 13 are formed as parallel linkages, which may be mechanisms having the linkage relationship of a parallelogram linkage. Illustratively, as shown in fig. 3, the parallel linkage may incorporate a first virtual bar 138 and a second virtual bar 139, wherein the virtual bars are only for ease of understanding herein and are not the bars that the linkage arm 13 actually provides. The first virtual bar 138 may be parallel to the first arm node 131, the second virtual bar 139 may be parallel to the second arm node 132, and the rotation axis at the intersection of the first virtual bar 138 and the second virtual bar 139 may pass through the distal stationary point P of the manipulator 14, or the intersection of the first virtual bar 138 and the second virtual bar 139 may coincide with the distal stationary point P, so that the distal stationary point P of the manipulator 14 can be ensured to remain stationary at all times during the movement of the first arm node 131 and the second arm node 132.

In some embodiments, the linkage arm 13 further comprises a driving device 133, and the driving device 133 is in transmission connection with the first arm section 131 for driving the first arm section 131 to rotate, wherein in transmission connection, the driving device 133 is connected to the first arm section 131 through a transmission component such as a coupler, a speed reducer, and the like, and the driving device 133 can transmit torque and other forces or rotational movement to the first arm section 131 through the connection relation. In some embodiments, the drive device 133 includes, but is not limited to, an electric motor, a motor, and the like.

When the driving device 133 drives the first arm section 131 to rotate relative to the main arm 12, two end points of the second virtual rod 139 remain stationary, the first arm section 131 drives the second arm section 132 to perform plane motion, and during the motion process, the first arm section 131 and the first virtual rod 138 always keep parallel, and the second arm section 132 and the second virtual rod 139 always keep parallel.

In some embodiments, the linkage arm 13 further comprises a position adjustment mechanism 134, and the position adjustment mechanism 134 is used for maintaining the second arm section 132 always parallel to the vertical arm 122 during the movement of the linkage arm 13, in other words, the position adjustment mechanism 134 can adjust the posture of the second arm section 132 to always be parallel to the vertical arm 122 during the rotation of the first arm section 131. By arranging the position adjusting mechanism 134, the effect of four-bar linkage can be realized only by the first arm section 131 and the second arm section 132, and the structure of the linkage arm 13 is simplified. In some embodiments, the first arm segment 131 and the second arm segment 132 may include a hollow housing 111, the position adjustment mechanism 134 is disposed in the housing 111, and the housing 111 may provide dust-proof and water-proof effects for the position adjustment mechanism 134.

As shown in fig. 3 and 4, in some embodiments, the position adjustment mechanism 134 includes a transmission wheel 135 and a transmission rope 136, the transmission wheel 135 is respectively disposed at two ends of the first arm section 131 and the second arm section 132, the transmission rope 136 is wound on the transmission wheel 135, and the first arm section 131 and the second arm section 132 can be connected through the transmission wheel 135 and the transmission rope 136 to realize the linkage motion.

In some embodiments, there may be four drive wheels 135, including a first wheel 1351, a second wheel 1352, a third wheel 1353, and a fourth wheel 1354, and two drive cords 136, including a first drive cord 1361 and a second drive cord 1362. In some embodiments, first and second wheels 1351 and 1352 are rotatably disposed at opposite ends of first arm segment 131, respectively, and first wheel 1351 is fixedly coupled to main arm 12, second wheel 1352 is fixedly coupled to second arm segment 132, and first transmission rope 1361 is wound around first and second wheels 1351 and 1352 to transmit torque. A third wheel 1353 and a fourth wheel 1354 are rotatably disposed at both ends of the second arm section 132, respectively, and the third wheel 1353 is fixedly connected to the first arm section 131, the fourth wheel 1354 is fixedly connected to the manipulator 14, and a second driving rope 1362 is wound around the third wheel 1353 and the fourth wheel 1354 to transmit torque. Wherein the fixed connection here may be such that the drive wheel 135 remains relatively stationary in connection with the housing 111 of the corresponding arm assembly 1.

In some embodiments, the position adjustment mechanism 134 further includes a tension wheel 137, the tension wheel 137 abutting the drive cord 136 to tension and/or loosen the drive cord 136. The tension wheel 137 can adjust the friction between the driving rope 136 and the driving wheel 135, so as to prevent the driving rope 136 from slipping relative to the driving wheel 135.

In some embodiments, two tension pulleys 137 may be disposed at the middle of the first arm section 131 and the second arm section 132, and the two tension pulleys 137 respectively press against the driving rope 136. In some embodiments, the first arm segment 131 and the second arm segment 132 may be provided with an adjusting nut, and the tensioning wheel 137 may be provided on the adjusting nut, and the pressing force of the tensioning wheel 137 against the transmission rope 136 may be adjusted by rotating the adjusting nut. In some embodiments, the tension wheel 137 may also be used to finely adjust the angle between the first arm segment 131 and the second arm segment 132, and when the pressing force of the tension wheel 137 on the transmission rope 136 is changed, the angle of the second arm segment 132 relative to the first arm segment 131 is changed, so that the second arm segment 132 may be adjusted to a position parallel to the first axis A1 by adjusting the tension wheel 137 in the pre-operation calibration stage to calibrate the second arm segment 132.

According to the above-mentioned structure of the linkage arm 13, the movement of the linkage arm 13 may include the following processes: first, the driving device 133 drives the first arm segment 131 to rotate, and the first wheel 1351 rotates relative to the first arm segment 131, and the second wheel 1352 rotates relative to the first arm segment 131 via the transmission rope 136. Second wheel 1352 then rotates second arm segment 132 relative to first arm segment 131, and first arm segment 131 rotates third wheel 1353 relative to second arm segment 132. Finally, third wheel 1353 rotates fourth wheel 1354 relative to second arm joint 132, and fourth wheel 1354 rotates manipulator 14 relative to second arm joint 132. Based on the movement process of the linkage arm 13, when the first arm segment 131 rotates reciprocally with respect to the vertical arm 122 of the main arm 12, the manipulator 14 is driven to perform a pitching motion with respect to the distal stationary point P.

FIG. 5 is a schematic diagram of a torque balancing mechanism according to some embodiments herein.

In some embodiments, the arm assembly 1 further includes a torque balancing mechanism disposed in the main arm 12, the torque balancing mechanism is configured to at least partially balance the torque applied by the linkage arm 13 to the main arm 12, wherein the torque applied by the linkage arm 13 to the main arm 12 may be a gravitational moment generated by the gravity of the linkage arm 13 to the main arm 12, or the like, and the torque balancing mechanism may counteract the gravitational moment by generating a moment having a magnitude equal to and a direction opposite to the gravitational moment. In some embodiments, the torque balancing mechanism may fully balance the torque applied by the linkage arm 13 to the main arm 12; in some embodiments, some of the torque applied by the linkage arm 13 to the main arm 12 is balanced by the torque balancing mechanism, and another portion of the torque is taken up by the main arm 12 itself or compensated for by the drive device 133.

The torque balance mechanism is arranged to reduce the torque borne by the main arm 12, and when the linkage arm 13 rotates to a required spatial position, the linkage arm 13 does not rotate again due to self gravity after the driving force borne by the linkage arm is lost, so that the linkage arm 13 and the manipulator 14 are kept at the current position, and the use reliability of the linkage arm 13 is improved.

As shown in fig. 5, in some embodiments, the torque balancing mechanism includes an elastic member 151 and a balancing rope 152, one end of the elastic member 151 is connected to the inner wall of the main arm 12, the other end of the elastic member 151 is connected to one end of the balancing rope 152, and the other end of the balancing rope 152 is connected to the linkage arm 13; the elastic force of the elastic member 151 can act on the linkage arm 13 through the balance rope 152 to at least partially balance the torque applied by the linkage arm 13 to the main arm 12. In some embodiments, the elastic member 151 may be a spring or the like.

When the linkage arm 13 rotates a certain angle relative to the vertical arm 122 of the main arm 12, the linkage arm 13 can drive the elastic part 151 to be in a deformed state (for example, an extended state or a compressed state) through the balance rope 152, and the elastic force of the elastic part 151 in the deformed state can react on the linkage arm 13 through the balance rope 152, so that the elastic force can generate a balance moment relative to a rotation axis between the linkage arm 13 and the vertical arm 122, and the balance moment can at least partially balance the torque generated by the gravity of the linkage arm 13 relative to the rotation axis.

The beneficial effects that may be brought by the embodiments of the present application include, but are not limited to: (1) The suspension assembly of the surgical mechanical arm can be suspended on external supports such as a ceiling and the like, and provides support for the arm assembly, so that the space around an operating table can be made, and more activity space is provided for medical personnel. The suspension assembly further comprises a guide rail and a sliding part, the sliding part can drive the arm assembly to slide along the guide rail, and the arm assembly can move more conveniently and can be enlarged in moving range due to the matching of the guide rail and the sliding part; (2) The brake device is arranged on the suspension assembly, so that the sliding part can be quickly stopped at a required position, the sliding part can be prevented from sliding in the process of performing surgical operation on the arm assembly, and the stability of the arm assembly is ensured; (3) The gravity balance mechanism is arranged, so that the force borne by the lifting arm can be reduced, the overlarge stress at the connecting part of the cross arm of the main arm and the telescopic rod of the lifting arm is avoided, and the smoothness of the rotation of the cross arm relative to the telescopic rod is ensured; (4) The torque balance mechanism is arranged to reduce the torque borne by the main arm, and when the linkage arm rotates to a required spatial position, the linkage arm does not rotate again due to self gravity after the driving force borne by the linkage arm disappears, so that the linkage arm and the manipulator are kept at the current positions, and the use reliability of the linkage arm is improved. It is to be noted that different embodiments may produce different advantages, and in different embodiments, any one or combination of the above advantages may be produced, or any other advantages may be obtained.

Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be regarded as illustrative only and not as limiting the present specification. Various modifications, improvements and adaptations to the present description may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present specification and thus fall within the spirit and scope of the exemplary embodiments of the present specification.

Also, the description uses specific words to describe embodiments of the description. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the specification is included. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the specification may be combined as appropriate.

Similarly, it should be noted that in the preceding description of embodiments of the present specification, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to imply that more features than are expressly recited in a claim. Indeed, the embodiments may be characterized as having less than all of the features of a single disclosed embodiment.

For each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., cited in this specification, the entire contents of each are hereby incorporated by reference into this specification. Except where the application history document does not conform to or conflict with the contents of the present specification, it is to be understood that the application history document, as used herein in the present specification or appended claims, is intended to define the broadest scope of the present specification (whether presently or later in the specification) rather than the broadest scope of the present specification. It is to be understood that the descriptions, definitions and/or uses of terms in the accompanying materials of this specification shall control if they are inconsistent or contrary to the descriptions and/or uses of terms in this specification.

Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments described herein. Other variations are also possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the specification can be considered consistent with the teachings of the specification. Accordingly, the embodiments of the present description are not limited to only those embodiments explicitly described and depicted herein.

Claims (11)

1. A surgical robotic arm comprising a suspension assembly (2) and an arm assembly (1); the arm assembly (1) comprises a lifting arm (11), a main arm (12), a linkage arm (13) and a manipulator (14) which are connected in sequence; the suspension assembly (2) comprises a guide rail (21) and a sliding piece (22), the guide rail (21) is used for being arranged on an external support, the sliding piece (22) is movably matched with the guide rail (21), and the lifting arm (11) is arranged on the sliding piece (22);

wherein the guide rail (21) provides the slider (22) with a translational degree of freedom in a first direction (V1) and a second direction (V2), the first direction (V1) being perpendicular to the second direction (V2).

2. A surgical robot according to claim 1, characterized in that the guide (21) comprises a first rail (211) and a second rail (212), the first rail (211) being adapted to be fixed to the external support in a first direction (V1), the second rail (212) being movably arranged on the first rail (211) in a second direction (V2), the slide (22) being movably coupled to the second rail (212).

3. A surgical robotic arm according to claim 1, characterized in that said manipulator (14) is predisposed with a distal motionless point (P), said arm assembly (1) being adapted to control said manipulator (14) to perform a pan and/or tilt motion around said distal motionless point (P).

4. A surgical robot arm according to claim 3, characterized in that said lifting arm (11) is arranged to telescope in the direction of a first axis (A1), said first axis (A1) being arranged to pass through said distal dead point (P), said first axis (A1) direction being perpendicular to said first direction (V1) and said second direction (V2).

5. A surgical robot according to claim 4, characterized in that said main arm (12) comprises a cross arm (121) and a vertical arm (122) configured in an L-shape, said cross arm (121) being rotatably connected to said lifting arm (11) about said first axis (A1), said vertical arm (122) being arranged parallel to said first axis (A1).

6. A surgical robot according to claim 5, characterized in that the arm assembly (1) further comprises a gravity balancing mechanism arranged in the lifting arm (11) and drivingly connected to the main arm (12), the gravity balancing mechanism being adapted to at least partially balance the force in the direction of gravity exerted by the main arm (12) on the lifting arm (11).

7. The surgical robot arm according to claim 5, characterized in that said linkage arm (13) comprises a first arm segment (131) and a second arm segment (132) rotatably connected to each other, said first arm segment (131) being rotatably connected to said vertical arm (122), said second arm segment (132) being rotatably connected to said manipulator (14); the linkage arms (13) form a parallel linkage mechanism.

8. The surgical robotic arm of claim 7, wherein said linkage arm (13) further comprises a position adjustment mechanism (134), said position adjustment mechanism (134) for maintaining said second arm segment (132) parallel to said vertical arm (122) at all times during movement of said linkage arm (13).

9. The surgical robot arm according to claim 8, wherein the position adjusting mechanism (134) comprises a driving wheel (135), a driving rope (136) and a tension wheel (137), the driving wheel (135) is respectively arranged at two ends of the first arm section (131) and the second arm section (132), the driving rope (136) is wound on the driving wheel (135), and the tension wheel (137) abuts on the driving rope (136) to tension and/or loosen the driving rope (136).

10. A surgical robotic arm as claimed in claim 7, wherein the arm assembly (1) further comprises a torque balancing mechanism disposed within the main arm (12) for at least partially balancing the torque applied to the main arm (12) by the linkage arm (13).

11. The surgical robotic arm of claim 10, wherein said torque balancing mechanism comprises an elastic member (151) and a balancing string (152), one end of said elastic member (151) being connected to an inner wall of said main arm (12), the other end of said elastic member (151) being connected to one end of said balancing string (152), the other end of said balancing string (152) being connected to said linkage arm (13);

the elastic force of the elastic piece (151) can act on the linkage arm (13) through the balance rope (152) to at least partially balance the torque applied to the main arm (12) by the linkage arm (13).

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