CN219803793U - Holding arm and surgical robot - Google Patents

Abstract

The utility model provides a holding arm and a surgical robot. The drive motor includes a stator and a rotor, the stator and the arm body are relatively fixedly arranged, the rotor is rotatable relative to the stator, and a rotation axis of the rotor extends along a length direction of the arm body. The screw rod is arranged in the arm main body along the length direction of the arm main body, penetrates through the rotor and is rigidly and fixedly connected with the rotor. The movable assembly is used for being connected with the instrument driver, and the movable assembly comprises a screw rod nut, the screw rod nut is sleeved to the screw rod, and the screw rod nut can drive the instrument driver to move back and forth along the axial direction of the screw rod along with the rotation of the screw rod. The mechanical holding arm has the advantages of compact structure and favorable effect of preventing interference or collision between the mechanical holding arms.

Description

Holding arm and surgical robot

Technical Field

The present utility model relates generally to the field of surgical robots, and more particularly to a holding arm and a surgical robot.

Background

The surgical robot is a robot that can remotely manipulate to complete a surgery, and includes three components: doctor's console, patient side robotic arm system and imaging system.

The system comprises a plurality of mechanical arms, wherein each mechanical arm is provided with a plurality of sections of connecting arms, and two adjacent sections of connecting arms relatively move with a specific degree of freedom, so that the tail end of each mechanical arm can achieve the movement of multiple degrees of freedom. The tail end joint arm of the mechanical arm is a holding arm, the holding arm is provided with an instrument driver, for example, a surgical instrument or an endoscope is detachably arranged on the instrument driver, and the instrument driver is used for driving the front end of the surgical instrument or the endoscope to perform movements such as pitching, yawing, rotating and the like. The holding arm is also provided with a corresponding driving device for driving the instrument driver and the surgical instrument or endoscope mounted thereon to move linearly, thereby achieving linear insertion or retraction of the surgical instrument or endoscope.

The existing driving device mostly adopts structures such as belt transmission or screw pair transmission. In the scheme adopting screw pair transmission, the motor drives the screw to rotate so as to drive the instrument driver. In the connection aspect of the motor and the screw rod, the motor is biased, and an output shaft of the motor is in transmission connection with the screw rod in a belt transmission or gear transmission mode; the motor and the screw rod are coaxially arranged, and an output shaft of the motor is rigidly connected with the screw rod through a coupler. Both schemes lead to large occupation space of the driving device (especially in the width direction of the holding arm), so that the holding arm has large volume, and different holding arms of the surgical robot are easy to collide and interfere when in use.

Accordingly, there is a need to provide a holding arm and a surgical robot to at least partially address the above-mentioned problems.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the utility model is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the above-mentioned problems, according to a first aspect of the present utility model, there is provided a holding arm for mounting an instrument driver, the holding arm comprising:

an arm main body;

a driving motor including a stator and a rotor, the stator being fixedly disposed with respect to the arm main body, the rotor being rotatable with respect to the stator, a rotation axis of the rotor extending in a length direction of the arm main body;

the screw rod is arranged in the arm main body along the length direction of the arm main body, penetrates through the rotor and is rigidly and fixedly connected with the rotor; and

the movable assembly is used for being connected with the instrument driver and comprises a screw nut, the screw nut is sleeved to the screw rod, and the screw nut can drive the instrument driver to move back and forth along the axial direction of the screw rod along with the rotation of the screw rod.

According to the mechanical holding arm of the first aspect of the utility model, the screw rod is matched with the transmission of the movable assembly, when the driving motor is started, the mechanical driver can be driven to move along the length direction of the arm main body, the transmission structure is compact, the occupation of the internal space of the arm main body is reduced, in addition, the screw rod penetrates through the rotor and is rigidly and fixedly connected with the rotor, no additional coupling is needed, the occupation of the driving and transmission structure to the space of the arm main body is further reduced, the transmission error is small, and the transmission process is stable and smooth; therefore, the mechanical holding arm has compact structure and is beneficial to preventing the mechanical holding arm from interfering or colliding with other mechanical holding arms in the using process.

Optionally, the rotor is disposed inside the stator, and a mounting surface is disposed outside the screw, the mounting surface being disposed inside the rotor and having a gap with an inner surface of the rotor.

Optionally, the rotor and the screw are bonded together by an adhesive disposed between the mounting surface and an inner surface of the rotor.

Optionally, the rotor has a mounting portion extending beyond the stator in an axial direction of the rotor, the rotor being connected with the screw by the mounting portion.

Optionally, the mounting portion and the screw are connected together by a fastener, the mounting portion being provided with a mounting hole through which the fastener extends and abuts the mounting surface.

Optionally, the mounting surface is configured to form-fit with a fastener.

Optionally, the mounting surface is provided with a connecting hole, and the tail end of the fastener is inserted into the connecting hole.

Optionally, the screw rod has two mounting surfaces, the two mounting surfaces are oppositely arranged at two sides of the screw rod, the mounting part is correspondingly provided with two mounting holes, and the two mounting holes are coaxially arranged; and/or

The mounting surface is configured as a plane, and the axial direction of the mounting hole is perpendicular to the mounting surface.

Optionally, the rotor includes first rotor and with the second rotor that first rotor is connected, the lead screw runs through first rotor and with first rotor rigidity fixed connection, the second rotor cover is established the outside of first rotor and set up the inboard of stator.

Optionally, the first rotor and the second rotor are bonded together by an adhesive, and/or

The first rotor and the screw are bonded together by an adhesive or are connected together by a fastener.

Optionally, the movable assembly further includes a slider connected to the screw nut, the holding arm further includes a guide rail, the guide rail is disposed on the arm body along a length direction of the arm body, the slider is movably disposed on the guide rail along the length direction of the guide rail, and the instrument driver is connected to the slider.

A second aspect of the utility model provides a surgical robot comprising a holding arm according to the foregoing.

According to the surgical robot of the second aspect of the utility model, the mechanical holding arms are compact in structure, so that interference or collision among the mechanical holding arms caused by the surgical robot in use can be prevented.

Drawings

The following drawings of embodiments of the present utility model are included as part of the utility model. Embodiments of the present utility model and their description are shown in the drawings to explain the principles of the utility model. In the drawings of which there are shown,

FIG. 1 is a schematic view of a surgical robot according to a preferred embodiment of the present utility model;

FIG. 2 is a perspective view of a holding arm of the surgical robot of FIG. 1;

FIG. 3 is a schematic view of a part of the arm in FIG. 2;

FIG. 4 is a schematic cross-sectional view of the holding arm of FIG. 2, with only a partial structure shown;

FIG. 5 is a schematic perspective view of a partial structure of a screw of the holding arm of FIG. 3; and

fig. 6 is a perspective view of a partial structure of the holding arm of fig. 3, showing a motor and a screw.

Description of the reference numerals

100: the moving frame 101: base seat

102: upright post 103: connecting table

104: roller 105: armrest (Armrest)

110: mechanical arm group 111: arm for holding a tool

112: connection arm 106: surgical instrument

120: arm body 121: guide rail

122: grooving 130: instrument driver

140: movable assembly 141: sliding block

142: screw rod 143: screw nut

144: the driving motor 145: stator

146: rotor 147: first rotor

148: second rotor 149: mounting surface

150: fastener 151: mounting hole

152: the connecting piece 153: mounting part

123: accommodating chamber

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present utility model. It will be apparent, however, to one skilled in the art that embodiments of the utility model may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the embodiments of the utility model.

Herein, ordinal words such as "first" and "second" cited in the present utility model are merely identifiers and do not have any other meaning, such as a particular order or the like. Also, for example, the term "first component" does not itself connote the presence of "second component" and the term "second component" does not itself connote the presence of "first component".

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

Unless otherwise indicated, numerical ranges herein include not only the entire range within both of its endpoints, but also the several sub-ranges contained therein.

The utility model discloses a holding arm and a surgical robot with the same. As shown in fig. 1, the surgical robot mainly includes a moving frame 100, a robot arm group 110, and a holding arm 111.

Referring to fig. 1, the moving frame 100 includes a base 101, a column 102, and a connection stage 103. The bottom of base 101 is provided with gyro wheel 104, and the lateral part of base 101 is provided with handrail 105, is convenient for medical personnel promote base 101. The column 102 extends in the vertical direction, and the lower end of the column 102 is connected to the top of the base 101, and the connection stage 103 is connected to the side of the column 102 movably in the vertical direction. The mechanical arm set 110 includes a plurality of connecting arms 112 connected in turn in a rotating manner, and one end of the mechanical arm set 110 is connected to the mechanical arm 111, and the other end is connected to the connecting table 103, so that the mechanical arm 111 achieves the multi-degree-of-freedom motion. The manipulator 111 is connected to the instrument driver 130, and the instrument driver 130 is fixed to the surgical instrument 106, so as to operate the surgical instrument 106 in cooperation with a doctor console. The holding arms 111 and the arm groups 110 are disposed corresponding to the connection stage 103 (fig. 1 shows only one group of the arm groups 110 and the holding arms 111 for clarity of expression), so as to adjust the heights of the holding arms 111 and the arm groups 110 respectively.

Due to the complexity of the actual surgical operation, multiple robot arm sets 110 and robot arm holders 111 are typically disposed on the mobile frame 100. In order to prevent the mechanical arm group 110 from interfering with each other between the mechanical arms 111 when driving the mechanical arms 111 to move, the structure of the mechanical arms 111 needs to be compact, and in particular, the mechanical arms 111 should have a suitable size along the width direction thereof.

The arm 111 will be described in detail with reference to fig. 2 to 6. The manipulator 111 is used for mounting an instrument driver 130, and the manipulator 111 mainly comprises an arm main body 120, a driving motor 144, a screw rod 142 and a movable assembly 140.

The driving motor 144 includes a stator 145 and a rotor 146, and the rotor 146 is disposed inside the stator 145 and coaxially with the stator 145. The stator 145 is fixedly disposed with respect to the arm body 120. The rotor 146 is rotatable with respect to the stator 145, and the rotation axis of the rotor 146 extends in the length direction of the arm body 120. The screw rod 142 is provided in the arm body 120 along the length direction of the arm body 120, and the screw rod 142 penetrates the rotor 146 and is rigidly and fixedly connected with the rotor 146. The movable assembly 140 is adapted to be coupled to the instrument driver 130, the movable assembly 140 including a lead screw nut 143. The lead screw nut 143 is sleeved to the lead screw 142, and the lead screw nut 143 can drive the instrument driver 130 to move back and forth in the axial direction of the lead screw 142 as the lead screw 142 rotates.

According to the manipulator holding arm 111, the screw rod 142 is in transmission fit with the movable assembly 140, and when the driving motor 144 is started, the instrument driver 130 can be driven to move along the length direction of the arm main body 120, so that the manipulator holding arm is compact in transmission structure, and the occupation of the inner space of the arm main body 120 is reduced. In addition, the screw rod 142 penetrates through the rotor 146 and is rigidly and fixedly connected with the rotor 146, additional shaft coupling arrangement is not needed, space occupation of the driving and transmission structure on the arm main body 120 is further reduced, transmission error is small, and the transmission process is stable and smooth. Therefore, the mechanical holding arm 111 according to the present utility model has a compact structure, which is beneficial to preventing the mechanical holding arm 111 from interfering or colliding with other mechanical holding arms 111 during use.

In detail, referring to fig. 2 and 3, the arm body 120 is provided with a receiving chamber 123 extending in a length direction of the arm body 120 and a slot 122 communicating the receiving chamber 123 and an outside of the arm body 120. The slot 122 extends along the length of the arm body 120. In the present embodiment, the lead screw nut 143 is disposed in the accommodation chamber 123. The movable assembly 140 further includes a slider 141 and a link 152, and the slider 141 is connected to the lead screw nut 143 through the link 152. In the present embodiment, the slider 141 is provided outside the arm body 120, and the connection member 152 extends through the slot 122 to be connected with the lead screw nut 143, and is movable in the length direction of the slot 122 with movement of the lead screw nut 143.

The manipulator 111 further comprises a guide rail 121. The guide rail 121 is provided outside the arm body 120, and is provided to the arm body 120 in the longitudinal direction of the arm body 120. The slider 141 is movably provided to the rail 121 along the length direction of the rail 121, and the instrument driver 130 is connected to the slider 141. The screw nut 143 is in threaded connection with the screw rod 142, when the driving motor 144 drives the screw rod 142 to rotate, the screw nut 143 moves along the length direction of the screw rod 142, so that the screw nut 143 drives the sliding block 141 to move along the extending direction of the guide rail 121 through the connecting piece 152, thereby driving the instrument driver 130 and the surgical instrument 106 to move, and the transmission structure is stable and the precision is high.

In one example, referring to fig. 4 and 6, to facilitate assembly of the rotor 146 with the lead screw 148 and the drive motor 144, the rotor 146 includes a first rotor 147 and a second rotor 148 coupled to the first rotor 147. The second rotor 148 is sleeved outside the first rotor 147 and is disposed inside the stator 145. The screw rod 142 penetrates the first rotor 147 and is rigidly and fixedly connected with the first rotor 147. When the driving motor 144 is energized, the first rotor 147 and the second rotor 148 are rotated in synchronization to drive the screw 142 to rotate in synchronization. The first rotor 147 and the second rotor 148 may be bonded together by an adhesive such that the first rotor 147 and the second rotor 148 are rigidly connected and may rotate in synchronization.

In one example, as shown in fig. 4, the first rotor 147 and the screw rod 142 are connected together by the fastener 150, so that the installation is convenient and the installation efficiency is high. Specifically, the first rotor 147 has a mounting portion 153, and the mounting portion 153 is connected to the screw 142 by a fastener 15. The mounting portion 153 extends beyond the second rotor 148 and the stator 145 in the axial direction of the first rotor 147 such that the fastener 150 is disposed outside the stator 145, facilitating the mounting and dismounting of the fastener 15, while facilitating the reduction of the radial dimension of the drive motor 144.

As shown in fig. 4 and 5, the mounting portion 153 is provided with a mounting hole 151, the outside of the screw rod 142 is provided with a mounting surface 149, and the mounting surface 149 is provided on the inside of the first rotor 147 and faces the mounting portion 153. Specifically, the position of the mounting surface 149 corresponds to the position of the mounting hole 151. As shown in fig. 4, in the present embodiment, the first rotor 147 and the screw 142 are connected by a fastener 150.

The fastener 150 extends through the mounting hole 151 and abuts the mounting surface 149. When the fastener 150 is tightened with the mounting portion 153, the end of the fastener 150 abuts against the mounting surface 149, thereby relatively securing the screw 142 to the first rotor 147.

Alternatively, the mounting surface 149 and the end surface of the fastener 150 may be configured to form fit to achieve better restraint. For example, the mounting surface 149 may be a flat extending surface, and the end surface of the fastener 150 may also be a flat extending surface such that the end surface of the fastener 150 conforms to the mounting surface 149.

Alternatively, the mounting surface 149 may be recessed with attachment holes (not shown) into which the tips of the fasteners are inserted to achieve better retention.

Alternatively, the fastener 150 may be, for example, a jackscrew, and the mounting hole may be provided with internal threads that mate with external threads of the jackscrew.

In another example, the first rotor 147 and the screw 142 may be bonded together by an adhesive. Preferably, there is a gap between the mounting surface 149 and the inner surface of the first rotor 147. For example, an adhesive may be disposed between the mounting surface 149 of the screw 142 and the inner surface of the first rotor 147. When the adhesive is cured, a rigid connection is formed between the mounting surface 149 and the inner surface of the first rotor 147, facilitating reinforcement of the first rotor 147 and the screw 142. In addition, the provision of the mounting surface 149 increases the contact area between the first rotor 147 and the screw 142, which is advantageous for further enhancing the connection strength between the first rotor 147 and the screw 142.

Optionally, the screw 142 has two mounting surfaces 149, the two mounting surfaces 149 being oppositely disposed on either side of the screw 142. The mounting portion 153 is provided with two mounting holes 151, respectively, and the two mounting holes 151 are coaxially provided. The arrangement of the mounting surface 149 makes both sides of the screw rod 142 limited, and the connection structure is more stable. Further, the mounting surface 149 is configured as a plane, and the axial direction of the mounting hole 151 is perpendicular to the mounting surface 149. When the fastener 150 is tightened, the end portion of the fastener 150 abuts against the mounting surface 149, so that the first rotor 147 and the screw rod 142 are relatively fixed in the axial direction of the first rotor 147, which is advantageous in preventing slipping and relative rotation between the first rotor 147 and the screw rod 142, and improving transmission accuracy.

As an alternative, the rotor 146 of the driving motor 144 according to the present utility model may be formed as a single piece or integrally formed, and may have substantially the same effects as those described above without additional assembly, without affecting the structural arrangement of other components, or without affecting the implementation of the present utility model.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the utility model. Terms such as "disposed" or the like as used herein may refer to either one element being directly attached to another element or one element being attached to another element through an intermediate member. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.

The present utility model has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the utility model to the embodiments described. Those skilled in the art will appreciate that many variations and modifications are possible in light of the teachings of the utility model, which variations and modifications are within the scope of the utility model as claimed.

Claims (12)

1. A holding arm for mounting an instrument driver, the holding arm comprising:

an arm main body;

a driving motor including a stator and a rotor, the stator being fixedly disposed with respect to the arm main body, the rotor being rotatable with respect to the stator, a rotation axis of the rotor extending in a length direction of the arm main body;

the screw rod is arranged in the arm main body along the length direction of the arm main body, penetrates through the rotor and is rigidly and fixedly connected with the rotor; and

the movable assembly is used for being connected with the instrument driver and comprises a screw nut, the screw nut is sleeved to the screw rod, and the screw nut can drive the instrument driver to move back and forth along the axial direction of the screw rod along with the rotation of the screw rod.

2. The arm of claim 1, wherein the rotor is disposed inside the stator, and wherein a mounting surface is disposed outside the lead screw, the mounting surface being disposed inside the rotor and having a gap with an inner surface of the rotor.

3. The arm of claim 2, wherein the rotor and the screw are bonded together by an adhesive disposed between the mounting surface and an inner surface of the rotor.

4. A holding arm according to claim 2, wherein the rotor has a mounting portion extending beyond the stator in the axial direction of the rotor, the rotor being connected to the screw by the mounting portion.

5. The arm of claim 4, wherein the mounting portion and the screw are connected together by a fastener, the mounting portion being provided with a mounting hole through which the fastener extends and abuts the mounting surface.

6. The arm support of claim 5, wherein the mounting surface is configured to form-fit with a fastener.

7. The arm of claim 5, wherein the mounting surface defines a connection aperture, and wherein the end of the fastener is inserted into the connection aperture.

8. The arm according to claim 5, wherein,

the screw rod is provided with two mounting surfaces, the two mounting surfaces are oppositely arranged on two sides of the screw rod, the mounting part is correspondingly provided with two mounting holes, and the two mounting holes are coaxially arranged; and/or

The mounting surface is configured as a plane, and the axial direction of the mounting hole is perpendicular to the mounting surface.

9. The arm according to any one of claims 1 to 8, wherein the rotor comprises a first rotor and a second rotor connected to the first rotor, the screw rod penetrates the first rotor and is rigidly and fixedly connected to the first rotor, and the second rotor is sleeved on the outer side of the first rotor and is arranged on the inner side of the stator.

10. The arm according to claim 9, wherein,

the first rotor and the second rotor are bonded together by an adhesive, and/or

The first rotor and the screw are bonded together by an adhesive or are connected together by a fastener.

11. The arm carrier of any one of claims 1 to 8, wherein the movable assembly further comprises a slider coupled to the lead screw nut, the arm carrier further comprising a rail disposed on the arm body along a length of the arm body, the slider being movably disposed on the rail along the length of the rail, the instrument driver being coupled to the slider.

12. Surgical robot, characterized by comprising a holding arm according to any of claims 1 to 11.